ME313-Theory of Machines

Assistant Professor
Department of Mechanical Engineering
National University of Science and Technology
College of E M E

Contact: naveeddin@ceme.nust.edu.pk
 Introduction

Introduction to Theory of Machines

Theory of machines deals with the study
of masses, motions and forces in
machines.

But what is machine?

A machine is a combination of rigid
bodies, so farmed and connected that
they move upon each other with relative
motions and transmit force from source
of power to the resistance to be
overcome.
OR

A device which transforms energy

available in one form to another to do
desired work.
Don’t share on the web
 Introduction

In short:
This course deals with kinematics, kinetic and dynamics of machinery in
respect to the synthesis of mechanisms in order to accomplish desired
motions or tasks, and also the analysis of mechanisms in order to determine
their rigid-body dynamic behaviour.

Kinematics
Describes the motion of bodies, neglecting the
forces producing the motion. i.e.
displacement, velocity, acceleration
Dynamics
Kinetic combination of kinematics
Describes the relationship between force and and kinetics.
motion. Or The study of forces on systems in
motion. (F=ma)
Mechanism
A Mechanism is a combination of rigid or resistant bodies joined together to
provide a specific absolute motion
Don’t share on the web
 Introduction

This course has been divided into

Kinematics of Mechanism: Motion of machine parts without considering

the manner in which the influencing factors (force and mass) affect the motion.
It deals with displacement, velocity, acceleration.
Dynamics of Machinery: Divided into two subdivisions static and kinetics
of machinery, treat of machine parts that are acted upon by both balance and
unbalanced forces, taking into account the masses and accelerations of the parts
as well as the external forces.

Machine Design
In designing any machine the first task is to determine the kinematic
configurations needed to provide desired motions. Force and stress analysis can’t
be done until the kinematic issues have been resolved. Any machine or device that
moves contains one or more kinematic elements such as linkages, cams, gears,
belts and chains.

Don’t share on the web

 Introduction
Kinematics applications
A car cantinas many examples of kinematic devices, its wheel
suspension, steering system, piston engine all contain linkages, engine
valves are opened by cams. Even windscreen whippers are linkage
driven

Don’t share on the web

 Introduction

A simple bicycle an example of a kinematics system that contains a

chain drive to Provide torque multiplication and simple cable operated
linkages of breaks.
 Kinematics Fundamentals

Kinematics Fundamentals
Plane Motion (2D): The motion of a machine member is usually such that all its
points move in parallel planes. This type of motion is called plane motion.
Translation of a machine member
occurs when any line drawn on the
member remains parallel to its self
during the motion. Changes linear
position but does not change angular
orientation.

Rotation is present when such a line

does not remain parallel to itself and
member possesses one centre of
rotation.
Combination of translation and
rotation. Any reference line drawn on
the body will change both its liner
position and angular orientation.
 Kinematics Fundamentals

Degrees of Freedom
One of the most important concept in the analysis and design of a mechanical
system is its mobility (M) or its degrees-of freedom (DOF). A mechanical system’s
DOF is equal to the number of independent co-ordinates required to define its
position in space at any given time.

How many degree of freedom?

Three parameters are required to completely

describe the position of the pencil on the
paper. Two linear coordinate (x, y) and one
angular coordinate, θ. Therefore this system of
the pencil on the paper has 3 DOF.

What if we hold this pencil in our hand and move it about.

How many parameters are required to define its position?
Its 6DOF system and requires six parameters to define its
configuration. (x, y, z) and (θ, Φ, ρ).