Theory of Machine

By –Prof.Gajendra Katheria
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 What is TOM ?
• “The subject theory of machine may be
defined as that branch of engineering science
which deals with the study of relative motion
both the various parts of m/c and forces which
act on them. “

The theory of m/c may be sub divided into the following branches:
Kinematics: It deals with the relative motion
between the various parts of the machine
Dynamics: It deals with the force and their effects,
while acting upon the m/c part in motion.
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• Kinematic Link Element: A resistant body
which is a part of an m/c and has motion
relative to the other connected parts is term
as link.
• A link may consist of one or more resistant
bodies. Thus a link may consist of a number
of parts connected in such away that they
form one unit and have no relative motion to
each other.
• A link should have relative motion and It must
be a resistant body

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 Type of Links
• 1. Rigid Link: It is one which does not undergo
any deformation while transmitting motion–
C.R, etc.
• 2. Flexible Link: Partly deformed while
transmitting motion–spring, belts.
• 3. Fluid Link: It formed by having the motion
which is transmitted through the fluid by
pressure. e. g, hydraulic press, hydraulic
brakes.
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 Type of Motion
• Constrained Motion – Motion Limited
in one direction (Fig1 ,Upperleft)
• Unconstrained – Motion in more then
one direction (Fig2 ,Upper-Right)
• Successfully Constrained – Converting
Unconstrained into
Constrained (Fig 3 & 4..Bottom two)
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 Fig.2 Unconstrained Motion
Fig.1 Constrained motion

Fig.3 Successfully Constrained motion YouTube Channel - The GATE Fig.4 Successfully
Learners Constrained motion
 Classification of Pair

• According to Type of Contact

a) line or Point Contact - Higher Pair
b) Surface Contact – Lower Pair
• According to Type of Relative motion
(a) Turning Pair or Revolute Pair
(b)Spherical Pair (c)Wrapping Pair (d)Sliding Pair
(e) Rolling Pair (f) Screw Pair

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 Turning Pair

Spherical pair

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 Type of Joints
• 1. Binary Joint – Two links are
Joined together
• 2. Ternary Joint- Three links are
Joined together
• 3. Quaternary Joint- Four links are
Joined together.
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Binary Joint Ternary Joint

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Mechanism: When one of the link of a kinematic
chain is fixed, it will be a mechanism. If the
different link of the same kinematic chain is
fixed, the result is a different mechanism. The
primary function of a mechanism is to transmit
or modify motion.
Machine: When a mechanism is required to
transmit power or to do some particular kind of
work it is known as a machine.
Structure: An assemblage of resistant bodies
having no relative motion between them and
meant for carrying load having straining action
called structure.
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 Kinematic Chain
• When Different links are joined together to
form a closed loop having relative motion
between them and the motion should be
constrained,then it is kinematic chain.

•Where as Kinematic pair is something what

when two different links are joined together
and having a relative motion.
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 “For a kinematic chain ,there must
have minimum four links”
• One link need to be fixed
• We cant make a chain with two links
• Three links when joined together makes a
Frame
• Four link can make Kinematic chain in which
there will be Input link ,Output link ,Fixed Link
& Coupler

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Degree of Freedom = 0 Degree of Freedom = 1

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 Degree of Freedom
• It is the number of independent variables that
must be specified to define completely the
condition of the system.
• Number of Independent Coordinates required
to define the system
• Number of Input Required to Get single
Output
• Also called as Mobility

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DOF = 6 – Restraints

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 “Kutzbach Equation"

F = 3( L-1 ) – 2J – h – R
F- Degree of freedom
L- No of Links
J- No of Binary Joints
h – No of higher pairs
R – No of Redundant link
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 DOF = 1 L=8
J ( No of Binary Joint )= 11
F = 3 ( L-1 ) -2J
F = 3( 8-1) – (2*11)
F = -1

L=8
J = 10
F= 3( 8-1) –(2*10 )
F=1

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For Practice

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 Grubler’s Criterion for Plane
Mechanisms
• The Grubler‘s criterion applies to mechanisms
with only single degree of freedom joints where
the overall movability of the mechanism is unity.
• Substituting n = 1 and h = 0 in
Kutzbach equation,
1 = 3(L-1)-2J -0-0
3L-2J - 4 =0
• This equation is known as the Grubler‘s criterion
for plane mechanisms with constrained motion.
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 Grashof ’s law
Law : Sum of shortest and longest link should be less
then equal to sum of other two link to get constrained
motion .

s = length of shortest bar

l = length of longest bar L
p, q = lengths of intermediate bar
Q
P
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S
 Some important concepts in link mechanisms are:
Crank: A side link which revolves relative to the frame is called a
crank.( 360 ^ rotation )
Rocker: Any link which does not revolve is called a rocker.
Crank-rocker mechanism: In a four bar linkage, if the shorter side
link revolves and the other one rocks (i.e., oscillates), it is
called a crank-rocker mechanism.
Double-crank mechanism: In a four bar linkage, if both of the
side links revolve, it is called a double-crank mechanism.
Double-rocker mechanism: In a four bar linkage, if both of the
side links rock, it is called a double-rocker mechanism.

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 Inversion
“When different links in any kinematic
chain are Fixed one by one,then
different type of mechanisms
developed are called as Inversion”
Ex. In a Singe slidercrank mechanism , if we fix the
cylinder then two different mechanisms are obtained
i.e ,Reciprocatin engine (When input to slider)&
Reciprocating Pump ( When input is at crank )

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 Types of Kinematic Chains

❑1. Four bar chain Mechanism

(Four Turning Pair)

❑2. Single slider crank chain

(Three Turning Pair one Sliding)

❑3. Double slider crank chain

(Two Turning & Two Sliding)

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 1)Four Bar Chain Mechanism
Case 1 :When Law is Satisfied

• If we fix the Shortest or In-front of Longest then

Double Crank mechanism will be obtained
• If we fix the a link adjacent to Shortest then Crank
Rocker will be obtained
• If we fix the longest link ,then Double Rocker
Mechanism will be obtained

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 Case 2 : When S+L=P+Q

• Then If we get length like 2,2,5,5

..then Parallelogram linkage
(Used in Locomotive)
• If links are of different length
then Deltoid linkage
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 Application – 1

Application 2 :
Used in locomotive

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Case 3 : When Law is Not Satisfied

“S+L is greater then P+Q”

Then We will get Double
Rocker in any case
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 Inversion of
Single Slider Crank
Mechanism :
(One Sliding Pair &Three
Turning Pair )
Single Slider Crank Mechanism
Inversion 1 (When fixing Cylinder)
a)I C engine
b)Reciprocating Pump
 Inversion 2
When Crank is fixed
1)Rotatory IC engine(Gnome Engine)
2) Witt-worth Quick return motion
Mechanism
 Inversion 3 : When connecting Rod Is fixed
1) Slotted lever Quick Return motion Mechanism
2)Oscillating Cylinder
Inversion 4: When Slider is Fixed
(Hand Pump)
 Double Slider Crank
Mechanism
( Two Sliding Pair & Two Turning Pair)

• Elliptical trammel – When Slotter is fixed

• Scotch yoke Mechanism – When one of the
slider is fixed
• Oldham’s Coupling – When the connecting
link is Fixed
Elliptical Trammel
Scotch Yoke Mechanism
Oldham’s Coupling
 Thank you….

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