INTODUCTION OF THE CONCEPTS OF KINEMATICS MACHINERIES

Balanon, Bryan Asuncion

Dotarot, Melody Purgatorio
Nigad, Rhomiel Verano

Machine is an assemblage of parts interposed between the source of power and the work for the
purpose of adapting the one to another.
- Machine performs faster work than humans
- Machine in future years will provide and open business operations

Machine Element refers to elementary components of a machine.

- These are features of a part such as screw threads or they may be discrete parts in and
of themselves such as wheels, axles, pulleys, rolling-element bearings, or gears
- Machine Elements play an important role in mechanical designing because it helps
the students understand the fundamentals of the designing the moat commonly parts
of the machine.
- In designing a machine parts it must be proportioned and related to one another so
that each has proper motion and each part mist withstand the forces imposed upon it.

Machine vs. Machine Elements

Machine Elements are the parts and features used as building blocks of a machine while machine
is an equipment using several parts and power to work and Machine is

Machine Elements consists of three basic types

1. Structural Component
- It is the combination of resistant bodies capable of transmitting forces or carrying loads but
having no relation of motion.
Examples: Frame of machine, bearings and etc.

2. Mechanism
- is the assembly of moving parts that control the movement
Examples: gear train, belt

The Science of Mechanism is divided into two parts:

A. Pure Mechanism or kinematic of machines
- treats of the motion and forms of the parts of a machine and the manner on supporting
and guiding them, independent of their strength. - treats of the motion and forms of the parts of a
machine and the manner on supporting and guiding them, independent of their strength.
B. Constructive Machine
- It involves the calculation of the forces acting on different parts of the machine
- Selection if the materials it will base of its strength, durability, and other physical
properties in order to withstand those forces.
3. Control Components
- manages or commands the behaviour of the machine.
Examples: switches, sensors, buttons etc.

Four classifications of Kinematics Machinery:

1. Statics
Statics deals with the forces and their effects on the machine parts at which these machine parts
are at rest. The mass and the inertia forces of the parts are assumed to be negligible
2. Dynamics
Dynamics deals with the forces and their effects while acting upon the machine parts in motion
3. Kinematics
This study of kinematics deals with the relative motion between the various parts of the machines.
4. Kinetics
This study of kinetics deals with the inertia forces which arises from the combined effect of the
mass and the motion of the machine parts.

What is the relative motion?

Relative motion is the calculation of the motion of an object with respect to some other
moving object.

Plane motion
A body has plane motion, if all its points move in planes which are parallel to some reference
plane. A body with plane motion will have only three degrees of freedom.
Three types:
1. Translation. A body has translation if it moves so that all straight lines in the body move to
parallel positions.
2. Rotation. In rotation, all points in a body remain at fixed distances from a line which is
perpendicular to the plane of rotation.

3. Translation and rotation. It is the combination of both translation and rotation which is
exhibited by many machine parts

4. Translation and rotation. It is the combination of both translation and rotation which is
exhibited by many machine parts
Link or element- It is the name given to anybody which has motion relative to another
Types of Link:

Binary link- Link which is connected to other links at two points. Fig, A
Ternary link- Link which is connected to other links at three points. Fig, B
Quaternary link- Link which is connected to other links at four points. Fig, C
Degrees of freedom (DOF). It is the number of independent coordinates required to describe the
position of a body in space. DOF= 6
Pairing elements or Kinematic Pair is simply a pair is a joint of two links having relative
motion between them.
Types of Kinematics Pair
1. Based on nature of contact elements
Lower pair – If the joint by which two members are connected has surface contact, the pair is
known as lower pair

Higher pair - If the contact between the pairing elements takes place at a point or along a line,
such as in a ball bearing or between two gear teeth in contact, it is known as a higher pair

2. Based on relative motion between pairing elements

Sliding pair – Sliding pair is constituted by two elements so connected that one is constrained to
have a sliding motion relative to the other. DOF =1. Fig 1.8
Turning pair – When connections of the two elements are such that only a constrained motion
of rotation of one element with respect to the other is possible, the pair constitutes a turning pair.
DOF = 1. Fig 1.9
Cylindrical pair – If the relative motion between the pairing elements is the combination of
turning and sliding, then it is called as cylindrical pair. DOF = 2. Fig 1.10

Rolling pair – When the pairing elements have rolling contact, the pair formed is called rolling
pair. DOF = 1
Spherical pair - A spherical pair will have surface contact and three degrees of freedom.
DOF = 3
Helical pair or screw pair- When the nature of contact between the elements of a pair is such
that one element can turn about the other by screw threads, it is known as screw pair. Eg. Nut
and bolt. DOF = 1

3. Based on natural mechanical constraints

Closed Pair- Elements of pairs held together mechanically due to their geometry constitute a
closed pair. They are also called form-closed or self-closed pair. Fig 1.14
Unclosed or force closed pair- Elements of pairs held together by the action of external forces
constitute unclosed or force closed pair. Fig 1.15
Constrained motion. In a kinematic pair, if one element has got only one definite motion
relative to the other, then the motion is called constrained motion.
a. Completely constrained motion. If the constrained motion is achieved by the pairing
elements themselves, then it is called completely constrained motion. Fig 1.16

b. Successfully constrained motion. If constrained motion is not achieved by the pairing

elements themselves, but by some other means, then, it is called successfully constrained motion
c. Incompletely constrained motion. When relative motion between pairing elements takes
place in more than one direction, it is called incompletely constrained motion.
Kinematic chain. A kinematic chain is a group of links either joined together or arranged in a
manner that permits them to move relative to one another. If the links are connected in such a
way that no motion is possible, it results in a locked chain or structure.
Inversions of mechanism: A mechanism is one in which one of the links of a kinematic chain is
fixed. Different mechanisms can be obtained by fixing different links of the same kinematic
chain. These are called as inversions of the mechanism.
Four Bar Chain. Fig 1.22
Bearings - Applied to the surfaces of contact between two piece that have a relative motion, one
of which supports or partially supports the others
Bearings may be arranged according to the relative motions they will allow in three classes:
1. For straight translation, the bearings must have plane or cylindrical surfaces , cylindrical being
understood in its most general sense
2. For rotation, or turning, the bearings must have surfaces of circular cylinders, cones, conoids,
or flat disks. The surface of the solid or full piece is called a journal, neck, spindle, or pivot.
3. for translation and rotation combined (helical motion), they must have a helical or screw
shape. The full piece is called screw and the open piece a nut
Collars and Keys – used to turn freely the cylindrical shafts and the same time have no motion
along them
Action of a Crank – a crank may considered as a rigid piece connecting one member of a pair of
cylindrical elements to one member of one another.
Link - Defined as a rigid piece or a non-elastic Substances which serves to transmit force from
one piece to another or to cause or control motion.
Linkage - Consist of a number of pairs of elements connected by links. - If the combination is
such that relative motion of the links is possible and the motion of each piece relative to the
others is possible the motion of each piece relative to the others is definite the linkage becomes a
kinematic chain.
Machine Analysis- is defines as pure mechanism treats motions and forms of the parts of a
machine. Motion consists of three elements, displacement, velocity and acceleration.
REFERENCES:
Doughtie, V. & James, Walter H. (1954). Elements of Mechanism. New York London, Toppan
Company LTD. Tokyo, Japan.

Kiswanath, K. & Prasad, H. Kinematics of Machinery. PDF File. Retrieved from:

https://www.iare.ac.in/sites/default/files/lecture_notes/IARE_KOM_LECTURE_NOTES_0.pdf?
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