Fundamentals and Type of Mechanism

Program: Diploma in Mechanical Engineering
Course: Theory of Machines

Course Code : 22438
Prof. D. M. Kulthe
MET’s Bhujbal Knowledge City IOT-P
dattakulthe26@gmail.com , 8698447676
Teaching and Examination Scheme
Examination Scheme
Theory of Machines
Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)
Theory Practical
ESE PA Total ESE PA Total
Max Min Max Min Max Min Max Min Max Min Max Min
70 28 30* 00 100 40 25@ 10 25 10 50 20
➢ Competency
Use principles of kinematics and dynamics in maintenance of various equipment
Units
Unit No Unit Title Marks

Fundamentals and type of Mechanisms 14
Theory of Machines
1
2 Velocity and Acceleration in Mechanisms 10

3 Cams and Followers 12
4 Belt, Chain and Gear drive 14
5 Brakes and Clutches 08
6 Flywheel, Governor and Balancing 12
Total Marks 70
References:
➢ R. S. Khurmi, J K Gupta, “Theory of Machines”, Eurasia Publishing House, New Delhi.
➢ S. S. Ratan, “Theory of Machines”, TMH Publications.
Fundamentals and types of mechanism
What is a Theory of Machines ?
Theory of Machines may be defined as that branch of Engineering-science, which

deals with the study of relative motion between the various parts of a machine, and
forces which act on them. The knowledge of this subject is very essential for an
engineer in designing the various parts of a machine.
Theory of Machines
Kinematics Dynamics
Static Kinetic
Fundamentals and types of mechanism Sub-divisions of Theory of Machines
The Theory of Machines may be sub-divided into the following four branches :
1. Kinematics. It is that branch of Theory of Machines which deals with the relative motion
between the various parts of the machines, without considering the forces producing such
motions.
2. Dynamics. It is that branch of Theory of Machines which deals with the forces and their
effects, while acting upon the machine parts in motion.
3. Kinetics. It is that branch of Theory of Machines which deals with the inertia forces which
arise from the combined effect of the mass and motion of the machine parts.
4. Statics. It is that branch of Theory of Machines which deals with the forces and their effects
while the machine parts are at rest.
The mass of the parts is assumed to be negligible.
Definition
Term Definition
1. Kinematics It deals with the study of relative motion between moving parts
2. Dynamics It is study of forces acting on various parts of a Machine
3. Kinetics It is study of Inertia forces arises due to combined effect of mass & motion
4. Statics It is study of forces on various parts at rest (Where mass is negligible)
Machine
A machine is a device which receives energy in some available form and utilizes it to do some
useful work.
A machine is a thing that is created by people to make work easier. It is a tool or invention
which multiplies the effect of human effort
Ex. I.C.engine, Lathe machine

Structure
It is an assemblage of a number of resistant bodies (known as members) having no relative

motion between them and meant for carrying loads having straining action.
Ex. A railway bridge, a roof truss, machine frames etc.

Mechanism
Mechanism is combination of interconnected rigid bodies capable of transferring relative

motion.
E.g. steering mechanism in a car, Slider crank mechanism, engine indicator
Mechanisms We Use
Everyday
•Actuators.
• Cams.
• Gears.
• Levers.
• Ratchets.
• Springs
This is done by making one of the parts as fixed, and the relative motion of other parts is
determined with respect to the fixed part.

Difference between Machine and Structure

Difference between Machine and Mechanism

Mechanism
MECHANISM
KINEMATIC PAIR
KINEMATIC LINK
KINEMATIC CHAIN
Kinematic Link or Element
Each part of a machine, which moves relative to some other part, is known as a kinematic
link (or simply link) or element
A link may consist of several parts, which are rigidly fastened together, so that they do not
move relative to one another
As shown in Figure piston, piston rod and
crosshead constitute one link ; connecting rod with
big and small end bearings constitute a second link ;
crank, crank shaft and flywheel a third link and the
cylinder, engine frame and main bearings a fourth
link.
Kinematic Link or Element
➢ A link or element need not to be a rigid body, but it must be a resistant body.
A body is said to be a resistant body if it is capable of transmitting the required forces

with negligible deformation.
➢ Link should have the following two characteristics:

1. It should have relative motion
2. It must be a resistant body.
Types of Kinematic Link 1. Rigid link. A rigid link is one which does not undergo any
deformation while transmitting motion. Strictly speaking, rigid
➢ Rigid Link links do not exist. However, as the deformation of a connecting

rod, crank etc. of a reciprocating steam engine is not
➢ Flexible Link
appreciable; they can be considered as rigid links.
➢ Fluid Link
2. Flexible link. A flexible link is one which is partly deformed
in a manner not to affect the transmission of motion. For
example, belts, ropes, chains and wires are flexible links and
transmit tensile forces only.
3. Fluid link. A fluid link is one which is formed by having a
fluid in a receptacle and the motion is transmitted through the
fluid by pressure or compression only, as in the case of
hydraulic presses, jacks and brakes.
Constrained motion
Constrained Motion is defined as a mechanical pair which is having definite motion with respect
to another element.
Constrained motion results when an object is forced to move in a restricted way.
Types of Constrained motion
1. Completely constrained motion

2. Incompletely constrained motion
3. Successfully constrained motion
1. Completely constrained motion.

When the motion between a pair is limited to a definite direction irrespective of the direction of
force applied, then the motion is said to be a completely constrained motion.
Example:
Square bar in a square hole
Shaft with a collar at each end in the circular hole.
A piston in the cylinder of an IC engine.
2. Incompletely constrained motion.

When the motion between a pair can take place in more than one direction, then the motion is
called an incompletely constrained motion.

The change in the direction of impressed force may alter the direction of relative motion between
the pair.
Example:
Circular shaft in a circular hole
as it may be either rotate or slide in a hole.
Both motions have no relationship with others.
3. Successfully constrained motion.

When the motion between the elements, forming a pair, is such that the constrained motion is not
completed by itself, but by some other means, then the motion is said to be successfully constrained
motion.
Example:
The motion of the shaft in a footstep
bearing becomes successfully constrained
motion when a compressive load is applied.
Kinematic Pair
The two links or elements of a machine, when in contact with each other, are said to form a pair. If
the relative motion between them is completely or successfully constrained (i.e. in a definite
direction), the pair is known as kinematic pair.

Types of Kinematic Pair
According to type of According to the type of According to the type of

Relative Motion between contact between the closure
the Elements/links elements/links
Self closed pair

Sliding Pair Lower Pair
Force - closed
Turning Pair Higher Pair
pair
Rolling Pair
Screw Pair
Spherical Pair
1. Sliding Pair :
When the two elements of a pair are connected in such a way that one can only slide relative
to the other, the pair is known as a sliding pair.
Examples :
➢ The piston and cylinder
➢ cross-head and guides of a reciprocating steam engine
➢ ram and its guides in shaper
➢ tail stock on the lathe bed
2. Turning Pair :
When the two elements of a pair are connected in such a way that one can only turn or revolve
about a fixed axis of another link, the pair is known as turning pair.
Examples :
➢ A shaft with collars at both ends fitted into a circular hole
➢ the crankshaft in a journal bearing in an engine
➢ lathe spindle supported in head stock
➢ cycle wheels turning over their axles
3. Rolling Pair :
When the two elements of a pair are connected in such a way that one rolls over another fixed
link, the pair is known as rolling pair
Examples :
➢ Ball and roller bearings
➢ Belt and pully arrangement
4. Screw Pair :
When the two elements of a pair are connected in such a way that one element can turn about
the other by screw threads, the pair is known as screw pair
Examples :
➢ The lead screw of a lathe with nut
➢ Bolt with a nut
5. Spherical Pair :
When the two elements of a pair are connected in such a way that one element (with spherical
shape) turns or swivels about the other fixed element, the pair formed is called a spherical
pair
Examples :
➢ ball and socket joint
➢ attachment of a car mirror
➢ pen stand
➢ Joystick
6. Lower Pair :
When the two elements of a pair have a surface contact then relative motion takes place and
the surface of one element slides over the surface of the other, the pair formed is known as
lower pair
Examples :
➢ Sliding pairs
➢ Turning Pairs
➢ Screw Pairs
7. Higher Pair :
When the two elements of a pair have a line or point contact then relative motion takes place
and the motion between the two elements is partly turning and partly sliding, then the pair is
known as higher pair
Examples :
➢ A pair of friction discs
➢ toothed gearing
➢ belt and rope drives
➢ ball and roller bearings
➢ cam and follower
➢ Self closed pair. When the two elements of a pair are connected together mechanically in
such a way that only required kind of relative motion occurs, it is then known as self
closed pair.
The lower pairs are self-closed pair.
➢ Force - closed pair. When the two elements of a pair are not
connected mechanically but are kept in contact by the action of
external forces, the pair is said to be a force-close pair.
The cam and follower is an example of force closed pair, as
it is kept in contact by the forces exerted by spring and
gravity.
Kinematic Chain
When the kinematic pairs are coupled in such a way that the last link is joined to the first link
to transmit definite motion (i.e. completely or successfully constrained motion), it is called a
kinematic chain.
In other words, a kinematic chain may be defined as a combination of kinematic pairs, joined
in such a way that each link forms a part of two pairs and the relative motion between the
links or elements is completely or successfully constrained
Kinematic Chain
Identify whether given chain is kinematic chain or not ?

Prove that, the given configuration is a Kinematic Chain or not.
Lets
Let, P = No. of Pairs =04
P = Number of pairs
l = No. of Link
l = Number of Links
Where, l = 2(P) – 4
j = Number of Joints
l = 2 (4) – 4
= 8 – 4 = 04
l = 2(p) - 4
Let, j = No. of Joint
j = 3/2(l) - 2
Where, j = 3/2 (l) – 2
= 3/2 (4) – 2
= 04
Hence prove that, it is a Kinematic Chain
Kinematic Chain
Prove that, the given configuration is a Kinematic Chain or not.
Let, No. of Pair (P) = 03

No. of Link (l) = 03

No. of Joint (j) = 03
Where, l = 2 (P) – 4
= 2 (3) – 4 = 02
But l = 2
Where, j = 3/2 (l) – 2
= 3/2 (2) -2 =1 This type of configuration known as Locked Chain Structure.
But j = 1
Assembly, having a combination of each link but no relative motion hence it is not a Kinematic
Chain.
Types of Kinematic Chains
1. Four bar kinematic chain

2. Single slider crank chain
3. Double slider crank chain.
4 – Turning Pairs 3 – Turning Pairs

1 – Sliding Pair 2 – Turning Pairs
2 – Sliding Pair
This mechanism is transforming rotary motion into oscillating

1.Four bar kinematic chain motion.
It consists of four links, each of them forms a turning pair at A, B, C and D.
Link CD : Complete revolution : Crank
Link AB : Partial revolution or Oscillation : Lever/Rocker
Link BC : Connects crank and lever : C.R. / Coupler
Link AD : Fixed link : Frame
According to Grashof ’s law for a four bar mechanism, the sum of the shortest and longest
link lengths should not be greater than the sum of the remaining two link lengths

Four bar kinematic chain - Animation

This type of mechanism converts rotary motion into reciprocating

2. Single Slider Crank Chain motion and vice versa.
A single slider crank chain is a modification of the basic four bar chain
It consist of one sliding pair and three turning pairs.

Link 1 : Fixed link : Frame
Link 2 : Complete revolution : Crank
Link 3 : Connects crank and Piston : C.R.

1
Link 4 : Sliding Motion: Piston/Slider
Link 1 & Link 2 : Turning Pair Link 3 & Link 4 : Turning Pair
Link 2 & Link 3 : Turning Pair Link 4 & Link 1 : Sliding Pair

Single Slider Crank Chain - Animation

3. Double Slider Crank Chain

A Double slider crank chain is a modification of the Single slider crank chain
It consist of two sliding pairs and two turning pairs.

Link 1 : Fixed link : Frame/Slotted Plate
Link 2 : Sliding Motion : Slider
Link 3 : Connects two slider : C.R.
Link 4 : Sliding Motion: Slider
Link 1 & Link 2 : Sliding Pair Link 3 & Link 4 : Turning Pair
Link 2 & Link 3 : Turning Pair Link 4 & Link 1 : Sliding Pair

Double Slider Crank Chain - Animation

Inversion of Mechanism
We have already discussed that when one of links is fixed in a kinematic chain, it is called a
mechanism. So we can obtain as many mechanisms as the number of links in a kinematic chain
by fixing, in turn, different links in a kinematic chain.
This method of obtaining different mechanisms by fixing different links in a kinematic chain
is known as inversion of the mechanism.
It may be noted that the relative motions between the various links is not changed in
any manner through the process of inversion, but their absolute motions (those
measured with respect to the fixed link) may be changed drastically.
Inversions of Four Bar Chain
Inversions of Four Bar Chain

1. Beam engine (crank and lever mechanism)
2. Coupling rod of a locomotive (Double crank mechanism)
3. Watt’s Straight Line Indicator Mechanism:

Inversion of Four Bar Chain
1. Beam Engine (crank and lever mechanism)

It consists of four links, In this mechanism, when

the crank rotates about the fixed centre A, the lever
oscillates about a fixed centre D. The end E of the
lever CDE is connected to a piston rod which
reciprocates due to the rotation of the crank.
Purpose of this mechanism is to convert rotary motion into reciprocating motion.


Beam Engine - Animation
2. Coupling Rod of a Locomotive (Double crank mechanism).

It consists of four links, In this mechanism, the

links AD and BC (having equal length) act as
cranks and are connected to the respective
wheels. The link CD acts as a coupling rod and
the link AB is fixed in order to maintain a
constant centre to centre distance between
them.
This mechanism is meant for transmitting rotary motion from one wheel to the other wheel.

Coupling Rod of a Locomotive - Animation

3. Watt’s Straight Line Indicator Mechanism
Watt's straight line mechanism consists of four

links: Fixed Link at A, Link AC, Link CE and Link

BFD. Links CE & BFD act as levers.
Displacement of link BFD is directly
proportional to pressure of gas or steam which
acts on the indicator plunger.
On any small displacement of mechanism, the
tracing point E at end of link CE traces out
approximately a straight line.

Watt’s Straight Line Indicator Mechanism - Animation

Fundamentals and Type of Mechanism

Uploaded by

Copyright:

Available Formats

You might also like

Fundamentals and Type of Mechanism

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Fundamentals and Type of Mechanism

Uploaded by

Copyright:

Available Formats

Program: Diploma in Mechanical Engineering

Course: Theory of Machines

Unit No Unit Title Marks

2 Velocity and Acceleration in Mechanisms 10

Theory of Machines may be defined as that branch of Engineering-science, which

Ex. I.C.engine, Lathe machine

It is an assemblage of a number of resistant bodies (known as members) having no relative

Ex. A railway bridge, a roof truss, machine frames etc.

Mechanism is combination of interconnected rigid bodies capable of transferring relative

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

A body is said to be a resistant body if it is capable of transmitting the required forces

➢ Link should have the following two characteristics:

➢ Rigid Link links do not exist. However, as the deformation of a connecting

Constrained motion results when an object is forced to move in a restricted way.

Types of Constrained motion

1. Completely constrained motion

1. Completely constrained motion.

force applied, then the motion is said to be a completely constrained motion.

2. Incompletely constrained motion.

called an incompletely constrained motion.

3. Successfully constrained motion.

direction), the pair is known as kinematic pair.

According to type of According to the type of According to the type of

Self closed pair

to the other, the pair is known as a sliding pair.

link, the pair is known as rolling pair

the other by screw threads, the pair is known as screw pair

Identify whether given chain is kinematic chain or not ?

Prove that, the given configuration is a Kinematic Chain or not.

Let, No. of Pair (P) = 03

No. of Link (l) = 03

1. Four bar kinematic chain

3. Double slider crank chain.

4 – Turning Pairs 3 – Turning Pairs

This mechanism is transforming rotary motion into oscillating

Link CD : Complete revolution : Crank

Link AB : Partial revolution or Oscillation : Lever/Rocker

Link BC : Connects crank and lever : C.R. / Coupler

Link AD : Fixed link : Frame

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

Four bar kinematic chain - Animation

This type of mechanism converts rotary motion into reciprocating

It consist of one sliding pair and three turning pairs.

Link 2 : Complete revolution : Crank

Link 3 : Connects crank and Piston : C.R.

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

Single Slider Crank Chain - Animation

3. Double Slider Crank Chain

It consist of two sliding pairs and two turning pairs.

Link 2 : Sliding Motion : Slider

Link 3 : Connects two slider : C.R.

Link 4 : Sliding Motion: Slider

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

Double Slider Crank Chain - Animation

by fixing, in turn, different links in a kinematic chain.