Kinematics of Machines

Dr. Sandeep Rangrao Desai

Associate Professor, R.I.T.
 Contents

• Introduction to Curriculum Contents

• Relevance of the Course in Real Life Applications
• Program Outcomes
• Course Outcomes
• Details of ISE Components

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 Course Contents

Unit 1. Introduction to Mechanisms and Machines

Unit 2. Velocity and Acceleration Analysis
Unit 3. Lower Pair Mechanisms
Unit 4. Cams and Followers
Unit 5. Friction
Unit 6. Governors

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 Program Outcomes (POs) defined by NBA

1.Engineering Knowledge
2. Problem Analysis
3. Design/Development of Solutions
4. Conduct Investigations of Complex Problems
5. Modern Tool Usage
6. The Engineer and Society
7. Environment and Sustainability
8. Ethics
9. Individual and Team Work
10. Communication
11. Project Management and Finance
12. Life-long Learning

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 Course Learning Outcomes
At the end of the course, learners will be able to;
1. Design suitable mechanism for different applications in a machine
2. Determine velocity and acceleration of linkages in mechanisms using
graphical and analytical methods.
3. Develop profile of the cam to get required follower motion for given
application.
4. Analyze characteristic curves of mechanical governors for their stability.
5. Select the lower pair mechanisms for a given application.
6. Use principles of friction in designing automotive components such as clutch,
brake, and bearing.

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 Details of ISE Components
Sr. No. Mode of ISE Weightage Schedule Display of Marks
Exercise on identification of
mechanisms used in real life
applications (industries / society) , Second Week of
1 10 First Week of May
preparation of working prototype May
of the mechanisms and
submission of the report.
2 Quiz on Moodle 08 Last Week of June First Week of July
Participation in Discussion Forum Throughout the At the end of the
3 02
on Moodle Semester Semester
TOTAL 20.0

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 Unit Learning Outcomes
Unit 1
Introduction to Mechanisms and Machines

At the end of the unit, learners will be able to;

1. Explain fundamental concepts related to mechanisms.
2. Identify different mechanisms in real life applications.
3. Explain construction and working of different inversions of kinematic chains
4. Determine degree of freedom of different mechanisms

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 Kinetics and Kinematics

• Kinematics of Machines is the

study of motions of different
elements of mechanism without
taking into account the forces
causing these motions

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 Types of Kinematic Links

Binary Link

Kinematic link
Any body (normally rigid) which has motion relative to another link & this
relative motion is completely constrained or successfully constrained
Kinematic pair
The two links or elements of a machine, when in contact with each other,
are said to form a kinematic pair, if relative motion between them is
completely constrained or successfully constrained.
Ternary Link
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 Types of Constrained Motions
• Kinematic chain
When kinematic pairs are coupled in such a
way that last link is joined to first link to
transmit definite motion, it is called as a
kinematic chain
Kinematic Chain

Types of Constrained Motions

• Completely constrained motion
• Incompletely constrained motion
• Successfully constrained motion

Mechanism
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 Types of Constrained Motions

Completely Constrained Motion

When motion between the elements forming the
pair is limited to definite direction irrespective of
direction of force applied.
Incompletely Constrained Motion
When motion between the elements forming the
pair can take place in more than direction.
Successfully Constrained Motion
When motion between the elements forming the
pair is such that constrained motion is not
complete by itself but by some external means.

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 Locked, Kinematic and Unconstrained Chain
Criteria
(i) l=2p-4 ; l : no. of links, p : no. of pairs
(ii) j = 3/2 ( l-2 )

L.H.S. > R.H.S. - locked chain or structure, l=3

L.H.S. = R.H.S - Kinematic chain, l=4, l=6
L.H.S. < R.H.S - Unconstrained chain, l=5
Locked Chain OR Structure

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 Degree of freedom

It is the number of input parameters which must be independently controlled in

order to bring the mechanism into useful engineering purpose.
Kutzbach Criterion – for plane mechanisms
n=3(l-1)-2j l= no. of links, j = no. of joints
Four Bar Chain : n = 3 (4-1) – 2(4) = 1 = 9 – 8 =1
If Degree of freedom , n=2, then it is unconstrained chain
Structure n = 3 (3-1) – 2 (3) = 6 – 6 = 0
n=0,1,2, -1 etc.
Grubler’s Criterion – mechanism with only single degree of freedom joints
3l-2j-4=0
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 Mechanism and Machine
Mechanism
When one of links of kinematic chain is fixed it becomes mechanism. Part of a machine,
which transmit motion and power from input point to output point
Simple mechanism – 4 links
Compound mechanism – more than 4 links
OR
Mechanism is the Combination of rigid bodies (links) so shaped and connected that they
move relative to each other for the purpose of transferring and transforming motion/forces
from input(s) (actuator(s)) to an output
Machine
A machine is a mechanism or collection of mechanisms, which transmit force from the
source of power to the resistance to be overcome.

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 Types of Kinematic pairs
Based on relative motion between elements
• Turning pair
• Rolling pair
• Sliding Pair
• Screw Pair
• Spherical Pair
Based on type of mechanical constraint
• Self closed pair
• Force closed pair
Based on type of contact between the elements
• Lower Pair - Area / Surface contact
• Higher Pair – Point contact

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 Types of Kinematic Pairs
• 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.

• 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. e.g. the
crankshaft in a journal bearing

• 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. Ball and roller bearings are
examples of rolling pair
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 Types of Kinematic Pairs
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.
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. e.g. The ball and socket joint
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.
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 Types of Kinematic Pairs
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-closed 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
Lower kinematic pairs
There is surface contact between the jointed bodies

Higher kinematic pairs

The contact is localized to lines, curves, or points

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 Types of Kinematic pairs

Sliding Pair Turning Pair Spherical Pair Fig. (d) Force closed Pai

Cylindrical Pair Rolling Pair Higher Pair Closed Pair

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 Four bar chain mechanism

Number of links = 4
Number of pairs = 4
Types of kinematic pairs : Turning pairs

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 Activity

Observe, Think and Comment

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 Contents
 Four Bar Chain and its inversions
 Grashof’s Law
 Crank and lever Mechanism
 Activity – Observe, Think and Comment

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 Types of inversions
Inversion is the process of obtaining different mechanisms by fixing in turn each
link of the mechanism.
(i) Four Bar Chain - All are turning pairs
(ii) Single Slider Crank Chain - One sliding pair and three turning pairs
(iii) Double Slider Crank Chain - Two sliding pairs and two turning pairs
Inversions of four bar chain
• Crank and Lever Mechanism (Beam Engine)
• Double crank mechanism (Coupling Rod of a Locomotive)
• Double lever mechanism (Watt’s Indicator Mechanism)

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 Grashof’s law

The Grashof’s law states that for a four-bar linkage system, the sum of the shortest
and longest link of a planar quadrilateral linkage is less than or equal to the sum of
the remaining two links, then the shortest link can rotate fully with respect to a
neighboring link.
If the Grashof’s Law condition is satisfied i.e S+L ≤ P+Q.
then depending on whether shortest link ‘S’ is connected to the ground by one end,
two ends, or no end there are 3 possible mechanisms. They are:
• Double crank mechanism
• Double-rocker mechanism
• Crank and Rocker Mechanism

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24 Desai
 Grashof’s law
(i) Grashof’s condition for double crank mechanism:
s+l > p+ q
In double crank mechanism, the shortest link ‘S’ is a ground link. Both input crank and
output crank rotate at 360°.
(ii) Grashof’s condition for double lever mechanism:
In double-rocker mechanism, the shortest link ‘S’ is coupler link. The coupler link can
rotate 360°.
s+l > p+ q
(iii) Grashof’s condition for crank and lever mechanism:
In crank and rocker mechanism, the shortest link “S’ is input crank or output crank. Input
crank or output crank rotates 360°.
s+l < p+ q
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 Inversions of Four Bar Chain

Crank and Lever Mechanism

(Beam Engine)

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 Inversions of Four Bar Chain
Double Crank Mechanism (Coupling
Rod of a Locomotive)

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 Double Lever Mechanism – Watt’s Indicator Mechanism

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 Inversions of single slider crank chain

1. Rotary engine
2. Oscillating cylinder engine
3. Crank & slotted lever Quick return
motion mechanism
4. Whithworth Quick return motion
mechanism
5. Reciprocating engine mechanism

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 Single Slider Crank Chain

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 Inversions of Double slider crank chain
• Oldham’s coupling
• Elliptical trammel
• Scotch yoke mechanism

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 Contents
 Google Quiz
 Scotch Yoke Mechanism
 Elliptical Trammel
 Oscillating cylinder engine mechanism

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 Scotch Yoke Mechanism
Inversion of double slider crank chain
Converts rotary motion of crank into linear
motion.
Number of links – 4
Fixed link, Crank, Slider, slotted lever
Two sliding pairs and two turning pairs

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 Elliptical Trammel

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 Oscillating Cylinder Engine Mechanism

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 Oldham’s Coupling

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 Discussion

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