Definition : Each part of a machine which has relative motion to some other part of the machine is

known as kinematic link or an element.

Definition : A machine is an assemblage of a links or mechanisms which are used to transmit both the
required motion and forces.

Definition : Structure is an assemblage of resistant bodies without any relative motion between the
links.

Definition : When two kinematic links are connected in such a way that their motion is either completely
or successfully constrained, these two links are said to form a kinematic pair.

Definition : Kinematic chain is defined as the combination of kinematic pairs in which each link forms a
part of two kinematic pairs and the relative motion between the links is either completely constrained
or successfully constrained.

Definition of Mechanism : A “mechanism” is a kinematic chain with any one link fixed which is used to
transmit the required motion.

Definition : It should be noted that in case the different links of a kinematic chain are fixed, the result is
a different mechanism. Such mechanisms obtained are called inversion of a mechanism. These will be
discussed in subsequent section.

Definition : The behaviour and appearance of such mechanism are different. Each mechanism thus
obtained is called an inversion of kinematic chain.

Grashof’s law states that for a planer four bar chain mechanism, the sum of the length of shortest and
longest links should not be greater than the sum of the remaining two link lengths if there is to be a
continuous relative rotation between two links.

Definition : When two links which are equal in lengths are adjacent to each other then mechanism is
called as deltoid four bar linkage.

If we apply the kutzbach criterion to planer mechanism, then Equation (1.15.1) will be modified and that
modified equation is known as Grubler’s Criterion for planer mechanism

Definition : The component of acceleration in the direction of vector in the direction parallel to link OP
and its direction towards the centre of rotation O is called centripetal acceleration.

Definition : The sum of the relative position vectors for the links forming a closed loop in the given
mechanism is always zero. This is called as loop closure equation.

A Hooke’s joint, commonly known as Universal coupling, is used to connect two non-parallel and
intersecting shafts. It is also used for transmission of motion and power four shafts with angular
misalignment where flexible coupling does not serve the purpose.

Definition : The diagram showing the variation of speed of driven shaft 2 with respect to driven shaft is
called polar diagram

Definition : Degree of freedom (DOF) of a point is the number of independent coordinates required to
define the position and orientation of a point.