The Theory of Machines

and Mechanisms
Chapter 1. Structure Analysis
Sun Zhihong
Zhsun@dhu.edu.cn
62373317
62373319
Room307,No.3 Teaching Building

Main Topics
1. The composition of machine
2. Kinematic diagram

1. The composition of machine

Machine - mechanisms - links
- machine elements
1. Machine

1. The composition of machine

1. The composition of machine

2.Mechanisms( )

Four-bar linkage mechanism

Gear and gear train
Cam mechanism
Other commonly used mechanism
Combined mechanism

1. The composition of machine

3. Links( )
Links are the basic kinematic elements of machine.
Sometimes, an machine element is a link and acts
as an independent unit

4. Machine elements( )
Machine elements are the basic elements of
manufacture. Every machine is composed of many
machine elements.
Cam, gear are machine elements.

1. The composition of machine

4. Kinematic pair( )
In order to transmit and transform motion, every link must be
kept permanently connected with other links by some kind
of connection and have motion relative to them. Such kind
of connection is called a kinematic pair.

Higher pair
Cam pair
Gear pair

Lower pair
Sliding pair

revolute pair(joint)

1. The composition of machine

6.

Kinematic chain( )
1.

Opened chain

2.

Closed chain

1. The composition of machine

Machine
Elements

Rigid
connection

Frame, driving
link, driven link

Links

Kinematic
pairs Kinematic

Mechanism

chain

2. Kinematic diagram
1.
2.

3.

4.

Representation of kinematic pairs

Representation of links in kinematic
pairs
Special symbols for commonly used
mechanisms
Kinematic diagram of a mechanism

2. Kinematic diagram
5. Procedures of drawing kinematic diagram
1)

2)

3)

4)
5)

6)

2. Kinematic diagram
5.

Example 1:

2. Kinematic diagram
5.

Example 2:

Todays Homework
Page

Have a good
weekend!