By

Sarfaraj Shaikh
Assistant Professor SIT
 The purpose of this course is to
explore the topics of kinematics and
dynamics of machinery in order to
achieve desired motions, and also the
analysis of mechanisms in order to
determine their dynamic behavior.

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 TOM is 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.

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 It deals with study of motion characteristics
of various part of a mechanism without
consideration of forces causing the motion
and their masses

 It deals with study of motion, forces and

masses of various part of a mechanism
 Statics : It deals with study of various forces
acting on any part of a mechanism when it is
in static condition

 Kinetics: It deals with study of motion of

various part of mechanism by consideration
the mass and the forces causing the motion
1. Basic Concepts
 Elements or Links,
 Types of kinematic pairs,
 Types of constrained motions.
 Mechanism and machines
 Inversion of mechanism
2. Kinematic Analysis
 Position and Displacement Analysis :
 Velocity Analysis
 Acceleration Analysis
3.
CAM Design
 Types of cams and followers,
 Cam terminology
 Follower motion
4. Power Transmission Drives
 Belt, Ropes and Chain Drives:
 Gears and Gear Trains:.
 Static and Dynamic Force Analysis
 Turning Moment and Flywheel
 Balancing of Machines
 Governors
 Gyroscopic Motion
 Brakes and Dynamometers
 Mechanical Vibrations
 A mechanism is a device which transforms
motion to some desirable pattern and typically
develops very low forces and transmits little
power.
◦ Arrangement to produce desired motion of the machine
◦ Predominant ideas : desired motion , position, velocity,
acceleration

 A machine typically contains mechanisms which

are designed to provide significant forces and
transmit significant power.
◦ Predominant concepts : Force, torque power and motion

◦ Differs from a Mechanism in PURPOSE

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 Mechanism is A system of elements
arranged to transmit motion in a
predetermined fashion.

 Machine is A system of elements

arranged to transmit motion and energy
in a predetermined fashion.

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 Can crusher
Simple press

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 Moves packages from an
assembly bench to a
conveyor

Rear-window
wiper

Microwave carrier to
assist people on
wheelchair 12
 Front loader
Lift platform

Device to close
the top flap of
boxes

Lift platform

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 Car

Food Blender

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Bulldozer Spider Robot

Amusement
Park Ride

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Automation and Inspection Equipment:
 Pick and place robots
 Welding and painting robots
 Assembly robots
 Assembly line mechanisms
 Conveyor systems
 Clamping and testing fixtures and jigs
 Mobile robots (e.g., Walking robots and exploratory
robots)
Automotive:
 Suspension linkages and CV joints
 Steering mechanisms
 Transmission, clutch, and shifter mechanisms
 Cam shaft
 Engine mechanism
 Timing chain, belts, and pulleys
 Hood and trunk hinge mechanisms
 Hatchback lift mechanism
 Windshield wiper mechanism
 Truck tailgate mechanism
 Retractable roof
 Jack
 Collapsible antenna
Consumer Electronics:
 Digital camera auto-focus mechanisms
 CD and DVD player loading mechanism
 VCR eject, and tape load mechanisms
 Computer CD-ROM and HD mechanisms
Heavy Equipment:
 Airplane control surface linkages, landing gear,
hatch hinges, folding steps, seats, etc.!
 Amusement park rides
 Farm equipment (e.g., Harvester, thrasher)
 Garbage truck lifting, compacting, and dumping
mechanisms
 Dump truck dumping mechanism
 Construction equipment (e.g., Backhoe, crane)
 Steam locomotive drive linkage
Home Appliances, Furniture, etc.
 Appliance and cabinet door mechanisms
 Washing machine and dishwasher timer cams
 Toilet flush and float mechanisms
 Electric and mechanical can opener
 Fancy corkscrew
 Folding ironing board
 Folding tables and chairs
 Sofa bed folding mechanisms
 Piano keys and pedal mechanisms
 Animated Christmas decorations
Office Equipment:
 Copy machine, printer, fax machine and scanner
paper feeders, sorters, and scanning/printing head
mechanisms
 Door damper mechanisms

Sports Equipment:
 Mountain bike rear suspension
 Bicycle brakes and shifting mechanisms
 Variable force exercise equipment.
 Compound bow
Tools:
 Pliers and scissors
 Vise grip
 Crescent wrench
 Clamping vise
 Drafting table
 Garden tools (e.G., Hedge trimmer, lawn mower)
Toys and Baby Stuff:
 Baby swing
 Folding baby stroller
 Robotic and animatronic toys (e.G., Robo-dog)
 Collapsible globe linkage
 Transformer toys
 Any toys with moving parts
 Consumer robotics
 Imagine being on a design and development
team. Your team is responsible for the design of
a windshield wiper system for a sports vehicle .
 Determine appropriate
movement of the wipers
View range?
Tandem or opposite?
Location of Pivots? Kinematics!!
Wipe angle?
 Timing of wipers
 Wiping velocity
 Force acting on the
wiper system
 Dictates type of power
required
 Required strength of the
components Dynamics!!
 Ex.: Overcome Sap
Friction
 Inertia forces Visit Me
Next
Semester
Another Industrial
Example :
Lift Platform driven by hydraulic Kinematics
cylinders :

Dynamics
 No. of independent coordinates needed to define
position of body

How many DOF does a body in space (3-D) have?

The Earth Mover shown below consists of various links and
kinematic pairs. Can You Identify ??
 Definitions

All of the above contain linkages which consist of:

• Links
• Kinematic Pairs/ Joints
Are assumed to be rigid bodies!!
Have nodes for attachment!
Can be any shape (not just those shown)!
Link order = number of nodes!
Kinematic
Pairs/Joint
s allow
relative
motion
between
links
Revolute Pair (also called Pin/Hinge
joint) 1 DOF
Sliding/ Prismatic Pair (1 dof)
Helical / Screw Pair (1 dof)
Gears (higher pair) 2 dof
Cam and follower (higher pair) 2 dof
Rolling Pair (Roll/slide/roll+slide)1/2 dof
Spherical Pair (3 dof)
Example
Identify the number of links and the type of joints
contained in the foot pump.
Example
Identify the number of links and the type of joints
contained in child’s digging toy.
 Our ancestors used various Mechanisms long before the subject of
Kinematics evolved!!

Grain Mill (1588)

Up and Down Sawmill (13th Century)
 The number of independent inputs needed to
precisely position all links of a mechanism.
 The number of independent motions ( drivers
/ actuators) needed to run a mechanism.
 Recall example of lifting mechanism and the
Windshield Wiper Mechanism???
 F = 3 (N-1) – 2P1 – P2

F - Degrees of Freedom.
N- No of Links in the mechanism.
P1- No. of 1 dof joints (i.e. joints allowing only single
dof between the connected links)(full joints).
P2 - No. of 2 dof joints. (half joints).

Deriving the mobility equation, on your own, is FUN

and I don’t want to deprive you of the joy!! 
On Your Mark..Get..Set…GO!!!!!!
Group Work is Permitted
Being Practical…

Find the mobility of the shear press used to cut

and trim electronic circuit board laminates!

Operating
handle/lever

Shearing blade/die

Laminate to be
cut

Does your formula based answer match with your intuition?

They say Practice Makes a Student Perfect…So here’s your chance to perfection!!
Determine the DOF of the following mechanisms : (Answers are expected in the
next class)

Child’s Digging Toy Foot Pump

Homework Exercise : Answers Expected in Next Class. Group Work is Permitted

Figure below shows a hand-pump, usually found in rural areas. Determine the
mobility of the mechanism. What will happen if an additional binary link with
two pin joints is added to the mechanism? Justify your answer.
Figure below shows our all time favorite Earth Mover. The manufacturer claims that
the operator will have to control only one independent lever to exactly position the
excavating bucket at the desired position.
Based on your knowledge of kinematics till date, verify the claim of
the manufacturer and justify your remarks.

Bucket
 A representation of a mechanism that shows only the key
dimensions that influence the motion.
 Stripped-down stick diagram. Like electrical circuit
diagram.
 Remove any unnecessary detail & Simplifies the drawing
such as possible joint motion must be clear of the
mechanism for further analysis.
 Real links can be of any shape, but a kinematic link, is
defined as a line between joints .
 Many different notations are possible, but whatever
notation is used, it is critical that your kinematic diagram
indicates which links are grounded and which can move.
 Shading or crosshatching should be used to indicate that a
link is solid
1) Frame Identification : Arbitrary in this case (We’ll take Top Handle)
2) Identify other links :
- Link 2 : Bottom Handle
- Link 3 : Bottom Jaw
- Link 4 : Bar connecting top and bottom handle
3) Joint Identification : 4 Revolutes, A to D
4) Point of Interest : End of bottom Jaw (X) and end of lower
handle (Y)
Material Shearing Mechanism
 Slider-Crank Mechanism:
 A linkage with 4 links connected by 4 joints.
 (3 pins & 1 slider)

in-line
Coupler
Crank
Sliding Link

Frame
Offset

Coupler
Sliding Link
Crank

Frame
Very simple,
but very
versatile.
First option
for design!!

Which Link to be Fixed?

What will be the Effects?
 Match Fixing Changes the entire course of a
Match, depending upon which Player/Team is
Bribed (Grounded/Fixed)

 Same happens in case of Mechanisms. Here,

We Fix (different) Links (as per our benefit.

 And this changes the (absolute) motion of the

Mechanism.
• Inversions of Mechanism : Result from
grounding different links in the chain.
• Powerful tool…!!!
• As many inversions as the no. of links.
• Not all inversions will have unique
kinds of motion.
Simple relation that predicts the (rotation) behavior of kinematic
inversions of 4-bar linkage based only on link lengths

If my condition is satisfied, atleast one

link will be able to make full revolution
w.r.t. the ground/frame.
Other wise your mechanism will start
singing –

Sada Haq..Ethe Rakh!!

(It will b a Rockstar, with all 3 links
being Rockers)
 Is a simple relationship that predicts the
rotation behavior or rotatabilityof a four
linkage’s inversion based only on the link
lengths

◦ S = length of shorter link

◦ L=length of longest link
◦ P=length of one remaining link
◦ Q=length of the other remaining link
 If the inequality is true, at least one link will be
capable of making a full revolution with respect
to the ground plane(Class I)
S+L< P+Q
 If not true, then the linkage is non-Grashofand
no link will be capable of a complete revolution
relative to any other link (Class II)
S+L> P+Q
 If both the values are equal then two link will
capable of making a full rotation (Class III)
S+L=P+Q
 Ground either adjacent to the shortest link
and you get a crank-rocker

 Ground the shortest link and you will get a

double-crank

 Ground the link opposite the shortest and

you will get a Grash of double-rocker
S+L<P+Q
 All inversion will be triple-rockers in which no
link can fully rotate
S+L>P+Q
S+L=P+Q

Change
Point
 All inversion will be either double-cranks, or
crank-rocker
1. Revolute joints in any loop can be replaced by
prismatic joints with no change in DOF of the
mechanism
2. Any full joint can be replaced by a half joint,
but this will increase the DOF by one
3. Removal of a link will reduce the DOF by one
4. The combination of rules 2 and 3 above will
keep the original DOF unchanged
M = 3(5 – 1) – 2(5) – 0 = 2 M = 3(5 – 1) – 2(5) – 1 = 1
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