Kinematic of Machines

Lecture-3-a

Kinematic Pairs, Classification of Kinematic Pair: Based on Nature

of contact, mechanical constraints, relative motion, Types of
constrained Motion: Complete, incomplete & successfully
constraint.
 Degree of Freedom or Mobility
No. of independent parameters needed to define position of a body in space at any instant

For this pencil in the plane of paper 3 parameters are

needed to specify it position

x y θ

The system of the pencil thus has 3 DoF in the plane.

Fig.1
How many DOF does a body in three-space (3-D) have?
 3- Translational Motions in x, y, z directions
Curvilinear motion and rectilinear (straight-line) motion

Fig.2
3- Rotational Motions about x, y, z axes

Total 6 Degree of
freedom in 3-D space
 Linkage
These are basic building blocks of all mechanisms

Kinematic Links Joints

(Kinematic Pairs)
Link is an assumed rigid
body that possesses at A joint is a connection
least two nodes that are between two or more
points for attachment to links (at their nodes),
other links. which allows some
motion, or potential
motion, between the
connected links.
 Classification of Joints
(Kinematic Pairs)

Type of contact Nature of Relative Type of physical Number of links

between the Motion closure of the joint joined
elements
 Prismatic
 Line contact
 Force Closed
 Point contact  Revolute
 Form Closed
 Surface contact  Helical

 Cylindrical Pairs:

 Spherical Pairs:

 Planar Pairs:
 Type of contact between the elements

 Line contact: When contact between the two mating links is at line.

Higher Pairs
 Point contact: When contact between the two mating links is at a point.
 Surface contact: When contact between the two mating links is at a surface.

Lower Pairs