A Course on

Theory of Machines
SY Mechanical Engineering
A Y 2022-23

Presented By
Ms. Priyanka P Suryawanshi
CoEP Technological University
Unit I Fundamentals of Kinematics and mechanisms
1. Kinematic link, Types of links.
2. Kinematic pair, Types of constrained motions, Types
of Kinematic pairs.
3. Kinematic chain, Types of joints, Mechanism,
Machine.
4. Degree of freedom (Mobility), Kutzbach crieterion,
Grubler’s criterion.
5. Four bar chain and its inversions, Grashoff’s law.
6. Slider crank chain and its inversions.
7. Double slider crank chain and its inversions.
8. Equivalent linkage of mechanisms.
Lecture 1
 Introduction
• The theory machine is an applied science which is
used to understand the relative motions of the parts
of a machine or the mechanisms and the study of the
forces which produce these motions.

The design of a mechanical system needs a proper

understanding of
• The geometrical aspects of motion
• The forces involved in motion
 CLASSIFICATION

Theory of machine

Kinematics (Study from

relative motion point of Dynamics (Involves force
view) & inertia calculation)

Statics (Study of forces

when the body is Kinetics (Study of forces
stationary) when body is in motion)
 Kinematic link
• A link is defined as a member or a combination of
members of a mechanism, connecting other members and
having motion relative to them
• Thus, a link may consist of one or more resistant bodies. A
link is also known as kinematic link or element
Rigid and Resistant body
• A body is said to be rigid if under the action of forces, it
does not suffer any distortion or the distance between
any two points on it remains constant.
• Resistant body is one which transmits force with
negligible deformation in the direction of force
transmission.
 TYPES OF LINKS
1) Rigid link:-
A rigid link is one which does not undergo any deformation
while transmitting motion. The deformation of a connecting
rod, crank, etc. of a reciprocating steam engine is not
appreciable, they can be considered as rigid links.
2) Flexible link:-
A flexible link is one which is partly deformed in a manner
not to affect the Transmission of motion. e. g belts, ropes,
chains and wires are flexible links and transmit tensile
forces only.
3) Fluid link:-
A fluid link is one which is formed by having a fluid in a
receptacle and the motion is transmitted through the fluid
by pressure or compression only, as in the case of hydraulic
press, jacks and brakes.
 CLASSIFICATION OF LINKS
• Links can be classified into binary, ternary, quaternary,
etc. depending upon their ends on which revolute or
turning pairs can be placed.

• The links shown in Fig. are rigid links and there is no

relative motion between the joints within the link.
 KINEMATIC PAIR
• The two links or elements of a machine, when in
contact with each other, are said to form a pair.
• If the relative motion between them (pair) is
completely or successfully constrained (i.e. in a
definite direction), the pair is known as kinematic pair.
TYPES OF CONSTRAINED MOTIONS
1. Completely constrained motion
2. Incompletely constrained motion
3. Successfully constrained motion
 1. COMPLETELY CONSTRAINED MOTION
• When the motion between a pair is limited to a
definite direction irrespective of the direction of
force applied, then the motion is said to be a
completely constrained motion.
• e.g. The motion of a rectangular bar sliding in a
rectangular slot as shown, Shaft with collars in a
circular hole.
2. INCOMPLETELY CONSTRAINED MOTION
• When the motion between a pair can take place
more than one direction, then the motion is called an
incompletely constrained motion.
• The change in the direction of impressed force may
alter the direction of relative motion between the
pair. e.g. shaft in a circular hole
 3. SUCCESSFULLY CONSTRAINED MOTION
• When the relative motion between the links is not
completely constrained by itself but by some other
means, then the motion is said to be successfully
constrained motion. e.g. Piston reciprocates inside an
engine cylinder.
• The another example of successfully constrained
motion is, the motion of the shaft in a foot step
bearing .
 CLASSIFICATION OF KINEMATIC PAIRS
The kinematic pairs are classified based on the following
considerations
(a) According to nature of relative motion between the
contacting surfaces .
(i) Sliding pair or prismatic pair
(ii) Turning or revolute pair
(iii) Rolling pair
(iv) Screw or helical pair
(v) Spherical or globular pair
(b) According to nature of contact between the contacting
surfaces .
(i) Lower pair
(ii) Higher pair
(c) According to nature of constraint between the contacting
surfaces.
(i) Closed pair
 SLIDING PAIR
• If two links have a sliding motion relative to each other,
they form a sliding pair.
• A rectangular rod in a rectangular hole in a prism is a
sliding pair. The piston and cylinder, ram and its guides
in shaper, tail stock on the lathe bed.
• sliding pair has a completely constrained motion.
 TURNING OR REVOLUTE PAIR
• When one link has a turning or revolving motion
relative to the other, constitute a turning or
revolving pair
• In a slider-crank mechanism, all pairs except the
slider and guide pair are turning pairs.
• A circular shaft revolving inside a bearing is a
turning pair.
• Shaft with collars in a circular hole.
 CYLINDRICAL PAIR
• When one link has a sliding as well as revolving
motion relative to other, they constitute a
cylindrical pair.
• The shaft free to rotate in a hole and free to slide
axially inside the bearing
 ROLLING PAIR
• When the links of a pair have a rolling motion relative to
each other, they form a rolling pair,
• e.g. A rolling wheel on a flat surface,
Belt drive,
Wheels of rail,
ball and roller bearings
 SCREW OR HELICAL 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 one link in the form of a
sphere turns inside a fixed link,
it is a spherical pair.
• The ball and socket joint is a
spherical pair .
 LOWER PAIR
• When the two elements
of a pair have a surface
contact when relative motion
takes place and the surface
of one element slides over
the surface of the other, the
pair formed is a lower pair.
• It will be seen that
sliding pairs, turning pairs
and screw pairs form lower
pairs.
 HIGHER PAIR
• When the two
elements of a pair have
a line or point contact
when relative motion
takes place, it is known
as higher pair.
• A pair of friction discs,
toothed gearing, belt
and rope drives, ball
and bearings and cam
and follower are the
examples of higher
pairs
 CLASSIFICATION OF KINEMATIC PAIRS
CLOSED PAIR
• When the elements of a pair are held together
mechanically, it is known as a closed pair.
• All the lower pairs are the example of closed pairs.
Examples:
1) Motion of piston in cylinder
2)Shaft revolving in a bearing
3)Motion between bolt and nut
 FORCED CLOSED PAIR
• When two links of a pair are in contact either
due to force of gravity or some spring action,
they constitute an unclosed pair.
• In this, the links are not held together
mechanically, e.g. cam and follower pair
Lecture 2
 KINEMATIC CHAIN
•A kinematic chain is an assembly of links which are
interconnected through pairs, permitting relative
motion between the links.
• Relation between the number of pairs (p )
forming a kinematic chain and the number of
links is
l=2p—4
• Relation between the number of links (l) and
the number of joints (j) which constitute a
kinematic chain is given by the expression
• If the kinematic chain having higher pair then
following relation is used.

j + H / 2 = (3 /2 ). n - 2

n = number of links
p = number of lower pairs
j = Number of joints(No of Lower Pairs)
H= number of higher pairs
 TYPES OF JOINTS IN KINEMATIC CHAIN

BINARY JOINT
• When two links are joined
at the same connection, the
joint is known binary joint.
• For example, a chain as
shown in Fig. has four links
and four binary joins at
A,B,C,D
 2. TERNARY JOINT
• When three links are joined at
the same connection, the joint is
known as ternary joint.
• It is equivalent to two binary
joints as one of the three links
joined carry the pin for the other
two links.
• For example, a chain, as shown
in Fig, has six links. It has three
binary joints at A, E and D and
two ternary joints at C and B.
 3.QUATERNARY JOINT
• When four links are joined
at the same connection, the
joint is called a quaternary
joint.
• It is equivalent to three
binary joints.
• Fig. has two binary joint at
F,C two ternary joints at A,
D, and, and two quaternary
joints at B and E.
Check whether the following configurations are
kinematic chain or not.
1)

2)

3)
 MECHANISM
• If a number of bodies are assembled in such a way
that the motion of one causes constrained and
predictable motion to the others, it is known as a
mechanism. A mechanism transmits and modifies
a motion.
 Differentiate between
MECHANISM
1. If a number of bodies are
assembled in such a way that
the motion of one causes
constrained and predictable
motion to the others, it is
known as a mechanism
2. A mechanism transmits and
modifies a motion
3. It is the skeleton outline of
the machine to produce
definite motion between
various links
4. Clock, Type-writer , slider
crank mechanism, four bar
mechanism
MACHINE
1. A machine is a mechanism or
a combination of mechanisms
which, transmits force from the
source of power to the
resistance (load) to be
overcome, and thus performs
useful work.
2. Machine modifies mechanical
work.
3. Machine may have many
mechanisms for transmitting
mechanical work or power.
4. Shaper in workshop receives
mechanical power which is
suitably converted to do the
work of cutting metal.
 STRUCTURE
• An assemblage of resistant bodies, having no
relative motion between them and meant for
carrying loads having straining action, is called
a structure.

• Examples : Roof trusses, bridges, buildings

Differentiate between a machine & Structure
MACHINE
STRUCTURE
1) A machine is a mechanism or a
combination of mechanisms 1) An assemblage of resistant
which, transmits force from the bodies, having no relative motion
source of power to the between them and meant for
resistance (load) to be carrying loads having straining
action, is called a structure.
overcome, and thus performs
useful work.
2) Relative motion exists between 2) No relative motion exists between
its parts. its members

3) Structure serves to modify and

3)Machine serves to modify and
transmit forces only.
transmit mechanical work.
4) Examples : Roof trusses, bridges,
4) Examples : Shaper, lathe. buildings.
Lecture 3
DEGREE OF FREEDOM
 DEGREE OF FREEDOM (DOF)
• Degrees of freedom of a pair is
defined as the number of
independent relative motions,
both translational and rotational,
a pair can have.

• For spatial mechanisms

Degrees of Freedom = 6 - (Number
of Constraints)

• For planar mechanisms :-

Degrees of Freedom = 3 - (Number
of Constraints)
 DOF OF PLANAR MECHANISMS

• It can be stated that an

unconstrained rigid link in
the plane has three
degrees of freedom.
DOF OF PLANAR MECHANISMS

X
 KUTZBACH CRITERIA
• Since in a mechanism, one of the links is to be
fixed, therefore the number of movable links
will be (N— 1) and thus the total number of
degrees of freedom will be 3 (N — 1) before
they are connected to any other link.

• The number of degrees of freedom of a

mechanism is given by
• F = 3 ( N – 1 ) – 2P1 – 1P 2
 GRUBLER’S CRITERIA
• The Grubler’s criterion applies to mechanisms with
only single degree of freedom joints where the overall
movability of the mechanism is unity.

• Substituting n = 1 and h = 0 in Kutzbach equation, we

have
• F = 3 ( N – 1 ) – 2P1 – 1P 2
1 = 3 ( N – 1 ) – 2P1 – 0
1 = 3N – 3 - 2P1
3N—2P1—4=O
 PROBLEM -01

• Q1(c) Fig. shows schematic

of a mechanism. Redraw
the free-hand sketch on the
answer book. Find out the
total number of kinematic
links and number of
kinematic pairs. Hence find
out the degrees of freedom
for the mechanism
[4 MARKS]
 PROBLEM -02

• Q 2C)Fig. shows schematic

of a mechanism. Redraw
the free-hand sketch on the
answer book. Find out the
total number of kinematic
links and number of
kinematic pairs. Hence find
out the degrees of freedom
for the mechanism. [4]
 PROBLEM -03

• (b) Figure shows

schematic of a
mechanism. Redraw the
free hand sketch on the
answer-book. Find out the
total number of kinematic
links and number of
kinematic pairs. Hence
find out degrees of
freedom for the
mechanism. [
 PROBLEM -04

• Q2C) Figure shows

schematic of a
mechanism. Redraw the
free hand sketch on the
answer-book. Find out the
total number of kinematic
links and number of pairs.
Hence find out degrees of
freedom for the
mechanism. [4]
 PROBLEM -05

• Justify the linkages

shown in Fig. is a
mechanism with single
degree of freedom.
 PROBLEM-7

• Figure shows schematic

of a mechanism.
Redraw the freehand
sketch on the answer-
book. Find out the total
number of kinematic
links and number of
pairs. Hence find out
degrees of freedom for
the mechanism. [4]
Lecture 4
INVERSION
 INVERSION
• When one of links is fixed in a kinematic chain, it
is called a mechanism.

• So we can obtain as many mechanisms as the

number of links in a kinematic chain by fixing, in
turn, different links in a kinematic chain.

• This method of obtaining different mechanisms

by fixing different links in a kinematic chain, is
known as inversion of the mechanism.
 INVERSIONS OF FOUR BAR MECHANISM

• Crank and Lever Mechanism (First

Inversion) (Beam engine mechanism)

• Coupling rod of a locomotive (Double

crank mechanism)

• Watt’s indicator mechanism (Double

lever mechanism).
 CRANK & LEVER MECHANISM
BEAM ENGINE (FIRST INVERSION)
• Beam Engine
Mechanism is the
most popular
example of crank
and lever
mechanism. The
purpose of this
mechanism is to
convert rotary
motion into
reciprocating
motion.
BEAM ENGINE ANIMATION
 DOUBLE CRANK MECHANISM

• This mechanism is meant for

transmitting rotary motion
from one wheel to the other
wheel.

• Coupled wheels of locomotive

is the example of double crank
mechanism.
Watt’s indicator mechanism (Double lever
mechanism).
 Grashof’s law
• An important consideration when designing a
mechanism is to see whether an electric motor is a
driving member. In such a case, naturally there must
be a crank member in the mechanism to receive
power from motor. For a four-bar linkage, Grashof’s
law provides a very simple test to check whether any
of the links in the chain can be a crank..

• Grashof’s law states that for a planar four-bar linkage,

sum of the shortest and longest link-lengths must be
less than or equal to the sum of the remaining two
link-lengths, if there is to be a continuous relative
rotation between two members.
• s + l≤ p + q
GRASHOF’S LAW ANIMATION
 INVERSIONS OF SINGLE SLIDER
MECHANISMS
• It consists of one sliding pair and three turning
pair. It is usually found in reciprocating steam
engine mechanism. This mechanism converts
rotary motion into reciprocating motion
 Reciprocating Engine Mechanism
(First Inversion)
• It converts rotary motion into
reciprocating and vice-versa.

• This mechanism has four

links and forming three
turning pairs and one sliding
pair.

Link 1 - Cylinder and Frame

(Fixed)
Link 2 – Crank
Link 3 - Connecting rod
Link 4 - Piston or Slider
Lecture 5
Withworth quick return mechanism
( second inversion)
 Rotary engine (second inversion)
link 1- Cylinder link
link2- Fixed Link
link 3 - Piston ,
link 4 - Connecting Rod
 Crank and Slotted Lever Mechanism
• This mechanism is mostly (Third Inversion)
used in shaping machines
and slotting machines. This
is a Quick return motion
mechanism.

• The slider (1) reciprocates in

oscillating slotted lever (4)
and crank (2) rotates while
link 3 is a stationary link.
Another link 5, connects the
end of link 4 to the ram (6).
ANIMATION OF QUICK RETURN MOTION
MECHANISM
 DEC-08
• Q2(c) In a crank and slotted lever quick return
motion mechanism, the distance between the
fixed centers is 240 mm and the length of the
driving crank is 120 mm. Find the inclination of
the slotted bar with the vertical in the extreme
position and the time ratio of cutting stroke to
the return stroke. If the length of the slotted
bar is 450 mm, find the length of the stroke if
the line of stroke passes through the extreme
positions of the free end of the lever. [4]
 Oscillating Cylinder Engine Mechanism (THIRD
Inversion)
• In this mechanism, the link 3
forming the turning pair is Link 1 - Piston & Piston Rod
fixed. The link 3 corresponds to Link 2 - Crank
the connecting rod of a Link 3 - Fixed Link
reciprocating engine Link 4 – Cylinder
mechanism.
• When the crank (link 2)
rotates, the piston attached to
the piston rod (link 1)
reciprocates and cylinder (link
4) oscillates about a pin
pivoted to the fixed link (link 3)
at A.
Hand pump (fourth inversion)
 Double Slider Crank Chain
• A kinematic chain which
consists of two turning
pairs and two sliding pairs
is known as double slider
crank chain,

• INVERSIONS:-
• 1)Elliptical Trammel
• 2)scotch-yoke mechanism
• 3)Oldham coupling
 ELLIPTICAL TRAMMEL
• Here, the slotted
frame is fixed. Any
point, such as S on the
link BC will trace out
an ellipse as the
blocks B and C slide
along their respective
slots.
link 1 - Slider
• It is an instrument for
link 2 - Connecting Link
drawing ellipses.
link 3 – Slider
Clearly, the CS and BS
link 4 - Slotted frame
are respectively the
(fixed link)
semi-major and semi-
minor axis.
ANIMATION OF ELLIPTICAL TRAMMEL
 SCOTCH YOKE MECHANISM

• Here, one of the two slide

blocks i.e. either link 1 or link
3, is kept fixed. In such an
arrangement, the whole
frame i.e. link 4 will
reciprocate as seen in
Scotch-Yoke mechanism.
• Here, rotary motion of link 2
is converted to reciprocating link 1 – Slider (fixed link) ,
motion to link 4. link 2 - Connecting link ,
link 3 - Slider link ,
link4 – Slotted Frame
 OLDHAM COUPLING (THIRD INVERSION)
• Here the Connecting link
in the basic configuration
is fixed.
• Maximum sliding speed
of each tongue is
Vs = ω . r
ω = angular velocity of
each shaft
r = distance between
the axes of shafts
Animation Of Oldham Coupling
Lecture 6
Equivalent Linkages in Mechanism
• It is possible to replace turning pairs of the
mechanisms by other types of pairs having
one or two degrees of freedom such as sliding
pairs or cam pairs.
• This can be done by some se rules such that
new mechanism also has same degrees of
freedom and are kinematically similar.
Sliding Pairs in place of Turning Pairs
 Springs in Place of Turning Pairs
• Action of spring to elongate of compress the
length. Spring is replaced by two binary links
joined by turning pairs.