ME 2220: Kinematics and Dynamics of Machinery Jan-April 2014

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Kinematics Pairs or Joints can be classied in several ways:

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Kinematics Pairs or Joints can be classied in several ways: By the type of contact between the elements: line, point or surface.
LOWER PAIR: surface contact HIGHER PAIR: point or line contact Advantage of Lower Pairs:

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Kinematics Pairs or Joints can be classied in several ways: By the type of contact between the elements: line, point or surface.
LOWER PAIR: surface contact HIGHER PAIR: point or line contact Advantage of Lower Pairs: Can trap lubricants.

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Kinematics Pairs or Joints can be classied in several ways: By the type of contact between the elements: line, point or surface.
LOWER PAIR: surface contact HIGHER PAIR: point or line contact Advantage of Lower Pairs: Can trap lubricants.

By the number of degrees of freedom allowed at the joint

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Kinematics Pairs or Joints can be classied in several ways: By the type of contact between the elements: line, point or surface.
LOWER PAIR: surface contact HIGHER PAIR: point or line contact Advantage of Lower Pairs: Can trap lubricants.

By the number of degrees of freedom allowed at the joint How the contact is mainatined
FORCE CLOSED: contact maintained by application of external force FORM CLOSED: contact maintained by geometric form.

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By the number of links joined ( order of the joint: Number of links

joined minus one)

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Six Lower Pairs

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Some books use E (from Ebene for plane in German) as the symbol for Planar Pair. Some books use G (from Globular) as the symbol for the Spherical Pair

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If all points of of a mechanism move in parallel planes, then it is dened as a plane mechanism. Planar mechanisms will be our focus in this class.

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If all points of of a mechanism move in parallel planes, then it is dened as a plane mechanism. Planar mechanisms will be our focus in this class. The Revolute and Prismatic pairs are the only lower pairs usable in planar mechanisms.

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If all points of of a mechanism move in parallel planes, then it is dened as a plane mechanism. Planar mechanisms will be our focus in this class. The Revolute and Prismatic pairs are the only lower pairs usable in planar mechanisms. Kinematic Chain: A kinematic chain is series of links connected by kinematic pairs. The chain is said to be closed if every link is connected to atleast two other links and forms one or more closed loops, otherwise it is an open chain. NOTE: A closed kinematic chain can have more than one DOF. A link connected to only one other link is a singular link.

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If all points of of a mechanism move in parallel planes, then it is dened as a plane mechanism. Planar mechanisms will be our focus in this class. The Revolute and Prismatic pairs are the only lower pairs usable in planar mechanisms. Kinematic Chain: A kinematic chain is series of links connected by kinematic pairs. The chain is said to be closed if every link is connected to atleast two other links and forms one or more closed loops, otherwise it is an open chain. NOTE: A closed kinematic chain can have more than one DOF. A link connected to only one other link is a singular link. A chain consisting of only binary links is termed a simple chain.

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A CONSTRAINED KINEMATIC CHAIN : It has one DOF. The relative position of any one link uniquely denes the relative position of any other point on any other link. A MECHANISM maybe dened as a CLOSED kinematic chain in which one link is xed (i.e attached to the frame of reference. Note that the frame of reference itself maybe moving. Eg: Wiper mechanism xed on a automobile).

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Structure Vs Mechanism

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Structure Vs Mechanism

A structure is also a combination of rigid bodies connected by joints. But its purpose is not to do work. It is intended to be rigid. There is no relative motion between parts. Eg: A truss.

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Kinematic Diagrams
A real life mechanisms, it is generally represented by a kinematic diagram, for ease of study. The kinematic diagram depicts the essential kinematic features of the mechanism.

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Kinematic Diagrams
A real life mechanisms, it is generally represented by a kinematic diagram, for ease of study. The kinematic diagram depicts the essential kinematic features of the mechanism. Fixed link

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Kinematic Diagrams
A real life mechanisms, it is generally represented by a kinematic diagram, for ease of study. The kinematic diagram depicts the essential kinematic features of the mechanism. Fixed link

Prismatic Pair

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Kinematic Diagrams
A real life mechanisms, it is generally represented by a kinematic diagram, for ease of study. The kinematic diagram depicts the essential kinematic features of the mechanism. Fixed link

Prismatic Pair

Revolute Pair

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Kinematic Diagrams

More Examples:

Quaternary Link

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Kinematic Diagrams

More Examples:

Quaternary Link

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Kinematic Diagram of a drafter mechanism a) clamped b) unclamped

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Kinematic Diagram of a drafter mechanism a) clamped b) unclamped

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