KINEMATICS OF MACHINES

Sub Code :18ME44

Unit 1: Introduction, Kinematic Chains and Inversions.
The subject Theory of Machines may be defined as that 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.
Theory of Machine may be sub-divided into four branches

Kinematics of Machine (4th Sem) Dynamics of Machine (5th Sem)

Statics Kinetics
Kinematics is the study of motion, without considering the
forces which produce that Motion.
Kinematics of machines deals with the study of the relative
motion of machine parts without considering the force
producing motion.
It involves the study of position, displacement,
velocity and acceleration of machine parts.
Dynamics of Machine deals with the forces and their
effects, while acting upon the machine parts in motion.
• Kinetics deals with the inertia forces which arises
from the combined effect of mass and motion of the
machine parts.
• Statics deals with the forces and their effects while the
machine parts are at rest. The mass of the parts are
neglected.
Kinematic link or Element: Each part of a machine which moves
relative to some other part is known as kinematic link.

Characteristics of Link:
• It should have relative motion w.r.t. other link. Simple press
• It must be a resistive body need not be rigid body.
Types of Link:
• Rigid link
• Flexible link
• Fluid link
Kinematic Pair: kinematic pair is defined as a joint of two or
more links having relative motion between them.
(I) Based on nature of contact between elements:
(a) Lower pair. If the joint by which two members are
connected has surface contact, the pair is known as lower pair.
Eg. Pin joints, shaft rotating in bush, slider in slider crank
mechanism.
b) Higher Pair: A higher pair is a kinematic pair in which
connection between two elements is only a point or line contact.
(II) Based on relative motion between pairing elements:
1.Revolute or Turning Pair (Hinged Joint)
2.Prismatic or Sliding Pair
3.Screw Pair
4.Rolling Pair
5.Spherical Pair
6.Planar Pair
(III) Based on type of closure
(a)Self closed pairs: Elements of
pairs held together mechanically
due to their geometry constitute
a closed pair. They are also
called form-closed or self-closed
pair.
(b) Unclosed or force closed
pair: Elements of pairs held
together by the action of external
forces constitute unclosed or
force closed pair .Eg. Cam and
follower.
Types of Constrained motions
(a) Completely constrained motion
(b) Incompletely constrained motion
(c) Successfully constrained motion
Kinematic chain
• When the kinematic pairs are coupled
in such a way that the last link is
joined to the first link to transmit
definite motion is called as kinematic
chain
A kinematic chain is assembly in
which the relative motion is possible Conceptual design for an
exercise machine
and the motion of each relative to
other links is definite.
• If the links are connected in such a
way that no motion is possible, it
results in a locked chain or structure. Rear-window wiper
Kinematic Joints
A joint is movable connection between links and allows
relative motion between the link
• Binary joint
• Ternary joint
• Quaternary joint
Mechanism
• When one of the links of a kinematic chain is fixed , the chain
is known as mechanism.
• A combination of number of bodies assembled in such a way
that the motion of one causes the constrained and predictable
motion of the others is known as mechanism.

Planar mechanisms: When all the links of a mechanism have

plane motion, it is called as a planar mechanism. All the links in a
planar mechanism move in planes parallel to the reference plane.
 MACHINE V/S
The parts of a machine move relative to
one another
A machine transforms the available
energy into some useful work,
The links of a machine may transmit both
power and motion,
STRUCTURE
Whereas the members of a structure do
not move relative to one another.
Whereas in a structure no energy is
transformed into useful work.
While the members of a structure transmit
forces only.

MACHINE V/S MECHANISM

Machine is the combination of number of Mechanism is a combination of various
such mechanisms used to carry out a links which are capable of having relative
particular task. motion with respect to one another.
Eg. Lathe, Shaper, Steam Engine… Eg. Type-writer, Clock work
Inversions of Mechanism:
• A mechanism is one in which one of the links of a kinematic chain
is fixed. Different mechanisms can be obtained by fixing different
links of the same kinematic chain.
• This method of obtaining different mechanisms by fixing
different links in a kinematic chain is known as inversion of the
mechanism.
Types of kinematic chains:
1. Four bar chain
2. Single slider crank chain.
3. Double slider crank chain.
Four-bar chain/ Quadric cycle
chain:
The simplest and basic kinematic
chain is four-bar chain. Its consists of
four links, each of them forms a
turning pair at A, B, C and D. The four
links may be different lengths.
According to Grashof’s law for a four
bar mechanism, the sum of shortest
and longest link lengths should not be
greater then the sum of links lengths of
other two if there is to be continuous
relative motion between the two links.
Inversions of four bar chain:
Though there are many inversions of the four bar chain, yet
the following are important from the subject point of view:
1.Beam engine (Crank and lever mechanism)
2.Coupling rod of a locomotive (Double crank mechanism)
3.Watt’s Indicator mechanism (Double lever mechanism)
1. Beam engine (Crank and lever mechanism):

The end E of the lever

CDE is connected to a
piston rod which
reciprocates due to the
rotation of crank. In
other words the
purpose of this
mechanism is to
convert rotary motion
into reciprocating
motion
2. Coupling rod of a locomotive (Double crank mechanism):
In this mechanism the link AD and BC (Having same length)
act as a crank and are connected to a respective wheels. The link
CD acts as a coupling rod and link AB is fixed in order to maintain
a constant center to center distance between them. This mechanism
is meant to transfer rotary motion from one wheel to other wheel.
3. Watt’s Indicator mechanism (Double lever mechanism):
It consists of four link:
Fixed link, link AB & DE act as
levers. The links AB & DE are
parallel in the mean position of
the mechanism and coupling rod
BD is perpendicular to the
levers. On any small
displacement of the mechanism
the tracing point ‘C’ traces the
shape of number ‘8’ a portion of
which will be approximately
straight.
Inversions of single slider crank Chain:
1. Reciprocating engine mechanism.
2. Rotary I C engine(Gnome engine)..
3. Whitworth quick return motion mechanism.
4. Crank and slotted lever mechanism.
5. Oscillating cylinder engine.
6. Bull engine mechanism or Pendulum pump.
7. Hand pump.
1. Reciprocating engine mechanism
The single slider crank chain is a modification of basic 4-bar
chain. Its consists of one sliding pair and three turning pairs. This
type of mechanism converts rotary motion in reciprocating
motion and vive versa
2.Rotary I C engine(Gnome engine).
Sometimes back rotary internal
combustion engines were used in
aviation. But now a days gas
turbines are used in its place. It
consists of 7 cylinders in one plane
and all revolves about fixed centre
D. In this mechanism, when the
connecting rod rotates, the piston
reciprocates inside the cylinder.
3.Whitworth quick return motion mechanism.
4. Crank and slotted lever mechanism.
5. Oscillating cylinder engine.
This mechanism is used to convert reciprocating motion into
rotary motion
6. Pendulum pump.
In this mechanism the inversion is
obtained by fixing the cylinder. In
this case when the crank rotates the
connecting rod oscillates about a pin
pivoted to a fixed link 4 at A and the
piston attached to the piston rod
reciprocates. The duplex pump
which is used to supply feed water
to boilers have two pistons attached
to link.
7. Hand pump.
Hand pumps are manually
operated pumps; they use human power
and mechanical advantage to move fluids
or air from one place to another. They are
widely used in every country in the world
for a variety of industrial, marine,
irrigation and leisure activities. There are
many different types of hand pump
available, mainly operating on a piston,
diaphragm or rotary vane principle with a
check valve on the entry and exit ports to
the chamber operating in opposing
directions.
Inversions of Double slider crank chain.
1. Elliptical trammel
2. Scotch yoke mechanism
3. Oldham’s coupling
1. Elliptical trammel
It is an instrument used for drawing ellipses. The inversion is
obtained by fixing the slotted plate (Link 4). The fixed plate has
straight grooves cut in it, at right angles to each other. The link 1 and
3 are know as sliders and form sliding pairs with link 4. the link AB is
a bar which forms turning pair with links 1 and 3.
2. Scotch yoke mechanism
This mechanism is used for
converting rotary motion into a
reciprocating motion. The
inversion obtained by fixing
either the link 1 or link 3
3. Oldham’s coupling
An Oldham’s coupling is used for connecting two parallel shafts
whose axes are at a small distance apart. The shafts are coupled in
such a wat that is one shafts rotates, the other shaft also rotates at
the same speed.
Degrees of freedom & Mobility of a mechanism: Minimum
number of independent parameters required to specify the
location of every link within mechanism. Mobility of
mechanism defines the number of DOF.
Grubler’s criterion:
Number of degrees of freedom of a mechanism is given by
DOF= 3(n-1)-2j-h.
Where, DOF= Degrees of freedom
n= Number of links in the mechanism.
j= Number of lower pairs= n+l-1
l= Number of loops
h = Number of higher pairs
Examples on DOF:
1. n=4
j=4
h=0
DOF=1

2. n= 8
j=10
h=0
DOF=1
3. Case i: Follower will have rolling and sliding
n=4
j=3
h=1
DOF=2
Case ii: If link 2&3 constitute one link
n=3
j=2
h=1
DOF=1
Case iii: If the contact between cam and follower is pure rolling
n=4
j=4
h=0
DOF=1
4. n=8
j=10
h=0
DOF= 1

5. n=8
j=10
h=0
DOF=1
6. n=14
j=18
h=1
DOF=2
7. n=12
j=16
h=0
DOF=1
8. n=7
j=8
h=1
DOF=1
End….!