Theory Of Machines

Kinematics and Dynamics

Introduction
Machine
Kinematics &Dynamics
Kinematic Diagram
Analysis and Synthesis
Mechanism and Terminologies
Inversion
Pairing
Plane Motion
Other Types of Motions


Machines and Mechanism
Machines : devices used to alter, transmit, and
direct forces to accomplish a specific objective.
Mechanism : A mechanism is the mechanical
portion of a machine that has the function of
transferring motion and forces from a power
source to an output.
A mechanism can be considered rigid parts
that are arranged and connected so that they
produce the desired motion of the machine.

Kinematics and Dynamics
Kinematics : study of relative motion of
machine parts
Kinematic analysis involves determination of
position, displacement, rotation, speed, velocity,
and acceleration of a mechanism.
Dynamics : study of forces acting on machine
parts and motions resulting from these forces
Dynamic Analysis involves determining operating
forces in a machine.
Synthesis & Analysis
Synthesis is the process of developing a mechanism
to satisfy a set of performance requirements for
the machine.
In Synthesis we design a mechanism to produce a
desired output motion for a given input motion
Analysis : ensures that the mechanism will exhibit
motion that will accomplish the set of
requirements.
In analysis given a mechanism of definite proportions
we find displacements, velocities and accelerations
Mechanism Terminology-linkage
Linkage : is a mechanism where rigid parts are
connected together to form a chain.
Classified as
Closed loop chains : each link is connected to two or
more other links
Open loop chains : at least one link is connected to only
one other links
Robot : Open chain
Adjustable height platform:
Closed chain
Mechanism Terminology- Frame, link
Frame : a part of mechanism that exhibits no
motion.
It serves as the frame of reference for the motion
of all other parts.
Links : are the individual parts of the
mechanism which have relative motion to one
another
They are considered rigid bodies and are
connected with other links to transmit motion and
forces.

Mechanism Terminology-Types of links
Depending on the number of nodes links are classified as
Link must posses at least two
nodes (points for attachment
to other links)
Joint : is a movable connection between links
and allows relative motion between the links.
Classification of joints
Based on
Type of contact between the elements, line, point, or
surface.
Number of degrees of freedom allowed at the joint.
Type of physical closure of the joint: either force or form
closed.
Number of links joined (order of the joint).

Mechanism Terminology-joint
Mechanism Terminology-Types of joints
Based on Type of contact between the elements
lower pair : joints with surface contact
higher pair : joints with point or line contact.
Flat / The R and P pairs are the basic
building blocks of all other pairs
lower pair Joints
Full Joint
Half Joint
Mechanism Terminology-Types of joints
Based on Number of degrees of freedom allowed at
the joint.
One freedom Joint (Full Joint) : Joints with 1dof , these are
lower pairs
Also known as Primary Joints, Permit simple motion
Ex : Revolute Joint, Prismatic Joint
Two freedom Joint (Half Joint ) : Joints with 2dof- these are
higher pairs
Also known as Higher order joints, Permit complex motion
Ex : cam Joint, Gear Joint

Based on Type of physical closure of the joint
form-closed joint: kept together or closed by its
geometry.
force-closed joint : requires some external force to
keep it together or closed.
Mechanism Terminology-Types of joints
Based on Number of links joined
order of the joint : number of links joined minus
one (n-1)
First order : two links Joined Together
Second order : three links joined together

Mechanism Terminology-Types of joints
Actuator : is the component that drives the mechanism.
Crank: a link that makes a complete revolution and is
pivoted to ground,
Rocker : a link that has oscillatory (back and forth)
rotation and is pivoted to ground,
Coupler (or connecting rod): a link that has complex
motion and is not pivoted to ground.
Ground : is defined as any link or links that are fixed
(nonmoving) with respect to the reference frame.
Note that the reference frame may in fact itself be in motion.
Mechanism Terminology
Planar linkage
A planar linkage : is one in which the velocities of all
points in all members are directed parallel to a plane
called plane of motion.
Motion of links and joints is limited to 2D space
All bodies that move freely have 3 Degrees of freedom
The only lower pair joints that are properly compatible
with planar mechanisms are revolute and prismatic
The axis of rotation of all revolute joints must be
normal to the plane of motion and the direction of
sliding of all prismatic joints must be parallel to the
plane of motion
Spherical linkages
Spherical linkage : motion of all points can be
completely described by their radial projections or
shadows on the surface of a sphere with a properly
chosen centre
These are the linkages whose joints are revolute
The axis of all revolute joints pass through a point
Spherical linkages obey same kind of constraint criteria as
planar mechanisms
Spatial Linkages
Spatial Mechanism : is one in which there is no
restriction on the relative motion of particles
Motion of particles is in 3D space
Each body that moves freely has 6 degree of
freedom
Robotic Mechanisms are best examples.
Mobility
Mobility of a mechanism is the minimum number of
co ordinates needed to specify the positions of all
members of a mechanism relative to a particular
member chosen as base or frame.
Linkages usually have mobility of 1 or more
If mobility is zero or negative then the assemblage is a
structure.
Statically determinate if mobility is zero
statically indeterminate if mobility is negative.