LEC # 03

KINEMATIC CHAIN
A kinematic chain may be defined as a combination of
kinematic pairs, joined in such a way that each link forms
a part of two pairs and the relative motion b/w the links is
completely or successfully constrained.
For example, the crankshaft of an engine forms a
kinematic pair with the bearings which are fixed in a pair,
the connecting rod with the crank forms a second
kinematic pair, the piston with the connecting rod forms
the third pair and the piston with the cylinder forms a
fourth pair. The total combination of these links is a
kinematic chain.
 KINEMATIC CHAIN
If each link is assumed to form two pairs with two adjacent links , then the
relation b/w the number of pairs ( p ) forming a kinematic chain and the
number of links ( l ) may be expressed in the form of an equation:

l = 2p – 4 ------ ( i )

Since in a kinematic chain each link forms a part of two pairs, therefore there
will be as many links as the number of pairs.

Another relation b/w the number of links ( l ) and the number of joints ( j )
which constitute a kinematic chain is given by the expression :

j = 3l - 2 -------- ( ii )
2

The equations (i) & (ii) are applicable only to kinematic chains, in which lower
pairs are used. These equations may also be applied to kinematic chains, in
which higher pairs are used. In that case each higher pair may be taken as
equivalent to two lower pairs with an additional element or link.
 EXEMPLIFICATION

Locked chain/structure,
zero D.O.F. Kinematic chain of
one D.O.F.

Unconstrained chain
 TYPES OF JOINTS IN A CHAIN

1- BINARY JOINT
2- TERNARY JOINT
3- QUATERNARY JOINT

NOTE:
One ternary joint is equal to two binary joints.
&
One quaternary joint is equal to three binary joints.
 MECHANISM

When one of the links of a kinematic chain is fixed, the

chain is known as mechanism. It may be used for
transmitting motion e.g, four-bar mechanism, single
slider crank chain, double slider crank chain etc.

DEGREE OF FREEDOM / MOBILITY [F = 3(l-1) – 2j – h]

Number of independent coordinates needed to specify
the relative position of the pairing element is termed
mobility / degree of freedom of a mechanism.
DEGREE OF FREEDOM / MOBILITY

F = 3 (L – 1) – 2 J – H
3 (4 – 1) – 2 (4) – 0
F= 1

D.O.F of four bar

mechanism and crank &
slider mechanism is 1.
Hence, both are
constrained kinematic
chains hence form a
mechanism.
NOTE: Only lower pairs
are involved in these
mechansims. No higher
pair.
All sliding & turning
pairs are lower pairs.
INVERSION OF A MECHANISM

When one of the links in a kinematic chain is fixed, it is called

a mechanism. So we can obtain as many mechanisms as the
number of links in an kinematic chain by fixing, in turn,
different links in a kinematic chain. Hence, utilizing alternate
links to be used as fixed links in a kinematic chain is termed as
INVERSION of a mechanism.
NOTE:
The relative motion between the various links is not changed
in any manner through the process of inversion but their
absolute motion may change drastically.
EXEMPLIFICATION