MACHINE

A DEVICE WHICH RECEIVES ENERGY AND

TRANSFORM IT INTO SOME USEFUL WORK.
Machine tool (LATHE)
MEDIUM SIZE LATHE
PARTS OF LATHE

CONTD

CONTD
STRUCTURE OR LOCKED CHAIN
ASSEMBLAGE OF NUMBER OF RESISTANT
BODIES ( KNOWN AS MEMBERS ) HAVING NO
RELATIVE MOTION BETWEEN THEM AND
MEANT FOR CARRYING LOADS HAVING
STRAINING ACTION.
EXAMPLE OF STRUCTURE
Difference between
Machine & Structure
KINEMATIC LINK OR ELEMENT
EACH PART OF A MACHINE WHICH MOVES
RELATIVE TO SOME OTHER PART

A LINK MAY CONSISTS OF SEVERAL PARTS
WHICH ARE RIGIDLY FASTENED TOGETHER SO
THAT THEY DO NOT MOVE RELATIVE TO ONE
ANOTHER
TYPES OF LINKS
1. RIGID LINK NO DEFORMATION WHILE
TRANSMITTING MOTION

Eg. CONNECTINGROD
FLEXIBLE LINK
PARTLY DEFORMED IN MANNER WHILE
TRANSMITTING MOTION

Eg. BELTS,ROPES,CHAINS
FLUID LINK
MOTION IS TRANSMITTED THROUGH FLUID

Eg. HYDRAULIC OPERATED PRESSES,JACKS AND
CHUCKS
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 IS
COMPLETELY OR SUCCESSFULLY
CONSTRAINED (ie IN A DEFINITE DIRECTION)
,THE PAIR IS KNOWN AS KINEMATIC PAIR
EXAMPLE OF KINEMATIC PAIR
TYPES OF CONSTRAINED MOTION
1.COMPLETELY CONSTRAINED MOTION
WHEN THE MOTION BETWEEN THE PAIR IS
LIMITED TO A DEFINITE DIRECTION
IRRESPECTIVE OF THE DIRECTION OF FORCE
APPLIED
INCOMPLETELY CONSTRAINED
MOTION
WHEN THE MOTION BETWEEN THE PAIR CAN
TAKE PLACE IN MORE THAN ONE DIRECTION
SUCCESSFULLY CONSTRAINED
MOTION
WHEN THE MOTION BETWEEN THE
ELEMENTS,FORMING A PAIR,IS SUCH THAT
THE CONSTRAINED MOTION IS NOT
COMPLETED BY ITSELF,BUT BY SOME OTHER
MEANS
CLASSIFICATION OF KINEMATIC PAIRS
1. ACCORDING TO RELATIVE MOTION
BETWEEN THE ELEMENTS
a) SLIDING PAIR
b) TURNING PAIR
c) ROLLING PAIR
d) SCREW PAIR
e) SPHERICAL PAIR
CONTD..
2. ACCORDING TO TYPE OF CONTACT BETWEEN
THE ELEMENTS
a) LOWER PAIR
b) HIGHER PAIR
CONTD
3. ACCORDING TO TYPE OF CLOSURE
a)SELF CLOSED PAIR
b) FORCE CLOSED PAIR OR UNCLOSED PAIR
SLIDING PAIR
TURNING PAIR
ROLLING PAIR
BALL AND ROLLER BEARING , BELT AND
PULLEY
SCREW PAIR
SPHERICAL PAIR
LOWER PAIR ( SURFACE CONTACT)
HIGHER PAIR ( POINT CONTACT)
HIGHER PAIR
HIGHER PAIR
SELF CLOSED PAIR
WHEN THE TWO ELEMENTS OF A PAIR ARE
CONNECTED TOGETHER MECHANICALLY IN
SUCH A WAY THAT ONLY REQUIRED KIND OF
RELATIVE MOTION OCCURS
SELF CLOSED PAIR (LOWER PAIRS)

FORCE CLOSED PAIR OR UNCLOSED
PAIR
WHEN THE TWO ELEMENTS OF A PAIR ARE
NOT CONNECTED TOGETHER MECHANICALLY
BUT ARE KEPT IN CONTACT BY THE ACTION OF
EXTERNAL FORCES Eg. CAM AND FOLLOWER
(SPRING FORCE)
CAM AND FOLLOWER
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 ( ie COMPLETELY OR SUCCESSFULLY
CONSTRAINED MOTION)
EXAMPLE OF KINEMATIC CHAIN
TWO BASIC EQUATIONS
TO DETERMINE THE GIVEN ASSEMBLAGE OF
LINKS FORMS THE KINMATIC CHAIN OR NOT

1) L = 2P - 4
2) J = (3/2) L - 2

TYPES OF JOINTS
1) BINARY JOINT - 2 LINKS JOINED AT SAME
CONNECTION

2) TERNARY JOINT - THREE LINKS

3) QUATERNARY JOINT - FOUR LINKS
BINARY,TERNARY AND QUATERNARY
LINKS
NOTE
ONE TERNARY LINK = TWO BINARY LINKS

ONE QUATERNARY LINK = THREE BINARY
LINKS


L.H.S = R.H.S( CONSTRAINED KINEMATIC CHAIN)
L.H.S > R.H.S (STRUCTURE OR LOCKED CHAIN )
L.H.S < R.H.S ( UNCONSTRAINED KINEMATIC ..)


MECHANISM
WHEN ONE OF THE LINKS OF THE KINEMATIC
CHAIN IS FIXED THE CHAIN IS KNOWN AS
MECHANISM
DEGREES OF FREEDOM (n)
It is the number of inputs (number of
independent coordinates) required to
describe the configuration or position of all the
links of the mechanism, with respect to the
fixed link at any given instant.
KUTZBACH CRITERION ( FOR PLANE
MECHANISM)


n = 3 (L-1) -2J - H
GRUBLERS CRITERION ( PLANE
MECHANISM)
SUBSTITUTING n=1 AND H=0 IN KUTZBACH
EQUATION WE HAVE


3L 2J -4 = 0


Link
When connected as per Types of joints
Kinematic Pair
When connected as per Equations
Kinematic Chain
When one link fixed
Mechanism
When forces & couples are transmitted
Machine
QUERIES ???