2. According to the type of contact between the elements. Pe EE (a) Lower pair. When the two elements of a pair have a surtace contact (along a plane) when relative motion takes place and the surface of one element slides over the surface of the other, the pair formed is known as lower pair. As we seen that sliding pairs, turning pairs and screw pairs form lower pairs. (b) Higher pair. When the two elements of a pair have a Jine or point contact when relative motion takes place ni motion between the two elements 1s partly turning and partly slic A pair of friction discs, toothed gearing, belt and rope drives, ball and roller bearings and cam and follower_mechanismare the examples of higher pairs. aHigher pair tine contact between body I and body 2 Higher pair between body | and So it is a higher pair body 2 as we see if we restriped the relative motion of body 2 with respect to body | in one plane then there are only relative translation in the direction shown and rotation about the axis shown ZU TI Machinery Dr, Taha TabaraZUI: I Al ighe air As body 2 moves relative to body 1 and assuming that the motion is respected to x , y plane then to describe this relative motion completely we need 2 coordinate Sx and 0z Sx = representing the relative sliding | Are completely independent Oz = representing the rotation about z axis Thus When the higher pair is used in a planar mechanism then aMay ROLL(R), Slide (P) , or Roll-Slide(RP), depending on friction3. According to the type of closure. (a) Form closed 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. The lower pairs are self closed pair. (b) Force - closed pair. When the two elements of a pair are not connected mechanically but are kept in contact by the action of external forces. The cam and follower is an example of force closed pair, as it is kept in contact by the forces exerted by spring and gravity. ZU Machinery Dr Taha TabaraSome typical examples of the available input motion and lan desired output motion iy —_—_—_ > <+_+ @ input motion output motion input motion output motion Continuous rotation rectilinear oscillation Continuous rotation —>» (CY rectilinear input motion output motion Continuous rotation C) (—N ————> input motion output motion 7 Continuous rotation Angular oscillation input motion output motion. Continuous rotation 0scillationlink If a rigid body contains at least two kinematic elements (nodes) we shall call it a link A link, as shown, is an (assumed) rigid body which possesses at least two nodes which are pounts for attachment to other links. ae ZUIX Binary link - one with two nodes. Ternary link - one with three nodes. Quaternary link - one with four nodes.kinematic dimensions Rigid body dimensions Kinematic dimensions which have no importance for the kinematics The kinematic dimensions of a link in a mechanism are those dimensions which define the relative positions of the kinematic elements on that link and when these dimensions are specified, the link dimensions are known for motion analysis. These dimensions can be distances or angles,A joint is a connection between two or more links (at their nodes), which allows some motion, or potential motion, between the connected links. Joints (also called kinematic pairs) can be classified in several ways: 1 By the type of contact between the elements, line, point, or surface 2 By the number of degrees of freedom allowed at the joint 3 By the type of physical closure of the joint: either force or form closed. 4 By the number of links joined (order of the joint).Binary Joint When two links are joined at the same connection, the jOint is known as binary joint For example, a chain as shown, has four links and four binary joints at A, B,Cand D. chain Cc 1,2,3 and 4 are all Binary links A, B,Cand D. four binary joints Binary Joint A 1 B Kinematic chain with all binary joints ZU Machinery Dr: Taha TabaraTernary joint When three links are joined at the same connection, the joint is known as ternary joint. For example, a chain has six links: > It has three binary joints at A, B and D » Two ternary joints at C and E. ernary joint ZU Machinery Dr Taha TabaraQuaternary joint. When four links are joined at the same connection, the joint is called a quaternary joint. It is equivalent to three binary joints schema has ® One binary joint at D ® Four ternary joints at A, B, E and F 4 Two quaternary joints at C and G. A 1 B Quaternary joint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 between the links or elements is completely or successfully constrained. A kinematic chain is defined as. An assemblage of links and joints, interconnected in a way to provide a controlled output motion in response to a supplied input motion. For example, the crankshaft of an engine forms a kinematic pair with the bearings which are fixed in a pair (1), the connecting rod with the crank forms a second kinematic pair (2), the piston with the connecting rod forms a third pair (3) and the piston with the cylinder forms a fourth pair (4).Closed kinematic chain If all the kinematic pairs are closed, then we have a closed kinematic. chain. go Z Open kinematic chain a If one of the kinematic pair is of open type, the kinematic chain is an open kinematic chain. oo Planar kinematic chain If all the links forming a kinematic chain are in the same plane or in Spherical kinematic chain If all the points on all the links move on concentric spheres than the kinematic chain formed is "Spherical kinematic chain " Spatial kinematic chain If some of the links have a general spatial motion than we have 0 i "MECHANISM When one of the links of a kinematic chain 1s fixed the chain is known as mechanism It may be used for transmitting or transforming motion e.g. engine indicators, typewriter etc A mechanism with four /inks is known as simple mechanism, The mechanism with more than four links is known as compound mechanism. When a mechanism is required to transmit power or to do some particular type of work, it then becomes a machine. In such cases, the various links or elements have to be designed to withstand the forces (both static and kinetic) safely. ZU Machinery Dr Taha TabaraLink 1 Four bar chain. 4R — Planar Linkages Here we have » Arigid bodies 1,2,3 and 4 ~ Which are connected by 4 revolute pairs 02, A, B and O4 » As this linkages moves the input motion transferred to the output motion within rigid body 3 » The input shaft at O2 and the output shaft at O4 are parallel » All the 4 revolute joints have parallel axis 02, A, B and O4 and perpendicular to the plane“Tnput 4 revolute joints AR spatial linkages (Bennett's Linkage) 4 revolute joints called 4R spatial linkages because the points of all these links neither in parallel planes nor on surfaces of spheres they move in 3D space The axis of these revolute pairs they are neither intersecting nor parallel