ME0208

MACHINES AND
MECHANISMS
CHAPTER-1

SYLLABUS
Introduction - Links - Pairs - Chain - Mechanism Machine structure - Degrees of freedom - Four bar
chains - Terminology and definition - Planer,
Spherical and Spatial Mechanisms - Grashoff's law Kutzback criterion - Grubler's criterion for plane
mechanism. Inversion of mechanisms - Four bar,
single slider crank and double slider crank
mechanisms - Simple problems - Instantaneous centre
- Kennedy's theorem - Velocity and Acceleration of
Four bar and single slider crank mechanisms by
relative velocity Method.
Text Book : Theory of Machines by S.S.Rattan
Reference Books: Theory of machines by R.S.Khurmi
Theory of machines by R.K.Bansal

THEORY OF MACHINES
Study of relative motion and forces acting on
the parts (or link) of a machine.
y Classification
Kinematics Relative motion between various
parts of machine.(No forces)
Dynamics Deals with the forces and their
effects in motion.
Kinetics Deals with inertia forces (effect of
both mass & motion of parts)
Statics Deals with the forces and their effects
in rest. (mass of the parts is negligible)

MACHINE
y

Machine : A machine is an apparatus for applying

mechanical power consisting of a number of
interrelated parts ,each having a definite function.
(OR)
: A machine is defined as a device which
receives energy and transforms it in to some useful
work.

Mechanism
: A mechanism is the one which is
used to convert one type of motion into another.

STRUCTURE
y

It is an assemblage of a number of resistant bodies (known

as members) having no relative motion between them.

It is used to carry loads.

Differences between Machine and structure

y

Parts of a machine move relative to one another whereas,

Members of a structure dont move relative to one another.

Machine transforms the available energy into some useful

work, whereas in structures no energy transformation.

The links of a machine may transmit both power and

motion, whereas, Members of structure transmit forces
only.

KINEMATICS
y

It deals with the relative motion between

the parts without considering forces.

Three important terms to be considered

Kinematic link
Kinematic pair
Kinematic chain

KINEMATIC LINK
y

A link or an element is defined as that part of a machine

which has relative motion to some other part.
Ex: Reciprocating steam engine

CHARACTERISTICS OF A LINK
It should have relative motion , and It must be resistant
body

Types of Link
y

Rigid Link doesnt undergo deformation Ex: C.rod

Flexible Link partial deformation Ex: Belts &

Ropes

Fluid link motion transmission through fluids by

pressure Ex: hydraulic Jack or Press

KINEMATIC PAIR

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, the
pair is known as kinematic pair

Types of constrained motion

y
y
y

Completely constrained motion

Incompletely constrained motion
Successfully constrained motion

COMPLETELY CONSTRAINED MOTION

y

Motion between a pair is limited to a

definite direction.
Ex: piston & cylinder
Square bar in square slot

INCOMPLETELY CONSTRAINED MOTION

y

Motion between a pair can take place in

more than one direction
Ex: circular shaft in a cylinder

SUCCESSFULLY CONSTRAINED MOTION

y

The motion between the elements is not

constrained completely by itself but by
some other means.
Ex: foot step bearing
Forc
e

Incompletely
constrained

Successfully
constrained

CLASSIFICATION OF KINEMATIC PAIRS

According to the type of relative motion between the elements
a.

Sliding pair or Prismatic pair or (P Pair):

one link slides over the other.

b.

Turning pair or Revolute pair or R-pair:

One link can revolve about the fixed axis
of another link

CLASSIFICATION OF KINEMATIC PAIRS

According to the type of relative motion between the elements
c. Rolling pair: One link rolls over another fixed link.

d.

Screw pair: One element (link) can turn about the

other by screw threads

e. Spherical Pair: The two elements of a pair are connected in such a

way that one element swivels about the other fixed element.
Ball & socket joint and Car rear view mirror

CLASSIFICATION OF KINEMATIC PAIRS

According to the type of contact
a.

Lower pair: Two elements of a pair have a surface contact, when

relative motion takes place. Ex: sliding pair, Turning pair and
screw pair

b.

Higher pair: Two elements of a pair have a line or point contact

when relative motion takes place. Ex: toothed gearing, belt and
rope drives and ball and roller bearings

CLASSIFICATION OF KINEMATIC PAIRS

According to the type of closure
a.

Self closed pair

yTwo

elements of a pair are connected together mechanically in

such a way only required kind of motion takes place

yEx:

b.

Piston and connecting rod, Piston and cylinder

Force closed pair

yTwo

elements of a pair are not connected mechanically but kept in

contact by the action of external force

yEx:

cam and follower

TYPES OF JOINTS
Binary Joints
y Ternary Joints ( 1 TJ = 2 BJ)
y Quaternary Joints(1 QJ = 3 BJ)
y

A.W. Kleins Eqn

J + h/2 = 3/2 L 2
L no of links, h no of higher pairs
j no of joints

3. KINEMATIC CHAIN
y

When the kinematic pairs are coupled in such a way that

the last link is joined to the first link to transmit definite
motion, it is called Kinematic chain

Assemblage of links forms the kinematic chain

or not
L = 2P- 4
J = (3/2) L 2
y where.,

l = number of link, p = number of pairs

j = number of joints
If above equation ( i ) and ( ii ) are satisfied , then the
assemblage of links form a kinematic chain.

Three possible cases

If L.H.S = R. H. S , then the given chain

is called constrained chain.
If L.H.S > R. H. S , then the given chain
is called locked chain.
If L.H.S < R. H. S , then the given chain
is called unconstrained chain.

DEGREES OF FREEDOM
It is defined as the number of independent movements
y In a space a rigid body will have 6 DOF, 3-translations (x,y,z) and
3-rotations (about the 3 axes)
y It is called as SPATIAL MECHANISM
y

Kutzbach criterion for planar mechanism

y

DOF n = 3(l-1) 2j h

Grublers criterion
If h = 0 & n =1 ; then the eqn becomes
1 = 3(l-1) 2j
3l-2j-4=0

Plane Mechanisms - Kutzbach

MECHANISM AND ITS INVERSIONS

y

When one of the links of a kinematic chain

is fixed then it forms a mechanism.

The method of obtaining different

mechanisms by fixing different links in a
kinematic chain, is known as inversion of
mechanism.
y Four bar chain
y Single slider crank chain
y Double slider crank chain

FOUR BAR CHAIN

4 no of different lengths of links (4
Turning pairs)
y Inversions of four bar chain are
1.Beam engine (Crank and lever
mechanism)
2.Coupling rod of locomotive (Double
crank mechanism)
3.Watts indicator mechanism (Double
lever mechanism
y

GRASHOFFS LAW
y

Sum of the shortest and longest links cannot be greater than the sum
of the remaining two links lengths, If there is to be continuous
relative motion between two members.

3+4 1+2

y
y

3 and 4 be the length of longest and shortest link.

1 and 2 be the length of the other two links.

1.BEAM ENGINE
(CRANK AND LEVER MECHANISM)
y Main purpose of this mechanism is to convert rotary motion

in to reciprocating motion.
It consists of four links.(Frame, Crank, Connecting rod,
piston & cylinder)

CRANK AND LEVER MECHANISM

2.COUPLING ROD OF LOCOMOTIVE

(Double crank mechanism)
y

This mechanism is meant for transmitting rotary motion from

one wheel to the other wheel.
It consists of four links.
In this mechanism, the link AD and BC having equal length
act as cranks and are connected to the respective wheels.
The link CD act as a coupling rod and link AB is fixed in
order to maintain a constant center to center distance between
them.
Link 1 is fixed, adjacent links 2 and 4 would make complete
revolutions

3.WATTS INDICATOR MECHANISM

(DOUBLE LEVER MECHANISM)

It consists of four links. (fixed link at A, Link AC, Link

CE and Link BFD)
It may be noted that BF and FD forms one link because
these two point have no relative motion between them.

INVERSIONS OF SINGLE SLIDER CRANK

CHAIN
3 turning pairs and a sliding pair forms a slider crank chain
1) Reciprocating engine mechanism (1st inversion)
2) Oscillating cylinder engine mechanism (2nd inversion)
3) Crank and slotted lever mechanism (2nd inversion)
4) Whitworth quick return motion mechanism (3rd
inversion)
5) Rotary engine mechanism (3rd inversion)
6) Bull engine mechanism (4th inversion)
7) Hand Pump (4th inversion)

Reciprocating engine mechanism

In the first inversion, the link 1 i.e., the cylinder and the
frame is kept fixed. The fig below shows a reciprocating
engine.
A slotted link 1 is fixed. When the crank 2 rotates about
O, the sliding piston 4 reciprocates in the slotted link 1.
This mechanism is used in steam engine, pumps,
compressors, I.C. engines, etc.

PENDULUM PUMP (BULL ENGINE)

OSCILLATING CYLINDER ENGINE

CRANK AND SLOTTED LEVER

MECHANISM
y

It is an application of second inversion. The crank and slotted lever mechanism

is shown in figure below.

Crank and slotted mechanism

WHITWORTH QUICK RETURN

MOTION MECHANISM

The angle covered during cutting stroke from P1 to P2 in

counter clockwise direction is or 360 -2. During the return
stroke, the angle covered is 2 or .

Whiteworth Quick return motion mechanism

ROTARY ENGINE MECHANISM (OR )

GNOME ENGINE
y

Rotary engine mechanism or gnome engine is another application

of third inversion.

It is a rotary cylinder V type internal combustion engine used as

an aero engine. But now Gnome engine has been replaced by Gas
turbines.

Gnome Engine

INVERSIONS OF DOUBLE SLIDER

CRANK CHAIN
Double Slider Crank Chain:
y
A four bar chain having two turning
and two sliding pairs such that two pairs
of the same kind are adjacent is known as
double slider crank chain.
y
It consists of two sliding pairs and two
turning pairs. They are three important
inversions of double slider crank chain.
1) Elliptical trammel.
2) Scotch yoke mechanism.
3) Oldhams Coupling.

ELLIPTICAL TRAMMEL

It is an instrument used for drawing ellipses. This inversion is

obtained by fixing the slotted plane (link 4).

The fixed plate has two straight grooves cut in it, at right angles to
each other. The link 1 and link 3 are known as sliders and form
sliding pairs with link 4 .

The link 2 is a bar which forms turning pair with link 1 and link 3.
When the links 1 and 3 slide along their respective grooves, any
point on the link 2 such as P traces out an ellipse on the surface of
link4.

Trammel

SCOTCH YOKE MECHANISM

y

y
y
y
y

The mechanism is used to convert rotary to reciprocating mechanism.

This inversion is obtained by fixing either the link 1 or link 3.

Link 1 = fixed
Link 2 = crank
Link 4 = reciprocates.

OLDHAMS COUPLING

Oldhams coupling

THANK YOU