KUTZBACH CRITERIAN::

 In any mechanism one of the links should be fixed

 Each link has three degrees of freedom before it is connected
 Since in any mechanism one of the links is fixed the total number of movable
links is (L-1), where L is the number of links
 And thus the degree of freedom will be 3*(L-1),before they are connected
 If j is the number of binary pairs or lower pairs (single degree of freedom)
 If h is the higher pairs (two degree of freedom pairs.
 The number of degree of freedom of a mechanism is given by
 N = 3*(L-1)-2*j-h
EXAMPLE:

This mechanism has five links and six equivalent binary joint because there
are two binary joints at B and D, and two ternary joints at (A ANDC) L=5 AND j=6
Therefore

GRUBLER S CRITERION FOR PLANE MECHANISMS:

It applies to mechanisms with only single degree of freedom joints where the
overall movability of the mechanism is unity. Substituting n=1 and h=0 in kutzbach
equation , we have
1=3*(L-1)-2*j or 3*L-2*j-4=0
This equation is known as the grubler s criterion for plane mechanisms with
constrained motion
A little consideration will show that a plane mechanism with a movability of 1
and only single degree of freedom joints cannot have odd number of links. The
simplest possible mechanisms of this type are a four bar mechanism and a slider
crank mechanism in which L = 4 and j = 4.
 INSTANTANEOUS CENTRE:

In the above fig the link AB has both rotational and translational motion. So that
the A A1-B B’ shows translation motion A B- A1 B1 shows rotational
The combined motion of rotation and translation at a instant may be assumed
to be a motion of pure rotation about some centre I known as instantaneous centre.
The instantaneous centre goes on changing from one instant to another when
the position of the link AB goes on changing. In the above case we can see that the
sum of instantaneous centre at different time instants take a straight line.
LAW OF GEARING
The common normal at the point of contact between a pair of teeth must
always pass through the pitch point. This is the fundamental condition which must be
satisfied while designing the profiles of the teeth of gear wheels.
WORK:
Whenever a force acts on a body and the body undergoes a displacement in the
direction of the force the work is said to be done.
FREE BODY DIAGRAM:
Is a diagram showing all the forces , their magnitude and direction acting on a body
at a given situation.
POWER:
It is the rate of doing work or work done per unit time
POWER = WORK DONE/TIME TAKEN
ENERGY:
Capacity to do work. Forms of energy are mechanical, chemical ,heat ,light
etc
CRITICAL SPEED:
The rotational speed of a machine at which the maximum vibration occurs, because
the speed corresponds with the frequency of the natural vibration of the machine.
STATICS:
It is the branch of theory of machines which deals with the forces and their effects
while the machine parts are at rest.

DYNAMICS :
It is the branch of theory of machines which deals with the forces and their
efforts ,while acting upon the machine parts in motion.