(y “Theory of Machiuss . Machint- is 0 devia which Received emmrngy and mun ih twho Some useful wore - kKinamostic Li r Eek a working which moves ”, Lwk /domant Kinmmotie Bel telahve wt soma oun pack « oA Link nud not to be ragid body. but it must be a penstant body. Le. body, which can Capable of wow Eros wart ‘Paver fore with negligibte AQownotion - Link (1) Ryid - No da gomaki om Gi) Flupible - deformed a manner not to affear tra bangunction of mast te - Ge Fuad - coo by having afiad i 4 ”~ Facle, anck rustion ie riesrasaal a hidoautic € press, Jack, breais Kinematic Pam - Two Unies or elemunks of a machine = wher Cn Conbast with 2arh oH, ariel to a pair Tf rwlakive rotten b. leem thom vo rely or Succes: Consyenined Cit: Cra dagrviite Divert on) He pon Vn Calud Kanewoctic fon. Tope of Comalroimsd Motion — \. Lately constouined waten- Molen of the A Ua Limited 42 0 definite diveetton brverpective of ft dxvecten of TO applied. iston-cy mdr fy Ste ott? ~ Maelo ivamnotion 2. Trrornpletelyy vouched Motion- when mohen tan take place v wo weve than ene dAivestton, A bar ina hoe — slide ad relation - 2. Successfully Loraloeined motion — Motion between te alimumbe, vo such Hot Lowrnained notion in not Fook Sieh ! ted ty ifsell-, but by some etter gant. fly Fook step bearing - Shalt cam relate , aud may move ward, — so Tn Corabreine. wation — Buk VE Un steatricted bo $0 —> Successfully Conrained.@ Classificotten Kins wotic Pars Aeco vdivg 10 the type of Relative motion belueen tae sheononts) @) Shiding Pain — when two eberents of a paln are Couneeted in such a thak ong Com Lids mrelokive Fo the othin. need stream Luging . Tal stocken lathe &) Toning Pari - one tam only turn or revsbye about a fixed amiseP another Unk. cyte ytd twindsg ov Maur onle- at — Ora roll ovin ancthnr fined Unk: (c) Roltng fo baw and Sallie beandug- ¢ _ @) see Pain — ene Llement cam turn abord tos othr by sored treads leak serai of fate. (e) Sphental par. one clement (usin splanicat hope) funrg Gr Swivels abort otter fixed ehonet . bath sockek jeint, Uherording to tha type of comtaet wetwaen te elements’) ) Vewer param - tur an ckmonks hove a 5 7 @) \ewe pase Ss of ene elumunk slides our ths othr: a STRdy /tenndsy / seer por « (©) Heghn Pom - have Aina or poink contnet Ponce prctlen dise/ foottin 420088, belt be a /Crccording te ts type of ches we) tup -clesed pai — Foso edumavds a Counceted togert on @) sof re nachenicallyy im such a way Htrat only wivekd kinden rilat’ve Motlen occuns. —) Leer pairs. &) Ree - cos A pow - ture demunds and HOT Lowmated — oon Be, tee eed oat — Coun oor! Fo lenier When kKimematic park are co fs SUtha Way Hot Hae Last Link vo joined te tat fret Link fe tomemit definite woken (ie, tema font pons ail nc inet eee = The rank shaft eof an” engine forms Yo Kone wabic chein. | oc Kinimahic pain with fhe bear L=2p-4 [tr tem | which ac fined ina pain, tht teSkeatiyp je Br-2 |b? pn ee We @ Seeend 2 J > jon te ey The piston ysith ths bo J}! aloe a Ha peal Piso: gitar 9 eee Kinematic Chom —@ l= 2p-4 4 abe to Kinematic chatn only jeBle2 core ’ phine only ple = Above 2q40K!on oe ou be red te Pm laghn Tn thak ace hgh. pow cln vs con sidud as a Par + were additional Link Ce Ouek to ae fo determine urhation Hy a8 Kinemaliec choi, Fis eee es re oC ck Wee ales Jj=3 Beale! Be oxg-4 =2 . LHS TR HS. ee 32-2 o B+ Bx3-27 25 Soivss A/B/C be LHS. > RS: + Simon LHS PRS and doer uot satisfy eq u@2@ 2 So it my mot Kinemah'c cborr cand no ) ce mobi chen. ox e le4, ped 374 Le h=2p-4 ooo B be ang-y = 4 LHS = RMS. peng! e640) aval () , D a it vn Kineonatic choln of- ene as ee Sagres of fester * D 125, PES, Ge Je Bt-2 o ic l=2p-4 — 640 5 Be -2-55 Boy Be [dies A 3B © Not Kinemovhe chain , Tir chain te untonshained Choir, polahve ynotten iis not Completily Concbadned . “Tyre Wink fom one joint — Berany jodat Three Wks Ternony 4 : Quotennany =z Dbrany jdt Four, Wis - == 3 binmy ee —> Next Page —aniversal pair. The sed pair cam eat Mechanisms and Machines 54) (c) Rolling Pair When the links of a pair have a rolling motion relative to each other, they form a rolling pair, ¢4,,a rolling wheel on a flat surface, ball and roller bearings, etc. In a ball bearing [Fig. 1.8(c)], the ball ‘and the shaft constitute one rolling pair whereas the ball and the bearing is the second rolling pair. (a) Screw Pair (Helical Pair) fo mating links have a turning as well a sliding motion between them, they from a serew pair This is achieved by cutting matching threads on the two links. The lead screw and the nut ofa lathe isa serew pair [Fig. 1.8()]. (e) Spherical Pair When one link in the form of a sphere tums inside a fixed link, itis a spherical pair ‘The ball and socket joint is a spherical pair (Fig. 1.8(e)} 1.6 TYPES OF JOINTS ‘The usual types of joints in a chain are © Binary joint © Temary joint © Quaternary joint Binary Joint If two links are joined at the same connection, itis called a binary joint, For example, Fig. 1.9 shows a chain with two binary joints named B. Ternary Joint {fthreelinksare joined ataconnection, itis known as a ternary joint. It is considered equivalent to two binary joints since fixing of any one link constitutes two binary joints with each of the other two Tinks In Fig. 19 ternary link are mentioned as 7. (ie. a] Quaternary Joint If four links are joined at a connection, its known as a quatemary joint. I is considered equivalent to three binary joints since fixing of any one link constitutes three binary joints, Figure 1.9 shows fone quaternary joint. In general, ifn number of links are connected ata joint, itis equivalent to (n ~ 1) binary joints. 1.7 DEGREES OF FREEDOM ae ‘An unconstrained rigid body moving in space can desribe the 7 ok following independent mations (Fig 1.10} 1. Translational mations slong. any three mutually eave (= 2, Rotational motions about these axes BD “Thus, a rigid body possesses six degrees of freedom, The . connection ofa link with another imposes certain constrains on thei relative motion. The numberof restraints can never be zero Gointis disconnected) or sx Goint becomes solid). Degrees of freedom of a pit is defined a6 the number of independent relative motion, both ansiaional and rotational, a par can have ie i] Degrees of freedom = 6 ~ Number of restraints Hie6 Theory of Machines 1.8 CLASSIFICATION OF KINEMATIC PAIRS eS Depending upon the number of restraints imposed on the relative motion of the two links connected together, ‘pair can be classified as given in Table 1.1 which gives the possible form of each class. ; ee aay 4 4 [Fie 1] Different forms of each class have also been shown in Fig. 1-11. Remember that a particular relative motion between two links of a pair must be independent ofthe other relative motions thatthe pair can have, A screw ‘and nut pair permits translational and rotational motions. However, as the two motions cannot be accomplished independently, a screw and nut par is a kinematic pair ofthe fith class and not of the fourth class, 1.9 KINEMATIC CHAIN veal, A kinematic chain ig an assembly of links in which the relative motions of the inks is possible and the motion, of each relative tothe other is definite [Fig.1-12 (a), (b), and (c)] Table 11) Restraints on ‘Kinematic pair Class Number of Form § Fig. Ltt Restraints ‘Translatory Rotary ‘motion mation T le r H 0 Sphere-plane 2 2 " 2 ° Sphere-cyinder » ca 1 1 Cylinde-plane ¢ uM 3 1" 3 ° Spherie a a 2 1 Splereslotedeylinder x 1 2 Prism-plane ‘ v 4 ” 3 1 Slotted spheric 5 ca 2 2 Cylinder h v 5 oO 3 2 Cylinder (cottred) i a 2 3 Prismatic i Inca (Fig. 1 kinemat Aree ito 1 A linko, Q moveab a distineti other, Ion constea many in other lin get cons The « freedom FE ea A mech: restraint general a meche restrain, restraint mechani2 pie [OO fore Pere fs Je i: 2p-4 —eqO Zz E 1 \ at 8 b= 2x54 6= 6 LHSE RWS Lise RAS A chodn having 22107% z ; _ + So Krneamarre Cha” kireynabic chain from four Links to wn componnd Kinane hon out of the Links of a Kinematic. chain in fixed, the chain tr Known 28 meehanisyn - A Meckomisin usith four Links — stinple mechanisin (2 = 7 + more fpr — Compound ” @ When a machamison > reguivad to fransmit power » tt be mer P mockines. a Movabilits ) of Ht mecharsn . Kuteboeh critemen: degrees of freedom (7) , plame Mechar N= 3(-1)-2j-4\ , pe nev of Mish ait Cig EE ED fee pale Binayy ott Tf thus ane no. Myke pain , R=o N= B(a-1)-25 J B bar Meahomiaen » n= 3(3-1)-23 <0 4 bon Meehamiswn , y= 3(y-1)-2%4 =4 Tan seferta for bor Mecha sin, n= 3(S-1) - 2%! 2 He 7 are pri jot = a rey i 3(5-D- sail@ 0 A plans mochanisin wih odd number of Links. 45 a(L-1) -2j Ce Ye) Bey yptoot povsibe morhwiens of thin type a2 a four bar wethouism aud a stider -Uronk moahaniten which howe Leh, je4 CAnversion of Meehonievn Le fourbar wechaniian , The method of obknining A te Livns ing differnt Links in a KXnemaln’c Chain, vr known as TOM: Four © Themen of G-bar Chain us wa cour XD O70 Ip babi tote Tbh | () mated FESO