Kinematics

and
Dynamics
MP3010

By
Uthayasooriyan Anuraj
Some terminologies to know
• Kinematic link
• Structure
• Kinematic pair
• Kinematic chain
• Joints
• Mechanism
• Degrees of freedom (DOF) / mobility
Kinematic link
Part of a machine which can move relative to some other part
▪ A link may be made of several parts but all those parts are
rigidly fastened together
▪ Should
have
relative
motion
▪ Must be a
resistant
body
Question
What is a resistant body?
Link

2 3
4

1
Joints
 Links

Flexible
Rigid link Fluid link
link

Links can form either a closed loop

linkage or open loop linkage
Link
• Binary : Two joints
• Ternary: Three joints
• Quaternary: Four joints
Mechanism and Structure
A
B
Answer the following…..
What are the differences between a
mechanism and a structure?

▪Movements of parts
▪Transforming energy into useful work
▪Transmitting power and motion
Kinematic pair
▪ Pair : Two links in contact
If the pair is completely or successfully constrained, it is
called a kinematic pair

Kinematic pair
Types of constrained motions
Constrained
motion

Completely Incompletely Successfully

CM CM CM

Image source: from web

Incompletely constrained motion
Completely constrained motion
Successfully constrained motion
Kinematic pair
▪ Pair : Two links in contact
If the pair is completely or successfully constrained, it is
called a kinematic pair

Kinematic pair
Bored……………!!!
 Design a
Balacksmith
forging hammer
within 5 minutes
Classification of kinematic pairs
Type of relative Type of contact Type of closure
motion
Sliding pair Lower pair Self closed pair
Turning pair Higher pair Force – closed pair
Rolling pair
Screw pair
Spherical pair
Lower pair
Both the elements should have surface contact while one
element slides over the surface of the other.
Lower pair
▪ A: Revolute pair
(a pin joint) A B C

▪ B: Prismatic pair

▪ C: Screw pair
D E F
▪ D: Cylindrical pair

▪ E: Spherical pair

▪ F: Flat pair
Example on Human-body
Example on Human-body
Example on Human-body
Higher pair
Both the elements should have line or point contact while the
motion between the elements is partly turning and partly sliding.
Submission
Write down the definition for each type
of kinematic pair and give examples.
Kinematic chain
▪ Kinematic pairs are coupled such a way that the last link
and the first link are joined together to provide a
definite motion

Question:
What will happen if
one of the pair is a
spherical pair?
What is definite motion?
• Completely or successfully constrained
motion.
Determination of Kinematic chain
Condition -1
𝑙 = 2𝑝 − 4
Condition – 2
3
j= 𝑙 −2
2
Where;
𝑙:Number of links
𝑝: Number of pairs
Note: It is assumed that each
J:Number of joints
link forms two pairs (P)
 3
• 𝑙 = 2𝑝 − 4 j= 𝑙 −2
2
3
3= 2× 3 − 4 3= ×3−2
2
3>2 3>2.5
L.HS>R.H.S L.HS>R.H.S

This is not a kinematic

chain, It is a locked
chain.
If L.H.S = R.H.S : It is called constrained kinematic chain
If L.H.S<R.H.S : It is called unconstrained chain
More than four links : Compound kinematic chain
Mechanism
• If one of the link of the kinematic chain
is fixed then it can be called as a
mechanism which can transmit or
transform motion.
• If a mechanism used to transmit power
or to do work then it becomes as a
machine.