Theory of Machines

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• SUBJECT: ME 313: Theory of Machines

• CREDIT HOURS: 3-0

• CONTACT HOURS: 3 Hours per Week

• REFERENCE BOOK: Design of Machinery by R. Norton

• PREREQUISITE: ME 233 Engineering Dynamics

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Course Instructor :
Sereen Atif
(Lecturer)
(MS Mechatronics)
sereen.atif@ceme.nust.edu.pk

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 Mark Distribution

Sessionals 30%
Quizzes + Assg 10 %
Final 50%
Project 10%

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 COURSE OBJECTIVES
• The objective of the course is to introduce the preliminary concepts of
mechanisms and to present methods of analysis for the motion and force
transmission in mechanisms

• The course provides the foundation for the study of displacements,

velocities, accelerations, and static and dynamic forces required for the
proper design of mechanical linkages, cams, and geared systems

• After this course the students are able to understand the various and
independent technical approaches that exist in the field of mechanisms,
kinematics, and machine dynamics

• Coverage of all analysis and development methods is provided, with

balanced use of both analytic and graphic tools

• This course also helps the students in designing robots for NERC
(National Engineering Robotics Competition)
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 LEARNING OUTCOMES
• Upon successful completion of the course, the student will
demonstrate competency by being able to:

1. Implement concepts of kinematics and Degree of Freedom.

2. Implement basic mechanisms into engineering applications.

3. Analyse both open and close looped mechanisms.

4. Analyse position, velocity and acceleration of a system.

5. Design of gears and cams.

6. Design creative mechanism using linkage system.

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 PRACTICAL APPLICATION

• In this course students will be able to understand and

implement the basics of kinematics and dynamics of machines
before designing and manufacturing any component

• The graphical methods of analysis could be used in

applications by drawing velocity and acceleration diagrams to
scale correctly

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 Lesson Plan
S.No Topic Week/Lecture
1 Introduction to Theory of Machines and its application 1
2 Mobility, Number synthesis and Isomers 2-3
3 Kinematic Inversion and linkage transformation 2-3
4 Four bar Mechanisms 4
5 Open and closed looped Mechanisms 5-6
6 Graphical linkage synthesis 5-6
7 Position Analysis 7
8 Analytical linkage synthesis 8
9 Instantaneous velocity analysis 9
10 Relative velocity analysis 10
11 Relative acceleration analysis 11-12
12 Corriolis acceleration analysis 11-12
13 Cam design 13
14 Gear trains 14
15 Dynamic force analysis 15
16 Static and dynamic balancing 16 8
 Course Targets Theory of Machine
S.No Outcomes Level of PLO
Learning
1 Implement concepts of kinematics and C3 1 and 2
Degree of Freedom.
2 Implement basic mechanisms into C3 2
engineering applications.
3 Analyse both open and close looped C4 2
mechanisms.
4 Analyse position, velocity and C4 2 and 3
acceleration of a system.
5 Design of gears and cams. C6 2 and 3

6 Design creative mechanism using C6 2 and 3

linkage system.
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 CODE OF ETHICS
• All students must come to class on time (Attendance will be
taken in first 5 to 10 mins)
• Students should remain attentive during class and avoid use of
Mobile phone, Laptops or any gadgets
• Obedience to all laws, discipline code, rules and community
norms
• Respect peers, faculty and staff through actions and speech
• Student should not be sleeping during class
• Bring writing material and books
• Class participation is encouraged

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Lecture 1

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 Lecture Content
Introduction to Theory of Machines and its Applications

• Purpose
• Theory of Machines
• Kinematics and Kinetics
• Machines and Mechanisms
• A Brief History of Kinematics
• Applications of Kinematics

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 Purpose

• The purpose of this course is to explore the topics of

kinematics and dynamics of machinery in respect to the
synthesis of mechanisms in order to accomplish desired
motions or tasks, and also the analysis of mechanisms in
order to determine their rigid-body dynamic behavior

• We will begin with careful definitions of the terms used in

these topics

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 Theory of Machines

• The subject Theory of Machines may be defined as that

branch of Engineering-science, which deals with the study of
relative motion between the various parts of a machine, and
forces which act on them

• The knowledge of this subject is very essential for an engineer

in designing the various parts of a machine

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 Kinematics and Kinetics
• Kinematics
The study of motion without regard to forces

• Kinetics
The study of forces on systems in motion

• These two concepts are really not physically separable

• One principal aim of kinematics is to create (design) the

desired motions of the subject mechanical parts and then
mathematically compute the positions, velocities, and
accelerations which those motions will create on the parts
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 Machines and Mechanisms

• A mechanism is a device which transforms motion to some

desirable pattern and typically develops very low forces and
transmits little power

• A machine typically contains mechanisms which are designed

to provide significant forces and transmit significant power

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 Machines and Mechanisms

• A useful working definition of a mechanism is :

A system of elements arranged to transmit

motion in a predetermined fashion

• On the other hand, a machine is:

A system of elements arranged to transmit motion and energy

in a predetermined fashion

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Mechanisms

Can crusher

Simple press
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 Mechanisms
Moves packages from an assembly
bench to a conveyor

Microwave carrier to assist

people on wheelchair
Rear-window wiper
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 Mechanisms

Front loader
Lift platform

Device to close the

top flap of boxes

Lift platform
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 Mechanisms

Rowing type exercise machine

Conceptual design for an

exercise machine

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Machines

Food Blender

Automatic
Transmission
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 Machines

Bulldozer Spider Robot

Amusement
Park Ride

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 A Brief History of Kinematics
• Machines and mechanisms have
been devised by people since the
dawn of history

• The ancient Egyptians devised

primitive machines to accomplish
the building of the pyramids and
other monuments

• Though the wheel and pulley (on

an axle) were not known to the
Old Kingdom Egyptians, they
made use of the lever, the
inclined plane (or wedge), and
probably the log roller.

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 A Brief History of Kinematics
• A great deal of design effort
was spent from early times on
the problem of timekeeping as
more sophisticated clockworks
were devised

• Much early machine design was

directed toward military
applications (catapults, wall
scaling apparatus, etc.)

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 A Brief History of Kinematics
• James Watt (1736-1819) probably deserves
the title of first kinematician for his synthesis
of a straight-line linkage to guide the very
long stroke pistons in the then new steam
engines. Watt was certainly the first on
record to recognize the value of the motions
of the coupler link in the four-bar linkage

Watt Straight-line linkage

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 A Brief History of Kinematics

• Oliver Evans (1755-1819) an early

American inventor, also designed a
straight-line linkage for a steam
engine

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 A Brief History of Kinematics
• Euler (1707-1783) presented an analytical
treatment of mechanisms in his
Mechanicasive Motus Scienta Analytice
Exposita (1736-1742), which included the
concept that planar motion is composed
of two independent components, namely,
translation of a point and rotation of the
body about that point

• Euler also suggested the separation of the

problem of dynamic analysis into the
"geometrical" and the "mechanical" in
order to simplify the determination of the
system's dynamics
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 A Brief History of Kinematics
• Gaspard Monge (1746-1818), inventor of
descriptive geometry, created a course in
elements of machines and set about the
task of classifying all mechanisms and
machines known to mankind
Gaspard Monge
• His colleague, Hachette, completed the
work in 1806 and published it as what
was probably the first mechanism text in
1811

Jean Nicolas Pierre Hachette

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 A Brief History of Kinematics
• Andre Marie Ampere (1775-1836), set
about the formidable task of classifying
"all human knowledge“

• In his Essai sur la Philosophie des Sciences,

he was the first to use the term
“cinematique,” from the Greek word for
motion,* to describe the study of motion
without regard to forces, and suggested
that "this science ought to include all that
can be said with respect to motion in its
different kinds, independently of the
forces by which it is produced“

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 A Brief History of Kinematics

• Robert Willis (1800-1875) wrote the text Principles

of Mechanism in 1841 while a professor of natural
philosophy at the University of Cambridge, England.
He attempted to systematize the task of mechanism
synthesis. He counted five ways of obtaining relative
motion between input and output links: rolling
contact, sliding contact, linkages, wrapping
connectors (belts, chains), and tackle (rope or chain
hoists).

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 A Brief History of Kinematics

• Franz Reuleaux (1829-1905), published

Theoretische Kinematik in 1875. Reuleaux
defined six basic mechanical components:
the link, the wheel, the cam, the screw, the
ratchet, and the belt. He also defined
"higher" and "lower" pairs. He is generally
considered the father of modern kinematics
and is responsible for the symbolic notation
of skeletal, generic linkages used in all
modem kinematics texts.

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 Applications of Kinematics
Virtually any machine or device that moves contains one or more
kinematic elements such as linkages, cams, gears, belts, chains.
Your bicycle is a simple example of a kinematic system that
contains a chain drive to provide torque multiplication and simple
cable-operated linkages for braking.

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 Applications of Kinematics
An automobile contains many more examples of kinematic
devices. Its steering system, wheel suspensions, and piston-engine
all contain linkages; the engine's valves are opened by cams; and
the transmission is full of gears. Even the windshield wipers are
linkage-driven

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 Applications of Kinematics
Figure (a) shows a spatial linkage used to control the rear wheel
movement of an automobile over bumps

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 Applications of Kinematics
Construction equipment such as tractors, cranes, and backhoes all
use linkages extensively in their design. Figure (b) shows a small
backhoe that is a linkage driven by hydraulic cylinders

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 Applications of Kinematics
Another application using linkages is that of exercise equipment as
shown in Figure (c)

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