TOM-I KEY

Part-A

1a)

Kinematic Pair Kinematic Chain

Two elements connected together Four or more than four elements connected
together

Have constrained relative motion with The motion of any point on the link with respect to
respect to each other any other point follows a definite direction

Each pair has two links The chain has a minimum of four links. The first
link and last link are connected to form a closed
chain

Kinematic pair is a part of the chain. Kinematic Chain is not a part of the Kinematic
pair.

Examples: Cylinder and Piston, Crank and Examples: Four bar chain, Slider crank chain, and
connecting rod and Piston and connecting Double crank chain
rod

1b) Grashof's law: Grashoff's law for a four bar mechanism , the sum of the shortest and longest
link lengths should not be greater than the sum of the remaining two link lengths if there is to be
continuous relative motion between the two links. ... The mechanism in which no link makes a
complete revolution will not be useful.

1c) Double Universal Joints can be created from two single joints by pinning or butting the hubs
together, or specially designing the double joints with a single center section, to eliminate
additional machining and assembling. The advantage over a single joint is either an increased
operating angle (W configuration) or the capacity to compensate parallel misalignment
(Z Configuration). They can also compensate the non-constant veloctiy between driving and
driven shaft on a Single Universal Joint as long as they are oriented correctly.

1d) This approximate straight line mechanisms are :

1.Watt's mechanism
2.Grasshopper mechanism
1e) The number of pairs of links or the number of instantaneous centres is the number of
combinations of n links taken two at a time. Mathematically, number of instantaneous centres, 
N = n(n – 1)/2.
Where n=6
 N=6(6-1)/2
=15
1f) Coriolis component of acceleration exists when there is a sliding motion of a slider which is
sliding on a link which itself is rotating.
Coriolis acceleration is the acceleration due to the rotation of the earth, experienced by
particles (water parcels, for example) moving along the earth's surface. Ocean currents are
influenced by Coriolis acceleration. Coriolis acceleration is generated by the eastward rotation of
the earth around the N-S axis.

1g) Rise is the motion of the follower away from the cam center, dwell is the motion during
which the follower is at rest; and return is the motion of the follower toward the cam center.

1h) Types of Cam:

There are various types of cams available, that are listed below:
 Disk or Plate cam
 Cylindrical cam
 Translating cam
 Wedge cam
 Spiral cam
 Heart-shaped cam

1i)

1j)
 Part-B
2a)

Kinematic pair is defined as the 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 in a definite direction, the pair is known as the Kinematic pair.

According to the following consideration, Kinematic Pair has been classified into
three types:

1. Types of relative motion

2. Contact and
3. Types of mechanical constraint or Type of closure.
1. According to types relative motion:
Relative Motion types categorized into 5 parts which are,

1. Sliding,
2. Turning,
3. Rolling,
4. Screw and
5. Spherical Pair.
Sliding Pair:
This consists of two elements connected in such a manner that one is constrained to have a
sliding motion relative to another.
Example:

 Rectangular bar in a rectangular hole

 Square bar in the square hole
 Piston and cylinder of an Ic engine.
 Tail-stock and lathe bed, etc.
Turning Pair:
This consists of two elements connected in such a manner that one is constrained to turn or
revolve about a fixed axis of another element.
Example:

 Shaft with a collar at both ends revolving in a circular hole.

 The crankshaft of an Ic engine turning in a bearing.
 Cycle wheel revolving about there axles.
Rolling Pair:
This consists of two elements connected in such a manner that one is constrained to roll in
another element which is fixed.
Example:
 Ball and roller bearings.
 Wheel rolling on a flat surface.
 Marble rolling on a flat surface.
Screw Pair:
This consists of two elements connected in such a manner that one element turns about the other
element by means of threads. The motion, in this case, is a combination of sliding and turning.
Example:

 The lead screw of a lathe and nut.

 Nut and bolt combination
 Screw with nut of screw jack.
Spherical Pair:
This consists of two elements connected in such a manner that one element in the form of a
sphere turns about the other fixed element.
Example:

 Ball and socket joint.

 Pen stand
 Minor attachment of vehicles.
2. According to the type of contact:
Types of contact classified as

1. Lower pair and

2. Higher Pair.
Lower pair:
When the two elements of a pair have surface contact when relative motion takes place and the
surface of one element slides over the surface of another element, the pair formed as lower pair.
Example:

 All sliding, Turning and Screw pairs are lower pair.

 Nut turning in a screw.
 shaft rotating in a bearing.
 Universal joint
 All pairs of slider-crank mechanism.
Higher Pair:
When the two elements of a pair have line contact or point contact when relative motion takes
place and the motion between the two elements is partly turning, sliding then the pair is known
as higher pair.
Example:

 Toothed gearing
 Belt and rope drives
 Ball and roller bearings
 Cam and follower.
3. According to the type of Mechanical constraint / Types of closure:
Types of Mechanical Constraint classified into two types,

1. Self closed pair and

2. Force closed pair.
These are further classified as Self closed pair or closed pair and Force closed pair or Un-closed
pair.
Self closed pair or closed pair:
whenever two elements of pair are held together mechanically in such a way that only required
the type of relative motion occurs called Self closed pair or closed pair.
Example: All lower pairs.
Force closed pair or Unclosed pair:
whenever two elements of pair are not held together mechanically but are kept in contact by the
action of external forces the pair is said to be Force closed pair or Un-closed pair.
Example: Cam and spring-loaded follower pair.

2b)

Constrained Motion is defined as a mechanical pair which is having definite motion with respect
to another element.

Types of Constrained Motion:

There are three types of Constrained Motion:

1. Completely constrained
2. Partially or Successfully constrained motion and
3. Incompletely constrained motion
1. Completely Motion:
Completely Motion is defined as the motion between the pair takes place in a definite direction
irrespective of the direction of the force applied, Therefore it is known as completely motion.
Example:

 Square bar in a square hole

 Shaft with a collar at each end in the circular hole.
 A piston in the cylinder of an IC engine.
 Fig. Completely constrained motion

2. Partially or Successfully motion:

In this partially or successfully motion, The motion between a pair is not completed by itself but
by some other means. Let’s understand by example

Example: The motion of the shaft in a footstep bearing becomes successfully constrained motion
when a compressive load is applied.

Fig. Successfully constrained motion

3. Incompletely motion:
The motion between a pair takes place in more than one direction.

Example: Circular shaft in a circular hole, as it may be either rotate or slide in a hole. Both
motions have no relationship with others.

Fig. Incompletely Constrained Motion

3 Double Slider Crank Chain
Inversion of Double Slider Crank Mechanism:
  The double slider crankshaft has two sliding pairs and two twist pairs. It is named double
slider crankshaft because it has two sliding pairs. It has two sliders, a frame in which the
slider moves, and a link that connects the two slides and fixes the distance between the two
sliders.
 The frame in which sliders move is a combination of two straights grooves that form a
single link and cut eaches other at right angles.
In a different inverse of double slider crank chain: –

 The frame is Link 1.
 The first slider is link 2.
 The bar connecting two sliders is Link 3.
 The second Slider is Link 4.
There are three important inversions of the double slider crank chain. These three are:-

 Elliptical Trammels.
 Scotch Yoke Mechanism.
 Oldham’s Coupling.
1. Elliptical Trammels:-

 This type of inverse is used to draw the ellipse. It is also known as the trend of
Archimedes. It can be used to draw ellipses of different sizes.
 In this inverse link 1, i.e., the frame is fixed. Both sliders, link 2 and link 4, run in the
grooves of this frame. One slider moves vertically, and the other slider moves horizontally.
 The connecting rod link 3, which connects the two sliding bars, link 2 and link 4,
constrain the motion of these sliding bars. While the two sliders move, each point in the
connecting rod is the location of an ellipse.
 The different points in the connecting rod will draw a different ellipse.
 3. Scotch Yoke Mechanism:-

4.

 Scotch Yoke mechanisms are used for converting rotary motion into a reciprocating
motion. The inversion is obtained by fixing either link 1 or link 3. In, link 1 is fixed. In this
mechanism, when link 2 (which corresponds to crank) rotates about B as center, link 4
(which corresponds to a frame) reciprocates. The fixed link 1 guides the frame.
 Now, the second slider will rotate around the fixed slider and will draw a circle if its path
is traced. If the frame or slanted plate will move forward and if the horizontal moving slider
is fixed and the frame will move up and down, then the vertical moving slider is fixed.
3.Oldham’s Coupling:-
  Oldham couplings are used to connect two shafts whose axles are separated from each
other and rotate them at equal speed.
 An Oldham coupling mechanism is used to connect two parallel shafts whose axes are
separated at short distances. The shaft is coupled in such a way that if one shaft rotates, the
other shaft also rotates at the same speed. This inverse is achieved by fixing link 2. The
shaft to be connected have two flanges (link 1 and link 3), fastened strictly to their ends by
forging.
 It forms the coupling of the inverted Oldham. Now we will discuss how it is used to
connect two shafts whose axis is slightly different from each other.
 This shaft is connected in such a way that if one shaft rotates, the other shaft also rotates
at the same speed.
 The two flanges are placed at the end of the two shafts that are to be connected. These
flanges are rigidly fastened at the end by forging. Both flanges have grooves.
 The groove of both flanges is perpendicular to each other. Between these two flanges, a
central flange is inserted, which fits into the grooves of both flanges.
 In this coupling, which is fixed frame links 3, driving shaft and driving flange for link 2,
intermediate flange link 1, and driveshaft and flange form link 4.
 When the first shaft, i.e., The driving shaft, rotates, the forged one also rotates, and then
the central flange placed in the grooves of the driving flange starts rotating.
 Then the driven flange also starts rotating because the center flange is also fixed in the
grooves of the driven flange, and as the driven flange rotates, the driven shaft also starts
rotating at the same speed.
4) Peaucellier mechanism
It consists of a fixed link OO1 and the other straight links O1A, OC, OD, AD, DB, BC
and CA are connected by turning pairs at their intersections, as shown in Fig. 3.

The pin at A is constrained to move along the circumference of a circle with the fixed
diameter OP, by means of the link O1A. In Fig. 3,
AC = CB = BD = DA ; OC = OD ; and OO1 = O1A
It may be proved that the product OA × OB remains constant, when the link O1A rotates.
Join CD to bisect AB at R. Now from right angled triangles ORC and BRC, we have
Since OC and BC are of constant length, therefore the product OB × OA remains constant. Hence
the point B traces a straight path perpendicular to the diameter OP.

5a)
Steering Gear mechanism
The steering gear mechanism is used for changing the direction of two or more of the
wheel axles with reference to the chassis. Usually, Rear wheel axle is fixed in direction with
reference to the chassis and the steering is done by means of the front wheels.
 When the vehicle takes turn, the front wheels along with the respective axles turn about
corresponding povited points. Also, the back wheels remain straight and do not turn.
Therefore, steering is done by means of the front wheels.
 In order to avoid skidding(slipping of the wheels of sideways),the two front wheels must turn
about the same instantaneous centre which lies on the axis of the back wheels. if this does not
happen, the skidding on the front or back wheels will definitely take place, which will in turn
produce more wear and tear on the tyres.
Thus, the condition for correct steering is that all the four wheels must turn about the
same instantaneous centre. The axis of the inner wheel makes a larger turning angle θ than the
angle φ subtended by the axis of outer wheel.
Let a = Wheel track,
b = Wheel base, and
c = Distance between the pivots A and B of the front axle.
Now from triangle IBP,

This is the fundamental equation for correct steering. If this condition is satisfied, there will be
no skidding of the wheels, when the vehicle takes a turn.

5b)
6)
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8)
9)
10) Solution. Given : Pressure angle = 20° ;
m = 10 mm ;
t = 24 ; T = 56 ;
Addenda on pinion and gear wheel = 1 module = 10 mm
1. Number of pairs of teeth in contact
We know that pitch circle radius of pinion,
` r = m.t / 2

and pitch circle radius of gear,

r = m.T / 2
Radius of addendum circle of pinion,
rA = r + Addendum
and radius of addendum circle of gear,
RA = R + Addendum
We know that the length of path of approach (i.e. the path of contact when engagement
occurs),

and length of path of recess (i.e. the path of contact when disengagement occurs),

Length of path of contact,

KL = KP + PL

Number of pairs of teeth in contact (or contact ratio)

=
2. Angle turned through by the pinion and gear wheel when one pair of teeth is in contact

3.Ratio of sliding to rolling motion

At the instant when the tip of a tooth on the larger wheel is just making contact with its
mating teeth (i.e. when the engagement commences), the sliding velocity

Ratio of sliding velocity to rolling velocity,

At the instant when the tip of a tooth on the larger wheel is just leaving contact with its
mating teeth (i.e. when engagement terminates), the sliding velocity,

Ratio of sliding velocity to rolling velocity

11)

Tc =30 ; 600 r.p.m. clockwise