Basic Theory of Machine & Mechanism

Theory of Machine
&Mechanism
by.Muse D.
Mechanical Eng'g. Dep't,[PT]
ADDIS ABABA SCIENCE & TECHNOLOGY UNIVERSITY

3/18/2020 OWNED BY MUSE D.
A BRIEFHISTORY 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.
 The origin of the wheel and axle is not definitively known.
Its first appearance seems to have been in Mesopotamia about 3000 to 4000
B.C.
 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.).
 The term civil engineering was later coined to differentiate

civilian from military applications of technology.
 Mechanical engineering had its beginnings in machine design as

the inventions of the industrial revolution required more
complicated and sophisticated solutions to motion control
problems.
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). Franz Reuleaux (1829-1905), published Theoretische
Kinematik in 1875.

Many of his ideas are still current and useful.
He provided us with the concept of a kinematic pair

(joint), whose shape and interaction define the type of motion
transmitted between elements in the mechanism.

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, higher having line or point
contact (as in a roller or ball bearing) and lower having surface
contact (as in pin joints).
 Reuleaux is generally considered the father of modem kinematics

and is responsible for the symbolic notation of skeletal, generic
linkages used in all modem kinematics texts.

The objective of courses
 To develop various means of transforming motion to achieve a specific
kind needed in applications for example, an object is to be moved from
point A to point B along some path.
 The first question in solving this problem is usually: What kind of a

mechanism (if any) can be used to perform this
function? And the second question is: How does one design such a
mechanism?
 The objective of dynamics is analysis of the behavior of a given machine

or mechanism when subjected to dynamic forces.
 For the above example, when the mechanism is already known, then
external forces are applied and its motion is studied.

 The determination of forces induced in machine components by the
motion is part of this analysis.
 As a subject, the kinematics and dynamics of machines and mechanisms
is disconnected from other subjects (except statics and dynamics) in the
Mechanical Engineering curriculum.
 This absence of links to other subjects may create the false

impression that there are no constraints, apart from the kinematic ones,
imposed on the design of mechanisms. Look again at the problem of
moving an object from A to B.
 In designing a mechanism, the size, shape, and weight of the object all
constitute
3/18/2020
input into the designOWNED
process.
BY MUSE D.
Introduction to mechanisms
• Machine: Combination of resistant bodies so
arranged that by their means the mechanical forces of
nature can be compelled to do work accompanied by
certain determinate motion or an assemblage of parts
that transmit forces, motion and energy in a
predetermined manner

• Simple Machine: any of various elementary
mechanisms having the elements of which all
machines are composed & in this category are the
lever, wheel and axle, pulley, inclined plane,
wedge and the screw.
• Mechanism: Part of a machine, which transmit

motion and power from input point to output point.
• A machine is a combination of rigid or resistant
bodies, formed and connected do that they move
with definite relative motions and transmit force
from the source of power to the resistance to be
overcome.
• These functions require strength and rigidity to
transmit the forces.

• The word mechanism has many meanings.
• In kinematics, a mechanism is a means of transmitting,
controlling, or constraining relative movement.
• Movements which are electrically, magnetically,

pneumatically operated are excluded from the concept of
mechanism.
• The central theme for mechanisms is rigid bodies
connected together by joints.
• The difference between machine and mecha
nism is that machines transform energy to
do work, while mechanisms so not
necessarily perform this function.
• The term machinery generally means

machines and mechanisms.
• Figure shows a picture of the main part of a
diesel engine.
• The mechanism of its cylinder-link-crank
parts is a slider-crank mechanism, as shown
in .

Planar and Spatial Mechanisms
• Mechanisms can be divided into planar
mechanisms and spatial mechanisms, according
to the relative motion of the rigid bodies.
• In a planar mechanisms, all of the relative

motions of the rigid bodies are in one plane or in
parallel planes.

• If there is any relative motion that is not in the same
plane or in parallel planes, the mechanism is called
the spatial mechanism.
• In other words, planar mechanisms are essentially

two dimensional while spatial mechanisms are three
dimensional. This tutorial only covers planar
mechanisms.

Mechanics

Kinematics and Dynamics of Mechanisms
• Kinematics of mechanisms is concerned with the

motion of the parts without considering how the
influencing factors (force and mass) affect the motion.
• Therefore, kinematics deals with the fundamental
concepts of space and time and the quantities velocity
and acceleration derived there from.
• Kinetics deals with action of forces on bodies.
• This is where the effects of gravity come into play.
Dynamics :is the combination
of kinematics and kinetics.
Dynamics of mechanisms concerns the forces that act
on the parts -- both balanced and unbalanced forces,
taking into account the masses and accelerations of the
parts as well as the external forces.

kinematics
• The objective of kinematics is to develop
various means of transforming motion to
achieve a specific kind needed in
applications.
• The role of kinematics is to ensure the
functionality of the mechanism, while the
role of dynamics is to verify the
acceptability of induced forces in parts.

RELEVANCE OF KINEMATIC STUDY
• Motion requirements
• Design requirements

MOTION STUDY
Study of position, displacement, velocity

and acceleration of different elements of
mechanism
Given input Desired output

Motion requirement

Pairs, Higher Pairs, Lower Pairs and Linkages
 A pair is a joint between the surfaces

of two rigid bodies that keeps them in
contact and relatively movable.
 For example, in fig below , (a) door
jointed to the frame with hinges
makes revolute joint (pin joint),
Revolute pair
allowing the door to be turned around
its axis.
 Fig (b) and (c) show skeletons of a revolute joint.
Fig (b) is used when both links joined by the pair
can turn & Fig (c) is used when one of the link
jointed by the pair is the frame.

Kinematic Analysis and Synthesis
In kinematic analysis, a particular given mechanism is

investigated based on the mechanism geometry plus other
known characteristics (such as input angular velocity, angular
acceleration, etc.).
 Kinematic synthesis, on the other hand, is the process of
designing a mechanism to accomplish a desired task.
Here, both choosing the types as well as the dimensions of
the new mechanism can be part of kinematic synthesis.
LINK OR ELEMENT
• Binary link: Link which is
connected to other links at two
points. (Fig. a)
• Ternary link: Link which is
connected to other links at three
points. (Fig. b)
• Quaternary link: Link which is
connected to other links at four
points. (Fig c)

PAIRING ELEMENTS
 Pairing elements: the geometrical forms by

which two members of a mechanism are joined
together, so that the relative motion between these two
is consistent. Such a pair of links is called Kinematic
Pair.

DEGREE OF FREEDOM
• The concept of degree of freedom (DOF) is

fundamental to both the synthesis and analysis
of mechanisms.
• We need to be able to quickly determine the
DOF of any collection of links and joints which
may be suggested as a solution to a problem.
• Dof (also called the mobility M) of a system can
be defined

Dof
 the number of inputs which need to be provided in order to
create a predictable output;
also:
 the number of independent coordinates required to define
its position
Gruebler's equation
M=3L-2J-3G………………..1

Dof
where: M = degree of freedom or mobility
L = number of links
J = number of joints
G = number of grounded links
 Note that in any real mechanism, even if more than one link
of the kinematic chain is grounded, the net effect will be to
create one larger, higher-order ground link, as there can be
only one ground plane.
 Thus G is always one,OWNED

3/18/2020
and BYGruebler's
MUSE D.
equation becomes;
• Therefore, we can write the following equation:
Where
• F = total degrees of freedom in the mechanism
• n = number of links (including the frame)
• l = number of lower pairs (one degree of freedom)
• h = number of higher pairs (two degrees of freedom)
This equation is also known as Gruebler's equation.

2
The value of J in equations 1 & 2 must reflect the value of

all joints in the mechanism.
That is ,half joints count as ½ because they only remove

one Dof.
It is less confusing if we use Kutzbach’s modification of

Gruebler’s equation in this form:

 where: M = degree of freedom or mobility
L = number of links
Jl = number of 1 DOF (full) joints
J2 = number of 2 DOF (half) joints

 The approach used to determine the
mobility of a planar mechanism can be
easily extended to three dimensions.
Degree of Freedom in Spatial Mechanisms
 Each unconnected link in three-space

has 6 DOF, and any one of the six lower
pairs can be used to connect them, as
can higher pairs with more freedom this
leads to the Kutzbach's mobility
equation for spatial linkages:

 The dof ofMECHANISMS AND
an assembly of links STRUCTURES
completely predicts its character.
 There are only three possibilities.
 If the DOF is positive, it will be a mechanism, and the links

will have relative motion.
 If the DOF is exactly zero, then it will be a structure, and no

motion is possible.

 If the DOF is negative, then it is a preloaded structure,
which means that no motion is possible and some
stresses may also be present at the time of assembly.
Fig below shows examples of these three cases & one
link is grounded in each case.

Planar kinematic pairs-link joints

Calculate the
dof;

Determine the dof of the mechanism below given;
Solution:
There are seven links; seven lower
pairs, one roll-slide contact and one
spring connection.
F=3(n-1)-2J1-J2
N=7
J1=7
J2=1.
F=3(7-1)-2(7)-1
F=+3

Solution:
F=3(n-1)-2J1-J2
N=10
J1=12
J2=0
F=3(10-1)-2(12)-0
F=+3

F=3(n-1)-2J1-J2
N=5
J1=6
J2=0
F=3(5-1)-2(6)-0
F=0
F=3(n-1)-2J1-J2
N=3
J1=3
J2=0
F=3(3-1)-2(3)-0
F=0
F=3(n-1)-2J1-J2
N=4
J1=3
J2=1
F=3(4-1)-2(3)-1
F=+2
F=3(n-1)-2J1-J2
N=5
J1=6
J2=0
F=3(5-1)-2(6)-0
F=0

F=3(n-1)-2J1-J2
N=3
J1=3
J2=0
F=3(3-1)-2(3)-0
F=0

Grashof ’s Criterion in 4-bar mechanism

 Some important concepts in link mechanisms are:
• Crank: A side link which revolves relative to the frame is
called a crank.
• Rocker: Any link which does not revolve is called a rocker.
• Crank-rocker mechanism: In a four bar linkage, if the
shorter side link revolves and the other one rocks (i.e.,
oscillates), it is called a crank-rocker mechanism.
• Double-crank mechanism: In a four bar linkage, if both of
the side links revolve, it is called a double-crank
mechanism.
• Double-rocker mechanism: In a four bar linkage, if both
of the side links rock, it is called a double-rocker
mechanism.

• In a four-bar linkage, we refer to the line segment between
hinges on a given link as a bar where:
• s = length of shortest bar
• l = length of longest bar
• p, q = lengths of intermediate bar
• Grashof's theorem states that a four-bar mechanism has at

least one revolving link if
s+l< p+q
and all three mobile links will rock if

s+l>p+q

Categories of Four-Bar Mechanisms
Case l + s versus. p + Shortest Bar Type

q
1 < Frame Double-crank
2 < Side Rocker-crank
3 < Coupler Double rocker
4 = Any Change point
5 > Any Double-rocker
Table showing Classification of Four-Bar Mechanisms
 From Table above we can see that for a mechanism to have a crank, the
sum of the length of its shortest and longest links must be less than or
equal to the sum of the length of the other two links.

 A double crank /crank-crank, is shown in Figure (a). As
specified in the criteria of Case 1 of Table above it has the shortest link of the four-bar mechanism
configured as the frame.
 If one of the pivoted links is rotated continuously, the other pivoted link will also rotate continuously.
Thus, the two pivoted links, 2 and 4, are both able to rotate through a full revolution. The double crank
mechanism is also called a drag link mechanism

 A crank-rocker fig (b);it has the shortest link of the
four-bar mechanism configured adjacent to the frame.
 If this shortest link is continuously rotated, the output link
will oscillate between limits.
 Thus, the shortest link is called the crank, and the output
link is called the rocker.
 The wiper system is designed to be a crank-rocker.
 In this configuration, neither link connected to the frame will
be able to complete a full revolution.
 Thus, both input and output links are constrained to oscillate
between limits, and are called double rockers.
 However, the coupler is able to complete a full revolution.

 the sum of two sides is the same as the sum of the other two.
 Having this equality, the change point mechanism can be positioned
such that all the links become collinear.
 The most familiar type of change point mechanism is a parallelogram
linkage.
 The frame and coupler are the same length, and so are the
two pivoting links.
 Thus, the four links will overlap each other. In that collinear configuration,
the motion becomes indeterminate.
 The motion may remain in a parallelogram arrangement, or cross into an
anti-parallelogram, or butterfly, arrangement.
 For this reason, the change point is called a singularity configuration.
 the triple rocker has no links that are able to complete a full revolution. Thus, all
three moving links rock.

Mechanisms satisfying this condition fall into the following three
categories:
 When the shortest link is a side link, the mechanism is
a crank-rocker mechanism and the shortest link is the
crank in the mechanism.
 When the shortest link is the frame of the mechanism,
the mechanism is a double-crank mechanism.
 When the shortest link is the coupler link, the
mechanism is a double-rocker mechanism.

PAIRING ELEMENTS

PAIRING ELEMENTS

DEGREES OF FREEDOM (DOF)
 It is the number of independent coordinates required
to describe the position of a body.
 A free body in space (fig) can have six degrees of
freedom. i.e., linear positions along x, y and z axes
and rotational/angular positions with respect to x, y
and z axes.
In a kinematic pair, depending on the

constraints imposed on the motion, the
links may loose some of the six degrees
of freedom.
TYPES OF KINEMATIC PAIRS
Based on nature of contact between

elements
 (i) Lower pair : The joint by which two members
are connected has surface contact.
 Eg. pin joints, shaft rotating in bush, slider in slider
crank mechanism.

(ii) Higher pair: The contact between the pairing
elements takes place at a point or along a line.
Ex: a ball bearing or between two gear teeth in contact,
it is known as a higher pair.

Based on relative motion between pairing
elements
(a) Siding pair [DOF = 1]: Sliding pair is constituted by two
elements so connected that one is constrained to have a
sliding motion relative to the other.
(b) Turning pair (revolute pair) [DOF = 1]: When connections of the
two elements are such that only a constrained motion of rotation of one
element with respect to the other is possible, the pair constitutes a
turning pair.

elements
(c) Cylindrical pair [DOF = 2]
(d) Rolling pair [DOF = 1]

elements
(e) Spherical pair [DOF = 3]
Eg. Ball and socket joint
(f) Helical pair or screw pair [DOF = 1]

Based on the nature of mechanical constraint
(a) Closed pair: Elements of pairs held together
mechanically due to their geometry constitute,
formed a closed pair. They are also called form-
closed or self-closed pair.
(b) Unclosed or force closed pair: Elements of pairs held

together by the action of external forces constitute unclosed or
force closed pair

CONSTRAINED MOTION : In a kinematic pair, if one element
has got only one definite motion relative to the other, then
the motion is called constrained motion.
(a) Completely constrained motion: If the

constrained motion is achieved by the pairing
elements themselves, then it is called completely
constrained motion.

(b) Successfully constrained motion: If constrained
motion is not achieved by the pairing elements
themselves, but by some other means, then, it is called
successfully constrained motion.
Eg. Foot step bearing, where shaft is constrained from
moving upwards, by its self weight.

(c) Incompletely constrained motion: When
relative motion between pairing elements takes
place in more than one direction, it is called
incompletely constrained motion.
Eg. Shaft in a circular hole.

• Kinematic chain: A kinematic chain is a group of
links either joined together or arranged in a manner
that permits them to move relative to one another.
• If the links are connected in such a way that no
motion is possible, it results in a locked chain or
structure.

• Mechanism: A mechanism is a constrained kinematic
chain. This means that the motion of any one link in the
kinematic chain will give a definite and predictable
motion relative to each of the others.
• Usually one of the links of the kinematic chain is fixed in a
mechanism.

• Mechanism:

Working of slider crank mechanism

• If, for a particular position of a link of the chain, the
positions of each of the other links of the chain can
not be predicted, then it is called as unconstrained
kinematic chain and it is not mechanism.

• Machine: A machine is a mechanism or collection of
mechanisms, which transmit force from the source of
power to the resistance to be overcome.
• Though all machines are mechanisms, all mechanisms
are not machines.
• Many instruments are mechanisms but are not
machines, because they do no go for useful work nor
do they transform energy. Eg. Mechanical clock, drafter.

• Degrees of freedom/mobility of a mechanism: It is
the number of inputs (number of independent
coordinates) required to describe the configuration
or position of all the links of the mechanism, with
respect to the fixed link at any given instant.
• A relationship between the number of joints, links,
and degrees of freedom of a linkage will be given.
• If n is the number of links, and f is the number of
joints in the system, then F is the degrees of
freedom Grubler’s equation as
3/18/2020 OWNED BY MUSE D. F  3(n  1)  2 f
• Grubler’s equation: Number of degrees of freedom of a
mechanism is given by
F = 3(n-1)-2l-h
• F = Degrees of freedom
• n = Number of links = n2 + n3 +……+nj, where, n2 =
number of binary links, n3 = number of ternary
links…etc.
• l = Number of lower pairs, which is obtained by
counting the number of joints. If more than two links
are joined together at any point, then, one additional
lower pair is to be considered for every additional link.
• h = Number of higher pairs
• Examples of determination of degrees of freedom of
planar mechanisms:
F = 3(n-1)-2l-h
Here, n2 = 4, n = 4, l = 4 and h = 0.
F = 3(4-1)-2(4) = 1
I.e., one input to any one link will result in definite motion
of all the links.
• Examples of determination of degrees of freedom of
planar mechanisms:
F = 3(n-1)-2l-h
Here, n2 = 5, n = 5, l = 5 and h = 0.
F = 3(5-1)-2(5) = 2
I.e., two inputs to any two links are required to yield
definite motions in all the links.
• Four-Bar Linkage
• . Grashof’s law states that the sum of the shortest

and longest links of a planar four-bar linkage cannot
be greater than the sum of the remaining two links if
there is to be continuous relative rotation between
two links.
• Four-Bar Linkage
• For instance, if the driver is small and the follower is

large, one would expect that the driver would spin in
a circle while the follower would rock back and forth.
This is called a crank-rocker.

• In a four-bar linkage, we refer to the line segment
between hinges on a given link as a bar where:
s = length of shortest bar
l = length of longest bar
p, q = lengths of intermediate bar
• Grashof's theorem states that a four-bar mechanism
has at least one revolving link if
s + l <= p + q
and all three mobile links will rock if
s+l>p+q
• The inequality 5-1 is Grashof's criterion.
• For a mechanism to have a crank, the sum of the length
of its shortest and longest links must be less than or
equal to the sum of the length of the other two links.
• However, this condition is necessary but not sufficient.
Mechanisms satisfying this condition fall into the following
three categories:
– When the shortest link is a side link, the mechanism is a
crank-rocker mechanism. The shortest link is the crank in
the mechanism.
– When the shortest link is the frame of the mechanism, the
mechanism is a double-crank mechanism.
– When the shortest link is the coupler link, the mechanism is
a double-rocker mechanism.
Case (l + s) v/s (p + q ) Shortest Bar Type
1 < Frame Double-crank
2 < Side Rocker-crank
3 < Coupler Doubl rocker
4 = Any Change point
5 > Any Double-rocker
Table Classification of Four-Bar Mechanisms

Inversions of mechanism: Four bar chain
• One of the most useful and most common mechanisms is the
four-bar linkage.
• In this mechanism, the link which can make complete rotation
is known as crank (link 2).
• The link which oscillates is known as rocker or lever (link 4),
and the link connecting these two is known as coupler (link 3).
Link 1 is the frame.
(link 1) frame
(link 2) crank
(link 3) coupler
(link 4) rocker

• Inversions of mechanism: Four bar chain
1. Crank-rocker mechanism
2. Drag link mechanism
3. Double rocker mechanism

CRANK-ROCKER MECHANISM
In this mechanism, either link 1 or link 3 is fixed. Link 2 (crank)
rotates completely and link 4 (rocker) oscillates. It is similar to
(a) or (b) of fig.

DOUBLE CRANK MECHANISM
This is one type of drag link mechanism, where,
links 1& 3 are equal and parallel and links 2 & 4 are
equal and parallel.

Crank and slotted lever quick return motion
mechanism

Application of Crank and slotted lever quick return
motion mechanism

1- DOF

2- DOF

3- DOF
Six lower pairs

3- DOF
Six lower pairs

The link may have a full rotation about the fixed axis (we call this
type of link crank)
•The link may oscillate (swing) between two limiting angles (we
call this type of link rocker).
In a four-bar mechanism we can have the following three different
types of motion:
i) Both of the links connected to the fixed link can have a full
rotation.
This type of four-bar is called "double-crank " or "drag-link".
ii) Both of the links connected to the fixed link can only oscillate.
This type of four-bar is called “double-rocker."

Transmission Angle
• If AB is the input link, the force applied to the
output link, CD, is transmitted through the
coupler link BC. (That is, pushing on the link CD
imposes a force on the link AB, which is
transmitted through the link BC.)
• For sufficiently slow motions (negligible inertia
forces), the force in the coupler link is pure
tension or compression (negligible bending
action) and is directed along BC.
Transmission Angle

Transmission Angle
The transmission angle in terms of

the crank angle and the link lengths
as (by writing the cosine theorem for
AB0 using the triangles A0AB0 and
ABB0 and equating the length AB0).

Transmission Angle
The minimum or maximum
transmission angle is as
The minimum or maximum value of

transmission angle will be when θ12 =
0 or π, Hence,

Transmission Angle
The optimum value of the transmission angle is
900.
Since, the angle will be constantly changing during
the motion cycle of the mechanism, there will be a
position at which the transmission angle will
deviate most from 900.
In practice it has been found out that if the

maximum deviation of the transmission angle from
900 exceeds 400 or 500 (depending on the type of
application), the mechanism will lock.
Transmission Angle
• For a given force in the coupler link, the torque
transmitted to the output bar (about point D) is
maximum when the angle between coupler bar
BC and output bar CD is π/2. Therefore, angle
BCD is called transmission angle.

Transmission Angle
• When the transmission angle deviates
significantly from π/2, the torque on the output
bar decreases and may not be sufficient to
overcome the friction in the system. For this
reason, the deviation angle (α)=| π/2- β| should
not be too great.

Intermittent motion mechanisms
Intermittent motion is a sequence of motions and
dwells.
A dwell is a period in which the output link remains
stationary while the input link continues to move.
There are many applications in machinery which
require intermittent motion.
Intermittent motion
a sequence of motions and dwells.
Dwell
A period in which the output link remains
stationary while input link continues to
move
GENEVAMECHANISM A common form of intermittent motion device is the Geneva
mechanism shown in Figure below.
 This is also a transformed four bar linkage in which the coupler has been replaced
by a half joint.
 The input crank (link 2) is typically motor driven at a constant speed.
 The Geneva wheel is fitted with at least three equi-spaced, radial slots.
 The crank has a pin that enters a radial slot and causes the Geneva wheel to turn
through a portion of a revolution.
 The result is intermittent rotation of the Geneva wheel.

RATCHET AND PAWL figure shown a ratchet and pawl
mechanism.
 The arm pivots about the center of the toothed ratchet wheel
and is moved back and forth to index the wheel.
 The driving pawl rotates the ratchet wheel (or ratchet) in the
counterclockwise direction and does no work on the return
(clockwise) trip.
 The locking pawl prevents the ratchet from reversing
direction while the driving pawl returns.
 Both pawls are usually spring-loaded against the ratchet.

This mechanism is widely used in devices such as "ratchet"
wrenches, winches, etc.

LINEAR GENEVA MECHANISM: There is also a
variation of the Geneva mechanism which has linear
translational output, as shown in figure above.
 This mechanism is analogous to an open Scotch yoke

device with multiple yokes.
 It can be used as an intermittent conveyor drive with
the slots arranged along the conveyor chain or belt.

 The Geneva drive or Maltese cross is a gear mechanism that
translates a continuous rotation into an intermittent rotary motion.
 The rotating drive wheel has a pin that reaches into a slot of the
driven wheel advancing it by one step.
 The drive wheel also has a raised circular blocking disc that locks
the driven wheel in position between steps.

Scotch Yoke Mechanism
 A scotch yoke mechanism is a common mechanism that

converts rotational motion to linear sliding motion, or vice
versa.
 With regards to the input and output motion, the scotch yoke is
similar to a slider-crank, but the linear sliding motion is pure
sinusoidal.
 In comparison to the slider-crank, the scotch yoke has the

advantage of smaller size and fewer moving parts, but can
experience rapid wear in the slot.
Quick-Return Mechanisms
 Quick-return mechanisms exhibit a faster stroke in one
direction than the other when driven at constant speed
with a rotational actuator.
 They are commonly used on machine tools that require

a slow cutting stroke and a fast return stroke.
 The kinematic diagrams of two different quick-return

mechanisms are given in figure below;

SLIDER-CRANK MECHANISM
Another mechanism that is commonly encountered is a slider-

crank.
This mechanism also consists of a combination of four links,
with one being designated as the frame.
This mechanism, however, is connected by three pin joints
and
one sliding joint.
A mechanism that drives a manual water pump is shown.

Geneva wheel mechanism

Intermittent motion mechanisms
Ratchet and pawl mechanism

Inversion
 An inversion is created by grounding a different
link in the kinematic chain.
 Thus there are as many inversions of a given
linkage as it has links.

F o u r b a r m e c h a OWNED
3/18/2020
n i s mBY MUSE
i n vD.e r s i o n
6-bar mechanism
3/18/2020
inversion
OWNED BY MUSE D.

Basic Theory of Machine & Mechanism

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Basic Theory of Machine & Mechanism

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Theory of Machine

ADDIS ABABA SCIENCE & TECHNOLOGY UNIVERSITY

The ancient Egyptians devised primitive machines to accomplish the building

 The origin of the wheel and axle is not definitively known.

 Much early machine design was directed toward military

 The term civil engineering was later coined to differentiate

 Mechanical engineering had its beginnings in machine design as

 He attempted to systematize the task of mechanism synthesis.

He counted five ways of obtaining relative motion between input

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He provided us with the concept of a kinematic pair

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 Reuleaux is generally considered the father of modem kinematics

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 The first question in solving this problem is usually: What kind of a

 The objective of dynamics is analysis of the behavior of a given machine

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 This absence of links to other subjects may create the false

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• Mechanism: Part of a machine, which transmit

bodies, formed and connected do that they move

with definite relative motions and transmit force

from the source of power to the resistance to be

• These functions require strength and rigidity to

transmit the forces.

• Movements which are electrically, magnetically,

• The term machinery generally means

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• In a planar mechanisms, all of the relative

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• In other words, planar mechanisms are essentially

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• Kinematics of mechanisms is concerned with the

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Study of position, displacement, velocity

Given input Desired output

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 A pair is a joint between the surfaces

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In kinematic analysis, a particular given mechanism is

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 Pairing elements: the geometrical forms by

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• The concept of degree of freedom (DOF) is

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of the kinematic chain is grounded, the net effect will be to

create one larger, higher-order ground link, as there can be

only one ground plane.

 Thus G is always one,OWNED

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The value of J in equations 1 & 2 must reflect the value of

That is ,half joints count as ½ because they only remove

It is less confusing if we use Kutzbach’s modification of

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Jl = number of 1 DOF (full) joints

J2 = number of 2 DOF (half) joints

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 Each unconnected link in three-space