Chapter One

Introduction
A machine is a device which receives energy and transforms it into some useful work. A machine consists of
a number of parts or bodies.

In this course we are going to discuss about Mechanisms of machinery which deals with the study of motion
& force in machinery devices.

Synthesis and analysis of machinery will also be discussed.

1.1. Basic Definitions:

Link: - a rigid body having two or more pairing elements to be connected to other bodies,
- each part of a machine, which moves relative to some other part,
- a link may consist of several parts, which are rigidly connected, with no relative motion.
Types of links:
• Rigid link: a link with no deformation (neglecting smaller ones) while transforming motion.
- Simple rigid link: has two pairing elements,
- Compound rigid link: more than two pairing elements.

Simple link Compound link

• Flexible link: a link with some deformation without affection the transmission of motion,
For Example: belts, ropes, chains and wires are flexible links and transmit tensile forces only.
• Fluid link: is a link formed by having a fluid in a receptacle and the motion is transmitted through
the fluid by pressure.

Kinematic Pair: is a pair of rigid bodies or links permanently kept in contact with relative motion,
- joined by pairing elements which allow relative motion,
- can have a maximum of five DOF (Degree of Freedom) & a minimum of one DOF,
- the relative motion b/n links in a kinematic pair is completely or successfully constrained.
Types of Constrained Motions:
a) Completely constrained motion: when the motion b/n links in a pair is in a definite
direction.

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 Square bar in a square hole Shaft with collars at each end in a circular hole.
b) Incompletely constrained motion: when the motion b/n links in a pair is in more than one
direction.

Shaft in a circular hole (it may rotate or slide)

c) Successfully constrained motion: the constrain b/n links in a pair is not completed by
itself, but by some other means,
Shaft in a foot step bearing (it may rotate or moves up-ward
but if a load is applied to prevent the up-ward motion, it will
be successfully constrained)
For example: motion of an IC engine valve is a successfully
constrained motion.

Classification of Kinematic Pairs:

i) According to the type of relative motion between the links:
a) Turning pair or revolute joint or pin joint: permits one link or member to rotate
about an axis of the other link. => one DOF
Examples: A shaft with collars at both ends fitted into a circular hole, the crankshaft in a journal
bearing in an engine, lathe spindle supported in head stock, cycle wheels turning over their axles.
b) Sliding pair or prismatic joint: allows one link to translate/slide along the axis of
other link. => one DOF
Examples: The piston and cylinder, cross-head and guides of a reciprocating steam engine, ram and its
guides in shaper, tail stock on the lathe bed, etc.
c) Rolling pair: one of the elements of a pair rolls over the other. => 1 or 3 DOF
Examples: Ball and roller bearings.
d) Screw pair: one element of a pair turn over the other by screw threads. => Two DOF
Examples: The lead screw of a lathe with nut, and bolt with a nut.
e) Cylindrical pair: allows rotation and translation about an axis. => Two DOF
Example: a shaft in a circular hole.
f) Spherical pair: allows rotation in space about three axes. => Three DOF
Examples: The ball and socket joint, attachment of a car mirror, etc.

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 ii) According to the type of contact between the links:
a) Lower pair: when links of a pair have surface contact (motion is sliding)
- Sliding pairs, turning pairs and screw pairs form lower pairs.
b) Higher pair: when links of a pair have point or line contact (motion is partly turning
and partly sliding)
Examples: toothed gearing, belt and rope drives, ball and roller bearings and cam and follower.
iii) According to the type of closure:
a) Self-closed pair: when the elements of a pair are connected mechanically.
- The lower pairs are self closed pairs
b) Force-closed pair: when the elements of a pair are not connected mechanically but
are kept in contact by the action of external forces.
Example: The cam & follower, as it is kept in contact by the forces exerted by spring and gravity.
iv) According to the degree of freedom:
a) Class I joints: allow one DOF
b) Class II joints: allow two DOF
c) Class II joints: allow three DOF, and so on.
Kinematic Chain: the arrangement of kinematic pairs in a chain fashion which permits relative motion
between links.
Classification of kinematic chains:
i) Open-loop kinematic chain: links are composed without closed branches.
ii) Closed-loop kinematic chain: when the kinematic pairs are coupled in such a way
that the last link is joined to the first link to transmit definite motion.
Example: an IC engine.
Equations for kinematic chains:
l = 2 p – 4 ------------------------------------------------------- (1)
Where p = number of pair and
l = number of link


j =  l – 2 ------------------------------------------------------- (2)

Where j = number of joints and

l = number of link
These equations are mostly applicable for kinematic chains composed of lower pairs.
Example:
Determine whether the following are kinematic chain or not.
1. An arrangement of three links,

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 Solution:
Number of links, l=3
Number of pairs, p=3
Number of joints, j=3

From equation (1), l = 2p – 4

3=2×3–4=2
i.e. L.H.S. > R.H.S.

Now from equation (2), j = l − 2



3 =  ×3 – 2 = 2.5
i.e. L.H.S. > R.H.S

=> It is not a kinematic chain (no relative motion) such type of chain
is called locked chain and forms a rigid frame or structure.

2. An arrangement of four links,

Solution:
In this case, l = 4, p = 4, and j = 4
From equation (1), l=2p–4
4=2×4–4=4
i.e. L.H.S. = R.H.S.


Now from equation (2), j = l − 2



4= ×4 – 2 = 4

i.e. L.H.S. = R.H.S

=> It is a kinematic chain of one DOF (there is relative motion)

It is a constrained kinematic chain b/c the relative motion

is completely constrained.

3. An arrangement of five links,

Solution:
In this case, l = 5, p = 5, and j = 5
From equation (1), l=2p–4
5=2×5–4=6
i.e. L.H.S. < R.H.S.


Now from equation (2), j = l − 2



5= ×5 – 2 = 5.5

i.e. L.H.S. < R.H.S

=> It is not a kinematic chain, such type of chain is called

unconstrained chain b/c the relative motion is not
completely constrained.

4. An arrangement of six links,

Solution:
In this case l = 6 and p = 5;
From equation (1) L.H.S. = R.H.S => 6 = 6
From equation (2) L.H.S. = R.H.S => 7 = 7

=> It is a kinematic chain.

A kinematic chain having more than four links is called

compound kinematic chain.

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Structure: it is an assembly of a number of links connected with no relative motion for carrying loads.
Examples: A railway bridge, a roof truss, machine frames etc.

Difference between a Machine and a Structure:

The following are the difference between a machine and a structure:
• The parts of a machine move relative to each other, but members of a structure do not move relative to each other,
• A machine transforms energy into useful work, but in a structure no energy is transformed to useful work,
• The links of a machine may transmit both power and motion, while the members of a structure transmit forces only.

Types of Joints in a Chain:

i. Binary joint: when two links are connected at the same joint.

(a) Kinematic chain with all binary joints (b) Kinematic chain having binary and ternary joints

ii. Ternary joint: when three links are connected at the same joint.

One Ternary Joint = Two Binary Joints

For the above figure, shown in (b), the equivalent binary joints are:
- Three binary joints, and
- Two ternary joints
=> 3+2×2=7

iii. Quaternary joint: when four links are connected at the same joint.

One quaternary Joint = Three Binary Joints


j= l, 15 = 14.5 j= l, 13= 13
 

LHS > RHS LHS = RHS

(a) Looked chain having binary, ternary and quaternary joints (b) Kinematic chain having binary and ternary joints
(Totally, 1 + 4 × 2 + 2 × 3 = 15 binary joints) (Totally, 1 + 6× 2 = 13 binary joints)

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 In general, when l number of links are connected at the same joint, the joint is equivalent to l – 1 binary
joints.

Mechanism: When one of the links of a kinematic chain is fixed, the chain is known as mechanism.
Example: a slider-crank mechanism as shown bellow.

Crank
Connecting rod
(Link 2)
(Link 3)
Guides

Direction of Slide

Frame
(Link 1)

Cross-head
(Link 4)

Inversion: if, in a mechanism, the link which was originally fixed is allowed to move and another link
becomes fixed, the mechanism is called inverted.

- It does not change relative motion but does change absolute motion of links.
- The number of possible kinematic inversion is equal to the number of links in a mechanism.

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