ME 301 THEORY OF MACHINES I

Basic Concepts and Definitions

Mechanisms:

Link:

Kinematic Element:

Kinematic Pair (Joint):

Classifications of Mechanisms, Links and Joints

Mechanisms:

Links:
 Binary Link

Ternary Link

Quarternary Link

Kinematic Pairs:

https://www.youtube.com/watch?v=JdJNG3_dIQ8
 Degree of Freedom of Space
Space:

D.O.F of Space:

a. 2-D Space (Planar)

y2
L

y1

x1 x2 x
b. 3-D Space

B
L
A ϕ

zA zB

xA y
xB
yB
yA

x
c. Spherical Space

DOF of Kinematic Pair

Other Kinematic Pairs

Screw Pair:

Slider in a Circular Slot:

Cam Pair:

Rolling Contact:

No slip
Degree of Kinematic Pair (Joint)

Shape, Construction Details, Number of Supports etc. are not important:

Kinematic Chain:

Kinematic Chain:

Mechanism:

Kinematic Inversion:

2 3

4
1

Kinematic Chain
2 3 2 3

4 4
1

Slider-Crank Mechanism

4
4

3
1 2
3

Inverted Slider Crank Mechanism

4
3
4

2
2 3
1

Swinging Block Mechanism

2 3 2 3

4
1 4

Inverted Slider Crank