Kinematics and Dynamics of Machines

Dr. Naresh Kumar Raghuwanshi

Assistant Professor
Department of Mechanical Engineering
MNIT Jaipur
Reference Books
I. Kinematics and Dynamics of Machinery, by R.L. Norton, McGraw Hill Education (India) Pvt. Ltd.
II. Theory of Machines and Mechanisms (India Edition) by John J. Uicker Jr., Gordon R. Pennock and Joseph
E. Shigley, Oxford University Press.
III. Mechanism and Machine Theory by J.S.Rao and R.V.Dukipatti, New Age International.
IV. Theory of Mechanisms & Machines by AmitabhaGhosh, Asok Kumar Mallik, Affiliated
East-West Press Pvt Ltd.
 Introduction
The branch of scientific analysis that deals with motions, time, and forces is called mechanics.
 MECHANISMS AND MACHINES
A mechanism is a device that transforms motion to some desirable pattern and typically develops very low forces and transmits little power.
Hunt [] defines a mechanism as “a means of transmitting, controlling, or constraining relative movement.”

A machine typically contains mechanisms that are designed to provide significant forces and transmit significant power.

Mechanism: A system of elements arranged to transmit motion in a predetermined fashion.

Machine: A system of elements arranged to transmit motion and energy in a predetermined fashion.
 Degree of Freedom (DOF)
Or
Mobility
The systems DOF is the number of independent parameters (coordinates) that are
needed to uniquely define its position in space at any instant of time.
Note: the DOF is defined with respect to a selected frame of reference.

Types of motions
A rigid body (no deformation) free to move within a reference frame will, in the general case, have complex
motion, which is a simultaneous combination of rotation and translation.

1. Pure rotation (i.e A reference line drawn on the body through the center changes only its angular Orientation)
2. Pure translation (i.e. A reference line drawn on the body changes only its linear position)
3. Complex motion: A simultaneous combination of rotation and translation. (i.e. Any reference line drawn on
the body will change both its linear position and its angular orientation)
 Some definitions:
Link: It is an (assumed) rigid body that possesses at least two nodes that are points for attachment to other links.

Machine components that do not fit this assumption of rigidity, such as springs, usually have no effect on the kinematics
of a device but do play a role in supplying forces. Such parts or components are not called links; they are usually ignored
during kinematic analysis, and their force effects are introduced during force analysis.

Sometimes, as with a belt or chain, a machine part may possess one-way rigidity; such a body can be considered a link
when in tension but not under compression.

A joint is a connection between two or more

Binary link - one with two nodes. links (at their nodes), which allows some motion
Ternary link - one with three nodes. between the connected links.
Quaternary link - one with four nodes.
Joints (also called kinematic pairs)
 Some definitions cont.

When several links are connected together by joints, they are

said to form a kinematic chain.
If every link in a chain is connected to at least two other links, the
chain forms one or more closed loops and is called a closed
kinematic chain; if not, the chain is referred to as open (i.e. in
robot).

Kinematic chain: An assemblage of links and joints, interconnected in a way to provide a controlled output
motion in response to a supplied input motion.

Mechanism: A kinematic chain in which at least one link has been “grounded,” or attached, to the frame of
reference (which itself may be in motion).

Machine: A combination of resistant bodies arranged to compel the mechanical forces of nature to do work
accompanied by determinate motions.

By Reuleaux’s* a machine is a collection of mechanisms arranged to transmit forces and do work.

A structure is also a combination of resistant (rigid) bodies connected by joints, but the purpose of a structure (such as a truss) is not to do
work or to transform motion, but to be rigid. A truss can perhaps be moved from place to place and is movable in this sense of the word;
however, it has no internal mobility. A structure has no relative motions between its various links.