MACHINE ELEMENTS 1

KINEMATIC
PAIR
Group 2 | BAUTISTA, CRUZ, GARCIA, GUEVARRA, MANIAUL, MIJARES, PASION
 KINEMATIC
is the study of motion (position, velocity,
acceleration). A major goal of Understanding
kinematics is to develop the ability to design a
system that will satisfy Specified motion
requirements.
KINETIC
is the study of effect of forces on moving
bodies. Good kinematic design should
produce good kinetics.
Link
DEFINITION
A link is defined as a member or a combination
of members of a mechanism connecting other
members and having relative motion between them.
The link may consist of one or more resistant bodies.
A link may be called as kinematic link or element.
Eg: Reciprocating steam engine.
Incomplete Pair
DEFINITION
In kinematic pair when two elements or links are connected together in such a way that their
relative motion is constrained, form a kinematic pair. Therefore, in order to compel a body to
move in definite path, it must be paired with another. If the constraint is not complete or
doesn’t have definite path the pair is termed as incomplete pair.
But if the two links or elements of a machine is contact with each other, are said to form a pair.
If the relative motion between them is complete or successful constrained, the pair known as
kinematic pair.
EXAMPLE: The shaft in a circular hole. It may either
rotate or slide in a hole. These both motions have no
relationship with the other.

 DEFINITION
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 constrained or successfully

Kinematic Pair
constrained (i.e. in a definite direction), The
pair is known as a kinematic pair.
In simple words, a kinematic pair is a joint of
two links having relative motion between
them.
 Based on Nature of Contact

Classification Based on Nature of Relative Motion

KINEMATIC PAIRS

Based on Mechanical Constraint

 BASED ON
Nature of Contact
 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.
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.
 LOWER PAIR HIGHER PAIR
Examples: Examples:

All prismatic, revolute and helix pairs are Toothed gearing

lower pair. Belt and rope drives
Nut turning in a screw. Ball and roller bearings
Shaft rotating in a bearing. Cam and follower.
Universal joint
All pairs of slider-crank mechanism.

WHEEL AND AXLE

PINION AND GEAR
CAM AND FOLLOWER
PISTON AND CYLINDER
 BASED ON
Nature of Relative Motion
 DEFINITION
Also known as sliding pair
This consists of two elements connected in
such a way that one is constrained to have
sliding motion relative to another.

Prismatic Pair (P)

SCHEMATIC REPRESENTATION
PISTON AND CYLINDER TAILSTOCK AND LATHE BED
 DEFINITION
Also known as turning pair
It consists of two elements connected in
such a way that one is constrained to turn
or revolve about a fixed axis of another
element.

Revolute Pair (R)

SCHEMATIC REPRESENTATION
AXLE AND WHEEL CRANKSHAFT OF AN IC ENGINE
 DEFINITION
consists of two elements connected in such
a manner that one is constrained to roll in
another element which is fixed.

Rolling Pair

BEARING MARBLE ROLLING

 DEFINITION
Also known as screw pair
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.

Helix Pair (H)

SCHEMATIC REPRESENTATION
SCREW WITH NUT OF SCREW JACK NUT AND BOLT
 DEFINITION
Also known as spherical pair
consists of two elements connected in such
a manner that one element in the form of a
sphere turns about the other fixed element.
These pairs have 3 degrees of freedom.

Globular Pair (G)

SCHEMATIC REPRESENTATION
BALL AND SOCKET JOINT
 DEFINITION
It is a kinematic pair in which elements of a
pair undergo rotational as well as
translational motion with respect to each
other.
These pairs have 2 degrees of freedom.

Cylindrical Pair

SCHEMATIC REPRESENTATION
A CYLINDRICAL BAR INSIDE A HOLLOW SHAFT
 BASED ON
Mechanical Constraint
 CLOSED PAIR UNCLOSED PAIR
Elements of pairs held together
Whenever two elements of pair are not
mechanically due to their geometry
held together mechanically but are kept
constitute a closed pair.
in contact by the action of external forces.
They are also called form-closed or self-
They are also called forced-closed pair.
closed pair.
 CLOSED PAIR UNCLOSED PAIR

Examples:
Examples:
Cam and spring-loaded follower
All lower pair

WHEEL AND AXLE

NUT AND BOLT

CAM AND SPRING-LOADED FOLLOWER

PISTON AND CYLINDER
 DEFINITION
The method of obtaining different
mechanism by fixing different links in a
kinematic chain, is called inversion.

Kinematic
Inversions have same relative motion
between the links but absolute motion will

Inversion
change.
No. of inversion = No. of links in kinematic
chain
Kinematic Skeleton Diagram

PISTON AND CYLINDER

 APPLICATION
BASED ON NATURE OF CONTACT
LOWER PAIR

BASED ON NATURE OF RELATIVE MOTION

PRISMATIC PAIR (Sliding Motion)

BASED ON MECHANICAL CONSTRAINT

CLOSED PAIR

PISTON AND CYLINDER

IN INTERNAL COMBUSTION ENGINE