Fundamentals and Type of Mechanism-1

Program: Diploma in Mechanical Engineering
Course: Theory of Machines

Course Code : 22438
Prof. D. M. Kulthe
MET’s Bhujbal Knowledge City IOT-P
dattakulthe26@gmail.com , 8698447676
Course Outcomes (COs)
➢ Competency
Theory of Machines
Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)
Use principles of kinematics and dynamics in maintenance of various equipment
a) Identify various links in popular mechanisms

b) Select suitable mechanism for various applications
c) Interpret the motion of cams and followers
d) Recommend relevant belt, chain and gear drives for different applications
e) Choose relevant brakes and clutches for various applications
f) Select suitable flywheel and governor for various applications
Teaching and Examination Scheme
Theory of Machines
Examination Scheme
Theory Practical
ESE PA Total ESE PA Total
Max Min Max Min Max Min Max Min Max Min Max Min
70 28 30* 00 100 40 25@ 10 25 10 50 20
Units
Unit No Unit Title Marks

Fundamentals and type of Mechanisms 14
Theory of Machines
1
2 Velocity and Acceleration in Mechanisms 10

3 Cams and Followers 12
4 Belt, Chain and Gear drive 14
5 Brakes and Clutches 08
6 Flywheel, Governor and Balancing 12
Total Marks 70
References:
➢ R. S. Khurmi, J K Gupta, “Theory of Machines”, Eurasia Publishing House, New Delhi.
➢ S. S. Ratan, “Theory of Machines”, TMH Publications.
Fundamentals and types of mechanism
What is a Theory of Machines ?
Theory of Machines may be defined as that branch of Engineering-science, which

deals with the study of relative motion between the various parts of a machine, and
forces which act on them. The knowledge of this subject is very essential for an
engineer in designing the various parts of a machine.
Theory of Machines
Kinematics Dynamics
Static Kinetic
Fundamentals and types of mechanism Sub-divisions of Theory of Machines
The Theory of Machines may be sub-divided into the following four branches :
1. Kinematics. It is that branch of Theory of Machines which deals with the relative motion
between the various parts of the machines, without considering the forces producing such
motions.
2. Dynamics. It is that branch of Theory of Machines which deals with the forces and their
effects, while acting upon the machine parts in motion.
3. Kinetics. It is that branch of Theory of Machines which deals with the inertia forces which
arise from the combined effect of the mass and motion of the machine parts.
4. Statics. It is that branch of Theory of Machines which deals with the forces and their effects
while the machine parts are at rest.
The mass of the parts is assumed to be negligible.
Definition
Term Definition
1. Kinematics It deals with the study of relative motion between moving parts
2. Dynamics It is study of forces acting on various parts of a Machine
3. Kinetics It is study of Inertia forces arises due to combined effect of mass & motion
4. Statics It is study of forces on various parts at rest (Where mass is negligible)
Machine
A machine is a device which receives energy in some available form and utilizes it to do some
useful work.
A machine is a thing that is created by people to make work easier. It is a tool or invention
which multiplies the effect of human effort
Ex. I.C.engine, Lathe machine

Structure
It is an assemblage of a number of resistant bodies (known as members) having no relative

motion between them and meant for carrying loads having straining action.
Ex. A railway bridge, a roof truss, machine frames etc.

Mechanism
Mechanism is combination of interconnected rigid bodies capable of transferring relative

motion.
E.g. steering mechanism in a car, Slider crank mechanism, engine indicator
Mechanisms We Use
Everyday
•Actuators.
• Cams.
• Gears.
• Levers.
• Ratchets.
• Springs
This is done by making one of the parts as fixed, and the relative motion of other parts is
determined with respect to the fixed part.

Difference between Machine and Structure

Difference between Machine and Mechanism

Mechanism
MECHANISM
KINEMATIC PAIR
KINEMATIC LINK
KINEMATIC CHAIN
Kinematic Link or Element
Each part of a machine, which moves relative to some other part, is known as a kinematic
link (or simply link) or element
A link may consist of several parts, which are rigidly fastened together, so that they do not
move relative to one another
As shown in Figure piston, piston rod and
crosshead constitute one link ; connecting rod with
big and small end bearings constitute a second link ;
crank, crank shaft and flywheel a third link and the
cylinder, engine frame and main bearings a fourth
link.
Kinematic Link or Element
➢ A link or element need not to be a rigid body, but it must be a resistant body.
A body is said to be a resistant body if it is capable of transmitting the required forces

with negligible deformation.
➢ Link should have the following two characteristics:

1. It should have relative motion
2. It must be a resistant body.
Types of Kinematic Link 1. Rigid link. A rigid link is one which does not undergo any
deformation while transmitting motion. Strictly speaking, rigid
➢ Rigid Link links do not exist. However, as the deformation of a connecting

rod, crank etc. of a reciprocating steam engine is not
➢ Flexible Link
appreciable; they can be considered as rigid links.
➢ Fluid Link
2. Flexible link. A flexible link is one which is partly deformed
in a manner not to affect the transmission of motion. For
example, belts, ropes, chains and wires are flexible links and
transmit tensile forces only.
3. Fluid link. A fluid link is one which is formed by having a
fluid in a receptacle and the motion is transmitted through the
fluid by pressure or compression only, as in the case of
hydraulic presses, jacks and brakes.
Constrained motion
Constrained Motion is defined as a mechanical pair which is having definite motion with respect
to another element.
Constrained motion results when an object is forced to move in a restricted way.
Types of Constrained motion
1. Completely constrained motion

2. Incompletely constrained motion
3. Successfully constrained motion
1. Completely constrained motion.

When the motion between a pair is limited to a definite direction irrespective of the direction of
force applied, then the motion is said to be a completely constrained motion.
Example:
Square bar in a square hole
Shaft with a collar at each end in the circular hole.
A piston in the cylinder of an IC engine.
2. Incompletely constrained motion.

When the motion between a pair can take place in more than one direction, then the motion is
called an incompletely constrained motion.

The change in the direction of impressed force may alter the direction of relative motion between
the pair.
Example:
Circular shaft in a circular hole
as it may be either rotate or slide in a hole.
Both motions have no relationship with others.
3. Successfully constrained motion.

When the motion between the elements, forming a pair, is such that the constrained motion is not
completed by itself, but by some other means, then the motion is said to be successfully constrained
motion.
Example:
The motion of the shaft in a footstep
bearing becomes successfully constrained
motion when a compressive load is applied.
Kinematic Pair
The 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 or successfully constrained (i.e. in a definite
direction), the pair is known as kinematic pair.

Types of Kinematic Pair
According to type of According to the type of According to the type of

Relative Motion between contact between the closure
the Elements/links elements/links
Self closed pair

Sliding Pair Lower Pair
Force - closed
Turning Pair Higher Pair
pair
Rolling Pair
Screw Pair
Spherical Pair
1. Sliding Pair :
When the two elements of a pair are connected in such a way that one can only slide relative
to the other, the pair is known as a sliding pair.
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
2. Turning Pair :
When the two elements of a pair are connected in such a way that one can only turn or revolve
about a fixed axis of another link, the pair is known as turning pair.
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
3. Rolling Pair :
When the two elements of a pair are connected in such a way that one rolls over another fixed
link, the pair is known as rolling pair
Examples :
➢ Ball and roller bearings
➢ Belt and pully arrangement
4. Screw Pair :
When the two elements of a pair are connected in such a way that one element can turn about
the other by screw threads, the pair is known as screw pair
Examples :
➢ The lead screw of a lathe with nut
➢ Bolt with a nut
5. Spherical Pair :
When the two elements of a pair are connected in such a way that one element (with spherical
shape) turns or swivels about the other fixed element, the pair formed is called a spherical
pair
Examples :
➢ ball and socket joint
➢ attachment of a car mirror
➢ pen stand
➢ Joystick
6. Lower Pair :
When the two elements of a pair have a surface contact then relative motion takes place and
the surface of one element slides over the surface of the other, the pair formed is known as
lower pair
Examples :
➢ Sliding pairs
➢ Turning Pairs
➢ Screw Pairs
7. Higher Pair :
When the two elements of a pair have a line or point contact then relative motion takes place
and the motion between the two elements is partly turning and partly sliding, then the pair is
known as higher pair
Examples :
➢ A pair of friction discs
➢ toothed gearing
➢ belt and rope drives
➢ ball and roller bearings
➢ cam and follower
➢ Self closed pair. When the two elements of a pair are connected together mechanically in
such a way that only required kind of relative motion occurs, it is then known as self
closed pair.
The lower pairs are self-closed pair.
➢ Force - closed pair. When the two elements of a pair are not
connected mechanically but are kept in contact by the action of
external forces, the pair is said to be a force-close pair.
The cam and follower is an example of force closed pair, as
it is kept in contact by the forces exerted by spring and
gravity.
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 (i.e. completely or successfully constrained motion), it is called a
kinematic chain.
In other words, a kinematic chain may be defined as a combination of kinematic pairs, joined
in such a way that each link forms a part of two pairs and the relative motion between the
links or elements is completely or successfully constrained
Kinematic Chain
Identify whether given chain is kinematic chain or not ?

Prove that, the given configuration is a Kinematic Chain or not.
Lets
Let, P = No. of Pairs =04
P = Number of pairs
l = No. of Link
l = Number of Links
Where, l = 2(P) – 4
j = Number of Joints
l = 2 (4) – 4
= 8 – 4 = 04
l = 2(p) - 4
Let, j = No. of Joint
j = 3/2(l) - 2
Where, j = 3/2 (l) – 2
= 3/2 (4) – 2
= 04
Hence prove that, it is a Kinematic Chain
Kinematic Chain
Prove that, the given configuration is a Kinematic Chain or not.
Let, No. of Pair (P) = 03

No. of Link (l) = 03

No. of Joint (j) = 03
Where, l = 2 (P) – 4
= 2 (3) – 4 = 02
But l = 2
Where, j = 3/2 (l) – 2
= 3/2 (2) -2 =1 This type of configuration known as Locked Chain Structure.
But j = 1
Assembly, having a combination of each link but no relative motion hence it is not a Kinematic
Chain.
Types of Kinematic Chains
1. Four bar kinematic chain

2. Single slider crank chain
3. Double slider crank chain.
4 – Turning Pairs 3 – Turning Pairs

1 – Sliding Pair 2 – Turning Pairs
2 – Sliding Pair
This mechanism is transforming rotary motion into oscillating

1.Four bar kinematic chain motion.
It consists of four links, each of them forms a turning pair at A, B, C and D.
Link CD : Complete revolution : Crank
Link AB : Partial revolution or Oscillation : Lever/Rocker
Link BC : Connects crank and lever : C.R. / Coupler
Link AD : Fixed link : Frame
According to Grashof ’s law for a four bar mechanism, the sum of the shortest and longest
link lengths should not be greater than the sum of the remaining two link lengths

Four bar kinematic chain - Animation

This type of mechanism converts rotary motion into reciprocating

2. Single Slider Crank Chain motion and vice versa.
A single slider crank chain is a modification of the basic four bar chain
It consist of one sliding pair and three turning pairs.

Link 1 : Fixed link : Frame
Link 2 : Complete revolution : Crank
Link 3 : Connects crank and Piston : C.R.

1
Link 4 : Sliding Motion: Piston/Slider
Link 1 & Link 2 : Turning Pair Link 3 & Link 4 : Turning Pair
Link 2 & Link 3 : Turning Pair Link 4 & Link 1 : Sliding Pair

Single Slider Crank Chain - Animation

3. Double Slider Crank Chain

A Double slider crank chain is a modification of the Single slider crank chain
It consist of two sliding pairs and two turning pairs.
3
2 Link 1 : Sliding Motion : Slider
Link 2 : Connects two slider : C.R.
Link 3 : Sliding Motion : Slider
Link 4 : Fixed link : Frame/Slotted Plate
1 4

Double Slider Crank Chain - Animation

Inversion of Mechanism
We have already discussed that when one of the link is fixed in a kinematic chain, it is called a
mechanism. So we can obtain as many mechanisms as the number of links in a kinematic chain
by fixing, in turn, different links in a kinematic chain.
This method of obtaining different mechanisms by fixing different links in a kinematic chain
is known as inversion of the mechanism.
It may be noted that the relative motions between the various links is not changed in
any manner through the process of inversion, but their absolute motions (those
measured with respect to the fixed link) may be changed drastically.
Inversions of Four Bar Chain
Inversions of Four Bar Chain

1. Beam engine (crank and lever mechanism)
2. Coupling rod of a locomotive (Double crank mechanism)
3. Watt’s Straight Line Indicator Mechanism:
4. Pantograph
Inversion of Four Bar Chain
1. Beam Engine (crank and lever mechanism)

It consists of four links, In this mechanism, when

the crank rotates about the fixed centre A, the lever
oscillates about a fixed centre D. The end E of the
lever CDE is connected to a piston rod which
reciprocates due to the rotation of the crank.
Purpose of this mechanism is to convert rotary motion into reciprocating motion.


Beam Engine - Animation
2. Coupling Rod of a Locomotive (Double crank mechanism).

It consists of four links, In this mechanism, the

links AD and BC (having equal length) act as
cranks and are connected to the respective
wheels. The link CD acts as a coupling rod and
the link AB is fixed in order to maintain a
constant centre to centre distance between
them.
This mechanism is meant for transmitting rotary motion from one wheel to the other wheel.

Coupling Rod of a Locomotive - Animation

3. Watt’s Straight Line Indicator Mechanism
Watt's straight line mechanism consists of four

links: Fixed Link at A, Link AC, Link CE and Link

BFD. Links CE & BFD act as levers.
Displacement of link BFD is directly
proportional to pressure of gas or steam which
acts on the indicator plunger.
On any small displacement of mechanism, the
tracing point E at end of link CE traces out
approximately a straight line.

Watt’s Straight Line Indicator Mechanism - Animation

4. Pantograph
A pantograph is a mechanism used to reproduce a motion or path
exactly to reduced or enlarged size.

It consists of four link joined in such a way that it forms a
parallelogram ABCD as shown in Figure
It has four turning pairs links BA is extended to a fixed point 0.
Suppose M is the point on the links AD of which motion is to be
enlarge. Then the link BC is extended to P. Such O, M and P are in
straight line
Since ABCD is a parallelogram, it implies that AB = CD and AD = BC.
It is observed that point M, N, P always moves parallel and similar to
each other over any path whether straight or curved. Their motion
will always be proportional to their distance, For the fixed point O.

Pantograph - Animation
Inversion of Single Slider Crank Chain
1. Reciprocating Engine Mechanism
Inversions of Single Slider Crank

2. Rotary I.C. Engine/Gnome Engine
3. Whitworth Quick Return Mechanism
Chain 4. Crank and Slotted Lever Mechanism
5. Oscillating Cylinder Engine
6. Pendulum Pump
1. Reciprocating Engine Mechanism This mechanism converts rotary motion into

reciprocating motion .
A reciprocating engine mechanism is obtained by fixing link 1 acts as a cylinder
1
1
This mechanism consist of 4 links namely crank , connecting rod, piston and cylinder or
fixed frame. It has 3 turning pairs and 1 sliding pair
As the crank rotates about fixed centre then piston reciprocates in a cylinder
2. Rotary I.C. Engine/Gnome Engine This mechanism converts rotary motion into
reciprocating motion .
Sometimes back, rotary internal combustion

engines were used in aviation. But now-a-days
gas turbines are used in its place. It consists of
seven cylinders in one plane and all revolves
about fixed centre D, as shown in Figure. while
the crank (link 2) is fixed. In this mechanism,
when the connecting rod (link 4) rotates, the
piston (link 3) reciprocates inside the cylinders
forming link 1.

Rotary I.C. Engine - Animation

This mechanism is mostly used in shaping and slotting machines

Whitworth Quick Return Mechanism - Animation

The Whitworth quick return mechanism converts rotary motion into reciprocating motion,
but unlike the crank and slider, the forward reciprocating motion is at a different rate than
the backward stroke.
Construction :
In this mechanism, the link CD (link 2) forming the turning pair is fixed, as shown in Figure.
The link 2 corresponds to a crank in a reciprocating steam engine. The driving crank CA (link
3) rotates at a uniform angular speed. The slider (link 4) attached to the crank pin at A slides
along the slotted bar PA (link 1) which oscillates at a pivoted point D. The connecting rod PR
carries the ram at R to which a cutting tool is fixed. The motion of the tool is constrained along
the line RD produced, i.e. along a line passing through D and perpendicular to CD.

Working :
When the driving crank CA moves from the position CA1 to CA2 (or the link DP from the position DP1 to
DP2) through an angle α in the clockwise direction, the tool moves from the left hand end of its stroke to
the right hand end through a distance 2 PD. Now when the driving crank moves from the position CA2 to
CA1 (or the link DP from DP2 to DP1 ) through an angle β in the clockwise direction, the tool moves back
from right hand end of its stroke to the left hand end. A little consideration will show that the time taken
during the left to right movement of the ram (i.e. during forward or cutting stroke) will be equal to the
time taken by the driving crank to move from CA1 to CA2. Similarly, the time taken during the right to left
movement of the ram (or during the idle or return stroke) will be equal to the time taken by the driving
crank to move from CA2 to CA1. Since the crank link CA rotates at uniform angular velocity therefore time
taken during the cutting stroke (or forward stroke) is more than the time taken during the return stroke
In other words, the mean speed of the ram during cutting stroke is less than the mean speed
during the return stroke. The ratio between the time taken during the cutting and return
strokes is given by,
4. Crank and Slotted Lever Mechanism

In this mechanism, the link AC (i.e. link 3)

forming the turning pair is fixed, as shown in
Fig. The link 3 corresponds to the connecting
rod of a reciprocating steam engine. The
driving crank CB revolves with uniform angular
speed about the fixed centre C. A sliding block
attached to the crank pin at B slides along the
slotted bar AP and thus causes AP to oscillate
about the pivoted point A. A short link PR
transmits the motion from AP to the ram which
carries the tool and reciprocates along the line
of stroke R1R2. The line of stroke of the ram
(i.e. R1R2) is perpendicular to AC produced.
4. Crank and Slotted Lever Mechanism

In the extreme positions, AP1 and AP2 are tangential to the circle and the cutting tool is at the
end of the stroke. The forward or cutting stroke occurs when the crank rotates from the position
CB1 to CB2 (or through an angle β) in the clockwise direction. The return stroke occurs when
the crank rotates from the position CB2 to CB1 (or through angle α) in the clockwise direction.
Since the crank has uniform angular speed, therefore,
Since the crank link CB rotates at uniform angular velocity therefore time taken during the
cutting stroke (or forward stroke) is more than the time taken during the return stroke

Crank and Slotted Lever Mechanism - Video

Fundamentals and types of mechanism Inversion of Single Slider Crank Chain
5. Oscillating Cylinder Engine

The arrangement of oscillating cylinder
engine mechanism, as shown in Fig. is used to
convert reciprocating motion into rotary

motion. In this mechanism, the link 3 forming
the turning pair is fixed. The link 3
corresponds to the connecting rod of a
reciprocating steam engine mechanism. When
the crank (link 2) rotates, the piston attached
to piston rod (link 1) reciprocates and the
cylinder (link 4) oscillates about a pin pivoted
to the fixed link at A.

Oscillating Cylinder Engine - Animation

Fundamentals and types of mechanism Inversion of Single Slider Crank Chain
6. Pendulum Pump
In this mechanism, the inversion is obtained
by fixing the cylinder or link 4 (i.e. sliding

pair), as shown in Fig. In this case, when the
crank (link 2) rotates, the connecting rod
(link 3) oscillates about a pin pivoted to the
fixed link 4 at A and the piston attached to the
piston rod (link 1) reciprocates. The duplex
pump which is used to supply feed water to
boilers have two pistons attached to link 1, as
shown in Figure.

Pendulum Pump - Video
Inversions of Double Crank Chain

3. Elliptical Trammel.
2. Oldham’s Coupling.
1. Scotch Yoke Mechanism.
1. Scotch Yoke Mechanism

This mechanism is used for converting rotary

motion into a reciprocating motion and vice
versa.
In Figure, link 1 is fixed. In this mechanism,
when the link 2 (which corresponds to crank)
Sliding yoke (Link 4)
rotates about B as centre, the link4 (Sliding
yoke) reciprocates inside the fixed link. The Link 1 & Link 2 : Turning Pair
fixed link 1 guides the yoke. Link 2 & Link 3 : Turning Pair
Link 3 & Link 4 : Sliding Pair

Scotch Yoke Mechanism - Video
Inversion of Double Crank Chain
2. Oldham’s Coupling
An Oldham’s coupling is used for connecting
two parallel shafts whose axes are at a small

distance apart.
Link 1 : Flange
Link 2 : Frame
Link 3 : Flange
Link 4 : Intermediate Plate
Link 1 & Link 2 : Turning Pair
Link 2 & Link 3 : Turning Pair

Oldham’s coupling- Video
2. Oldham’s Coupling
The shafts are coupled in such a way that if one shaft rotates, the other shaft also rotates at the
same speed. This inversion is obtained by fixing the link 2, as shown in Fig. . The shafts to be
connected have two flanges (link 1 and link 3) rigidly fastened at their ends by forging. The
link 1 and link 3 form turning pairs with link 2. These flanges have diametrical slots cut in their
inner faces,. The intermediate piece (link 4) which is a circular disc, have two tongues (i.e.
diametrical projections) T1 and T2 on each face at right angles to each other, The tongues on
the link 4 closely fit into the slots in the two flanges (link 1 and link 3). The link 4 can slide or
reciprocate in the slots in the flanges.
When the driving shaft A is rotated, the flange C (link 1) causes the intermediate piece (link 4)
to rotate at the same angle through which the flange has rotated, and it further rotates the flange
D (link 3) at the same angle and thus the shaft B rotates. Hence links 1, 3 and 4 have the same
angular velocity at every instant. A little consideration will show, that there is a sliding motion
between the link 4 and each of the other links 1 and 3.
3. Elliptical Trammel
It is an instrument used for drawing ellipses.
This inversion is obtained by fixing the slotted

plate (link 4). The fixed plate or link 4 has two
straight grooves cut in it, at right angles to each
other. The link 1 and link 3, are known as
sliders and form sliding pairs with link 4. The
link AB (link 2) is a bar which forms turning
pair with links 1 and 3.
When the links 1 and 3 slide along their
respective grooves, any point on the link 2 such
as P traces out an ellipse on the surface of link Link 1 & Link 2 : Turning Pair
4, A little consideration will show that AP and Link 2 & Link 3 : Turning Pair
BP are the semi-major axis and semi-minor axis Link 3 & Link 4 : Sliding Pair
of the ellipse respectively Link 4 & Link 1 : Sliding Pair

Elliptical Trammel- Video

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Program: Diploma in Mechanical Engineering

Course: Theory of Machines

Use principles of kinematics and dynamics in maintenance of various equipment

a) Identify various links in popular mechanisms

Unit No Unit Title Marks

2 Velocity and Acceleration in Mechanisms 10

Theory of Machines may be defined as that branch of Engineering-science, which

Ex. I.C.engine, Lathe machine

It is an assemblage of a number of resistant bodies (known as members) having no relative

Ex. A railway bridge, a roof truss, machine frames etc.

Mechanism is combination of interconnected rigid bodies capable of transferring relative

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

A body is said to be a resistant body if it is capable of transmitting the required forces

➢ Link should have the following two characteristics:

➢ Rigid Link links do not exist. However, as the deformation of a connecting

Constrained motion results when an object is forced to move in a restricted way.

Types of Constrained motion

1. Completely constrained motion

1. Completely constrained motion.

force applied, then the motion is said to be a completely constrained motion.

2. Incompletely constrained motion.

called an incompletely constrained motion.

3. Successfully constrained motion.

direction), the pair is known as kinematic pair.

According to type of According to the type of According to the type of

Self closed pair

to the other, the pair is known as a sliding pair.

link, the pair is known as rolling pair

the other by screw threads, the pair is known as screw pair

Identify whether given chain is kinematic chain or not ?

Prove that, the given configuration is a Kinematic Chain or not.

Let, No. of Pair (P) = 03

No. of Link (l) = 03

1. Four bar kinematic chain

3. Double slider crank chain.

4 – Turning Pairs 3 – Turning Pairs

This mechanism is transforming rotary motion into oscillating

Link CD : Complete revolution : Crank

Link AB : Partial revolution or Oscillation : Lever/Rocker

Link BC : Connects crank and lever : C.R. / Coupler

Link AD : Fixed link : Frame

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

Four bar kinematic chain - Animation

This type of mechanism converts rotary motion into reciprocating

It consist of one sliding pair and three turning pairs.

Link 2 : Complete revolution : Crank

Link 3 : Connects crank and Piston : C.R.

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

Single Slider Crank Chain - Animation

3. Double Slider Crank Chain

It consist of two sliding pairs and two turning pairs.

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)

Double Slider Crank Chain - Animation

by fixing, in turn, different links in a kinematic chain.

Inversions of Four Bar Chain

2. Coupling rod of a locomotive (Double crank mechanism)

3. Watt’s Straight Line Indicator Mechanism:

1. Beam Engine (crank and lever mechanism)

It consists of four links, In this mechanism, when

Purpose of this mechanism is to convert rotary motion into reciprocating motion.

Prof. D. M. Kulthe, MET BKC IOT-P (8698447676)