Constrained motion: There are three types of constrained motions, which are as below:

1. Completely Constrained Motion: When the motion between a pair can take place in one
and only one way/direction, it is said to be completely constrained motion For example, a
rectangular bar moving in a rectangular hole as shown in figure 9. Degree of freedom is 1.

2. Incompletely Constrained Motion: When the motion between a pair can take place in
more than direction, it is said to be incompletely constrained motion. For example, a
circular shaft revolving in a circular hole as shown in figure 10.

3. Partially (or successfully) constrained motion: A kinematic pair is said to be partially or

successfully constrained if the relative motion between its links occurs in a definite
direction, not by itself, but by some other means.
The motion of shaft in a footstep bearing is successfully a constrained motion as the weight
of the shaft and other forces act on the shaft in downward direction in order to permit only
rotary motion of the shaft as shown in figure 11.
Kinematic Chain:
The kinematic chain is a combination of four or more kinematic pairs, such that the last link is
connected to the first link and relative motion between the links or elements is completely constrained.

The following equations must be satisfied to form the kinematic chain

L= 2P- 4
Where L= number of links
P= number of pairs
Another equation which must be satisfied to form the kinematic chain
J= 3/2 x L-2
Where J = number of joints
L= number of links
Or
L= 2/3 (J+ 2)
Mechanism: A mechanism is a kinematic chain in which one of the links remains fixed. This means
that the motion of any one link in the kinematic chain will give a definite and predictable motion relative
to each of the other links.
Types of Kinematic Chain:
i. FourBbar Chain (or) quadratic cycle chain: The simplest and the basic kinematic chain is a four bar
chain or quadric cycle chain. It consists of four links which each of them forms a turning pair at A, B, C
and D. The four links may be of different lengths. In a four bar chain, one of the links, in particular, the
shortest link, will make the complete revolution relative to other three links. If it satisfies the Grashof’s
law, such a link is known as a crank or driver. In four bar chain the length of one of the links must be less
than the sum of the lengths of other three links. If one link AB is fixed, the chain is called mechanism,
link AB or link 1 is known as frame of the mechanism. In figure 12 AD, i.e. link 4 is a crank. The link
BC link 2 which makes a partial rotation or oscillates is known to lever, rocker or follower and the link
CD (link 3) which connects the crank and lever is called connecting rod or coupler. If one link AB is
fixed, link AB / link 1 is known as frame of the mechanism.

ii. Slider Crank Chain: The single slider crank chain is one of modification of basic four bar chain. It
has one sliding pair and three of turning pairs. If link 1 is fixed, the chain is called single slider crank
mechanism. It is mostly found in the reciprocating steam engine mechanism. This type of mechanism
converts rotary motion to reciprocating motion and vice versa respectively. In a single slider crank
mechanism is shown in figure 13, the links 1 and 2 with links 2 and 3 and the links 3 and 4 form three
turning pairs while the links 4 and 1 form a sliding pair. The link 1 is same to the frame of the engine,
which is fixed. The link 2 is crank ; link 3 is the connecting rod and link 4 is cross­head. As the crank
rotates the cross-head reciprocates in the guides and so that the piston reciprocate in cylinder.
iii. Double slider crank chain:. This chain has two turning pairs and two sliding pairs. If link 4 is
fixed, the chain is called double slider crank mechanism. This mechanism is used in elliptical trammel
which is used for drawing ellipses. 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. If 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 4. A
little consideration will show that AP and BP are the semi-major axis and semi- minor axis of the
ellipse respectively.