ME 31: Machine Elements I

Introduction to Kinematics

Engr. Louie Pierre O. Equio, RME, M Eng

Chairman, ME Department
louieoequio@su.edu.ph

Department of Mechanical Engineering

College of Engineering and Design
Silliman University
ME 31: Machine Elements I
Introduction to Kinematics

In this chapter, you will learn…

• The terminologies used in kinematics
• The degrees of freedom (DOM) of mechanisms
• Biomechanical Concepts Related to Human Movement
• How to graphically determine the path of points on
a linkage
• Computer animation of linkages to determine the
validity of a design
ME 31: Machine Elements I
Introduction to Kinematics

Where is kinematics?
Rigid Body
Mechanics

Statics Dynamics

Constant
Motionless Kinematics Kinetics
Velocity

Kinematics Kinetics
ME 31: Machine Elements I
Introduction to Kinematics

What are the variables in kinematics?

 Time
 Position
 Displacement and distance
 Velocity and speed
 Acceleration
ME 31: Machine Elements I
Introduction to Kinematics

What are the kinematics variables?

Time – Temporal Analysis
ME 31: Machine Elements I
Introduction to Kinematics

What are the kinematics variables?

Position

WHERE?
ME 31: Machine Elements I
Introduction to Kinematics

What are the kinematics variables?

Displacement and Distance

HOW FAR?
ME 31: Machine Elements I
Introduction to Kinematics

What are the kinematics variables?

Velocity
ME 31: Machine Elements I
Introduction to Kinematics

What are the kinematics variables?

Acceleration
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• Kinematics and Dynamics of Machinery
- is involve in the design of machines on the basis of their motion
requirements
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• Kinematics
- branch of science which deals with the study of motion without
considering the forces that cause the motion

• Machine
- an assembly composed of a combination of interrelated parts
having definite motions and capable of performing useful work

• Mechanisms
- is a component of a machine consisting of two or more bodies
arranged so that the motion of one compels the motion of the
others.
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• Link or Element
- each part of a machine, which moves relative to same other part
is called 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

• Types of Links
- rigid links
- flexible links
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• Rigid Links
- a rigid link is one which does not experience deformation while
transmitting motion

• Flexible Links
- a flexible link is one which is partly deformed in a manner not to
affect the transmission of motion

• Classification of Flexible Links

- Tension Links
- Compression Links
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• Frame
- the fixed or stationary link in a mechanism is called the frame
- when there is no link that is actually fixed, we may consider one
as being the fixed and determine the motion of the other links
relative to it
• Kinematic Pairs
- the connections between links that permit constrained relative
motion are called joints or pairs or kinematic pairs
- the joint between a crank and a connecting rod may be called
revolute joint or pin joint
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• Types of Kinematic Pairs

1. According to the type of contact between the
elements
2. According to the relative motion between the
elements
3. According to the type of closure
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• According to the type of contact between the elements

1. Lower Pair – a pair is said to be a lower pair
when the connection between two elements are
through the area of contact

2. Higher Pair – the contact between the pairing

elements takes place at a point or along a line
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• According to the type of relative motion between the
elements
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

2. Turning Pair – when the two elements of a

pair are connected in such a way that one can
only revolve about a fixed axis of another link
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

3. Rolling Pair – when the two elements of a pair
are connected in such a way that one rolls over
another link

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
thread
5. Spherical Pair – when the two elements of a
pair are connected in such a way that one
elements turns or swivels about the other fixed
element
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• According to the type of closures
1. Self-closed Loop Pair – when the two elements of a
pair are connected together mechanically in such a way
that only required kind of relative motion occur
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• According to the type of closures
2. Force-closed Loop Pair – when the two elements of a
pair are not connected mechanically but are kept in
contact by the action of external forces
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• According to the type of closures
3. Open-looped Pair – a linkage failing to meet the
closed-loop criterion is an open loop, in this case, one
(or more) of the links is connected to only one other link
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• Kinematic Chain
- In mechanical engineering, a kinematic chain is an assembly of
rigid bodies connected by joints to provide constrained (or desired) motion
that is the mathematical model for a mechanical system. As in the familiar
use of the word chain, the rigid bodies, or links, are constrained by their
connections to other links.
 when one of the links in a kinematic chain is fixed, the chain is known
as mechanism
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• Linkage
- A mechanical linkage is an assembly of bodies connected to
manage forces and movement.
- The connections between links are
modeled as providing ideal movement,
pure rotation or sliding for example,
and are called joints.
A linkage modeled as a network of
rigid links and ideal joints is called
a kinematic chain.
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• Planar Motion and Planar Linkages
- If all the points in a linkage move in parallel planes, the
system undergoes planar motion and the linkage may
be described as a planar linkage
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• Spatial Motion and Spatial Linkages
- The more general case in which motion cannot be
described as taking place in parallel planes is called
spatial motion, and the linkages may be described as a
spatial or three-dimensional (3D) linkages
ME 31: Machine Elements I
Introduction to Kinematics

Terms and Definitions

• Cycle and Period
- A cycle is the complete sequence of positions of the
links in a mechanism (from some initial position back to
that initial position). The time required to complete a
cycle of motion is called the period
ME 31: Machine Elements I
Introduction to Kinematics

Degrees of Freedom
- The degree of freedom of a kinematic pair is given by the
number of independent coordinates required to completely specify
the relative movement
- The degrees of freedom (DOF) of a rigid body is defined as
the number of independent movements it has.
- The number of degrees of freedom of a linkage is the
number of independent parameters we must specify to determine
the position of every link relative to the frame or fixed link.
- The number of degrees of freedom of a linkage may also be
called the mobility of the linkage.
- Most practical mechanisms have one degree of freedom.
ME 31: Machine Elements I
Introduction to Kinematics

Degrees of Freedom
• Determination of Degrees of Freedom for a Planar Linkage
- a fixed link has zero degrees of freedom
- a pin joint connecting two links produces two
constraints, since the motion of both links must be equal to the
joint (in two coordinate directions)
• The number of degrees of freedom for a planar linkage
made up of nL links and pairing elements and is given by
DFplanar = 3(nL – 1) – 2p1 – p2
where p1 – number of lower pair
p2 – number of higher pair
ME 31: Machine Elements I
Introduction to Kinematics

Degrees of Freedom

• For spatial mechanism with nL links (including one fixed link

with zero degrees-of-freedom), the number of degrees of
freedom of the linkage is given by

DFspatial ≥ 6 ( nL – 1 ) - nc

where nc is the total number of constraints

ME 31: Machine Elements I
Introduction to Kinematics

Degrees of Freedom

from the figure shown, and using the formula

DFplanar = 3(nL – 1) – 2p1 – p2

= 3(4 – 1) – 2(4) - 0
=1
ME 31: Machine Elements I
Introduction to Kinematics

Degrees of Freedom

https://www.youtube.com/watch?v=vOFM8eG8kVc&t=9s
ME 31: Machine Elements I
Introduction to Kinematics

• Reference Systems
ME 31: Machine Elements I
Introduction to Kinematics

• Absolute Reference Systems

ME 31: Machine Elements I
Introduction to Kinematics

• Biomechanical Concepts Related to Human Movement

ME 31: Machine Elements I
Introduction to Kinematics

90

140
ME 31: Machine Elements I
Introduction to Kinematics

• Biomechanical Concepts Related to Human Movement

ME 31: Machine Elements I
Introduction to Kinematics

The Four-Bar Linkage Mechanism

ME 31: Machine Elements I
Introduction to Kinematics

The Four-Bar Linkage Mechanism

• Parts of the Four-Bar Linkage Mechanism

1. Frame – fixed link which supports the entire structure
2. Driver – a crank which rotates through a fixed axis
3. Floating link – a coupler or a connecting rod which connects
the two rotating cranks (crank and rocker)
4. Driven – a link in a form of a crank often called a rocker

 Both the driver and the driven crank is capable of either rotating
one complete revolution or oscillate in a certain degree.
ME 31: Machine Elements I
Introduction to Kinematics

The Four-Bar Linkage Mechanism

ME 31: Machine Elements I
Introduction to Kinematics

The Four-Bar Linkage Mechanism

https://www.youtube.com/watch?v=YuYUVPsE-54 drag link

https://www.youtube.com/watch?v=1jXCgw0JN2M drag link

https://www.youtube.com/watch?v=fCcWGXL-2Z8 crank rocker

https://www.youtube.com/watch?v=2QzwjGfuYtE double rocker

https://www.youtube.com/watch?v=BcTLuD53_Nw parallelogram
ME 31: Machine Elements I
Introduction to Kinematics

The Four-Bar Linkage Mechanism

b
c
ME 31: Machine Elements I
Introduction to Kinematics

The Four-Bar Linkage Mechanism

https://www.youtube.com/watch?v=KBFFwgCCP0U

https://www.youtube.com/watch?v=4tIo3AQQiU8

https://www.youtube.com/watch?v=zMa4cbnBQWY

https://www.youtube.com/watch?v=ewifysGFSfA

https://www.youtube.com/watch?v=cEL3yXyclpE

https://www.youtube.com/watch?v=MeYw0iH0J8w
ME 31: Machine Elements I
Introduction to Kinematics

The Slider-Crank Mechanism

- arrangement of mechanical parts designed to
convert straight-line motion to rotary motion, as in a
reciprocating piston engine, or to convert rotary motion
to straight-line motion, as in a reciprocating piston
pump.
ME 31: Machine Elements I
Introduction to Kinematics

The Slider-Crank Mechanism

This mechanism is composed of three important
parts: The crank which is the rotating disc, the slider
which slides inside the tube and the connecting rod
which joins the parts together.
ME 31: Machine Elements I
Introduction to Kinematics

The Slider-Crank Mechanism

https://www.youtube.com/watch?v=ZJuZ92zvgfk

https://www.youtube.com/watch?v=rG5ipR9S07U

https://www.youtube.com/watch?v=lLHMoRemmMg

https://www.youtube.com/watch?v=MNqtvLaBTMg
.
ME 31: Machine Elements I
Introduction to Kinematics

LECTURE 1

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