Theory of Machine

By
Sarfaraj Shaikh
Assistant Professor SIT
Purpose of TOM
 The purpose of this course is to
explore the topics of kinematics and
dynamics of machinery in order to
achieve desired motions, and also the
analysis of mechanisms in order to
determine their dynamic behavior.

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Theory of Machines
 TOM is 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.

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Kinematics of Machine
 It deals with study of motion characteristics
of various part of a mechanism without
consideration of forces causing the motion
and their masses

Dynamics of Machine
 It deals with study of motion, forces and
masses of various part of a mechanism
DOM
 Statics : It deals with study of various forces
acting on any part of a mechanism when it is
in static condition

 Kinetics: It deals with study of motion of

various part of mechanism by consideration
the mass and the forces causing the motion
TOM-I
1. Basic Concepts
 Elements or Links,
 Types of kinematic pairs,
 Types of constrained motions.
 Mechanism and machines
 Inversion of mechanism
2. Kinematic Analysis
 Position and Displacement Analysis :
 Velocity Analysis
 Acceleration Analysis
3. CAM Design
 Types of cams and followers,
 Cam terminology
 Follower motion
4. Power Transmission Drives
 Belt, Ropes and Chain Drives:
 Gears and Gear Trains:.
Tom-II
 Static and Dynamic Force Analysis
 Turning Moment and Flywheel
 Balancing of Machines
 Governors
 Gyroscopic Motion
 Brakes and Dynamometers
 Mechanical Vibrations
Basic Concepts
of TOM
Mechanisms and Machines
 A mechanism is a device which transforms motion to
some desirable pattern and typically develops very low
forces and transmits little power.
◦ Arrangement to produce desired motion of the machine
◦ Predominant ideas : desired motion , position, velocity,
acceleration

 A machine typically contains mechanisms which are

designed to provide significant forces and transmit
significant power.
◦ Predominant concepts : Force, torque power and motion

◦ Differs from a Mechanism in PURPOSE

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Machines and Mechanisms
 Mechanism is A system of elements
arranged to transmit motion in a
predetermined fashion.

 Machine is A system of elements

arranged to transmit motion and energy
in a predetermined fashion.

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Mechanisms

Can crusher
Simple press

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 Mechanisms

Moves packages from an

assembly bench to a
conveyor

Rear-window
wiper

Microwave carrier to
assist people on
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wheelchair
Mechanisms

Front loader
Lift platform

Device to close
the top flap of
boxes

Lift platform

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Machines

Car

Food Blender

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Machines

Bulldozer Spider Robot

Amusement
Park Ride

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Applications of Mechanisms
Automation and Inspection Equipment:
 Pick and place robots
 Welding and painting robots
 Assembly robots
 Assembly line mechanisms
 Conveyor systems
 Clamping and testing fixtures and jigs
 Mobile robots (e.g., Walking robots and exploratory
robots)
Applications of Mechanisms
Automotive:
 Suspension linkages and CV joints
 Steering mechanisms
 Transmission, clutch, and shifter mechanisms
 Cam shaft
 Engine mechanism
 Timing chain, belts, and pulleys
 Hood and trunk hinge mechanisms
 Hatchback lift mechanism
 Windshield wiper mechanism
 Truck tailgate mechanism
 Retractable roof
 Jack
 Collapsible antenna
Applications of Mechanisms
Consumer Electronics:
 Digital camera auto-focus mechanisms
 CD and DVD player loading mechanism
 VCR eject, and tape load mechanisms
 Computer CD-ROM and HD mechanisms
Applications of Mechanisms
Heavy Equipment:
 Airplane control surface linkages, landing gear,
hatch hinges, folding steps, seats, etc.!
 Amusement park rides
 Farm equipment (e.g., Harvester, thrasher)
 Garbage truck lifting, compacting, and dumping
mechanisms
 Dump truck dumping mechanism
 Construction equipment (e.g., Backhoe, crane)
 Steam locomotive drive linkage
Applications of Mechanisms
Home Appliances, Furniture, etc.
 Appliance and cabinet door mechanisms
 Washing machine and dishwasher timer cams
 Toilet flush and float mechanisms
 Electric and mechanical can opener
 Fancy corkscrew
 Folding ironing board
 Folding tables and chairs
 Sofa bed folding mechanisms
 Piano keys and pedal mechanisms
 Animated Christmas decorations
Applications of Mechanisms
Office Equipment:
 Copy machine, printer, fax machine and scanner
paper feeders, sorters, and scanning/printing head
mechanisms
 Door damper mechanisms

Sports Equipment:
 Mountain bike rear suspension
 Bicycle brakes and shifting mechanisms
 Variable force exercise equipment.
 Compound bow
Applications of Mechanisms
Tools:
 Pliers and scissors
 Vise grip
 Crescent wrench
 Clamping vise
 Drafting table
 Garden tools (e.G., Hedge trimmer, lawn mower)
Applications of Mechanisms
Toys and Baby Stuff:
 Baby swing
 Folding baby stroller
 Robotic and animatronic toys (e.G., Robo-dog)
 Collapsible globe linkage
 Transformer toys
 Any toys with moving parts
 Consumer robotics
Your Road Map For The Course….
Other places where you might have to
check-in, once in a while 
 Lets Be Engineers!!!
Imagine being on a design and development team.
Your team is responsible for the design of a
windshield wiper system for a sports vehicle .
The Task…

 Determine appropriate
movement of the wipers
View range?
Tandem or opposite?
Location of Pivots?
Kinematics!!
Wipe angle?
 Timing of wipers
 Wiping velocity
The Task…

 Force acting on the

wiper system
 Dictates type of power
required
 Required strength of the
components Dynamics!!
 Ex.: Overcome Sap
Friction
 Inertia forces Visit Me
Next
Semester
Another Industrial
Example :
Lift Platform driven by hydraulic Kinematics
cylinders :

Dynamics
 Degree of Freedom
No. of independent coordinates needed to define
position of body

How many DOF does a body in space (3-D) have?

The Earth Mover shown below consists of various links and
kinematic pairs. Can You Identify ??
 Definitions

All of the above contain linkages which consist of:

• Links
• Kinematic Pairs/ Joints
 Links
Are assumed to be rigid bodies!!
Have nodes for attachment!
Can be any shape (not just those shown)!
Link order = number of nodes!
Kinematic
Pairs/Joint
s allow
relative
motion
between
links
Revolute Pair (also called Pin/Hinge
joint) 1 DOF
Sliding/ Prismatic Pair (1 dof)
Helical / Screw Pair (1 dof)
Gears (higher pair) 2 dof
Cam and follower (higher pair) 2 dof
Rolling Pair (Roll/slide/roll+slide)1/2 dof
Spherical Pair (3 dof) Huma
n
Mecha Body is all a
n b
Right ical Enginee out
fro ring…
Therm m
o
Kinem dynamics to
at
Streng ics… Mech
th o f M an
so on. aterial ics…
. s ..and
Example
Identify the number of links and the type of joints
contained in the foot pump.

of
o rld
aW s !!
ei
n m
L iv
a nis
We h
M ec
Example
Identify the number of links and the type of joints
contained in child’s digging toy.
 Our ancestors used various Mechanisms long before the subject of
Kinematics evolved!!

Grain Mill (1588)

Up and Down Sawmill (13th Century)
Blowing engine by Vanuccio Biringuccio, about 1540,
showing conversion of motion of the waterwheel shaft
from rotation to oscillation
Mobility or Degrees of Freedom!!

 The number of independent inputs needed to

precisely position all links of a mechanism.
 The number of independent motions
( drivers / actuators) needed to run a
mechanism.
 Recall example of lifting mechanism and the
Windshield Wiper Mechanism???
How About This?
Joints
Reduce
System
DOF
Time to Invite Mr. Mathematics!!
Grubler’s Equation

F = 3 (N-1) – 2P1 – P2

F - Degrees of Freedom.
N- No of Links in the mechanism.
P1- No. of 1 dof joints (i.e. joints allowing only single
dof between the connected links)(full joints).
P2 - No. of 2 dof joints. (half joints).

Deriving the mobility equation, on your own, is FUN

and I don’t want to deprive you of the joy!! 
On Your Mark..Get..Set…GO!!!!!!
5 Minutes for this one!!

Group Work is Permitted

Being Practical…

Find the mobility of the shear press used to cut

and trim electronic circuit board laminates!

Operating
handle/lever

Shearing blade/die

Laminate to be
cut

Does your formula based answer match with your intuition?

FUN TIME :-
They say Practice Makes a Student Perfect…So here’s your chance to perfection!!
Determine the DOF of the following mechanisms : (Answers are expected in the
next class)

Child’s Digging Toy Foot Pump

Homework Exercise : Answers Expected in Next Class. Group Work is Permitted

Being Rural…!!
Figure below shows a hand-pump, usually found in rural areas. Determine the
mobility of the mechanism. What will happen if an additional binary link with
two pin joints is added to the mechanism? Justify your answer.
Figure below shows our all time favorite Earth Mover. The manufacturer claims that
the operator will have to control only one independent lever to exactly position the
excavating bucket at the desired position.
Based on your knowledge of kinematics till date, verify the claim of
the manufacturer and justify your remarks.

Bucket
Kinematic Model / diagram
 Kinematic Model
 A representation of a mechanism that shows only the key
dimensions that influence the motion.
 Stripped-down stick diagram. Like electrical circuit
diagram.
 Remove any unnecessary detail & Simplifies the drawing
such as possible joint motion must be clear of the
mechanism for further analysis.
 Real links can be of any shape, but a kinematic link, is
defined as a line between joints .
 Many different notations are possible, but whatever
notation is used, it is critical that your kinematic diagram
indicates which links are grounded and which can move.
 Shading or crosshatching should be used to indicate that a
link is solid
Representation scheme
Representation scheme
Representation scheme
Representation scheme
Kinematic model of leg press m/c
Representation scheme (Norton)
Lets Engineer It..
Shear press
 Vice Grip

1) Frame Identification : Arbitrary in this case (We’ll take Top Handle)

2) Identify other links :
- Link 2 : Bottom Handle
- Link 3 : Bottom Jaw
- Link 4 : Bar connecting top and bottom handle
3) Joint Identification : 4 Revolutes, A to D
4) Point of Interest : End of bottom Jaw (X) and end of lower
handle (Y)
Remember ME ???
Scale Clamped
Scale Unclamped
V-Twin Engine
As simple as that…
Hand Pump
Toggle Clamp
Can Crusher
Material Shearing Mechanism
Mechanical Press
ENGINE is our property and that is why, We
(Mechanical ENGINE-RS) are the ONLY
Authentic Engine-ers 
The Slider Crank Mechanism
 Slider-Crank Mechanism:
 A linkage with 4 links connected by 4 joints.
 (3 pins & 1 slider)

in-line
Coupler
Crank
Sliding Link

Frame
Offset

Coupler
Sliding Link
Crank

Frame
Simplicity is a mark of Good Design!!

Very simple,
but very
versatile.
First option
for design!!

Which Link to be Fixed?

What will be the Effects?
Mechanism Designer = Bookie
 Match Fixing Changes the entire course of a
Match, depending upon which Player/Team is
Bribed (Grounded/Fixed)

 Same happens in case of Mechanisms. Here,

We Fix (different) Links (as per our benefit.

 And this changes the (absolute) motion of the

Mechanism.
 And We call our spot (Link) fixing as
“inversion”
• Inversions of Mechanism : Result from
grounding different links in the chain.
• Powerful tool…!!!
• As many inversions as the no. of links.
• Not all inversions will have unique
kinds of motion.
Grashof Criterion
Simple relation that predicts the (rotation) behavior of kinematic
inversions of 4-bar linkage based only on link lengths

If my condition is satisfied, atleast one

link will be able to make full revolution
w.r.t. the ground/frame.
Other wise your mechanism will start
singing –

Sada Haq..Ethe Rakh!!

(It will b a Rockstar, with all 3 links
being Rockers)
GrashofCondition

 Is a simple relationship that predicts the

rotation behavior or rotatabilityof a four
linkage’s inversion based only on the link
lengths

◦ S = length of shorter link

◦ L=length of longest link
◦ P=length of one remaining link
◦ Q=length of the other remaining link
 If the inequality is true, at least one link will be
capable of making a full revolution with respect to
the ground plane(Class I)
S+L< P+Q
 If not true, then the linkage is non-Grashofand no
link will be capable of a complete revolution
relative to any other link (Class II)
S+L> P+Q
 If both the values are equal then two link will
capable of making a full rotation (Class III)
S+L=P+Q
For the class I case: S+L< P+Q
 Ground either adjacent to the shortest link
and you get a crank-rocker

 Ground the shortest link and you will get a

double-crank

 Ground the link opposite the shortest and

you will get a Grash of double-rocker
Inversions of the Grashof Fourbar
S+L<P+Q
For the Class II case: S+L> P+Q

 All inversion will be triple-rockers in which no

link can fully rotate
Inversions of the Non-Grashof Fourbar
S+L>P+Q
Special-Case Grashof Linkage
S+L=P+Q

Change
Point
For Class III: S+L=P+Q
 All inversion will be either double-cranks, or
crank-rocker
Inversions of the Slider Crank
Find Its Degree of Freedom
Find Their Grashof Conditions
Linkage transformations
1. Revolute joints in any loop can be replaced by
prismatic joints with no change in DOF of the
mechanism
2. Any full joint can be replaced by a half joint,
but this will increase the DOF by one
3. Removal of a link will reduce the DOF by one
4. The combination of rules 2 and 3 above will
keep the original DOF unchanged
 Geared Fivebar Linkage

M = 3(5 – 1) – 2(5) – 0 = 2 M = 3(5 – 1) – 2(5) – 1 = 1

Linkage transformations
Paradoxes
Mechanisms
Geneva mechanism
Geneva mechanism
Intermittent Motion
Ratchet and Pawl
pantograph
Elliptical-trammel
aircraft landing gear
`
aircraft landing gear
mechanical drafter
mechanical drafter
hand-pump
windshield wiper
windshield wiper
Six stage Geneva mechanism
Rotary motion to to and fro motion
CAM & Follower
Gear Joint
Grasshopper
Peaucellier mechanism
Watt straight line mechanism
Straight line mechanisms
Hart and scott russell mechanism
pantograph
Quick return mechanism
4 Stroke petrol Enigne
2 stroke petrol engine
Wankel Engine
Steam engine
Stirling engine
Watt Beam Engine
Atkinson engine
THANK YOU