MOUNT ZION COLLEGE OF ENGINEERING AND

TECHNOLOGY, PUDUKKOTTAI
1

DEPARTMENT OF MECHANICAL ENGINEERING

(REGULATION 2017)
II YEAR/4TH SEMESTER- A&B
ME8492 – KINEMATICS OF MACHINERY

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 20/11/2017

KINEMATICS OF MACHINERY
Aim
 To provide basic knowledge in Kinematics of Machinery so that the
students can solve real engineering problems and design the various parts
of a machine.
Objective
 To understand the basic concepts of few linkage mechanisms, cam
mechanisms, toothed gearing and kinematics of gear trains and the effects
of friction in motion transmission and in machine components.
Expected Outcome
 Be able to analyze the motion and the forces acting on mechanical systems
composed of linkages, gears and cams.
Prerequisite Knowledge
 Analytical skill and basics from Engineering Mechanics.
 ME6401 – KINEMATICS OF MACHINERY
SYLLABUS PLAN
UNIV ALLOTED HOURS: 45 Hrs PLANNED HOURS:
55 Hrs
3

UNIV.
UNIT ALLOTE PLANNE
UNIT TITLES TEACHING AIDS
NO. D D HOURS
HOURS
1 BASICS OF MECHANISMS 9 9 PPT, SMART BOARD, LAB VISIT
KINEMATICS OF LINKAGE
2 9 11 PPT, SMART BOARD, DEMO
MECHANISMS
KINEMATICS OF CAM
3 9 12 PPT, SMART BOARD, DEMO
MECHANISMS
4 GEARS AND GEAR TRAINS 9 9 PPT, SMART BOARD, LAB VISIT
FRICTION IN MACHINE
5 9 9 PPT, NPTEL VIDEOS
ELEMENTS
REVISION - 5 PPT
TOTAL HOURS 55 Hrs.

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

 UNIT 1- BASICS OF MECHANISMS
UNIT PLAN
Univ Alloted: 9 Hrs. Planned:9 Hrs
4 LECTUR TLP PLANNE ACTUAL
TOPICS TEACHING AIDS
E HOUR NO. D DATE DATE
PPT, VIDEOS, SMART
1, 2 Classification of mechanisms 1.1 18.12.17 18.12.17
BOARD
Basic kinematic concepts and PPT, VIDEOS, SMART
1 1.2 19.12.17 19.12.17
definitions BOARD
PPT, VIDEOS, SMART
2 Degree of freedom, Mobility 1.3 20.12.17 20.12.17
BOARD
Kutzbach criterion, Gruebler’s PPT, VIDEOS, SMART
2 1.4 21.12.17 21.12.17
criterion BOARD
PPT, VIDEOS, SMART
2 Grashof’s Law 1.5 22.12.17 22.12.17
BOARD
Kinematic inversions of four-
2, 3, 4, PPT, VIDEOS, SMART
bar chain and slider crank 1.6 26.12.17 26.12.17
5, 6 BOARD
chains
PPT, VIDEOS, SMART
7 Limit positions 1.7 27.12.18 27.12.18
BOARD
PPT, VIDEOS, SMART
7 Mechanical advantage 1.8 28.12.18 28.12.18
BOARD
PPT, VIDEOS, SMART
7 Transmission Angle 1.9 29.12.18 29.12.18
MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017 BOARD
 UNIT 1- BASICS OF MECHANISMS
UNIT PLAN
Univ Alloted: 9 Hrs. Planned:9 Hrs
5 LECTUR TLP PLANNE ACTUAL
TOPICS TEACHING AIDS
E HOUR NO. D DATE DATE
Description of some common PPT, VIDEOS, SMART
7, 8 1.10 18.12.17 18.12.17
mechanisms BOARD
Quick return mechanisms,
PPT, VIDEOS, SMART
8,9 Straight line generators, 1.11 19.12.17 19.12.17
BOARD
Universal Joint
PPT, VIDEOS, SMART
8,9 Rocker mechanisms 1.12 20.12.17 20.12.17
BOARD
REVISION
10 PPT

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

 UNIT 1- BASICS OF MECHANISMS
LECTURE PLAN LECTURE
HOUR:1
6

1.1. Classification of mechanisms LECTURE

S.N0. 1.2. Basic kinematic concepts and definitions HOUR REFERENCE/AIDS
(50 Mins)

1. Kinematics Introduction 15 PPT, SMART BOARD, VIDEOS

2. Mechanism Introduction 5 PPT, SMART BOARD, VIDEOS

3. Link 5 PPT, SMART BOARD, VIDEOS

4. Kinematic Pair 25 PPT, SMART BOARD, VIDEOS

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

 UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.1 Kinematics Introduction

Mechanics: which deals with motion, time and force.

Study of Mechanism

Kinemati
Dynamics
cs

Kinetics Statics
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.1 Kinematics Introduction

Kinematics - Study of motion, without considering

the forces which produce that motion
Dynamics - study of forces acting on the machine
parts and the motions resulting from these forces
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.2 Mechanism Introduction

 Motion of any one link will give a definite and

predictable motion relative to each of the others.
 Extirpate - Destroy completely, as if down to the
roots
"extirpate the vine that has spread all over the
garden“
 Surly - Inclined to anger or bad feelings with

overtones of menace
"a surly waiter"
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.2 Mechanism Introduction

 Mechanism
 Machine
 Structure
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.3 Link

 Each part of a machine, which moves relative to

some other part, is known as a kinematic link (or
simply link) or element.
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.3 Link

 A link may consist of several parts, which are rigidly

fastened together, so that they do not move relative to
one another.
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.3 Link

1. Rigid link.
2. Flexible link.
3. Fluid link.
 UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.3 Link

Binary link

Ternary link

Quaternary link
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.4 Kinematic Pair

 If the relative motion between the link is completely

or successfully constrained (i.e. in a definite
direction), the pair is known as kinematic pair.
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.4 Kinematic Pair

Completely constrained motion

Incompletely constrained motion
Successfully constrained motion
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.4 Kinematic Pair

1. According to the type of relative motion between the

elements.
(a) Sliding pair
(b) Turning pair (or) Revolute pair
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.4 Kinematic Pair

(c) Spherical pair

(d) Rolling pair
(e) Screw pair.
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.4 Kinematic Pair

2. According to the type of contact between the

elements.
(a) Lower
Revolute pair Pair
(Or) Turning

Prismatic (Or) Sliding Pair

Screw (Or) Helical Pair

Cylindrical Pair

Spherical (Or) Globular Pair

Flat (or) Planar Pair

UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.4 Kinematic Pair

3. According to the type of closure.

(a) Self closed pair

(b) Force - closed pair

 UNIT 1- BASICS OF MECHANISMS
LECTURE PLAN LECTURE
HOUR:2
22

LECTURE
S.N0. 1.3., 1.4., 1.5., 1.6. HOUR REFERENCE/AIDS
(50 Mins)

1. Quiz 10 PPT, SMART BOARD, VIDEOS

2. Kinematic chain 20 PPT, SMART BOARD, VIDEOS

3. Mobility 5 PPT, SMART BOARD, VIDEOS

4. Kutzbach criterion 5 PPT, SMART BOARD, VIDEOS

5. Gruebler’s criterion 5 PPT, SMART BOARD, VIDEOS

6. Degree of freedom 5 PPT, SMART BOARD, VIDEOS

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

QUIZ
 Which of the following disciplines provides study
of inertia forces arising from the combined effect
of the mass and the motion of the parts
[a] theory of machines
[b] applied mechanics
[c] mechanisms
[d] kinetics
[e] kinematics.
 Which of the following disciplines provides study
of relative motion between the parts of the machine
[a] theory of machines
[b] applied machanics
[c] mechanisms
[d] kinetics
[e]kinematics.
 Which of the following disciplines provides study
of relative motion between the parts of the machine
and the forces acting on the parts
[a] theory of machines
[b] applied machanics
[c] mechanisms
[d] kinetics
[e]kinematics.
 The type of pair formed by two elements which are
so connected that one is constrained to turn or
revolve about a fixed axis of another element is
known as
[a] turning pair
[b] rolling pair
[c] sliding pair
[d] spherical pair
[e] lower pair.
 Which of the following is a lower pair
[a] ball and socket
[b] piston and cylinder
[c] cam and follower
[d] [a] and [b] above
[e] belt drive.
 If two moving elements have surface contact in
motion, such pair is known as
[a] sliding pair
[b] rolling pair
[c] surface pair
[d] lower pair
[e] higher pair.
 The example of lower pair is
[a] shaft revolving in a bearing
[b] straight line motion mechanisms
[c] automobile steering gear
[d] all of the above
[e] none of the above
 Pulley in a belt drive acts as
[a]cylindrical pair
[b]turning pair
[c]rolling pair
[d] sliding pair
[e] surface pair
 The example of rolling pair is
[a] bolt and nut
[b] lead screw of a lathe
[c] ball and socket joint
[d] ball bearing and roller bearing
[e] all of the above
 Mirth - Great merriment

 Sagacious - Acutely insightful and wise

“An astute and sagacious statesman”
“Sagacious people eat saag”
UNIT 1- BASICS OF MECHANISMS
1.1 Classification of mechanisms
1.1.5 Kinematic chain

 kinematic pairs are coupled in such a way that the

last link is joined to the first link to transmit definite
motion
 Kinematic chain
 Non-Kinematic chain
 Redundant 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.
39
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.
L.H.S > R.H.S => Locked chain
L.H.S = R.H.S => Constrained Kinematic Chain
L.H.S < R.H.S => Unconstrained Kinematic
Chain
Degrees of freedom/mobility of a
mechanism
 It is the number of inputs (number of
independent coordinates) required to describe
the configuration or position of all the links of
the mechanism, with respect to the fixed link
at any given instant.
Gruebler’s criterion and
Kutzbach criterion
44

Examples - DOF

 F = 3(l-1)-2j-h
 Here, l = 4, j = 4 & h = 0.
 F = 3(4-1)-2(4) = 1
 I.e., one input to any one link
will result in definite motion of
all the links.
 Sadistic
"The sadistic person needs his object just as much as
the masochistic needs his"
 Facile – eloquent, effortless
46

Examples - DOF
 F = 3(l-1)-2j-h
 Here, l= 5, j = 5 and h = 0.
 F = 3(5-1)-2(5) = 2
 I.e., two inputs to any two links are
required to yield definite motions in
all the links.
47

Examples - DOF

 F = 3(l-1)-2j-h
 Here, l = 6, j = 7 and h = 0.
 F = 3(6-1)-2(7) = 1
 I.e., one input to any one link will result in
definite motion of all the links.
48

Examples - DOF
 F = 3(l-1)-2j-h
 Here, l = 6, j = 7 (at the intersection of
2, 3 and 4, two lower pairs are to be
considered) and h = 0.
 F = 3(6-1)-2(7) = 1
49

Examples - DOF

 F = 3(l-1)-2j-h
 Here, l = 11, j = 15 (two lower
pairs at the intersection of 3, 4,
6; 2, 4, 5; 5, 7, 8; 8, 10, 11) and h
= 0.
 F = 3(11-1)-2(15) = 0
 Examples - DOF
50

(a) (b) (c)

F = 3(l-1)-2j-h F = 3(l-1)-2j-h F = 3(l-1)-2j-h
Here, l = 4, j = 5 and h = 0. Here, l= 3, j = 2 and h = 1. Here, l= 3, j = 2 and h = 1.
F = 3(4-1)-2(5) = -1 F = 3(3-1)-2(2)-1 = 1 F = 3(3-1)-2(2)-1 = 1
I.e., it is a structure

MZCET/MECH/II A & B/ME 6401/KOM/1

 Solve it!
51
 UNIT 1- BASICS OF MECHANISMS
LECTURE PLAN LECTURE
HOUR:3
56
LECTURE
1.6. Kinematic inversions of four-bar chain and
S.N0. HOUR REFERENCE/AIDS
slider crank chains
(50 Mins)
1. Grashof’s Law 15 PPT, SMART BOARD, VIDEOS
Kinematic inversions of four-bar
2. 35 PPT, SMART BOARD, VIDEOS
chain

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

Grashof’s Law
 The sum of the shortest and longest link lengths
should not be greater than the sum of the remaining
two link lengths
 (Class I- Mechanism)
 (Class II-Mechanism)
 Inversions of mechanism:
58

 A mechanism is one in which one of the links of a kinematic

chain is fixed.
 Different mechanisms can be obtained by fixing different links
of the same kinematic chain.
 These are called as inversions of the mechanism.
 By changing the fixed link, the number of mechanisms which
can be obtained is equal to the number of links.
 Except the original mechanism, all other mechanisms will be
known as inversions of original mechanism.
 The inversion of a mechanism does not change the motion of
its links relative to each other.
Fix link 1& 3. Crank-rocker or Crank-Lever mechanism
Fix link 2. Drag link or Double Crank mechanism
Fix link 4. Double rocker mechanism or Pantograph
INVERSIONS OF MECHANISM
 1.Four Bar Chain

 2.Single Slider Crank

 3.Double Slider Crank

 UNIT 1- BASICS OF MECHANISMS
LECTURE PLAN LECTURE
HOUR:4
62

LECTURE
1.6. Kinematic inversions of four-bar chain and
S.N0. HOUR REFERENCE/AIDS
slider crank chains
(50 Mins)

1. Beam engine 15 PPT, SMART BOARD, VIDEOS

2. Coupling rod of a locomotive 15 PPT, SMART BOARD, VIDEOS

3. Watt’s indicator mechanism 10 PPT, SMART BOARD, VIDEOS

4. Revision 10 PPT, SMART BOARD, VIDEOS

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

Four Bar Chain or Quadric
Cycle Chain
 Coherence - Logical, orderly, and consistent
relation of parts
 Indulge – Give free rein to, Enjoy to excess

She indulges in ice cream

Beam engine (crank and lever
mechanism)
Coupling rod of a locomotive
(Double crank mechanism)
Watt’s indicator mechanism
(Double lever mechanism)
 UNIT 1- BASICS OF MECHANISMS
LECTURE PLAN LECTURE
HOUR:5
69
LECTURE
1.6. Kinematic inversions of four-bar chain and
S.N0. HOUR REFERENCE/AIDS
slider crank chains
(50 Mins)
1. Single Slider Crank Chain 10 PPT, SMART BOARD, VIDEOS
Whitworth quick return motion
2. 10 PPT, SMART BOARD, VIDEOS
mechanism
3. Rotary internal combustion engine 10 PPT, SMART BOARD, VIDEOS
Crank and slotted lever quick return
4. 10 PPT, SMART BOARD, VIDEOS
motion mechanism.
5. Oscillating cylinder engine 5 PPT, SMART BOARD, VIDEOS
6. Pendulum pump or Bull engine 5 PPT, SMART BOARD, VIDEOS

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

Single Slider Crank Chain
 Inversions of Single Slider Crank Chain

72

(b) connecting rod fixed

(a) crank fixed (c) slider fixed

 Inversions of Single Slider Crank Chain

73

 Four inversions of a single slider crank chain are possible.

 These inversions are found in the following mechanisms.
1. Whitworth quick return motion mechanism Second Inversion
2. Rotary internal combustion engine
3. Crank and slotted lever quick return motion mechanism.
Third Inversion
4. Oscillating cylinder engine
5. Pendulum pump or Bull engine Fourth Inversion
Whitworth quick return motion
mechanism
 Rotary internal combustion
engine
II inversion of slider crank mechanism. (crank fixed)
 In this mechanism, when the connecting rod
(link 4) rotates, the piston (link 3) reciprocates
inside the cylinders forming link 1.
76
Crank and slotted lever quick return
motion mechanism
Length of the stroke = P1P2 = R1R2

Time for forward stroke 


Time for return stroke 
 Basic Quick-Return Mechanism
79
80
 Quick-Return IN SHAPER M/C
81
 Crank and slotted lever Mechanism
82
(Quick-Return Motion Mechanism)
 4. Oscillating cylinder engine

84

 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–III inversion of
85
slider crank mechanism (connecting rod fixed)
86
 5. Pendulum pump or Bull engine.

87

 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 Fig.
 Application
Inversion IV – Link 4 Slider fixed
88 Pendulum pump or bull engine
89
 UNIT 1- BASICS OF MECHANISMS
LECTURE PLAN LECTURE
HOUR:6
90

LECTURE
S.N0. Inversions of double slider crank mechanism HOUR PPT, SMART BOARD, VIDEOS
(50 Mins)

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

91

In a crank and slotted lever quick return motion mechanism, the distance between
the fixed centers is 240 mm and the length of the crank is 120 mm. Find the
inclination of the slotted bar with the vertical in the extreme position and the time
ratio of cutting stroke to the return stroke. If the length of the slotted bar is 450
mm. find the length of the stroke passes through the extreme position of the free
end of the lever. (April/May -2011)
 3. DOUBLE SLIDER CRANK CHAIN
92

It is a kinematic chain consisting of two turning

pairs and two sliding pairs.
Link 1 Frame
Link 2 Slider -I
Link 3 Coupler
Link 4 Slider - II
 Inversions of double slider crank mechanism
93

 Elliptical trammels
 Scotch yoke mechanism
 Oldham’s coupling
 3.Double Slider Crank
INVERSIONS
94
 ELLIPTICAL TRAMMEL
95
 1. Elliptical trammels
96
 It is an instrument used for drawing ellipses. This inversion is obtained by fixing the
slotted plate (link 4), as shown in Fig.
 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 4, as shown in Fig. A little
consideration will show that AP and BP are the semi-major axis and semi-minor
axis of the ellipse respectively.
 Inversion I – Frame Fixed
Double slider crank mechanism
97

Elliptical trammel
AC = p and BC = q, then,
x = q.cosθ and y = p.sinθ.
Rearranging,

2 2
 x  y
      cos 2   sin 2   1
q  p
98

MZCET/MECH/II A & B/ME 6401/KOM/1

 2. Scotch yoke mechanism

99

 The Scotch yoke is a mechanism for converting the linear motion of a

slider into rotational motion or vice-versa. The piston or other
reciprocating part is directly coupled to a sliding yoke with a slot that
engages a pin on the rotating part.
Cowardice - The trait of lacking courage
Coagulability - Capable of coagulating and becoming thick
 Inversion II – Slider - I Fixed
SCOTCH –YOKE MECHANISM

101

Turning pairs –1&2, 2&3; Sliding pairs – 3&4, 4&1

 3. Oldham’s coupling.
102

 An oldham's coupling is used for connecting two parallel

shafts whose axes are at a small distance apart. The shafts
are coupled in such a way that if one shaft rotates, the
other shaft also rotates at the same speed.
 OLD HAMS COUPLING
103
 Inversion III – Coupler Fixed
OLDHAM COUPLING

104
 UNIT 1- BASICS OF MECHANISMS
LECTURE PLAN LECTURE
HOUR:7
105

LECTURE
S.N0. INTERMITTENT MOTION MECHANISM HOUR PPT, SMART BOARD, VIDEOS
(50 Mins)

1. 15 PPT, SMART BOARD, VIDEOS

2. 5 PPT, SMART BOARD, VIDEOS

3. 5 PPT, SMART BOARD, VIDEOS

4. 15 PPT, SMART BOARD, VIDEOS

5. 10 PPT, SMART BOARD, VIDEOS

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

 Intermittent Motion Mechanism

106

Intermittent motion means that the motion is not

continuous, but it ceases after definite intervals.
 INTERMITTENT MOTION
MECHANISM
107

- Transforms an incoming motion, generally

uniform rotational, in an outgoing progressive
or alternating intermittent motion.
- Usually, this intermittent motion is rotational,
but it can be also transformed into translator
rectilinear motion by means of appropriate
transmission mechanism.
 Ratchet and Pawl Mechanism
108

This mechanism is used to produce intermittent

circular motion from an oscillating or reciprocating
member.
 The line of action PN of the driving pawl and tooth must
pass between centers O and A in order to have pawl 3
remain in contact with the tooth.
RATCHET WHEEL/ RATCHET
MECHANISM
109

-A wheel provided with suitably shaped teeth,

receiving an intermittent circular motion from an
oscillating or reciprocating member, is called a
ratchet wheel.
-based on a wheel that has teeth cut out of it and
a pawl that follows as the wheel turns.
110
 RATCHET AND PAWL MECHANISM

111
 Application of Ratchet Pawl mechanism
112
 UNIT 1- BASICS OF MECHANISMS
LECTURE PLAN LECTURE
HOUR:8
114

LECTURE
S.N0. OTHER IMPORTANT MECHANISMS HOUR PPT, SMART BOARD, VIDEOS
(50 Mins)

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

115

 Quick return motion mechanisms: Drag link

mechanism, Whitworth mechanism and Crank and slotted
lever Mechanism.
 Straight line motion mechanisms: Peaucellier’s
mechanism and Robert’s mechanism.
 Intermittent Motion mechanisms: Geneva wheel
mechanism and Ratchet and Pawl mechanism.
 Toggle mechanism, Pantograph, Ackerman steering gear
mechanism.
 Quick return motion mechanisms

116

 Quick return mechanisms are used in machine tools such as

shapers and power driven saws for the purpose of giving the
reciprocating cutting tool, a slow cutting stroke and a quick return
stroke with a constant angular velocity of the driving crank.
 Some of the common types of quick return motion mechanisms

are
1. Drag link mechanism
2. Whitworth quick return motion mechanism
3. Crank and slotted lever quick return motion mechanism
 The ratio of time required for the cutting stroke to the time
required for the return stroke is called the time ratio and is greater
than unity.
 Drag link mechanism
117

 This is one of the inversions of four bar mechanism, with four turning pairs.
 The time ratio is given by the following equation.

Timeforfor wardstroke B1 Aˆ B2  anti  clockwise 


Timeforret urnstroke B2 Aˆ B1  anti  clockwise 
 Link 2 Fixed- DRAG LINK MECHANISM
118
119

MZCET/MECH/II A & B/ME

 Straight Line Mechanisms
120

 One of the most common forms of the constraint mechanisms is

that it permits only relative motion of an oscillatory nature along
a straight line. The mechanisms used for this purpose are called
straight line mechanisms.
 These mechanisms are of the following two types:
1. in which only turning pairs are used, and
2. in which one sliding pair is used.
 These two types of mechanisms may produce exact straight line
motion or approximate straight line motion, as discussed in the
following articles.
 1.a) Peaucellier mechanism
121
 Condition for Exact Straight Line Motion Mechanisms

122

The principle adopted for a mathematically correct or

exact straight line motion is described in Fig.
 Let O be a point on the circumference of a circle of
diameter OP. Let OA be any chord and B is a point on
OA produced, such that
OA × OB = constant
 Then the locus of a point B will be a straight line
perpendicular to the diameter OP.
 Other Mechanisms
1.Straight line motion mechanisms
123

Condition for perfect steering

Locus of pt.C will be a
straight line, ┴ to AE
AB if,
AC

is constant.
Proof: AEC  ABD
AD AB
 
AC AE
AB  AC
 AE 
AD
butAD  const.
 AE  const., ifAB  AC  const.
 Proof:
 Draw BQ perpendicular to OP produced. Join AP. The triangles OAP
and OBQ are similar.
124

 But OP is constant as it is the diameter of a circle, therefore, if OA ×

OB is constant, then OQ will be constant. Hence the point B moves
along the straight path BQ which is perpendicular to OP.
A B

Base

Q
O P Base
O
 Peaucellier exact straight line motion mechanism:

125
 UNIT 1- BASICS OF MECHANISMS
LECTURE PLAN LECTURE
HOUR:9
126
LECTURE
S.N0. 1.10., 1.11. HOUR REFERENCE/AIDS
(50 Mins)
Description of some common
1. 15 PPT, SMART BOARD, VIDEOS
mechanisms
Quick return mechanisms, Straight
2. 5 PPT, SMART BOARD, VIDEOS
line generators, Universal Joint

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

 Peaucellier exact straight line motion mechanism:

127

Since OC and BC are of constant length, therefore the product

OB × OA remains constant. Hence the point B traces a straight
path perpendicular to the diameter OP.
Pantograph

128
 1.c) Pantograph
129
 Double Lever mechanisms (or) Watt’s Straight line
Mechanisms
130
131

MZCET/MECH/II A & B/ME 6401/KOM/1

 UNIT 1- BASICS OF MECHANISMS
LECTURE PLAN LECTURE
HOUR:10
132

LECTURE
S.N0. 1.11., 1.12. HOUR REFERENCE/AIDS
(50 Mins)
Quick return mechanisms, Straight
1. 15 PPT, SMART BOARD, VIDEOS
line generators, Universal Joint
2. Rocker mechanisms 5 PPT, SMART BOARD, VIDEOS

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017

Robert’s mechanism

133

MZCET/MECH/II A & B/ME 6401/KOM/1

Robert’s mechanism

134
 4. Toggle mechanism
135

Considering the
equilibrium condition of
slider 6,
F
tan   2
P
 F  2 P tan 

For small angles of α, F is

much smaller than P.
Toggle Mechanism

136

F
tan   2
P
 F  2 P tan 
137

MZCET/MECH/II A & B/ME 6401/KOM/1

 Coupler curve
138

 The path or curve generated by a point on the

coupler link (Connecting rod.)
 The generator point is coupler point or tracer point.
 Perplexed - Full of difficulty, confusion or
bewilderment
perplexed state of the world
 Abstract - adj. existing purely in the mind; not

representing actual reality

Julie had trouble understanding the appeal of
the abstract painting.
 6.Steering gear mechanism
140
Condition for perfect steering

MZCET/MECH/II A & B/ME 6401/KOM/1

STEERING GEAR MECHANISM

141

MZCET/MECH/II A & B/ME 6401/KOM/1

Steering Gear Mechanism
 The steering gear mechanism is used for changing the direction of two or more of
the wheel axles with reference to the chassis, so as to move the automobile in any
142
desired path.
 Usually the two back wheels have a common axis, which is fixed in direction with
reference to the chassis and the steering is done by means of the front wheels.
 In automobiles, the front wheels are placed over the front axles, which are pivoted at
the points A and B, as shown in Fig. These points are fixed to the chassis.
 The back wheels are placed over the back axle, at the two ends of the differential
tube. When the vehicle takes a turn, the front wheels along with the respective axles
turn about the respective pivoted points.

The back wheels remain

straight and do not turn.
Therefore, the steering is
done by means of front
wheels only.
Condition for perfect steering
 In order to avoid skidding (i.e. slipping of the wheels sideways), the two front
wheels must turn about the same instantaneous centre I which lies on the axis of the
back wheels.
143
 If the instantaneous centre of the two front wheels do not coincide with the
instantaneous centre of the back wheels, the skidding on the front or back wheels
will definitely take place, which will cause more wear and tear of the tyres.
 Thus, the condition for correct steering is that all the four wheels must turn about
the same instantaneous centre.
 The axis of the inner wheel makes a larger turning angle than the angle subtended
by the axis of outer wheel.
 Condition for perfect steering

144

This is the fundamental

equation for correct
steering. If this condition is
satisfied, there will be no
skidding of the wheels,
when the vehicle takes a
turn.
Ackermann steering gear mechanism
 In Ackerman steering gear, the mechanism ABCD is a four bar crank chain, as shown in Fig.
 The shorter links BC and AD are of equal length and are connected by hinge joints with front
wheel axles. The longer links AB and CD are of unequal length. The following are the only
145 three positions for correct steering.

1. When the vehicle moves along a straight path, the longer links AB and CD are parallel
and the shorter links BC and AD are equally inclined to the longitudinal axis of the vehicle,
as shown by firm lines in Fig..
2. When the vehicle is steering to the left, the position of the gear is shown by dotted lines
in Fig. In this position, the lines of the front wheel axle intersect on the back wheel axle at
I, for correct steering.
3. When the vehicle is steering to the right, the similar position may be obtained.
 Solve it!
147

 The ratio between width of the front axle and that

of wheel base of a steering is 0.44. at the instant
when the front inner wheel turned by 18˚, what
should be the angle turned by the outer front wheel
for perfect steering?
 GENEVA WHEEL/ GENEVA
MECHANISM
148

It translates a continuous
rotation into an
intermittent rotary motion.

The drive wheel also has

a raised circular blocking
disc that locks the driven
wheel in position between
steps.
 Geneva Mechanism

149
It rotates continuously, and carries a pin P that engages in a
slot in die driven member 2.
 The follower or driven member 2 is turned 1/4th of a revolution for
each revolution of plate 1.
 2.Indexing Mechanism

150

Geneva wheel mechanism

151
152
153
154

Degrees of freedom:
D.O.F= 3(N-1)-2P
D.O.F= 3(2-1)-2(1)
D.O.F= 1
 UNIVERSAL JOINT
155

 A mechanical device that allows one or

more rotating shafts to be linked
together
 The most common type of universal

joint is the Hooke or Cardan joint.

 Advantages and
156 Disadvantages of Universal
Joint
Advantages:
- Universal coupling is more flexible than knuckle
joint.
- It facilitates torque transmission between shafts
which have angular misalignment.
- It is cheap and cost effective.
- It is simple to be assembled and dismantled.
- Torque transmission efficiency is high.
- The joint permits angular displacements.
157
Disadvantages:
- Wear may occur if the
joint is not properly
lubricated.
- Maintenance is often
necessary to avoid wear.
- Universal joint produces
fluctuating motion.
- It does not support axial
misalignment.
158

 ꭤ- Angle between the two shafts

 N₁ = Uniform speed of driving shaft

 N₂ = Uniform speed of driven shaft

 Maximum speed transmitted to driven shaft

(ꭃ₂/ꭃ₁) = (1/ cos ꭤ)

 Minimum speed transmitted to driven shaft

(ꭃ₂/ꭃ₁) = cos ꭤ
 Maximum variation of velocity in driven shaft = {(ꭃ
2

max - ꭃ2 min)/ꭃ₁} = (tan ꭤ) × (sin ꭤ)

 Solve it!
159

 A hooke’s joint connects two shafts whose axes intersect at

18˚. The driving shaft rotates at the uniform speed of 210
r.p.m. The driven shaft with attached masses has the mass of
60 kg. And the radius of gyration of 120 mm. Determine the
torque required at the driving shaft if a steady torque of 180
Nm resist the rotation of the driven shaft and the angle of
rotation is 45˚ and the angle between the shafts at which the
total fluctuation of speed of the driven shaft is limited to 18
r.p.m.
 Solve it!
160

 Explain why two Hooke’s joints are used to transmit motion

from the engine to differential of an automobile. Two shafts
are connected by universal joint. The driving shaft rotates at
the uniform speed of 1200 r.p.m. Determine the greatest
permissible angle between the shaft axes so that the total
fluctuation does not exceed 100 r.p.m. Also calculate the
maximum and minimum speed of the driven shaft.
 UNIT 1- BASICS OF MECHANISMS
LECTURE PLAN LECTURE
HOUR:11
161

LECTURE
REVISION
1. HOUR PPT, SMART BOARD, VIDEOS
(50 Mins)

MOUNT ZION COLLEGE OF ENGINEERING & TECHNOLOGY 04/12/2017