Theory of Machine
ME- 315
2+0
Course Outline
Mechanism
Kinematics Fundamentals,
Degrees of Freedom,
Different types of mechanisms, their characteristics
and applications,
Position, Velocity and Acceleration analysis, Dynamic
force analysis,
Cam and gear (gear trains) design
Governor
Gyroscope
Individual/Group Task
Course Objective
To introduce the basic concepts of mechanisms and to
present methods of analysis for the motion and force
transmission in mechanisms.
Course Purpose
Purpose of this course is to
Explore the topics of kinematics and dynamics of
machinery in respect to the synthesis of mechanisms
(combination of components or elements to form a
connected whole) in order to accomplish desired motions or
tasks
Also the analysis of mechanisms in order to determine their
rigid body dynamic behavior.
We will begin with careful definitions of the terms used in
these topics.
Course Learning Outcomes
CLO-1
Explanation of fundamental of Kinematics and Illustrate
degree of freedom of various mechanisms (PLO-1) C2
CLO-2
Familiarization and application of Cam and Gear train
design in machine (PLO-2) C3
CLO-3
Analyze Static and dynamic force Analysis and examine
static and dynamic force Balancing (PLO-3) C4
Recommended Book
Theory of Machine By
R S Khurmi & J K Gupta
Theory of Machine By
Sadhu Sigh
Design & Technology By
James Garret
Design of Machinery 2nd Ed By
Robert L. Norton
Quiz 10% Assignment+
Presentation 15%
Mid Exams 25%
Final Exam 50%
There will be Complete course will be for final exam so be
prepare for it.
Theory Of Machine
The subject Theory of Machines may be defined as
“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 machine
Study of relative motion of various parts of machine & the forces
acting on them.
Kinematics
Study of relative motion between parts of a machine without
considering forces acting on them.
Kinetics
The study of forces on systems in motion.
These two concepts are really not physically separable (able to be
separated or treated separately).
One principal aim of kinematics is to create (design) the desired
motions of the subject mechanical parts and then mathematically
compute the positions, velocities, and accelerations which those
motions will create on the parts.
Mechanism
Interconnection of machine elements for the purpose of transfer of
motion
Machine element may be
Rigid (which do not deform)
Resistant bodies (spring, belt)
Mechanism is a device which transforms motion to some desirable
pattern and typically develops very low forces and transmits little
power.
Structure
An assembly of a number of rigid bodies meant to take up loads or
subject to forces
Frame
It is a structure which supports moving part of machine
Machines and Mechanisms
A useful working definition of a mechanism is a system of
elements arranged to transmit motion in a predetermined
fashion.
On the other hand, a machine is a system of elements arranged
to transmit motion and energy in a predetermined fashion.
Machine typically contains mechanisms which are designed to
provide significant forces and transmit significant power.
Some of the examples of mechanisms and machines are on the
next slide
Mechanisms
Simple Front
Can crusher press loader
Device to close
the top flap of
Rear- boxes
window
wiper
Lift
platform 12
Mechanisms
Moves packages
from an
assembly bench
to a conveyor
Conceptual design for an
exercise machine
13
Machines
Food Blender
Automatic
Transmission
14
Machines
Bulldozer Spider Robot
15
A Brief History of Kinematics
Machines and mechanisms have
been devised by people since the
dawn of history.
The ancient Egyptians devised
primitive machines to accomplish
the building of the pyramids and
other monuments.
Though the wheel and pulley (on an
axle) were not known to the Old
Kingdom Egyptians, they made use
of the lever, the inclined plane (or
wedge), and probably the log roller.
A Brief History of Kinematics
A great deal of design effort was
spent from early times on the
problem of timekeeping as more
sophisticated clockworks were
devised.
Much early machine design was
directed toward military
applications (catapults, wall
scaling apparatus, etc.).
17
A Brief History of Kinematics
James Watt (1736-1819) probably deserves
the title of first kinematician for his synthesis
of a straight-line linkage to guide the very
long stroke pistons in the then new steam
engines. Watt was certainly the first on
record to recognize the value of the motions
of the coupler link in the four-bar linkage.
Watt Straight-line
linkage 18
Applications of Kinematics
Virtually any machine or device that moves
contains one or more kinematic elements such as
linkages, cams, gears, belts, chains. Your bicycle is
a simple example of a kinematic system that
contains a chain drive to provide torque
multiplication and simple cable-operated
linkages for braking.
19
Applications of Kinematics
An automobile contains many more examples
of kinematic devices. Its steering system,
wheel suspensions, and piston-engine all
contain linkages; the engine's valves are
opened by cams; and the transmission is full
of gears. Even the windshield wipers are
linkage-driven.
20
Applications of Kinematics
Figure shows a spatial linkage used to control the rear
wheel movement of a modem automobile over bumps.
21
Applications of Kinematics
Construction equipment such as tractors, cranes, and
backhoes all use linkages extensively in their design.
Figure shows a small backhoe that is a linkage driven by
hydraulic cylinders.
22
Applications of Kinematics
Another application using linkages is that of exercise
equipment as shown in Figure (c).
23
Elements Or Link
A link is a resistant body
that constitute the part
of machine connecting
other part which have
motion relative to it.
Classification of links
Depends upon the end on which revolute or turning
pair can be placed
Binary link (two vertices)
Ternary link (three vertices)
Quaternary link (four vertices)
Rigid link (connecting rod, crank, tappet)
Flexible link (Belts , ropes ,chain)
Fluid link (Hydraulic jack, Fluid brake)
Kinematic Pair
Two links of a machine
when in contact with
each other are said to
form a Pair.
A kinematic pair
consists of two links
which have relative
motion between them.
Classification of Kinematic pair
Depends upon
1. Relative motion
2. Type of contact
3. Type of mechanical constraints
Kinematic pair according to relative motion
1. Sliding Pair ( Rectangular ball in a rectangular hole,
Piston in Cylinder)
2. Revolute Pair (shaft with a collar at both ends
revolving in a circular hole)
3. Rolling Pair (Ball & roller bearing, A wheel rolling on
flat surface)
4. Screw or Helical Pair ( Lead screw of a lathe with a
nut, A bolt with a nut)
5. Spherical Pair ( Ball & socket joint, A pen stand,
Mirror attachment of a vehicle)
Kinematic pair according to type of contact
Lower Pair (Surface contact)
Sliding pair, turning pair and screw pair form lower pair.
Higher Pair (combination of sliding & turning)
(Point or line contact)
Belts, rope & chain drives, Gears, The Cam & followers
Kinematic pair according to Mechanical Constraints
Closed Pair
when two elements of a pair are held together
mechanically in such a manner that only required type
of relative motion occur, they are called closed pair.
Cam & Follower
Unclosed Pair
When the two elements of a pair are not held
mechanically & are held in contact by the action of
external forces the pair is called unclosed pair.
Cam & Spring loaded follower pair.
Constrained motion
There are three types of constrained motion
• Completely constrained motion
• Partially constrained motion
• Incomplete constrained motion
Constrained motion
There are three types of constrained motion
• Completely constrained motion (when motion
between a pair takes place in a definite direction
irrespective of the direction of force applied)
Square bar in a square hole, piston & cylinder
• Partially constrained motion (when constrained
motion between a pair is not completed by itself but
by other means)
Motion of shaft in a footstep bearing becomes
successfully when compressive load is applied
• Incomplete constrained motion (when motion in a
pair can take place in more than one direction)
Circular shaft in a circular hole.
Mechanism including binary, ternary &
quaternary Links
Form-closed and Force-closed joints.
Form-closed joint is kept together
or closed by its geometry. A pin in
a hole or a slider in a two-sided
slot are form closed.
Force-closed joint, such as a slider
on a surface, requires some
external force to keep it together or
closed.
This force could be supplied by
gravity, a spring, or any external
means.
Kinematic chain
An assembly of link in which the relative motion of link is possible
and motion of each link relative to each other is definite
An assemblage of links and joints, interconnected in a way to
provide a controlled output motion in response to a supplied input
motion.
Four bar mechanism, slider crank mechanism
The relationship for a kinematics chain having lower pair only
N= 2P-4
J= (3N/2) - 2
N= number of links
P= number of pair
J= number of joints
N= 2P-4
J= (3N/2) - 2
If
LHS > RHS then chain is locked
LHS = RHS then chain is constrained
LHS < RHS then chain is unconstrained
for a kinematic chain having higher pair, each higher
pair is taken as equivalent to two lower pair and a
additional link
Determine the Type Of chain
Mechanism and Machine
A mechanism is defined as a
kinematic chain in which at least
one link has been “grounded,” or
attached, to the frame of reference.
A machine is defined as a
combination of resistant bodies
arranged to compel the mechanical
forces of nature to do work
accompanied by determinate
motions.
Types of mechanism
Simple mechanism (four links)
Compound mechanism (more than four links)
Complex mechanism (inclusion of ternary link to a
floating mechanism)
Planner mechanism (when all link lies in the same
plane)
Spatial mechanism (when all links lies in different
plane)
Equivalent mechanism (in such mechanism a pair can
be replaced)
Mechanism & Machine
Is the combination of Is the combination of
restraining or rigid bodies two or more mechanism
Rigid bodies are so Is a device that
connected that they move transform energy
upon each other with available in one form to
definite relative motion another to do certain
type of desired work
A mechanism is obtained
when one of the link of Its links may transmit
kinematic chain is fixed both power and motion
Examples of mechanism and machine
Mechanism
Slider crank mechanism , typewriter , spring toys etc.
Machine
Internal combustion engine , lathe machine , milling machine etc.
Simple machine
One point for the application of effort & one point for load to lifted
Lever , screw jack , inclined plane etc.
Compound machine
More than one point for the application for effort and load
Lathe machine , grinding machine etc.
Structure / Locked Chain
It is an assemblage of a no of resistant bodies having no
relative motion between them
Railway Bridge
Roof truss,
Machine frame
Differences between a machine and a structure
Parts of a machine move relative to one another, whereas
members of a structure do not move relative to one another.
Machine transforms the available energy into some useful work,
whereas in a structure do not move relative to one another.
Links of a machine may transmit both power and motion, while
the members of a structure transmit forces only.
Degree of freedom
Number of independent relative motion both translational
and rotational that a kinematic pair can have.
Degree of freedom= 6 – number of restraints
A rigid body have 6 degree of freedom
A rectangular bar in a rectangular hole has one degree of
freedom
Position of crank in a slider can be expressed by the angle
turned and thus has one degree of freedom
Circular shaft rotating in a hole has two degree of freedom
Degree of freedom of planner mechanism
Mobility of mechanism is defined as number of degree of freedom it
posses
Kutzbach criterion
The kutzabach criterion for determining the number of degree of
freedom of a planner mechanism
F = 3(N-1) -2P1 –P2
F = number of degree of freedom
N = total number of link in a mechanism out of which one is fixed
N-1 = number of moveable links
P1 = number of simple joint or lower pair having one degree of freedom
P2 = number of higher pair having two degree of freedom
When two links are joined by a hinge two degree of
freedom is lost
Hence for each joint two degree of freedom is lost
Therefore for P1 number of joints the number of degree
of freedom lost are 2P1
When kinematic chain made of different link then
number of lower pairs P1 is computed as follows
P1= ½(2N2+3N3+4N4+………………………)
N2= number of binary links
N3= number of ternary links
For linkage with lower pair only , P2=0 i.e. higher pair
is zero
F=3(N-1)-2P1
Degree of freedom for various types
joints
Only four type joint used in planner mechanism
Revolute joint
Prismatic joint
Rolling contact joint
Cam or gear joint
Revolute , prismatic , rolling contact joint having one degree of
freedom
Cam & gear joint having two degree of freedom
F=3(N-1)-2P1
F ≥ 1 the device is a mechanism with F degree of freedom
F =0 the device is statically determinate structure
F≤ -1 the device is statically indeterminate structure
Number of independent loops
Disconnect as many joints as required so that there are no loops in the
mechanism.
It can be seen from this example the number of joints that have been
disconnected is equal to the number of loops in the mechanism.
In remaining open kinematic chain number of links is still l and the
number of joints is one less than the number of links (l-1).
If L is the number of independent loops, we then have
j = the number of joints in the open kinematic chain + the
number of joints removed.
j = (l-1) + L
or
L = j - l + 1
This simple equation (which is known by Euler’s
polyhedron formula)
Number of independent loops
Hence L=17-14+1=4
There are 4 independent loops.
Grubler criterion
For a constrained motion ,F=1 so that
1=3(N-1)-2P1-P2
2P1+P2-3N+4=0
This equation represents Grubebler criterion
If P2=0
Then
P1=(3N/2) -2
Therefore a planer mechanism with F=1 and having only
lower pair , can not have odd number of links.
Determine the degree of freedom of following planer
mechanism
Determine the degree of freedom of following
planer mechanism
Simple four bar chain
It consists of four rigid links which are
connected in the form of a quadrilateral by
four pin-joints.
A link makes complete revolution is called
Crank (4).
The link which is fixed is called fixed link (1).
The link opposite to the fixed link is called
Coupler (3).
The fourth link is called Lever or Rocker (2).
It is impossible to have a four bar linkage, if
the length of one of the links is greater than
the sum of the other three
Grashoff’s Law
For a four bar mechanism the sum of
length of the largest & shortest link
should be less than the sum of other
links that is
(l+s)<(a+b)
L,s = length of longest and shortest link
a ,b = length of other two links
Crank Lever Mechanism
For every complete revolution of link
4, link 2 makes a complete oscillation
Such mechanism is called crank lever
mechanism
(l4+l3)<(l1+l2)
Double Lever Mechanism
In this case link2 and 4
both can oscillate
(l3+l4)<(l1+l2)
(l2+l3)<(l1+l4)
Double Crank Mechanism
In this case link 2 & link 4 makes complete revolution
Double crank mechanism is of two type
1. Parallel crank mechanism
2. Drag link mechanism
1.Parallel crank mechanism
Here
l1=l3 & l2=l4
2.Drag link mechanism
Here
l3>l1 & l4>l2
Also
l3>(l1+l4-l2)
And
l3<(l2+l4-l1)
Inversion Of Mechanism
A kinematic chain become a mechanism when one of its
link is fixed
Number of mechanism that can be obtained is as the
number of links in the kinematic chain
Method of obtaining different mechanism by fixing
different links of a kinematic chain is called inversion of
the mechanism
Relative motion between various links is not altered as a
result of inversion but their absolute motion w.r.t fixed
link may alter drastically
Types of Kinematic chain
Most important kinematic chain are those which
consists of four lower pairs & each pair being a sliding
pair or turning pair
Following are the three types of kinematic chain with
four lower pair are important
1. Four bar chain or quadric cycle chain
2. Single slider crank chain
3. Double slider crank chain
Inversion of four bar chain
Some of the important inversion of four bar chain
are following
Beam engine
Coupled wheel of locomotive
Watt’s indicator mechanism
Slider crank chain
Beam engine
When crank rotates about the
fixed center A and the lever
oscillates about the fixed
center D
The purpose of this
mechanism is to convert rotary
motion into reciprocating
motion
Also called crank & lever
mechanism
Coupled wheel of locomotive
Also called double crank mechanism
Link AB = Link CD (length)
Cranks are connected to respective
wheels
Link BC acts as a connecting rod
Link AD is fixed to maintain
constant distance between the wheel
Used to transmit rotary motion from
one wheel to another
Watt’s indicator Mechanism
Also called double lever
mechanism
It consists of four links which
are
1. Fixed link at A
2. Link AC
3. Link CE
4. Link BFD
Also called Watt’s straight line
mechanism dotted line shows
the position of the mechanism
Equivalent mechanism
Turning pair of a plain mechanism can be replaced by other
pair such as sliding pair or cam pair
New mechanism obtained by replacing existing mechanism
has the same degree of freedom as the original mechanism
is known as equivalent mechanism
Turning pair can be replaced by sliding pair
Spring can be replaced by two binary links
Cam pair can be replaced by one binary link with two
turning pair at each end
Single slider crank chain
When one of the turning pair of single slider crank chain is
replaced by sliding pair, it becomes a single slider chain
It consists of sliding pair & three turning pair
Used to convert rotary motion into reciprocity motion
Consists of three turning pair & one sliding pair
Link 1 frame which is fixed
Link 2 is the crank
Link 3 connecting rod
Link 4 is the slider
Inversion of single slider crank chain
Inversion of single slider crank chain are
1. Pendulum pump
2. Oscillating cylinder engine
3. Rotary internal combustion engine
4. Crank & slotted lever quick return motion mechanism
5. Whitworth quick return motion mechanism
6. Toggle Mechanism
Pendulum pump
Inversion mechanism is obtained by fixing link 4
i.e. sliding pair
When link 2(crank) rotates
Link 3(connecting rod) oscillates about a pivoted
to fixed link 4 at C
Piston attached to the connecting link 1 (piston
rod) reciprocate in the cylinder
Three turning pairs & one Sliding pair.
First link is piston and piston rod
Second is connecting rod which is extended
beyond its connection to crank.
Third link is crank and fourth link is cylinder
which is placed vertically and is fixed.
Used in duplex pump in boilers,
Manual hand pumps fitted on bore well.
Oscillating cylinder engine
It is used to convert reciprocating
motion into rotary motion
Link 3 is fixed
Link 2 crank rotates
Piston rod link 1 reciprocates
Cylinder oscillates about A
Rotary internal combustion engine/gnome engine
This mechanism is used in aviation
Consists of seven cylinder in one
plate and all revolve about fixed
center D
Crank 2 is fixed
Connecting rod 4 rotates
Piston 3 reciprocates inside the
cylinder forming link 1
Crank & slotted lever quick return
motion mechanism
Such mechanism is mostly used in
shaping machine, slotting machine &
rotary combustion engine
Link AC corresponding to connecting
rod is fixed
Driving crank revolves about center C
Slider attached to crank pin at B slides
along the slotted lever AP
And makes the slotted lever oscillates
about the pivoted point A
Short link PQ transmit the motion
from AP to the arm with the tool along
the line of stroke
Toggle Mechanism
Mechanism has many applications where
it is necessary to overcome large resistance
with small driving force
Link 4 & Link length are equal
As the angle decreases link 4 & link 5
approaches being co linear
Force F to overcome the resistance is given
by
If angle approaches zero, for a given force,
P approaches infinity
Stone crusher, Presses, riveting machine
Toggle clamping device for holding work
piece
