Kinematics of Machines

(KOM)
18ME44

Mr. Purandara Naik

 KINEMATICS AND DYNAMICS
KINEMATICS : Kinematics is the study of motion, without considering the
forces which produce that Motion.

Kinematics of machines deals with the study of the relative motion of machine
parts. It involves the study of position, displacement, velocity and acceleration
of machine parts.

DYNAMICS: involves the Study of forces acting on the parts of a mechanism

. It has been classified into statics and kinetics.

1) Statics: study of the forces when the body is stationary

2) Kinetics: deals with the study of the forces when the body is in motion
 INTRODUCTION
Mechanism
If a number of bodies are assembled together in a way the motion
of one causes constrained and predictable motion to the others, it
is called as “mechanism”
Machine
A mechanism or a group of mechanism which, apart from
imparting motion to the parts also transmits and modifies the
available mechanical energy into some desired work is called a
“machine”
For the study of motions of mechanisms, the study of forces is
not necessary and it can be neglected.
 Kinematic link or Element

Each part of the Machine which has relative motion

w. r. t. another machine part is known as a kinematic
link or element.
A link or a element must be a resistant body, a body
is a called a resistant body if it is capable of
transmitting the required forces with negligible
deformation.
 A slider crank mechanism of an internal combustion engine,
consists of four links, i.e. frame 1, crank 2, connecting rod 3
and slider 4.
 Classification of Links
Links are classified into 3 types:
1.Rigid link
2. Flexible
3. Fluid
1.Rigid link:
 Elastic in nature. rigid links do not undergo appreciable
deformation while transmitting motion.
 for eg: connecting rod, crank.
2.Flexible link:
which while transmitting motion is partly deformed in
a manner not to affect the transmission of motion
Eg: belts, ropes, springs etc.

3.Fluid link:
It is formed by having a fluid in a closed vessel and
the motion is transmitted through the fluid by pressure
or compression only,
Eg: hydraulic press, hydraulic jack and fluid
brake.
 Classification
Depending upon the ends on which revolute or turning
pairs can be placed.
1. Binary link has two vertices,
2 Ternary has three vertices,
3 Quaternary link has four vertices and so on.
Degrees of freedom (DOF)
 DOF is defined as the number of independent
coordinates required to describe the position of a
body in space.

 A unconstrained rigid body in space will have six

degrees of freedom i.e., linear positions along x, y
and z axis and rotational (angular) positions w.r.t x,
y and z axis.
 Kinematic Pair
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.

It is also a combination of two kinematic links such that their

relative motion is completely constrained.
Classification of Kinematic pair
Nature of Relative motion between the elements
(i)Sliding pair (iv) Spherical pair
(ii)Turning pair (v) Rolling pair
(iii) Screw pair (vi) Cylindrical pair
Nature of contact
a) lower pair
b) higher pair
Nature of mechanical constraint
a) closed
b) unclosed
 Sliding pair
 Two elements so connected that one is constrained to
have a sliding motion relative to the other.

 DOF =1
 Turning pair (revolute pair)
When connections of the two elements are such
that only a constrained motion of rotation of one element
with respect to the other is possible.

DOF = 1
 Rolling pair
 When the pairing elements have rolling contact, the pair
formed is called rolling pair. Eg. Bearings, Belt and pulley.

 DOF = 1
 Spherical pair
 When one link in the form of a sphere turns inside a fixed link it is
called spherical pair
 A spherical pair will have surface contact and three degrees of freedom.
Eg. Ball and socket joint.
 Helical pair or screw pair
 The contact between the elements of a pair is such that one element can turn
as well as slide about the other , then it is called helical pair. Eg. Nut and bolt.

 DOF = 1
 Lower pair
 Joint by which two members are connected has
surface contact
 Eg: shaft rotating in bush, slider in slider crank
mechanism, nut turning on a screw, a shaft rotating in
a bearing, an universal joint, all pairs of a slider crank
mechanism, etc.
 Higher pair
 Two elements have point or line contact while in motion and the relative
motion is a combination of sliding and turning.
 Eg: Belt, rope and chain drives, gears, the cam and follower, ball and roller
bearings, a wheel rolling on a surface etc.
 Closed pair (form-closed or self-closed pair)

Based on the nature of mechanical constraint.

 Elements of pairs held together mechanically due to their
geometry.
 the two elements are geometrically identical, one is solid
and the other is hollow.
 Unclosed or force closed pair
Elements of pairs held together due to the force
of gravity or spring action, constitutes for a unclosed
pair.
In this links are not held together mechanically
Eg. Cam and follower
Types of constrained motions
1. Completely constrained motion
2. Incompletely constrained motion

3. Successfully constrained motion

 Kinematic chain
 It is a group of links either joined together or arranged in a
manner that permits them to move relative to one another.
 If the links are connected in such a way that no motion is
possible, it results in a locked chain or structure. Structures
are meant for taking up loads.
Types of joints

The usual types of joints are :

1. binary joints
2. ternary joints
3. quaternary joints
Mechanism:
 It is a constrained kinematic chain. i.e. motion of any one link
in the kinematic chain will give a definite and predictable motion
relative to each other.
Usually one of the links of the kinematic chain is fixed in a
mechanism
 Machine
 A machine is a mechanism or a group of
mechanism which apart from imparting motion to
the parts also transmits and modifies the available
mechanical energy into some desired work
 Though all machines are mechanisms, all
mechanisms are not machines. Many instruments
are mechanisms but are not machines, because
they do no useful work nor do they transform
energy.
 Mobility of a mechanism
 Mobility is Defined as the number of DOF it possesses.

 it is the minimum number of independent parameters

required to specify the location of every link within a
mechanism.

 The mobility or the DOF can be calculated by

Gruebler’s mobility equation
Grubler’s criteria to find DOF
 Number of degrees of freedom (DOF) of a mechanism is
given by  F = 3(n-1)- 2j1 - j2.
 F = Degrees of freedom/mobility
 n= no of links including frame.
 j1 = (n+L-1), joints with single DOF
 Where L is the no of loops
 j2 = Joints with two DOF
 If F>0 , mechanism with F no of DOF
 If F=0, statically determinate structure
 If F<0, statically indeterminate structure
Finding the mobility/DOF of given structure
Finding the mobility/DOF of
given structure
Finding the mobility/DOF of
given structure
Finding the mobility/DOF of
given structure
Types of kinematic chains
1. Four bar chain mechanism
2. Single slider crank mechanism
3. Double slider crank mechanism
 Inversions of Mechanism:
 Kinematic chain becomes a mechanism when one
of its links is fixed.
 Inversions of mechanism is a method of obtaining
different mechanisms by fixing different links of
a kinematic chain.
 Excepting the original mechanism, all other
mechanisms will be known as inversions of
original mechanism.
I. FOUR BAR CHAIN MECHANISM
 Grashof’s law
For a four bar mechanism the sum of the shortest and longest
links length should be less than or equal to sum of the remaining
two links lengths, if there is to be continuous relative motion
between two links. (s+l) ≤ (p+q)
Grashof’s law
 INVERSIONS OF 4 BAR CHAIN APPLICATIONS

1)Beam engine or Crank and lever mechanism.

2) Coupling rod of locomotive or Double crank
mechanism
3) Watt's straight line mechanism or Double lever
mechanism.
4) Drag link mechanism.
1.Beam Engine
1.Beam Engine
 A beam engine is a type of steam engine where a pivoted
overhead beam is used to apply the force from a
vertical piston to a vertical connecting rod.

 The crank AB rotates, the link CE is pivoted at D giving

oscillation to the beam which in turn connected to link 4
which has reciprocating motion

 The beam engine was used to draw out water from mines, as
well as to pump water into canals
Coupling Rod of a Locomotive
(Parallel bar four bar linkage)
 In the 4 bar linkage if the two opposite links are
parallel and equal in length then any of the links can
be made fixed.
 The two adjacent link will always act as two cranks.
 The use of such a mechanism is made in Coupled
wheel of locomotive, in which the rotary motion of
one wheel is transferred to the other wheel.
 Since there are two cranks this mechanism is also
called as double crank mechanism
Watt's straight line mechanism
(Double lever mechanism)
3. Watt's Straight Line Mechanism
(Double lever mechanism)
3. Watt's straight line mechanism
(Double lever mechanism)
 Watt's linkage is a simple four bar mechanism of double-
rocker type with the two rockers connected through a
coupler.

 When the two rockers move the mid-point of the coupler

moves in an almost straight line path for the motion
close to coupler's mean position.

 If a device is hinged to the middle point of the coupler of

Watt's linkage it will be constrained to move in straight
line path close to the coupler's mean position.
 4. Drag Link Mechanism
(Quick return motion mechanism)
II. Single Slider Crank Chain
 Inversions of single slider crank chain
 Ist Inversion(Link 1 is fixed)
Reciprocating engine mechanism
 IInd Inversion(Link 2 is fixed)
Rotary engine mechanism(Grome engine)
Whitworth quick return motion mechanism
 IIIrd Inversion(Link 3 is fixed)
Crank and slotted lever mechanism
Oscillating cylinder engine mechanism
 IVth Inversion(Link 4 is fixed)
Hand pump
Pendulum pump
Reciprocating engine mechanism

 Line diagram.
 Link 1 ( cylinder& frame) is fixed.
 Link 2 is the crank
 Link 3 is the connecting rod
 Link 4 includes cross head, piston rod and piston
 This mechanism is used in steam engines, pumps and IC
engines
 If link 4 is the driver it represents an IC engine
 If link 2 is the driver it represents
 A pump
Rotary Engine Mechanism
Rotary Engine Mechanism
Whitworth quick return motion
mechanism
Crank and Slotted Lever Mechanism
 This is another application of the second inversion. Link 3 is
fixed here.

 The slider reciprocates in the oscillating slotted lever and

crank rotates, link 5 connects the link 1 to the ram

 The cutting stroke is executed during the rotation of crank

through an angle  and the return stroke is executed when
crank rotates through an angle  (360- )

 This mechanism is used in shaping machines and also in some

rotary engines
Oscillating cylinder engine mechanism
 This inversion is obtained by fixing the connecting rod
(link 3)

 When the crank rotates the piston attached to the piston

rod reciprocates and the cylinder oscillates about the point
p.

 Oscillating cylinder steam engines are now mainly used in

toys and models but in the past, have been used in full-size
working engines, mainly small stationary engines
Hand pump
Pendulum pump (Bull Engine)
Inversions of Double Slider crank chain
It consists of two sliding pairs and two turning pairs.
There are 3 inversions of double crank mechanisms

1) Elliptical trammel

2) Scotch yoke mechanism

3) Oldhaum's coupling
Elliptical Trammel
Elliptical Trammel
 It is an instrument used for drawing ellipses. This inversion is
obtained by fixing the slotted plate (link 4)

 The fixed 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 AC (link 2) is a bar which forms turning pair with

links 1 and 3. 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
 Scotch Yoke Mechanism

 In this mechanism slider p is fixed.

 It is used to convert rotary motion into a sliding motion

 Oldham's coupling
 This inversion is obtained by fixing the link 2,
 It is used to connect two parallel shafts which
have small but variable distance between their axis
and their axes of rotation are not collinear.
Donkey Pump