KINEMATICS OF MACHINERY

SECTION - A
Unit I: 1.Introduction to study of
mechanisms, machines, different types of
links, kinematic pairs. Grashof’s law- class-I
and class –II mechanisms. Grubler’s
criterion, Kutzbach’s criterion for planer
mechanism. Inversions of four bar, single
slider, double slider mechanisms.
2. Transmission angle, Mechanical
Advantage, Transmission angle and
Mechanical Advantage of 4-bar mechanism.
Unit II: 1. Velocity analysis: - Relative velocity
method, method of equivalent mechanisms,
Instantaneous centre of rotation method for 4-bar
mechanism, body and space centroids.
2. Acceleration analysis:- Relative acceleration
method and analytical method. (10 Hrs)
Unit III: Synthesis of Mechanisms:-
Introduction to type, number and dimensional
synthesis, graphical method of two position,
three position and four position synthesis for
input output coordination, Freudenstien’s
equation, Blosch’s method.
SECTION-B
Unit IV: Frictional torque in pivot and
collar bearing.
Clutches and Dynamometers: types,
constructional details, operation.
. (8 Hrs)
Unit V: Special purpose
mechanisms:- Steering mechanisms,
Geneva wheel mechanism. Cams:-
Introduction, types of cam & follower,
different motions of followers,
graphical layout of cam profiles, cam
with specified contours.
Unit VI: 1. Gear: Introduction,
terminology, gear tooth profiles, law of
gearing, involumetry, interference of
spur gears, minimum number of teeth
to avoid interference.
2.Gear Trains:- Types of gear trains
and its speed ratio applications
 Mechanics

Dynamics Statics

Kinetics Kinematics

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• The branch of scientific analysis that deals
with motions, time and forces is called
mechanics.
• It is divided into two parts statics and
dynamics.

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STATICS
• It deals with the analysis of stationary
systems. But time is not considered.
DYNAMICS
• It deals with the systems that change
with time.

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KINEMATICS
• It is the study of motion, quite apart from the
forces which produce that motion.
• It is the study of position,
displacement, rotation, speed, velocity and
acceleration.
KINETICS
• It is the study of motion and its causes
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The subject matter which deals with this
geometric constant of relative motion, without
any reference to the cause of the motion that is
the force is called kinematics.
For the study of kinematics, a machine may be
referred to as a mechanism, which is a
combination of inter connected rigid bodies
capable of relative motion.

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Machinery is defined as a mechanical device
or the parts that keep something working.
Machines or machine parts considered as a group.
The working parts of a particular machine.
An assemblage of machines.
The parts of a machine collectively.
Anassemblage of machines or mechanical
apparatuses

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• It is defined as the combination of rigid or
resistance bodies assembled in such a way that
the motion of one causes constrained and
predictable motion to others is known as
mechanism.
• If one of the links of a kinematic chain is
fixed, then the chain is known as mechanism.

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 An assembly of moving parts performing a complete
functional motion.
A mechanism is a device designed to transform input
forces and movement into a desired set of output forces
and movement.
Mechanisms generally consist of moving components
such as gears and gear trains, belt and chain drives, cam
and follower mechanisms, and linkages as well as
friction devices such as brakes and clutches, and
structural components such as the frame, fasteners,
bearings, springs, lubricants and seals, as well as a
variety of specialized machine elements such as splines,
pins and keys.
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• It is defined as a device which receives energy
and transforms it into some useful work.
• If the mechanism is used to transmit
power (or) to do work, then it is known as
machine.
• The main function of the machine is to obtain
mechanical advantage.

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We can define machine as a device for
transferring and transforming motion and force
or power from the input that is, the source to
the output that is the load.
The motion needs to be transformed as it
is being transferred from the source to the
load.

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• It is a resistant body or assembly of resistant
body of a machine connecting other parts of
the machine with relative motion between
them.
• There are three types of links available in order
to transmit motion. They are as follows:
» Rigid link
» Flexible link
» Fluid link

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Rigid link
A rigid link is one which does not undergo any
deformation while transmitting motion. Practically rigid
link does not exists. Ex : crank shaft, piston etc.,
Flexible link
A flexible link is one which undergoes partial deformation
without affecting the transfer motion. Ex : ropes, belts,
chains, springs etc.,
Fluid link
A fluid link is a link which has fluid inside the container
and motion is transmitted through the fluid by pressure or
compression. Ex: fluids used in hydraulic press, hydraulic
jack, hydraulic crane etc.,
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Binary link, Ternary link, Quaternary link

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• A joint of two links that permits relative motion
is called pair.
Types of kinematic pair
1. Nature of relative motion between the links.
2. Nature of contact between the links.
3. Nature of mechanical arrangement.

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Nature of relative motion
» Sliding pair
» Turning pair
» Cylindrical pair
» Rolling pair
» Spherical pair
» Helical pair
Nature of contact
» Lower pair
» Higher pair
Nature of mechanical constraint
» Closed pair
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» Unclosed
Sliding pair

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Turning pair

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Cylindrical pair

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Rolling pair

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Spherical pair

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Helical pair or screw pair

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Lower pair

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Higher pair

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Closed pair
• When two elements of a pair are held together
mechanically, they constitute a closed pair.
Ex : All pair
Un closed pair
• When two elements of a pair are not held
together mechanically, they constitute a
unclosed pair.
Ex : cam and follower
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A link is an (assumed) rigid body which
possesses at least two nodes which are points
for attachment to other links.

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Some of the common types of links are:

Binary link - one with two nodes.

Ternary link - one with three nodes.
Quaternary link - one with four nodes.
Pentagonals – one with five nodes.
Hexagonals – one with six nodes

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A joint is a connection between two or more links (at
their nodes), which allows some motion, or potential
motion, between the connected links. Joints (also called
kinematic pairs) can be classified in several ways:
1. By the type of contact between the elements, line,
point, or surface.
2. By the number of degrees of freedom allowed at
the joint.
3. By the type of physical closure of the joint: either
force or form closed.
4. By the number of links joined (order of the joint).

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1. Classification by the Type of Contact
We can classify Joints by the type of contact
as Lower Pairs or Higher Pairs. If joints have
surface contact, they are called Lower pair (as
with a pin surrounded by a hole). If joints have
point or line contact, they are called Higher
pair.
The main practical advantage of lower pairs
over higher pairs is their better ability to trap
lubricant between their enveloping surfaces.

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The six possible lower pairs are: Revolute
(R), Prismatic (P), Screw/Helical (H),
Cylindric (C), Spherical (S), and Flat (F).

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2. Classification by the Number of Degrees of
Freedom allowed at the joint
We can classify Joints by the number of degrees of
freedom allowed at the joint as One-Freedom Joints or
Full Joints, Two Freedom Joints or Half Joints and
Three Freedom Joints.
Examples of one freedom joints are : a rotating pin joint
(R) and a translating slider Joint (P).
Examples of two freedom joints are: link against plane
and a pin in slot.
Examples of three freedom joints are: a spherical, or
ball-and-socket joints.

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3. Classification by the Type of Physical Closure
of the Joint
We can classify Joints by the type of physical
closure of the joint as Force closed or Form closed.
A 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. In contrast, a force-closed joint,
such as a pin in a half-bearing or 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.

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4. Classification by the Order of Joints
We can classify Joints by the order of joints as 1st
order, 2nd order and so on.
Order is defined as the number of links joined minus
one.
It takes two links to make a single joint; thus the
simplest joint combination of two links has order
one.
Joint order has significance in the proper
determination of overall degree of freedom for the
assembly.

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• If the last link is joined to first link to transmit
definite motion, then it is known as kinematic
chain.
• To determine the given assemblage of links form
the kinematic chain or not:
• The two
equations are:
• l = 2p – 4
j = (3/2) * l – 2
Where, l = number of links
p = number of pairs
j = number of 44
 machine

Machine is a collection of links connected by kinematic pairs to perform a

specific task with unique relationship between inputs and outputs

link

A link is usually a rigid body with specific geometry defined by the location of
its kinematic pairs and type
kinematic pairs

It is the connection between two different links that allows a specific type or
form of relative motion between the two links
 Simple example

The simplest example for machine consists of two links is the door as shown in
Figure
Ground
Any link or links that are fixed with respect
to the reference frame
Crank
A link which makes a complete revolution
and is pivoted to ground

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Rocker
A link which has oscillatory (back and
forth) rotation and pivoted to ground

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Coupler
A link which has complex motion and is
pivoted to ground

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Examples of mechanisms

Gears
Examples of mechanisms

Gears
Examples of mechanisms

Cams
Examples of mechanisms

Slider crank mechanism

Examples of mechanisms

4-bar mechanism
Examples of mechanisms

Scotch Yoke mechanism

 DEGREE OF FREEDOM (DOF):

Degree of freedom is the number of independent relative motion allowed by

the pair. We can classified to:

1. Single DOF mechanisms such as: single rotational motion, single translation
motion and dependent rotation and translation single motion as shown in Figure

2. Two DOF mechanisms such as: rotation such slotted sphere, two translation
motion, one rotation + one translation independently such cam.
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 Completely
Constrained Motion

Constrained Uncompletely
Motions Constrained Motion

Successfully
Constrained Motion
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 JOINTS
Ternar Quaternary
Binary joint joint
y
joint

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The analysis of mechanism is the number of
degrees of freedom, also called the mobility of
the device.
The mobility of a mechanism is defined as the
number of input parameters which must be
controlled independently in order to bring the
device in to a particular position.
It is the number of independent coordinates
required to describe the position of a body in
space.
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Movability includes the six degrees of freedom
of the device as a whole, as through the
ground link were not fixed and thus applies to
a kinematic chain.
Mobility neglects these and considers only the
internal motions, thus applying to a
mechanism.

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A link is to have ‘n’ degree of freedom if it has n
independent variables associated with its
position in the plane.

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Then the number of degree of freedomof a
mechanism (n) is given by,
n = 3 (l-1) – 2j – h
where, l = number of
links j = number of binary
joints h = number of
higher pairs
This equation is called kutzbach criterion for
the mobility of a mechanism.
If there is no higher pair, then h = 0. then
kutzbach criterion, n = 3 (l-1) – 2j
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• Mechanism with lower pairs
– Three bar mechanism
– Four bar mechanism
– Five bar mechanism
– Six bar mechanism

• Mechanism with higher pairs

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n = 6(l-1) – 5P1 – 4P2 – 3P3 – 2P4 – 1P5

Where, n = Number of degree of freedom

l = Number of links
P1 = Number of pair having one degree of
freedom
P2 = Number of pair having two degree of
freedom
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• Grubler’s mechanism is obtained by substituting
n = 1 and h = 0 in Kutzbach criterion as below.
we know that, n = 3 (l-1) – 2j -
h
(l -1) – 2j
l = 3 or
3l – 2j – 4 = 0
This equation is known as Grubler’s criterion
for plane mechanism
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 We know that Kutzbach criterion for spatial
mechanism is
n = 6(l-1) – 5P1 – 4P2 – 3P3 – 2P4 – 1P5
substitute n = 1; P2, P3 , … P5 = 0
1 = 6(l-1) – 5P1 (or) 6l – 5P1 – 7 = 0
This equation is known as Grubler’s equation
for spatial mechanism.
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 DEGREE OF FREEDOM (DOF):

Degree of freedom is the number of independent relative motion allowed by

the pair. We can classified to:

1. Single DOF mechanisms such as: single rotational motion, single translation
motion and dependent rotation and translation single motion as shown in Figure

2. Two DOF mechanisms such as: rotation such slotted sphere, two translation
motion, one rotation + one translation independently such cam.
DEGREE OF FREEDOM (DOF):
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 MOBILITY ANALYSIS

Mobility means how much degree of freedom the mechanism has

You must follow these steps to find the mobility (M):

1. One link must be grounded
2. For planer mechanism (i.e. all links move in parallel planes) each link has 3-DOF
(2- translation + 1-revelution)
3. The kinetic pairs restricts the relative motion between bodies as following :
• 1DOF pairs restricts two DOF of one body
• 2DOF pairs restricts one DOF of one body
4. The remaining degrees of freedom equals to the number of input.
 MOBILITY ANALYSIS

The mobility is now calculated as:

M  3N  1  2 P1  P2

n = 3 (l-1) – 2j – h
Where:
N is the number of links
P1 is the number of pairs that has 1 DOF
P2 is the number of pairs that has 2 DOF
MOBILITY EXAMPLES
M  3N  1  2 P1  P2
N=2
P1 = 1(Rev). M  32  1  21  1
P2 =0
Which is Ө

N=3 M  33  1  22   2

P1 = 2(Rev+Tran).
P2 =0
Which are Ө and s
MOBILITY EXAMPLES

N=3 M  33  1  23  0

P1 = 3.
P2 =0
System will not move

N=4
M  34  1  24  1
P1 = 4.
P2 =0
Which is s
MOBILITY EXAMPLES
M  3N  1  2 P1  P2
N=4 M  34  1  24  1
P1 = 4.
P2 =0 Which is Ө2

N=3
P1 = 2. M  33  1  22  1  1
P2 =1
MOBILITY EXAMPLES
 MOBILITY EXAMPLES
M  3N  1  2 P1  P2
N=6
P1=7
M  36  1  27   1
MOBILITY EXAMPLES
 MOBILITY EXAMPLES

N=8
P1=10
M  38  1  210   1
• When one of the links of kinematic chain is
fixed, then the chain is known as
mechanism.

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1. Simple mechanism
2. Compound mechanism

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 When
Kinematic Connected As Kinematic
Pair Per Kutzbach’s Chain
Criterion

When Forces
When One Link
And Couples Mechanism Is Fixed
Are Transmitted

Machine

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 The method of obtaining different mechanisms
by fixing different links in a kinematic chain,
is known as inversion of the mechanism.

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 Kinematic chain

Slider crank Double crank

Four bar chain
chain chain

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 Inversion
Of Four
Bar Chain

Watt’s Ackerman
Coupled
Beam Indicator n
Locomotiv Pantograph
Engine Mechanis Mechanis
e Wheels
m m

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 First Beam
inversion Engine

second Coupling rod

Inversion of
locomotive

Watt’s
Indicator
Mechanism
Third Inversion

Pantograph

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Ackerman
Beam engine
• Mechanism.Gif\inversion of four bar chain\
beam- engine-o.Gif

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Coupling rod of a
locomotive

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Watt’s indicator mechanism

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Pantograph

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ACKERMANN STEERING

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 Reciprocating
engine
Reciprocating
compressor
Whitworth quick
return mechanism
Rotary or Gnome
Single slider
crank engine
chain
Crank and slotted
lever mechanism
Oscillating
cylinder engine
Bull engine

Pump engine 95
 Reciprocating engine
First
Inversion
Reciprocating compressor

Whitworth quick return mechanism

Second
Inversion
Rotary engine

Oscillating cylinder engine

Third
Inversion Crank and slotted lever
mechanism

Bull Engine
Fourth
Inversion
Hand Pump
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• Reciprocating engine

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• Reciprocating compressor

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• Whitworth Quick Return Mechanism

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• Pendulum pump or bull
engine

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• Oscillating Cylinder Engine

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• Rotary Engine

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Crank and Slotted lever Quick return Mechanism
•Crank and Slotted lever Quick return Mechanism
basic1_quickreturn.gif

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• Hand pump

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 Double Slider
Crank Chain

Elliptical Scotch Yoke Oldham

Coupling
Tramme Mechanism
l
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Elliptical Trammel

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Scotch Yoke Mechanism

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Oldham's Coupling

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• Oldham's Coupling

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• Stationary screws with travelling nuts
• Stationary nuts with travelling screws
• Single and double acting hydraulic
and pneumatic cylinders.

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• C-Clamp

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• This type of mechanism produces a swinging or
rocking motion of a link. The motion is generally less
than 360o and is an oscillatory motion.
Toothed Rack System
• This is simply a rotating arm (b) with a link fitted with
a toothed rack (c) which meshes with a gear (d) to
produce a rocking motion of the gear.

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Crank and Rocker Mechanism
• This is simply a four bar linkage (the frame
provides the first link). The operating
characteristics are dependent on the length of
the links and the design of the frame setting
the pivot points..Rotation of the arm (b)
produces a rocking motion of arm (d).

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Crank and Rocker
Mechanism

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Quick Return linkage
• The arm (b) rotates and results in a rocking
motion of arm (d)via the slider (c). The action
is a quick return action because the angle (b)
rotates through in one direction
,assumed to be the forward direction, is greater
than the angle which result in the return
motion.

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Quick Return linkage

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Cam and Follower Mechanism
• Rotation of the cam (c) produces a rocking
motion of the lever (d) via the sliding interface
(b). The arrangement only identifies the
principle involved. In practice some means
would have to be provided to ensure the lever
is maintained in contact with the lever.

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Cam and Follower Mechanism

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• This mechanism is for rectilinear motion

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• This mechanism is used to regulate
the movement of clock.
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• When a mechanism is desired which is
capable of delivering output rotation in the
either direction, some form of reversing
mechanism is required.

• Ex : gear shifting

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• C:\Users\senthil\Desktop\Geneva_mechanism
_6spoke_animation.gif
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Application of the Geneva drive
• One is movie projectors : the film does not run
continuously through the projector. Instead,
the film is advanced frame by frame, each
frame standing still in front of the lens for
1/24 of a second

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• Peaucellier Mechanism

C:\Users\senthil\Desktop\Peaucellier_linkage_anim
ation.gif 14
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• Robert’s Mechanism

C:\Users\senthil\Desktop\Roberts_linkage.gif
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• Chebychev Mechanism

C:\Users\senthil\Desktop\Cheby
shev_linkage.gif 14
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• This connectors are used when one slider is
to drive another slider.

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• In an automobile engine a valve must
open, remain open for a period of time,
and then close.

Ex : cam and follower

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• The connecting rod of a planar four bar
linkage may be imagined as an infinite plane
extending in all directions but pin connected
to the input and output links.
• Then, during motion of the linkage, any point
attached to the plane of the coupler generates
some path with respect to the fixed link, this
path is called coupler curve.

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