Aim: - To study various types of links, pairs, chain and mechanism, Inversion of Mechanism for

4 Bar Mechanism, Single slider and double slider mechanisms.

Theory:-
Introduction
A machine consists of a number of parts or bodies. In this chapter, we shall study
the mechanisms of the various parts or bodies from which the machine is assembled. This
is done by making one of the parts as fixed, and the relative motion of other parts is
determined with respect to the fixed parts.
Kinematics Link or Element
Each part of a machine, which moves relative to some other parts, is known as
Kinematic link or element. A link may consist of several parts, which are rigidly fastened
together, so that they do not move relative to one another. A link or element needs not to be a
rigid body, but it must be a resistant body. A body is said to be a resistant body if it is capable
of transmitting the required forces with negligible deformation. Thus a link should have the
following two characteristics:
1. It should have relative motion.
2. It must be a resistant body.
Types of Links
In order to transmit motion, the driver and the follower may be connected by the following
three types of links:
1. Rigid link. A Rigid link is one, which does not undergo any deformation while transmitting
motion. Strictly speaking, rigid links do not exists. However, as the deformation of a
connecting rod, crank etc. of a reciprocating steam engine is not appreciable, they can be
considered as rigid links.
2. Flexible link. A flexible link is one, which is partly deformed in a manner not to affect the
transmission of motion. For example, belt, ropes, chains and wires are flexible links and
transmit tensile forces only.
3. Fluid link. A fluid link is one, which is formed by having a fluid in a receptacle, and the
motion is transmitted through the fluid by pressure or compression only, as in the case of
hydraulic presses, jacks and brakes.
Structure
It is an assemblage of a number of resistant bodies (known as members) having no
relative motion between them and meant for carrying loads having straining action. A
railway bridge, a roof, truss, machine frames etc., are the example of a structure.
Kinematics Pair
The two links or elements of a machine, when in contact with each other, are said
to form a pair. If the relative motion between them is completely or successfully
constrained (i.e. in a definite direction), the pair is known as Kinematics pair.
Classification of Kinematics Pairs
The kinematics pairs may be classified according to the following consideration:
1. According to the type of relative motion between the elements.
The kinematics pairs according to type of relative motion between the elements may
be classified as discuss below:
(a) Sliding pair. When the two elements of a pair are connected in such a way that one can
only slide relative to the other, the pair is known as sliding pair. The piston and cylinder,
cross-head and guides of a reciprocating steam engine, ram and its guides in shaper,
 tail stock on the lathe bed etc. are the example of a sliding pair. A little consideration
will show, that a sliding pair has a completely constrained motion.
(b) Turning point. When the two elements of a pair are connected in such a way that one
can only turn or revolve about a fixed axis of another link, the pair is known as turning
pair. A shaft with collars at both ends fitted into a circular hole, the crankshaft in a
journal bearing in an engine, lathe spindle supported in head stock, cycle wheels turning
over their axles etc. are the examples of a turning pair. A turning pair also has a
completely constrained motion.
(c) Rolling pair. When the two elements of a pair are connected in such a way that one
rolls over another fixed link, the pair is known as rolling pair. Ball and other bearings
are examples of rolling pair.
(d) Screw pair. When the two elements of a pair are connected in such a way that one
element can turn about the other by screw threads, the pair is known as screw pair. The
lead screw of a lathe with nut, and bolt with a nut are examples of a screw pair.
(e) Spherical pair. When the two elements of a pair are connected in such a way that one
element (with spherical shape) turns or swivels about the other fixed element, the pair
formed is called a spherical pair. The ball and socket joint, attachment of a car mirror,
pen stand etc., are the example of a spherical pair.
2. According to the types of contact between the elements.
The kinematics pairs according to the type of contact between the elements may be
classified as discussed below:
(a) Lower pair. When the two elements of a pair have a surface contact when relative
motion takes place and the surface of one-element slides over the surface of the other,
the pair formed is known as lower pair.
(b) Higher pair. When the two element of a pair have a line or point contact when relative
motion takes place and the motion between the two elements is partly turning and partly
sliding, then the pair is known as higher pair. A pair of friction discs, toothed gearing,
belt and rope drives; ball and roller bearings and cam and follower are the examples of
higher pair.
3. According to the type of closure.
The kinematics pairs according to the types of closure between the elements may be
classified as discussed below:
(a) Self closed pair. When the two elements of a pair are connected together mechanically
in such a way that only required kind of relative motion occurs, it is then known as self-
closed pair. The lower pairs are self-closed pair.
(b) Force-closed pair. When the two elements of a pair are not connected mechanically
but are kept in contact by the action of external forces, the pair is said to be a force-
closed pair. The cam and follower is an example of force closed pair, as it is kept in
contact by the forces exerted by spring and gravity.
Kinematics Chain
When the kinematics pairs are coupled in such a way that the last links is joined to
the first link to transmit definite motion (i.e. completely or successfully constrained
motion),it is called a kinematics chain. In other words, a kinematics chain may be defined
as a combination of kinematics 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. For example, the crankshaft of an engine forms a kinematics pair
 with the bearing which are fixed in a pair, the connecting rod with the crank forms a second
kinematics pair, the piston with the connecting rod forms a third pair and the piston with
the cylinder forms a fourth pair. The total combination of these links is a kinematics chain.
If each link is assumed to form two pairs with two adjacent links, then the relation
between the number of pairs (p) forming a kinematic chain and the number of links (l) may
be expressed in the form of an equation:
L = 2p – 4
Since in a kinematic chain each link forms a part of two pairs, therefore there will
be as many links as the number of pairs.
Another relation between the number of links (l) and the number of joints (j) which
constitute a kinematic chain is given by the expression:
3𝐿 − 2
𝑗=
2
Mechanism
When one of the links of a kinematics chain is fixed, the chain is known as
mechanism. It may be used for transmitting or transforming motion e.g. engine indicators,
typewriter etc.
A mechanism with four links is known as simple mechanism and the mechanism
with more than four links as compound mechanism. When a mechanism is required to
transmit power or to do some particular type of work, it then becomes a machine. In such
cases, the various links or elements have to be designed to withstand the forces (both static
and kinetic) safely.
A little consideration will show that a mechanism may be regarded as a machine in
which each part is reduced to the simplest form to transmit the required motion.
Inversion of Mechanism
When one of the links is fixed in a kinematic chain, it is called a mechanism. So we
can obtain as many mechanisms as the number of links in a kinematic chain by fixing, in
turn, different links in a kinematic chain. This method of obtaining different mechanisms
by fixing different links in a kinematics chain is known as inversion of the mechanism.
It may be noted that the relative motion between the various links is not changed in
any manner through the process of inversion, but their absolute motion (those measured
with respect to the fixed link) may be changed drastically.
Types of Kinematics Chains
The most important kinematics chains are those, which consist of four lower pairs,
each pair being a sliding pair or a turning pair. The following three types of kinematic
chains with four lower pairs are important from the subject point of view:
1. Four bar chain or quadric cycle chain,
2. Single slider crank chain, and
3. Double slider crank chain.
These kinematic chains are discussed, in detail, in the following articles.
Four Bar Chain or Quadric Cycle Chains
The simplest and the basic kinematic chain is a four bar chain or quadric cycle
chain. It consists of four links; each of them forms a turning pair A, B, C and D. The four
links may be of different lengths. According to Grashof’s law for a four bar mechanism,
the sum of the shortest and the longest link lengths should not be greater than the sum of
the remaining two links lengths if there is to be continuous relative motion between the
two links.
 The mechanism in which no link makes a complete revolution will not be useful.
In a four bar chain, one of the links, in particular the shortest link, will make a complete
revolution relative to the other links, if it satisfies the Grashof’s law. Such a link is known
as crank or driver. The link BC (link2) which makes a partial rotation or oscillates is known
as lever or rocker or follower and the link CD (3) which connects the crank and lever is
called connecting rod or coupler. The fixed AB (link 1) is known as frame of the
mechanism.
Inversions of Four Bar Chain
Though there are many inversions of the four bar chain, yet the following are
important from the subject point of view.
1. Beam Engine. (Crank and lever mechanism).
A part of the mechanism of a beam engine (also of four links. In this
mechanism, when the crank rotates about the fixed center. A, the lever oscillates
about a fixed center D. The end E of the lever CDE is connected to a piston rod,
which reciprocates due to the rotation of the crank. In other words, the purpose of
this mechanism is to convert rotary motion into reciprocating motion.
2. Coupling rod of a locomotive (Double crank mechanism)
The mechanism of a coupling rod of a locomotive (also known as double crank
mechanism), which consists of four links. In this mechanism, the links AD and BC
(having equal length) act as cranks and are connected to the respective wheels. The
link CD acts as a coupling rod and the link AB is fixed in order to maintain a
constant center-to-center distance between them. This mechanism is meant for
transmitting rotary motion from wheel to the other wheel.
3. Watt’s indicator mechanism (Double lever mechanism)
A Watt’s indicator mechanism (also known as Watt’s straight line mechanism
or double lever mechanism) which consists of four links. The four links are: fixed
link at A, link AC, link CE and link BFD. It may be noted that BF and FD forms
one links because these two parts have no relative motion between them. The links
CE and BFD act as levers. The displacement of the link BFD is directly proportional
to the pressure of gas or steam which acts on the indicator plunger. On any small
displacement of the mechanism, the tracing point E at the end of the link CE traces
out approximately a straight line.
Single Slider Crank Chain Mechanism
A single slider crank chain is a modification of the basic four bar chain. It consists
of one sliding pair and three turning pairs. It is usually, found in reciprocating steam engine
mechanism. This type of mechanism converse rotary motion into reciprocating motion and
vice versa.
In a single slider crank chain, the link 1 and 2 and 3, and links 3 and 4 form three
turning pairs while the links 4 and 1 form a sliding pair. The link 1 corresponds to the frame
of the engine, which is fixed. The link 2 corresponds to the crank; link 3 corresponds to the
connecting rod and link 4 corresponds to cross head. As the crank rotates, the crosshead
reciprocates in the guides and thus the piston reciprocates in the cylinder.
Inversion of Single Slider Crank Chain
We have seen in the previous article that a single slider crank chain is a four –link
mechanism. We know that by fixing, in turn, Different links in a kinematics chain, an
inversion is obtained and we can obtain as many mechanisms as the links in a kinematic
 chain. It is the obvious, that four Inversions of a single slider crank chain are possible.
These inversions are found in the following mechanisms.
1. Pendulum pump or Bull engine. In this mechanism, the inversion is obtained by
fixing the cylinder or link 4 (i.e. sliding pair). In this case, when the crank (link2)
rotates, the connecting rod (link3) oscillates about a pin pivoted to the fixed link4 at A
and the piston attached to the piston rod (link 1) reciprocates. The duplex pump which
is used to supply of feed water to boilers has two pistons attached to link
2. Oscillating Cylinder Engine. The arrangement of oscillating cylinder engine
mechanism is used to convert reciprocating motion into rotary motion. In this
mechanism, the link3 forming the turning pair is fixed. The link 3 corresponds to the
connecting rod of a reciprocating steam engine mechanism. When the crank (link2)
rotates, the piston attached to piston rod (link1) reciprocates and the cylinder (link4.)
oscillated about a pin pivoted to the fixed link at A.
3. Rotary internal combustion engines or Gnome engine. Sometimes back, rotary
internal combustion engines were used in aviation. But now day’s gas turbines are used
in its place. It consists of seven cylinders in one plane and all revolves about fixed
center D, while the crank (link2) is fixed. In this mechanism, when the connecting rod
(link4) rotates, the piston (link3) reciprocates inside the cylinders forming link 1.
4. Crank and slotted lever quick return motion mechanism. The mechanism is mostly
used in shaping machines, slotting machines and in rotary internal combustion engines.
In this mechanism, the link AC (i.e. link3) forming the turning pair is fixed. The link 3
corresponds to the connecting rod of a reciprocating steam engine. The driving crank
CB revolves with uniform angular speed about the fixed center C. A sliding block
attached to the crank pin at B slides along the slotted bar AP to the ram which carries
the tool and reciprocates along the line of stroke R1R2..
5. Whitworth quick return motion mechanism. This mechanism is mostly used in
shaping and slotting machines. In this mechanism, the link CD (link 2) forming the
turning pair is fixed. The link 2 corresponds to a crank in a reciprocating steam engine.
The driver crank CA (link3) rotates at a uniform angular speed. The slider (link4)
attached to the rank pin at A, slides along the slotted bar PA (link 1) which oscillates
at a pivoted point D. The connecting rod PR carries the ram at R to which a cutting tool
is fixed. The motion of the tool is constrained along the line RD produced, i.e. along a
line passing through D and perpendicular to CD.
Double Slider Crank Chain
A kinematic chain which consists of two turning pairs and two sliding pairs is
known as double slider chain. We see that the link2 and link1 form one turning pair and
link2, and link3 form the second turning pair. The link 3 and link4 form one sliding pair
and link 1 and link 4 form the second sliding pair.
Inversions of Double Slider crank chain:
The following three inversions of a double slider crank chain are important from
the subject point of view:
1. Elliptical trammels. It is an instrument used for drawing ellipse. This inversion is
obtained by fixing the slotted plate (link 4). The fixed plate or 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 link4. The link AB (link 2) is a bar, which forms
turning pair with links 1 and 3. When the links 1and 3 slide along their respective
grooves, any point on the link 2 such as P traces out an ellipse on the surfaces an ellipse
on the surface of link4. A little consideration will show that AP and BP are the semi-
major axis and semi-minor axis of the ellipse respectively.
2. Scotch yoke mechanism. This mechanism is used for converting rotary motion
into a reciprocating motion. The inversion is obtained by the fixing either the
link1 or link3. Link 1 is fixed. In this mechanism, when the link2 (which
corresponds to crank) rotates about B as center, the link 4 (which corresponds
to a frame) reciprocates. The fixed link 1 guides the frame.
3. Oldham’s coupling. An Oldham’s coupling is used for connecting two parallel
shafts whose axes 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. The
inversion is obtained by the fixing the link 2. The shafts to be connected have
two flanges (link 1 and link 3) rigidly fastened at their ends by forging. The link
1 and link3 form turning pairs with link 2. These flanges have diametrical slots
cut in their inner faces. The intermediate piece (link4), which is a circular disc,
has two tongues (i.e. diametrical projections) T1 and T2 on each face at right
angles to each other. The tongues on the link 4 closely fit into the slots in the
two flanges (link 1 and link3). The link 4 can slide or reciprocate in the slots in
the flanges. When the driving shaft A is rotated, the flange C (link1) causes the
intermediate piece (link4) to rotate at the same angle through which the flange
has rotated, and it further rotates the flange D (link3) at the same angle and thus
the shafts B rotates. Hence link 1, 3 and 4 have the same angular velocity at
every instant. A little consideration will show, that there is a sliding motion
between the link4 and each of the other link 1 and 3. If the distance between the
axes of the shafts is constant, the center of intermediate piece will describe a
circle of radius equal to the distance between the axes of the two shafts.
Therefore, the maximum sliding speed of each tongue along its slot is equal to
the peripheral velocity of the center of the disc along its circular path.
Let ω = Angular velocity of each shaft in rad/s, and
ґ = Distance between the axes of the shafts in metres.
Maximum sliding speed of each tongue (in m/s), V= ω r