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2024-03-03 DMU MM Day 5 Lecture Note

The document discusses planar mechanisms and kinematic pairs. It defines kinematic links and pairs, and describes the different types based on relative motion, contact nature, and mechanical constraint. Examples of linkages and their inversions are provided. Kutzbach criteria for determining degrees of freedom of planar mechanisms is also explained.

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39 views

2024-03-03 DMU MM Day 5 Lecture Note

The document discusses planar mechanisms and kinematic pairs. It defines kinematic links and pairs, and describes the different types based on relative motion, contact nature, and mechanical constraint. Examples of linkages and their inversions are provided. Kutzbach criteria for determining degrees of freedom of planar mechanisms is also explained.

Uploaded by

ambandu74
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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L3. PLANAR MECHANISMS,


SLIDERS, CRANKS, JOINTS,
KINEMATIC PAIRS, DEGREES OF
FREEDOM.
ENGD3112S - MACHINES & MECHANISMS

Eng. Deshan Batagoda [B.Tech (Hons), Master of Energy Management]


Lecturer - Department of Mechanical Engineering
Skills College of Technology
Email - [email protected]
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What is a machine?
Machine is a device that reduces human effort that enables the user to
obtain a useful work. A machine is based on several mechanisms based on
the nature of the task. The mechanism must be developed in-order to utilize
the time & energy.

Machine is a device which receives energy in some available form and


utilizes to do a work.

What is a mechanism?
A mechanism is the process where the components inside the machine
are made to operate/function in-order to obtain the useful work.
There are several types of mechanisms that are used in-order to
transfer the motion.

Types of motion
1. Linear motion 2. Rotary motion
3. Reciprocating motion 4. Oscillating motion
Kinematic Link
When considering a machine, a part or a component that moves relative
to another part is defined as a kinematic link. Link is always considered as a
resistance body as it task is to transfer force from one to another without
deformation.

Types of kinematic links


1. Rigid link
A rigid link is one that does not undergo any deformation while transmitting
motion. Links, in general, are elastic in nature. They are considered rigid if
they do not undergo appreciable deformation while transmitting motion.
Ex:- Crank and connecting rod.

2. Flexible link [Links that can deform under load]


A flexible link is one which while transmitting motion is partly deformed in a
manner not to affect the transmission of motion. 3
Ex:- Spring, Chain, Rope, Belt
3. Fluid link
A fluid link is one that is deformed by having fluid in a closed vessel and the
motion is transmitted through the fluid with pressure.
Ex- Hydraulic press, hydraulic brake and hydraulic jack.

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Understanding a Kinematic Link

Link 1 - This is a fixed link that includes frame and all other stationery parts
like cylinder, crankshaft bearing, camshaft bearing.
Link 2 - This is the crankshaft that is having a rotatory motion with respect to
a fixed axis..
Link 3 - This is referred as the connecting rod.

Link 4 - This is the piston having reciprocating motion.


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Kinematic Pair
When two kinematic links that are joined together, it is called a kinematic
pair.
Types of Kinematic Pair
1. Nature of relative motion.
Based on the type of relative motion between the elements.

2. Nature of contact.
Based on the way how the elements are in contact.

3. Nature of mechanical constraint.


Based on the way whether the elements are made to connect mechanically
or not-mechanically.

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1. Nature of relative motion.
Based on the type of relative motion between the elements.

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2. Nature of contact.
Based on the way how the elements are in contact.

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2. Nature of contact [Continued]

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3. Nature of Mechanical Constraint

[All lower pairs are closed pairs]


Ex – Screw & nut, Ball & socket joint, carriage and guideways

[Open pair]
Ex – Automotive clutch, Cam & follower

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Examples for closed pair Example for open pair
Inversion of Mechanisms
When considering a kinematic chain, making one link fixed at a time will
result different mechanisms. The process of fixing different links considering
one link at a time is referred as inversion of mechanisms.
1. Four bar chain having 04 turning pairs

4 2
1
Link 01 is fixed and rotation is given to link 02.
Ex – Rail or locomotive wheels, Bicycle where the distance between the
pedal and the rear wheels is fixed.
2. Beam engine [Crank and level mechanism]

2. Crank AB rotates about a fixed centre A


The end E of the lever is connected to the
piston rod. Purpose of this mechanism is to
convert rotary motion into the reciprocating
motion.
The lever is made to rotate with the rotation
of link 03
Link 1-2, 2-3, 3-4 and 4-piston rod are turning
pairs. In-addition to that there is a sliding
Link 01 is the frame including thepair
cylinder.
Input rotation is given to link 02.
Inversions of four bar chain
(I) Beam engine
(ii) Coupling rod of a locomotive
(iii) Watt’s indicator mechanism

Inversions of single slider crank chain


(I) Pendulum pump/bull engine.
(ii) Oscillating cylinder engine
(iii) Rotary internal combustion engine/Gnome engine
(iv) Crank and slotted lever quick return motion mechanism.
(v) Whitworth quick return motion mechanism.
Inversions of double slider crank chain
(I) Elliptical trammels
(ii) Scotch yoke mechanism
(iii) Oldham’s coupling.

Linkages
Importance of linkages
(I) Change the direction of a force.
(ii) Change the type of the motion.
(iii) Change the magnitude of the force. Types of four-bar linkages

What is a planer linkage?


The planar four-bar linkage is probably the simplest and most common
linkage. It is a one degree-of-freedom system that transforms an input crank
rotation or slider displacement into an output rotation or slide.
Degree of Freedom
Minimum no. of independent variables needed to define the position or
motion of a system.

Wrist joint

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Kutzbach Criteria
Kutzbach Criteria determines the no. of degrees of freedom of a body in a
planer mechanism.
No. of degrees of freedom = 3(L−1) − 2J − H
L = No of links
J = No. of joints
H = No. of higher pairs.
Problem solving
Q1 Q2

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Q3 Q4

Q5 Q6

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Q7 Q8

Q9 Q10

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