Mechanics of Machines I

MEE31101
Lecture 5 - Simple Mechanisms

1
 Introduction
• We have already discussed that a machine is a device which receives energy and
transforms it into some useful work.
• In this lecture, 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 part.

2
Kinematic Link or Element

• Each part of a machine, which moves

relative to some other part, is known as
a kinematic link (or simply 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.

3
Types of Links

Links can be categorized into three types:

1. Rigid link. A rigid link is one which
does not undergo any deformation
while transmitting motion.
2. Flexible link. A flexible link is one
which is partly deformed in a manner
not to affect the transmission of
motion.
3. Fluid link. A fluid link is one in which
the motion is transmitted through the
fluid by pressure or compression only.

4
Structure

• Structure 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 examples of a
structure.

5
Difference Between a Machine and a Structure

The following differences between a machine and a

structure are important from the subject point of view :
1. The parts of a machine move relative to one another,
whereas the members of a structure do not move
relative to one another.
2. A machine transforms the available energy into some
useful work, whereas in a structure no energy is
transformed into useful work.
3. The links of a machine may transmit both power and
motion, while the members of a structure transmit
forces only.

6
Kinematic 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 kinematic pair

7
Types of Constrained Motions

1. Completely constrained motion. When

the motion between a pair is limited to
a definite direction irrespective of the
direction of force applied.
2. Incompletely constrained motion.
When the motion between a pair can
take place in more than one direction.
3. Successfully constrained motion. When
the motion between the elements,
forming a pair, is such that the
constrained motion is not completed by
itself, but by some other means.

8
Classification of Kinematic Pairs
According to the type of relative motion between the elements

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 a sliding pair.
b. Turning pair. 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.
c. Rolling pair. When the two elements of a pair are connected in such
a way that one rolls over another fixed link.
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.
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.
9
Classification of Kinematic Pairs
According to the type of contact between the elements

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.
It will be seen that sliding pairs, turning pairs and screw pairs form
lower pairs.
b. Higher pair. When the two elements 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
pairs.

10
Classification of Kinematic Pairs
According to the type of closure

1. 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.
The lower pairs are self closed pair.
2. 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 cam and follower is an example of force closed pair, as it is
kept in contact by the forces exerted by spring and gravity.

11
 Kinematic Chain
• When the kinematic pairs are coupled in such a way that the last link is joined to the
first link to transmit definite motion (i.e. completely or successfully constrained
motion), it is called a kinematic 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 = 2 p – 4
• Another relation between the number of links (l) and the number of joints (j) which
constitute a kinematic chain is given by the expression : j= 3/2 l - 2

12
Example 1-a
• l =3 , j =3 , p=3
• l= 2p – 4
• 3 = 2*3 – 4=2
• L.H.S > R.H.S
• j = 3/2 * l – 2
• 3 = 3/2 * 3 – 2=2.5
• L.H.S >R.H.S
• Not a kinematic chain
• Structure or truss

13
Example 1-b
• l =4 , j =4 , p=4
• l= 2p – 4
• 4 = 2*4 – 4=4
• L.H.S = R.H.S
• j = 3/2 * l – 2
• 4 = 3/2 * 4 – 2=4
• L.H.S =R.H.S
• Kinematic chain

14
Example 1-c
• l =5 , j =5 , p=5
• l= 2p – 4
• 5 = 2*5 – 4=6
• L.H.S < R.H.S
• j = 3/2 * l – 2
• 5 = 3/2 * 5 – 2=5.5
• L.H.S <R.H.S
• Not a kinematic chain
• Unconstrained chain

15
Quiz-a
• Verify – following steps- whether this chain is Kinematic chain or not

16
 Types of Joints in a Chain
• Binary joint. When two links are joined at the same connection.
• Ternary joint. When three links are joined at the same connection. It is equivalent to
two binary joints.
• Quaternary joint. When four links are joined at the same connection. It is equivalent to
three binary joints.
• In general, when l number of links are joined at the same connection, the joint is
equivalent to (l – 1) binary joints.

17
Mechanism

• When one of the links of a kinematic 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 is known as
compound mechanism.
• When a mechanism is required to transmit
power or to do some particular type of
work, it then becomes a machine.

18
Number of Degrees of Freedom for Plane Mechanisms
Y
• It is defined as the number of input
parameters (usually pair variables)
which must be independently controlled
in order to bring the mechanism into a X
o
useful engineering purpose.
Y
• It is possible to determine the number
of degrees of freedom of a mechanism
directly from the number of links and
C
the number and types of joints which it C
includes. x P
D
D θ y
θ X
A B O A B

19
 Application of Kutzbach Criterion to Plane Mechanisms
• Now let us consider a plane mechanism with l number of links. Since in a mechanism,
one of the links is to be fixed, therefore
• the number of movable links will be (l – 1) and thus
• the total number of degrees of freedom will be 3 (l – 1) before they are connected to
any other link.
• When (j) joints exist in the mechanism, degrees of freedom decreases by (2j)
• When (h) higher joints exist in the mechanism, degrees of freedom decreases by (h)
• In general, a mechanism with l number of links connected by j number of binary joints
or lower pairs, and h number of higher pairs, then the number of degrees of freedom
of a mechanism is given by n = 3 (l - 1) - 2 j – h

20
Example 2

n = 3 (l - 1) - 2 j – h
• three links and three binary joints, i.e. l = 3 and j = 3

• n = 3 (3 – 1) – 2 × 3 = 0
• five links and five binary joints, i.e. l = 5, and j = 5
• n = 3 (5 – 1) – 2 × 5 = 2

• five links and six equivalent binary joints, i.e. l = 5 and j = 6

• n = 3 (5 – 1) – 2 × 6 = 0
• n= ?? (Quiz-b)

21
 Inversion of Mechanism
• When one of 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 kinematic
chain, is known as inversion of the mechanism.

22
Types of Kinematic Chains C
3
D
• The most important kinematic chains 2
4
are those which consist of four lower
pairs, each pair being a sliding pair or a A 1 B
turning pair. The following three types Crank
of kinematic chains with four lower pairs Cylinder Connecting 2
3 Rod
are important from the subject point of
view :
Four bar chain or quadric cyclic chain, Slider 4
1.
Rod A 3
2. Single slider crank chain, and 2P
3. Double slider crank chain.

B
Slider
1

23
Inversions of Four Bar Chain

1. Beam engine (crank and lever

mechanism).
2. Coupling rod of a locomotive (Double
crank mechanism)

Lever
Link 4 E
Link D
4 Link
D 2 C
3 C
Piston Rod
A B
Link 3
1 Cylinder A
Frame B
Crank
1 2

24
Inversions of Single Slider Crank Chain
Cylinder
A 4
1. Pendulum pump or Bull engine
Connecting
2. Oscillating cylinder engine 3 Rod
Piston Rod
1

Crank
2

Cylinder
4

Piston
Cylinder Rod 1 Crank
4 2

Connecting Rod
3

25
Inversions of Double Slider Crank Chain Bar A
Slider
3
2P

• Elliptical trammels
• Scotch yoke mechanism B
Slider
Slider 1
3

Crank
2

1Slider

26
 End

Next Lecture: Velocity in Mechanisms (a)

27