KINEMATICS OF MECHANISMS

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MECHANISM

Mechanism Part of a machine, which
transmit motion and power from input point to
output point
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Example for Mechanism
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Example for Mechanism
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KINEMATICS

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LINK OR ELEMENT
Any body (normally rigid) which has motion
relative to another

Binary link
Ternary link
Quaternary link
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Examples of rigid links
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PAIRING ELEMENTS
Pairing elements: the geometrical forms by which two
members of a mechanism are joined together, so that the
relative motion between these two is consistent. Such a pair of
links is called Kinematic Pair.

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PAIRING ELEMENTS
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PAIRING ELEMENTS
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DEGREES OF FREEDOM (DOF):
It is the number of independent coordinates required to
describe the position of a body.
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TYPES OF KINEMATIC PAIRS
Based on nature of contact between elements
(i) Lower pair : The joint by which two members are
connected has surface contact.
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(ii) Higher pair: The contact between the pairing elements
takes place at a point or along a line.
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Based on relative motion between pairing elements

(a) Siding pair [DOF = 1]


(b) Turning pair (revolute pair) [DOF = 1]
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Based on relative motion between pairing elements

(c) Cylindrical pair [DOF = 2]



(d) Rolling pair [DOF = 1]
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Based on relative motion between pairing elements

(e) Spherical pair [DOF = 3]
Eg. Ball and socket joint


(f) Helical pair or screw pair [DOF = 1]
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Based on the nature of mechanical constraint
(a) Closed pair



(b) Unclosed or force closed pair
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CONSTRAINED MOTION
one element has got only one definite motion
relative to the other
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(a) Completely constrained motion
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(b) Successfully constrained motion
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(c) Incompletely constrained motion
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KINEMATIC CHAIN
Group of links either joined together or
arranged in a manner that permits them to
move relative to one another.
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LOCKED CHAIN OR STRUCTURE
Links connected in such a way that no relative
motion is possible.
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MECHANISM
A mechanism is a constrained kinematic chain.
Motion of any one link in the kinematic chain
will give a definite and predictable motion
relative to each of the others. Usually one of
the links of the kinematic chain is fixed in a
mechanism
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MECHANISM
Slider crank and four bar mechanisms

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Working of slider crank mechanism

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Unconstrained kinematic chain

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MACHINE
A machine is a mechanism or collection of
mechanisms, which transmit force from the
source of power to the resistance to be
overcome.
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Though all machines are mechanisms, all
mechanisms are not machines
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PLANAR MECHANISMS
When all the links of a mechanism have plane
motion, it is called as a planar mechanism. All
the links in a planar mechanism move in
planes parallel to the reference plane.
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Degrees of freedom/mobility of a
mechanism
It is the number of inputs (number of
independent coordinates) required to describe
the configuration or position of all the links of
the mechanism, with respect to the fixed link
at any given instant.
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GRUBLERS CRITERION
Number of degrees of freedom of a mechanism is given by
F = 3(n-1)-2l-h. Where,
F = Degrees of freedom
n = Number of links in the mechanism.
l = Number of lower pairs, which is obtained by counting the
number of joints. If more than two links are joined together at any
point, then, one additional lower pair is to be considered for every
additional link.
h = Number of higher pairs
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Examples - DOF
F = 3(n-1)-2l-h
Here, n = 4, l = 4 & h = 0.
F = 3(4-1)-2(4) = 1
I.e., one input to any one link will
result in definite motion of all the
links.
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Examples - DOF
F = 3(n-1)-2l-h
Here, n = 5, l = 5 and h = 0.
F = 3(5-1)-2(5) = 2
I.e., two inputs to any two links are
required to yield definite motions in
all the links.
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Examples - DOF
F = 3(n-1)-2l-h
Here, n = 6, l = 7 and h = 0.
F = 3(6-1)-2(7) = 1
I.e., one input to any one link will result in
definite motion of all the links.
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Examples - DOF
F = 3(n-1)-2l-h
Here, n = 6, l = 7 (at the intersection of
2, 3 and 4, two lower pairs are to be
considered) and h = 0.
F = 3(6-1)-2(7) = 1
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Examples - DOF
F = 3(n-1)-2l-h
Here, n = 11, l = 15 (two lower
pairs at the intersection of 3, 4,
6; 2, 4, 5; 5, 7, 8; 8, 10, 11) and
h = 0.
F = 3(11-1)-2(15) = 0
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Examples - DOF
(a)
F = 3(n-1)-2l-h
Here, n = 4, l = 5 and h = 0.
F = 3(4-1)-2(5) = -1
I.e., it is a structure
(b)
F = 3(n-1)-2l-h
Here, n = 3, l = 2 and h = 1.
F = 3(3-1)-2(2)-1 = 1
(c)
F = 3(n-1)-2l-h
Here, n = 3, l = 2 and h = 1.
F = 3(3-1)-2(2)-1 = 1
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INVERSIONS OF MECHANISM
A mechanism is one in which one of the links of a kinematic
chain is fixed. Different mechanisms can be obtained by fixing
different links of the same kinematic chain. These are called as
inversions of the mechanism.
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FOUR BAR CHAIN
(link 1) frame
(link 2) crank
(link 3) coupler
(link 4) rocker
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INVERSIONS OF FOUR BAR CHAIN
1. Crank-rocker mechanism
2. Drag link mechanism
3. Double rocker mechanism
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CRANK-ROCKER MECHANISM
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CRANK-ROCKER MECHANISM
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DRAG LINK MECHANISM
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DOUBLE CRANK MECHANISM
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SLIDER CRANK CHAIN
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lnversions of slider crank chain







(a) crank fixed (b) connecting rod fixed (c) slider fixed
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Rotary engine I inversion of slider crank
mechanism. (crank fixed)
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Whitworth quick return motion
mechanism
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Oscillating cylinder engineII inversion of
slider crank mechanism (connecting rod
fixed)
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Crank and slotted lever quick
return motion mechanism
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Pendulum pump or bull engineIII inversion
of slider crank mechanism (slider fixed)
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DOUBLE SLIDER CRANK CHAIN
It is a kinematic chain consisting of two
turning pairs and two sliding pairs.
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SCOTCH YOKE MECHANISM
Turning pairs 1&2, 2&3; Sliding pairs 3&4,
4&1
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Inversions of double slider crank mechanism
1 sin cos
2 2
2 2
= + =
|
|
.
|

\
|
+
|
|
.
|

\
|
u u
p
y
q
x
Elliptical trammel
AC = p and BC = q, then,
x = q.cos and y = p.sin.
Rearranging,
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OLDHAM COUPLING
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Intermittent motion mechanisms
Geneva wheel mechanism
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Intermittent motion mechanisms
Ratchet and pawl mechanism
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Application of Ratchet Pawl
mechanism
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In Figure 1.43(a), the vehicle has been shown as moving in a straight path and both the slotted
arms are inclined at an angle o as shown.

Now suppose, for giving a turn to the right hand side, the base MN is moved to the right side by
distance x.
The bell-crank levers will change to the positions shown by dotted lines in Figure 1.43(b).
The angle turned by the inner wheel and the outer wheels are u and | respectively. The arms BA
and CD when produced will meet say at I, which will be the instantaneous centre.
This steering gear mechanism is
shown in Figure 1.43(a).
It consists of the main axle AC
having a parallel bar MN at a
distance h.
The steering is accomplished by
sliding bar MN within the guides
(shown) either to left or to the right
hand side.
KAB and LCD are two bell-crank
levers pivoted with the main axle at
A and C respectively such that Z
BAK and Z DCL remain always
constant.
Arms AK and CL have been
provided with slots and these
house die-blocks M and N. With
the movement of bar MN at the
fixed height, it is the slotted arms
AK and CL which side relative to
the die-blocks M and N.
Davis Steering Gear
ou
The mechanism is shown in Figure 1.44(a). This is
simpler than that of the Davis steering gear system. It is
based upon four-bar chain.
The two opposite links AC and MN are unequal; AC
being longer than MN. The other two opposite links AM
and CN are equal in length.
When the vehicle is moving on a straight path link AC
and MN are parallel to each other. Shorter links AM and
CN are inclined at angle o to longitudinal axis of vehicle
as shown.
AB and CD are stub axles but integral part of AM and
CN such that BAM and DCN are bell-crank levers
pivoted at A and C. Link AM and CN are known as track
arms and the link MN as track rod.
The track rod is moved towards left or right hand sides
for steering. For steering a vehicle on right hand side,
link NM is moved towards left hand side with the result
that the link CN turns clockwise.
Thus, the angle o is increased and that on the other
side, it is decreased. From the arrangement of the links it
is clear that the link CN or the inner wheel will turn by an
angle u which is more than the angle of turn of the outer
wheel or the link AM.

From the figure 1.44(b)
Ackermann Steering Gear
l
X