Theory of Machine Unit 1

Theory of Machines and
Mechanisms
(ME-3003)
Dr. Shriram Dravid, Associate Professor

Mechanical
Theory of Machines and Mechanisms
Theory of Machines
Kinematics
Theory of Machines and Mechanisms Dynamics of Machine

Mechanical
Theory of Machines
• Theory of machine is that branch of science

which deals with the study of Relative Motion
between the various parts of a machine, and
Forces act on them.

Mechanical
Theory of Machines
• Theory of machine is that branch of science
which deals with
• The study of Relative Motion between the

various parts of a machine, and
• Forces act on them (various parts).

Mechanical
Theory of Machines and Mechanism
Theory of Machines
Kinematics
Kinematics
Kinematics
of Machine Dynamics of Machine
Kinetics
(Kinematics of Machine)
(Kinematics) (Kinetics)
(Dynamics of Machine)
(The study of Relative Motion (Forces act on various

between the various parts of parts of a machine)
a machine)

Mechanical
Theory of Machines
Kinematics
Kinematics of
Machine Dynamics of Machine
(The study of Relative Motion between the (Forces act on various parts of a
various parts of a machine) machine)
Forces involved in the motion

are not considered.
It is from the Geometry point of
view, i.e. the study to know the
Displacement, Velocity,
Acceleration of a part of theDr. Shriram Dravid, Associate Professor
machine. Mechanical
Theory of Machines
Kinematics
Kinematics of
Machine Dynamics of Machine
(The study of Relative Motion between the (Forces act on various parts of a
various parts of a machine) machine)
Forces involved in the motion Forces involved in the motion

are not considered. are considered.
It is from the Geometry point of Forces May be either Static or
view, i.e. the study to know the Dynamic.
Displacement, Velocity,
Acceleration of a part of the Dr. Shriram Dravid, Associate Professor
Mechanical
machine.
Reciprocating Engine
• 1- Cylinder (Static)
• 2- Crank (Dynamic)
• 3- Connecting Rod (Dynamic)
• 4- Piston (Dynamic)
Mechanical
Theory of Machines and Mechanisms
The theory of machine & Mechanism is an
applied science which is used to understand
the relative motion between the geometry
and motions of the parts of a Machine or the
Mechanisms and the study of the forces which
produces these motions.

Mechanical
Syllabus
• Mechanisms and Machines.
• Kinematic analysis of plane mechanisms using
graphical and Cartesian vector notations.
• Gears.
• Cams.
• Gyroscopic Action in Machines.

• Belt Rope and Chain Drive
Mechanical
Unit 1
Mechanisms and Machines

Mechanical
What is a Machine?

Mechanical
What is a Machine?
Machine is anything that reduces

human effort.
e.g.- Fan, Telephone, Calculator, Pen

etc.

Mechanical
Machine
•A machine is a device which receives energy in some
available form & utilises it to do some particular type
of work.
•A machine is Mechanism or a combination of

Mechanisms which, apart from imparting definite
motions to the parts, also transmits and modifies the
available mechanical energy into some kind of desired
work.
•It is neither a source of energy nor a producer of

work. Dr. Shriram Dravid, Associate Professor
Mechanical
Example
Sewing Machine
Mechanical
Mechanisms
• A Mechanism is a combination of number of

bodies (usually rigid) or members
assembeled in such a way that the motion of
one causes constrained & predictable motion
to the others.
• Thus the function of a mechanism is to

transmit and modify a motion.

Mechanical
Example
Crank & Slider Mechanisms

Mechanical
Machine Vs Structure
Structure is an assemblage of resistant bodies
without any relative motion between the links.
Machine Structure
It serves to transfer both Forces & It serves to modify & transmit the
motion. Forces Only.
It transfer the available energy It can not transmit the energy for
into mechanical work. doing mechanical work.
Example Screw jack, I.C. Engine Lathes Example Roof trusses used
in Buildings. etc.

Mechanical
Rigid & Resistant Bodies (member)
• Rigid Body – Rigid body means a body with no
deformation when the required force is
transmitted
Or
• under the action of forces, the distance
between any two points on it remains
constant.

Mechanical
Rigid & Resistant Bodies (member)
Resistant bodies –
Resistant bodies are those which are rigid for
the purpose they have to serve.
e.g. – A belt is rigid when subjected to tensile

forces.

Mechanical
Link
(or Kinematic Link or Element)
• Each Part of a machine which has relative motion to some
other part of the machine is known as LINK.
• A link may consist of number of parts (members)

connected in such a way that they have no relative motion
between them.
• Hence, A link may also be defined as a member or a

combination of members of a mechanism, connecting
other members & having relative motion with them.
Mechanical
Reciprocating Engine
• 1- Cylinder & Engine Body (Static)

• 2- Crank (Dynamic)
• 3- Connecting Rod (Dynamic)
• 4- Piston (Dynamic)
Mechanical
Reciprocating Steam Engine

Mechanical
Types of Link
1. Rigid Link -Which do not undergo an appreciable
deformation while transmitting the motion.(e.g.
Piston, Con/Rod, Crank, etc)
2. Flexible Link – Partly deformed.(e.g. chain, belts,

spring)
3. Fluid Link –which transmit the motion by fluid
pressure as compression,
(e.g. brakes in an car,
Hyd. Press, Jack)
Mechanical
Classification of Link
Depending upon the ENDS on which revolute or turning pairs
can be placed Links can be classified as :
1.Binary Link 2. Ternary Link 3. Quarternary Link
The links shown are rigid links & there is no relative

motion between the joints within the lilnk.
Mechanical
Kinematic Pairs
A kinematic pair or simply a pair is a joint of two
links having relative motion between them.
Link 2 rotates relative to link 1 and constitute a revolute or turning pair.

Links 2, 3 and 3, 4 constitute turning pair.
Link 4 (slider) reciprocates relative to link 1 and is a Sliding pair.
Mechanical
Classification of Kinematic Pairs
The Kinematic pairs can be classified according to :
1. The type of Relative Motion between the

elements
2. The type of Contact between the elements.
3. The type of Mechanical Constraint.

Mechanical
1.The Kinematic pairs on the basis of type of Relative Motion may be
classified as:
1. Sliding pair –
When one link slides relative to another link, it is known as sliding pair.
2. Turning pair –
When one link turns or revolve relative to another link, it is known as
turning pair
3.Rolling pair –
When one link rolls over the other pair, it is known as rolling pair.
4. Screw pair –
If two pairs have turning as well as rolling motion between them, it is
known as screw pair.
5. Spherical pair –
When a spherical link turns inside a fixed link, it is known as spherical
pair. Mechanical
1. Sliding pair –
2. Turning pair –
3.Rolling pair –
4. Screw pair –
5. Spherical pair –
Mechanical
2.According the type of Contact between the elements.
1.Lower pair –
When the two links have surface contact between
them, it is known as lower pair.
2.Higher pair –
When the two links have line or point contact
between them, it is known as Higher pair.

Mechanical
3. According to the type of Mechanical Constraint.
1. Self closed pair –
When the two links are joined together mechanically, it is known
as self closed pair.
2. Unclosed pair –
When the two links are connected either due to gravity or by
some external forces, it is known as unclosed pair.

Mechanical
Kinematic Chain
• Kinematic Chain is defined as the combination of Kinematic pairs
in such a way that each link forms a part of two kinematic pairs
and the relative motion between the links is definite or
completely constrained.
• Combination of three links forms a structure & not a kinematic

chain, used in bridges & trusses.
• Each link is a part of two pairs, (1-2 & 2-3), (2-3 & 3-4), (3-4 & 4-1)
(4-1 & 1-2).
Mechanical
Kinematic Chain
• Only 4 links satisfy both conditions of a kinematic
chain, and is known as Simple Kinematic Chain.
Truss Simple Kinematic Chain Compound Kinematic Chain

Mechanical
Condition to form a Kinematic Chain
The relation between no. of pairs & no. of Links and no. of Joints is
given by :
Where, L = no. of Links p = no. of Pairs

j = no. of Joints H = no. of Higher Pairs
Eq. (1) & (2) can be used for K. Chains with Lower pairs only. Eq (3) can be applied for K.
Chains having Higher pairs also.
If eq (1) & (2) is to be used to a k. Chain having Higher pairs, then each higher pair may be
taken as equivalent to two Lower pairs and one additional link.

Mechanical
Criteria of Constraint
• A W Klein specified a rule called criteria of constraint, as :
L = 2p-4
If L.H.S. > R.H.S., the chain is locked or structure.
If L.H.S. = R.H.S., the chain is constrained.
If L.H.S. < R.H.S., the chain is unconstrained.
3=(2x3)-4 4=(2x4)-4 5=(2x5)-4

3>2 4=4 5<6
Locked Chain Kinematic Chain Unconstrained Chain
(structure) (constrained
Dr. Chain)Professor
Shriram Dravid, Associate
Mechanical
Exercise
Fig. 1 Fig. 2

Mechanical
Solution
• L=6
• J=7
• p=5 (1-2,1-4,3-4,5-6,6-1) Third pair form by a link is not counted
• L=2p-4
• 6= (2x5)-4
• 6=6
• (given mechanism is constrained K.Chain)

Mechanical
Close & Open Kinematic Chain
• Closed Kinematic Chain: a closed loop formed by joining a
no. of K.Pair
• Open Kinematic Chain: The last link of K.Chain is not joined

to the first link

Mechanical
The Four Bar Chain
1. It is the most fundamental of the plane
Kinematic Chains.
2. It is much preferred mechanical device for the
mechanisation & control of motion.
3. Simple & Versatile.
4. It consists of 4 rigid links connected by 4 pin
joints.
5. When one of the links is fixed, it is known as a
Linkage or mechanism.
6. Having Single DOF (degree of freedom).
Mechanical
The Four Bar Chain
7.A link which is fixed is called frame.
8.A link that makes complete revolution is called
Crank.
9.The link opposite to the fixed link is called
Coupler.
10.Fourth link is called a Lever or Rocker if it
oscillates, and is called Crank if rotates.
11. If (L > S + P + Q) than 4 bar chain linkage is not
possible.

Mechanical
Grashof’s Law
• A four bar mechanism has no practical application if any
of the links is not making complete revolution.
• Grashof’s Law : A simple relationship that predict the
rotation behavior of a four bar linkage based only on the link
lengths.
“It states that for a planer four bar mechanism,
the sum of length of shortest and longest links
should not be greater than the sum of the length
of two other links if there is to be a continuous
relative motion between them”.

Mechanical
Grashof’s Law
Let:
S=length of shortest link
L=length of longest link
P=length of one remaining link
Q=Length of other remaining link
Then S+L ≤ P+Q
If above condition is not satisfied than no link will make a

complete revolution relative to another link and a four bar
mechanism is called as Non-Grashoffian Four bar chain.
Mechanical
Classification of Kinematic chain based on
THE GRASHOF’S CONDITION
• Class I kinematic chain., (S + L < P + Q)

– The linkage is Grashof and at least one link will be
capable of making a full revolution with respect to the
ground plane.
• Class II kinematic chain., S + L > P + Q:
– All inversions will be triple-rockers in which no link can
fully rotate.
• Class III kinematic chain., S+L = P+Q
– All inversion will be either double-cranks, or crank-
rocker
Mechanical
Class I kinematic chain., (S + L < P + Q)
– Ground (FIX) either link adjacent to the shortest and you get a
crank-rocker, in which the shortest link will fully rotate and the
other link pivoted to ground will oscillate.
– Ground the shortest link and you will get a double-crank, in

which both links pivoted to ground make complete revolutions
as does the coupler.
– Ground the link opposite the shortest and you will get a
Grashof double-rocker, in which both links pivoted to ground
oscillate and only the coupler makes a full revolution

Mechanical
All (Mechanisms) inversions of the fourbar linkage

Mechanical
Kinematic Chain & Mechanism
•When any of the link of a kinematic chain is made
fixed, it forms a Mechanism.
•This Mechanism is used to transmit the required
motion.
•If a mechanism has ‘n’ no of links, then we can
obtain ‘n’ no of mechanism by fixing each link one
by one.
•The behavior and appearance of such mechanism
are different.

Mechanical
–No. of Mechanisms (inversions) are same as the number of links.

Mechanical
Inversion of a Kinematic Link
• The process (or method) of choosing different

links of a chain for the frame is called
“KINEMATIC INVERSION”.
• Each mechanism thus obtained is called an

Inversion of Kinematic Chain.

Mechanical
THE GRASHOF CONDITION

Mechanical
Different Types of Kinematic chain &
their Inversion
• The simplest kinematic chain is a chain consisting of four
Kinematic pairs, each pair being a sliding pair or a turning pair.
Such inversions are extensively employed even in complicated
machines.
• The various types of Kinematic chain are:
1. Four bar chain or quadric kinematic chain:
It consists of four turning pairs.
2. Single slider crank chain: it consists of three
turning pair and one sliding pair.
3. Double slider crank chain: it consists of two
turning and two sliding pairs.
Mechanical
Types of Inversions
Types of Inversions
Inversion of Four bar Inversion of Single slider Inversions of Double

chain kinematic chain chain kinematic chain Slider Kinematic chian
1. A reciprocating engine mech.

1.Coupled wheels of a 1.Scotch Yoke
2. (A) Gnome engine or Rotary
Locomotive mechanism.
(Double crank). engine.
2.Beam engine (B) Withworth quick return 2. Oldham’s
( Crank & Lever mech.). mechanism. Coupling.
3. Watts engine Indicator 3.(A) Crank & Slotted Lever type
(Double Lever
quick return mech. 3. Elliptical
mechanism).
(B) Oscilating Cylinder engine. Trammel.
4. Hand Pump.

Mechanical
Inversion of four bar chain mechanism
Though there are large no. of inversions of four
bar Kinematic chain, few important are:
• First Inversion- Coupled wheels of a locomotive
(Double Crank).
• Second Inversion- Beam engine
(Crank & Lever mechanism).
• Third Inversion- Watt’s engine Indicator
(Double Lever mechanism).

Mechanical
First Inversion- Coupled wheels of a locomotive
(Double Crank).

Mechanical
Second Inversion- Beam engine
(Crank & Lever mechanism).
• The function of this mechanism is to convert
rotary motion of the crank into reciprocating
motion.

Mechanical
1) BEAM ENGINE (CRANK & LEVER MECHANISM)

Mechanical
BEAM ENGINE

Mechanical
Third Inversion- Watt’s engine Indicator
(Double Lever mechanism).

Mechanical
Inversion of Single Slider Kinematic chain
Purpose of such a mechanism is to convert the reciprocating motion into rotary
motion or vice-versa. Different inversions of such Kinematic chain are:
• First Inversion- A reciprocating engine mechanism
• Second Inversion- (A) Gnome engine or Rotary engine

(B) Whitworth quick return mechanism
• Third Inversion- (A) Crank & Slotted lever type Quick return
mechanism
(B) Oscillating cylinder engine
• Fourth Inversion- Hand Pump.

Mechanical
First Inversion- A reciprocating engine mechanism
1- Fixed Lionk
SLIDER CRANK.flv
2- Crank
3- Connecting Rod
4- Piston

Mechanical
Second Inversion-
(A) Gnome engine or Rotary engine

ppt Wright 3350 Radial Engine.flv
echaical
Second Inversion-
(B) Whitworth quick return mechanism
Shaper01.mp4.flv
PPT Whitworth&39;s.mp4
Whitworth Mechanism whitworthuv mechanismus.flv

Mechanical
Third Inversion-
(A) Crank & Slotted lever type Quick return mechanism

Mechanical
Crank Shaper Quick Return
same length
a/2

Mechanical
Third Inversion-
(B) Oscillating cylinder engine
An oscillating cylinder steam engine is a simple arrangement which does not require valves
to direct steam into and out of the cylinder. Instead of valves, the entire cylinder rocks, or
oscillates, such that one or more holes in the cylinder line up with holes in a fixed port face or
in the pivot mounting (trunnion).

Mechanical
Fourth Inversion-
Hand Pump.

Mechanical
Inversion of Double Slider Kinematic chain
It consists of two turning and two sliding pairs.
Different inversions of such Kinematic chain are:
• First Inversion- Scotch Yoke mechanism.
• Second Inversion- Oldham’s Coupling.
• Third Inversion- Elliptical Trammel.

Mechanical
First Inversion- Scotch Yoke mechanism
This mechanism is used to convert the reciprocating motion into rotary
motion or vice-versa.

Mechanical
Second Inversion- Oldham’s Coupling
• This coupling is used to connect two parallel

shafts when they are not co-axial and the
distance between their centre lines is small

Mechanical
Third Inversion- Elliptical Trammel
Such a mechanism is used for tracing the path of various sizes of an ellipse. It
consists of two shuttles which are confined ('trammelled') to perpendicular
channels or rails, and a rod which is attached to the shuttles by pivots at fixed
positions along the rod. As the shuttles move back and forth, each along its
channel, the end of the rod moves in an elliptical path.

Mechanical
Some more Mechanisms having Lower pairs.

Mechanical
Pantograph
• Pantograph is used as an Instrument to reproduce geometrical figures
and plane areas on an enlarged or reduced scale. e.g. Production of
Maps, blades of turbines, printing of complicated drawings.
• It is used to guide cutting tool.
• It consists of 4 links (4 turning pairs) joined in such a way that it forms a

parallelogram ABCD (AB = CD & AD = BC). CD is extended to O (fixed) &
BC extended to E such that O, A, and E are in one straight line. These
points move parallel to each other over any path (curved or straight) and
proportional to their distance from fixed point O.

Mechanical PPT Pantograph.flv
Ratchet & Escapement Mechanism
Ratchet-
Ratchet is a set of teeth on wheel
which allow the motion in one
direction only. Such mechanism is
used in clockwork & jacks
Escapement-
It is used to regulate the
motion of toothed wheel.
Mechanical
Indexing Mechanism
Indexing mechanism is used when intermittent
rotary motion is required generally in machine
tools where turret or work table is required to be
indexed.
Figure shows indexing mechanism called as

Geneva Mechanism -

Mechanical
Swinging or Rocking Mechanisms
The Swinging or Rocking Mechanisms are also called Oscillators which
are used to convert rotary motion into oscillatory motion.

Mechanical
Straight Line Generating Mechanisms
In such kind of mechanisms One point always moves in a straight
line path. Thus this point generates a straight line.
They may be classified as :
• Exact straight line generating mechanisms.
(i) Peaucellier Mechanism (ii) Scott Russel Mechanism

(iii)Hart’s Mechanism
• Approximate straight line generating mechanisms.

(i) Grass Hopper’s Mechanism (ii) Robert’s Mechanism
(iii)Tchiebicheff Mechanism (iv) Watt’s Mechanism
Mechanical
Basic Principle
If B is a point on OA produced in such a way that
OA x OB = Constant
Then, B will move along a straight line perpendicular to OQ.

Mechanical
Exact straight line generating mechanisms
.
Mechanical
Peaucellier Motion
Configuration of a Peaucellier mechanism is shown in figure. It is an exact
straight line generating mechanism.
PR = QS = PS = QR and
AR = AS, AB = PB
Q’

Mechanical
Scott Russel Mechanism
There are three movable links including slider. The dimensions of these links are
in such a way that :
O1 A = AC = AB
as O1A given rotary motion the point C will move along a straight line
perpendicular to O1B

Mechanical
Hart’s Straight Line
It has six links. The input rotary motion is given to the link O’P.
The point Q will move along a straight line.

Mechanical
Approximate straight line generating mechanisms
. Dr. Shriram Dravid, Associate Professor

Mechanical
Grass Hopper’s Linkage
This is an approximate straight line mechanism. In this the slider of the Scott-Russel
Mechanism is replaced by a turning pair.
Link PS is the turning pair which is perpendicular to OQ. The proportion of the Links are
in such a way that
QS x QS = OQ x QP
When link OQ and SO1 moves , the point P traces a approximate line.

Mechanical
Robert’s Mechanism
The mechanism consists of four links (AB, BC, CD, & DA) such that
BC = ½ .AD
AB or CD may be given the input motion. The point P of the rigid Link will trace
An approximate straight line along AD.

Mechanical
Tchiebicheff (Chebychev) Mechanism
The mechanism consists of four links (AB, BC, CD, & DA) such that
AB = CD
P is the trace point. When link 4 rotates, P moves along an axis parallel to AD.
This will be an approximate straight line.
BP = BP’
Dr. Shriram Dravid, Associate Professor Tsebysev mechanism.mp4
Mechanical
Watt’s Mechanism
The mechanism consists of four links (OA, AB, BQ,& OQ). OQ is the fixed link.
OA and QB can oscillate about centers O and Q respectively. P is a point on AB
such that ,
As OA oscillates the point P will describe an approximate straight line.

Mechanical
Automobile Steering Gear Mechanism
• Purpose: The mechanism is used for changing the
direction of wheel, so as to move the automobile in
desired path.
• PURE ROLLING: Relative motion between Road wheel &

the road surface should be pure rolling, which means
there must not be Skidding of tyres on the road surface.
It is essential to prevent Wear of tyres.
• Condition of Pure rolling: Pure Rolling is possible only if

the paths of the point of contact of the wheels with the
road surface are Concetric Circular arcs while the
automobile is turning on the road.
Mechanical
Condition of Pure rolling
• Pure Rolling or Correct Steering Steering with Skidding

(Concentric Path)
(having same Instantaneous Centre)
Mechanical
Condition of Correct Steering
θ is the angle turned by inner wheel,
Ø is the angle turned by outer wheel
θ>Ø
Let l = wheel base,
a = dist. between the 02 wheels
b = dist. between the Pivots.
From IBD cotθ = ID/BD = ID/L
&
From IAC cotØ = IC/AC = IC/L
Thus,
cotØ - cotθ = 1/L ( IC-ID)
cotØ - cotθ = CD/L = b/L

This is the fundamental eq. for
correct steering.

Mechanical
Steering principle (Fundamental Equation)
A C Let,
B Ø is the angle turned by inner wheel,
θ is the angle turned by outer wheel
Ø>θ
b
a
f q I
E F
EI EF  FI a  FI
cot q   
AE AE b
FI FI
cot f  
CF b
a  FI FI a
 cot q  cot f   
bMechanical b
Dr. Shriram Dravid, Associate Professor b
Types of Steering gear mechanism
There are two main types of Steering gear mechanisms:
1. Davis steering gear mechanism.
2. Ackermann steering gear mechanism.

Mechanical
Davis steering gear mechanism
A Davis steering gear has sliding pairs which
means more friction and easy wearing.
The gear (mechanism) fulfils the fundamental

equation (cotØ - cotθ = b/L) of gearing in all the
positions.
However, due to easy wearing it becomes

inaccurate after some time.

Mechanical
Davis steering
G E F H
a a
h
B D
A C
It consists of two arms AK & CL, fixed to the Stub axles AB & CD, to form two similar bell-
crank levers BAK & DCL pivoted at A & C respectively.
GH is cross link or track arm constrained to slide parallel to AC, & pin jointed at its ends to two
sliders S1 & S2. Sliders are free to slide on arms AK & CL.
Dr. Shriram
Let ‘h’ is the vertical distance between GH Dravid,
& AC Associate Professor
Mechanical
Davis steering
During the straight motion of the vehicle, the gear is in the mid position with
equal inclination (90-α )of the arms AK & CL from AC.
As the vehicle turns right, the cross-arm GH also moves right through a distance
say ‘x’ from the mid-position as shown in the next diagram.
In this way bell-crank levers (B’AK’ & D’CL’) assume their new positions
Mechanical
f Davis steering
q cx tan a  tan f c h  tan f c  x
AC - GH = 2c tan a  q    tan a  f    
1  tan a tan f 1  c h tan f
tanα =
c a h h
h f  c  h tan f  c  x  c 2 h tan f  cx h tan f  tanφ =
xh
tan  α + φ  =
c+x a 2
h + cx + c 2
tan a  tan q c h  tan q cx
h tan a  q    
c-x E F 1  tan a tan q 1  c h tan q h
tan  α - θ  = G
h xh
 c  h tan q  c  x  c 2 h tan q  cx h tan q  tanθ =
H
2
h - cx + c 2
h
B D
A f C q θ is the angle turned by inner wheel,
Ø is the angle turned by outer wheel
θ >Ø
x x
I
h2  cx  c 2 h2  cx  c 2 h2  cx  c 2 h2  cx  c 2 2cx 2c
cot f  , cot q   cot f  cot q    cot f  cot q  
xh xh xh xh xh h
 cotf - cotq = 2tana
a a a
For correct steering cotφ - cotθ =  2 tan a   tanα =
b b 2b
Since tan a is a constant of design, this mechanism provides perfect steering

Usual value of a/b is betweenDr.0.4 & that of α from 11 or 14 degree.
Shriram Dravid, Associate Professor
to 0.5
Mechanical
Disadvantage of Davis steering gear
Though this mechanism gives correct steering

however, due to presence of sliding pairs the
friction is more and they wear out rapidly.
As a result, after prolonged use the mechanism

becomes inaccurate. Due to this fact, Devise
steering gears are not in common use.

Mechanical
Ackermann steering gear mechanism
An Ackermann steering gear has only turning pairs ( i.e.
no sliding pair, means less wear) and thus, is preferred.
Its drawback is that it dose not fulfils the fundamental

equation (cotØ - cotθ = b/L) of correct gearing in all the
positions, but only in three positions .
1. Middle (i.e. when vehicle moves straight).

2. When the vehicle moves at a correct angle to the
right, and
3. When the vehicle moves at a correct angle to the
left. Dr. Shriram Dravid, Associate Professor
Mechanical
Ackermann steering gear mechanism
It is based on four bar chain
mechanism represented by
quadrilateral ABKL having four
turning pairs.
Links AK & BL are equal in length
and are inclined at an angle of α
with the vertical when the
vehicle moving on straight path.
The link KL is shorter than link AB
but both are parallel to each
other on straight path. Links EAK
and FBL form bell crank levers
and are pivoted at A and B
respectively.
Also
‘a’ = Track width
‘b’= dist. b/t pivots of stub axle.
Mechanical
Ackermann Principle of Steering
The principle works on the
statement that a point
moving near to the Zenith
of a circle, travels lesser
angle than a point moving
near to the Nadir of the
circle.
From diagram, the horizontal
displacement of the points
K & L is same (x),
but θ > Ø
Mechanical
Ackermann Principle of Steering

Mechanical
Øa & Øt
If the lengths of links AB, AK and angle are known, the
mechanism can be drawn graphically to a suitable scale
in different positions. The angle Ø can be noted for
different values of θ. This angle Ø found by drawing the
gear may be termed as Øa (Ø actual).
Correct or theoretical values of Ø corresponding to

different values of θ , for the given values of b & L can
be calculated from the relation for correct gearing
(cotØ - cotθ = b/L). The angle so obtained may be
termed as Øt (Ø theoretical).
Mechanical
Comparing Øa and Øt
following observation are made.
• For small values of θ, and Øa is marginally high than Øt.
• For larger values of θ, Øa is lower than Øt, and the
difference is substantial.
Thus when taking a sharp turn, the wear of the tyre can be more
due to slipping. However, to take sharp turns the vehicle has
to slowed down, which reduces the wear of the tyre. Thus,
the large difference between the two angles dose not affect
the much axis.
In an Ackermann gear, the Instantaneous centre I does not lie on

the rear axis but on a line parallel to the rear axis at an
approximate distance of 0.3 l above it.
Except the three special positions rest of the positions do not

satisfy the equation for correct steering, hence pure rolling is
not possible at different positions.
Mechanical
Determination of for correct gearing
By using values of links AB, AK and angle the
mechanism can be drawn to a suitable scale in
different positions & Øa can be can be noted for
different θ. For correct gearing Øa = Øt.
In this position projections of KK’ and LL’ on AB are
equal.

Mechanical
Determination of for correct gearing

Mechanical
Hooks Joint or Universal Coupling

Mechanical
Universal Joint

Mechanical
Double Hooks Joint

Mechanical
Planar and Spatial Mechanisms
• Planar and Spatial Mechanisms

• Mechanisms can be divided into planar mechanisms
and spatial mechanisms, according to the relative
motion of the rigid bodies. In a planar mechanisms,
all of the relative motions of the rigid bodies are in
one plane or in parallel planes. If there is any relative
motion that is not in the same plane or in parallel
planes, the mechanism is called the spatial
mechanism. In other words, planar mechanisms are
essentially two dimensional while spatial
mechanisms are three dimensional.
Mechanical
Degrees of Freedom of a Rigid Body in a Plane
• Degrees of Freedom of a Rigid Body in a
Plane
• The degrees of freedom (DOF) of a rigid
body is defined as the number of
independent movements it has. Figure
shows a rigid body in a plane.
• To determine the DOF of this body we
must consider how many distinct ways
the bar can be moved.
• In a two dimensional plane such as this
computer screen, there are 3 DOF.
• The bar can be translated along the x
axis, translated along the y axis, and
rotated about its centroid.
Mechanical
Degrees of Freedom of a Rigid Body in Space
• An unrestrained rigid
body in space has six
degrees of freedom:
• Three translating
motions along the x, y
and z axes and three
rotary motions around
the x, y and z axes
respectively.

Mechanical
Lower Pairs in Planar Mechanisms
A planar revolute pair (R-pair)
A planar prismatic pair (P-pair)
A revolute pair or a prismatic pair between

two rigid bodies removes two degrees of
freedom.
Mechanical
Lower Pairs in Spatial Mechanisms
A spherical pair (S-pair)

DOF = 3.
A planar pair (E-pair) DOF = 3.
A cylindrical pair (C-pair) DOF = 2.
A revolute pair (R-pair) DOF = 1.
A prismatic pair (P-pair) . DOF = 1.
A screw pair (H-pair) DOF = 2.

Mechanical
Degree of Freedom

Mechanical
Degree of Freedom

Mechanical
Degree of Freedom
KUTZBACH CRITERION

Mechanical
Grubler’s Criterion
• .

Mechanical
Application of Grubler’s Criterion

Mechanical
Application of Grubler’s Criterion
The mechanism has only 1 DOF. Such mechanism is said to be

Constrained Mechanism, because a single input can is
sufficient to impart a constrained motion to all other Links

Mechanical
Limitations of Grubler’s Criteria
• While applying Grubler’s criteri unless the type of joint and the dimension
of the links are taken into account, sometimes the mobility derived from
Grubler’s criteria may be wrong. A typical example of one such case is
shown in
Here, n = 5
p1 = 6
p2 = 0
F = 3 (n-1) - 2p1-1p2
= 3 (5-1) – 2*6-0
= 0
Hence Mobility is Zero
But if we rearrangr the joints with

links 2, 5, & 4 as parallel links, it
will be a Double Crank mechanism
and has DOF. Dr. Shriram Dravid, Associate Professor
Mechanical
Equivalent Mechanism

Mechanical
Mechanical
Mechanical
The End

Mechanical

Theory of Machine Unit 1

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Theory of Machines and

Dr. Shriram Dravid, Associate Professor

Dr. Shriram Dravid, Associate Professor

• Theory of machine is that branch of science

Dr. Shriram Dravid, Associate Professor

• The study of Relative Motion between the

• Forces act on them (various parts).

Dr. Shriram Dravid, Associate Professor

(The study of Relative Motion (Forces act on various

Dr. Shriram Dravid, Associate Professor

Forces involved in the motion

Forces involved in the motion Forces involved in the motion

Dr. Shriram Dravid, Associate Professor

• Gyroscopic Action in Machines.

Dr. Shriram Dravid, Associate Professor

Dr. Shriram Dravid, Associate Professor

Machine is anything that reduces

e.g.- Fan, Telephone, Calculator, Pen

Dr. Shriram Dravid, Associate Professor

•A machine is Mechanism or a combination of

•It is neither a source of energy nor a producer of

• A Mechanism is a combination of number of

• Thus the function of a mechanism is to

Dr. Shriram Dravid, Associate Professor

Crank & Slider Mechanisms

Dr. Shriram Dravid, Associate Professor

Dr. Shriram Dravid, Associate Professor

e.g. – A belt is rigid when subjected to tensile

Dr. Shriram Dravid, Associate Professor

• A link may consist of number of parts (members)

• Hence, A link may also be defined as a member or a

• 1- Cylinder & Engine Body (Static)

Dr. Shriram Dravid, Associate Professor

2. Flexible Link – Partly deformed.(e.g. chain, belts,

The links shown are rigid links & there is no relative

Link 2 rotates relative to link 1 and constitute a revolute or turning pair.

1. The type of Relative Motion between the

2. The type of Contact between the elements.

3. The type of Mechanical Constraint.

Dr. Shriram Dravid, Associate Professor

Dr. Shriram Dravid, Associate Professor

• Combination of three links forms a structure & not a kinematic

Truss Simple Kinematic Chain Compound Kinematic Chain

Dr. Shriram Dravid, Associate Professor

Where, L = no. of Links p = no. of Pairs

Dr. Shriram Dravid, Associate Professor

3=(2x3)-4 4=(2x4)-4 5=(2x5)-4

Dr. Shriram Dravid, Associate Professor

Dr. Shriram Dravid, Associate Professor

• Open Kinematic Chain: The last link of K.Chain is not joined

Dr. Shriram Dravid, Associate Professor

Dr. Shriram Dravid, Associate Professor

Dr. Shriram Dravid, Associate Professor

Then S+L ≤ P+Q

If above condition is not satisfied than no link will make a

• Class I kinematic chain., (S + L < P + Q)

– Ground the shortest link and you will get a double-crank, in

Dr. Shriram Dravid, Associate Professor

Dr. Shriram Dravid, Associate Professor

Dr. Shriram Dravid, Associate Professor

Dr. Shriram Dravid, Associate Professor

• The process (or method) of choosing different

• Each mechanism thus obtained is called an