Kinematics and Dynamics of Machines

(PRPC15, 3-1-0)
Section: B
4th Semester
Production Engineering

Matruprasad Rout, PhD

Assistant Professor
Dept. of Production Engineering
National Institute of Technology Tiruchirappalli
Tamil Nadu- 620015, India
Email: matruprasad@[Link]
 Kinematics and Dynamics of Machines
Machine
• A machine is a mechanism or a combination of mechanism which transfers and transforms
motion and force so as to do a particular kind of work
Mechanism
• Number of components are assembled in such a way that the motion of one causes
constrained and predictable motion to the others
• It transmits as well as transforms a motion
Kinematics
• Study of the relative motion between the parts
• Study from geometry point of view to calculate displacement, velocity and acceleration
Dynamics
• Study of the forces which act on the parts
• Static: study of forces which act on various parts when those parts are stationary (mass of
the part is neglected)
• Kinetics: study of forces arises from the combine effect of mass and motion of the parts
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 Why to study the subject?

✓ The importance of the subject can be realized from two different aspects

➢ Design: the initial problem in design is understanding the kinematics

➢ Maintenance

✓ more familiar an engineer or scientist is with the various mechanism of machines,

the more proficient and confident he or she will be in decision making during
designing as well as maintenance of the machine components

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 Course content
• Kinematic pairs, diagram and inversion - Displacement, velocity and
acceleration analysis of planar linkages– static and dynamic analysis of
simple mechanisms

• Cam profile synthesis - Gears dynamic force analysis

• Flywheel – fluctuation of energy and speed, Governors

• Inertia forces and their balancing for rotating and reciprocating machines.

• Hydrodynamic and boundary lubrication in journal and thrust bearings.

• Vibration types - one degree – Two degrees of freedom systems – modal

analysis

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Books to Refer

1. Shigley, J.E. and Uicker, J.J., Theory of Machines and Mechanisms,

Oxford University Press, 3rd Edition, 2008.

2. Thomas Bevan, Theory of Machines, CBS Publishers. 3rd Edition, 2008.

3. Rattan S.S., Theory of Machines, Tata McGraw Hill Pub Co, 2nd Edition,
2008.

4. Rao, J.S., and Dukkipati, R.V., Mechanism and Machine Theory, Wiley
Eastern Ltd., 2nd Edition, 1992.

5. Ghosh A and Mallik A.K., Theory of Mechanisms and Machines,

Affiliated EWP Pvt. Ltd, 3rd Edition, 2003.

6. Khurmi, R.S. and Gupta, J.K., Theory of Machines, S. Chand &

Company Ltd., 13th Edition, 2000.
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 Course Assessment Methods*

Mode of Assessment Week/Date Duration % Tuesday: 8.30 to 09.20 am

Weightage
Quiz Test 20 Minutes 10 Wednesday: 9.20 to 10.10 am

Mid-Semester Exam. 90 Minutes 30 Thursday: 10.30 to 11.20 am

Assignment --------- 20 Friday: 11.20 to 12.10 pm
Compensation 90 Minutes 30
Assessment
Final Assessment 180 Minutes 40
Assessment
Quiz test
10%
Final
Assessment
40%

Mid-sem.
30%

*Tentative Assignment
20%
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Mechanism
• Number of components are assembled in such a way that the motion of one causes
constrained and predictable motion to the others
• It transmits as well as transforms a motion
Study of mechanism
• Analysis:
• critically examining the existing or the proposed design in order to judge it’s
suitability for the proposed task
• analysis is not a creative science and can be considered as a evaluation tool
• Synthesis (design):
• the process of creating a scheme or a method of accomplishing a given purpose
• Process of prescribing the sizes, shapes, material compositions and arrangements of
parts so that the resulting machine will perform the desired motion/work.

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• Rigid bodies: under the action of force does not undergo any deformation i.e. distance
between two points remain same
• Resistant bodies: remains rigid for the purpose they have to serve
• Semi-rigid bodies: flexible but under certain loading condition act as rigid body
All real machine parts have flexibility up to certain extent, parts are designed keeping
deflection as minimum. Common practice is considering the deflection to be negligible
and considering the part to be rigid while analyzing the kinematics of the parts.

Kinematic Link or Element

• A resistant body or a group of resistant bodies with rigid connection preventing their
relative motion

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• Depending upon their ends
upon which turning or
revolute pairs can be placed

• Rigid Link: do not undergo any change of shape when transmitting motion
Example : Crankshafts, connecting rods and cam followers etc.
• Flexible Link: a resistant kinematic link that undergoes partial deformation when
transmitting motion and its deformation does not hinder its effectiveness of transmission.
• Fluid link: use of a fluid (liquid or gas) to transmit motion, by means of pressure and this
links always undergo deformation
Example : pneumatic punching presses, hydraulic jacks and hydraulic brakes

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Kinematic Pair
• Joint of two links having relative motion between them
• Nature of contact
• Nature of relative motion
• Nature of constraint

Nature of contact
Higher pair:
Line or point contact between the links

Lower pair:
Surface or area contact between the links

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Nature of relative motion

• Sliding pair
• Turning pair
• Rolling pair
• Screw pair
• Spherical pair

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Nature of constraint
Closed Pair
• The two elements of a pair are connected together mechanically in such a way that
only required kind of relative motion occurs
• The contact between the two can be broken only by destruction of at least one of
the element

Unclosed Pair
• The two elements of a pair are not connected mechanically but are kept in contact
by the action of external force
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Constrained motion

Completely constrained:
• motion between two elements of a pair is in a definite direction independent of
direction of application of force

Incompletely constrained:
• motion between two elements of a pair is possible in more than one direction and
depends on the direction of application of force
Successfully constrained:
• motion between two elements of a pair is possible in more than one direction but is
made to have motion in one direction only

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Types of Joints
• Binary joint
• Ternary joint
• Quaternary joint

If 𝑛 number of links are connected then it is equivalent to (𝑛 − 1) number of binary link

Degrees of freedom

• Unconstrained rigid body motion in space

• 3-translational
• 3-rotational
• Degree of freedom of a pair is the number of independent
relative motion the pair can have, it includes both
translational and rotational
• Degree of freedom = 6- no. of restraints

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Classification of kinematics pair
(based on no. of constraint)
• Relative motion between two
links of a pair must be
independent of the other
relative motion that the pair
can have

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Kinematic chain
• Assembly of links where the relative motion of the links is possible and the
motion of each relative to the other is definite
• Definite motion means either complete or successfully constrained

• Redundant chain: does not allow any motion of a link relative to the other

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If each link is assumed to form two pairs with two adjacent links, then the relation
between the no. of pairs (𝑝) forming a kinematic chain and the no. of links (𝑛)
may be expressed as

𝑛 = 2𝑝 − 4
Relation between no. of links and no. of joints which constitute a kinematic chain
is given as

3
𝐽= 𝑛 −2
2

If the equation are satisfied, then the assemblage of links form kinematic chain

(i) LHS = RHS the chain is called Constrained kinematic chain (1 DOF)
(ii) LHS > RHS the chain is called locked chain or structure
(iii) LHS < RHS the chain is called unconstrained kinematic chain

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Linkage, Mechanism and Structure
• Linkage: if one of the link of a kinematic chain is fixed to the ground
• Mechanism: the linkage in which the motion of any of the movable link causes
definite motion of another
• Structure: if any one of the link of a redundant chain is fixed, degree of
freedom for structure is zero

Different types of Mechanism

Based on the nature of output speed
• Uniform motion mechanism
• Non-uniform motion mechanism

Uniform Motion – Equal displacement for equal time interval

Examples : Gear Drives, Chain Drives, Belt Drives without slip

Non-Uniform Motion – Unequal displacement for equal time interval

Examples : Cam Mechanisms, Geneva Wheel
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Based on mobility (DOF) of the mechanism
Considering the DOF of output only
Constrained Mechanism
• One independent output motion. Output member is constrained to move in a
particular manner only.
• Example: Four-bar mechanism, Slider Crank Mechanism, Five-bar mechanism with
two inputs

Unconstrained Mechanism

• Output motion has more than one DOF

• Example: Automobile differential during turning the vehicle on a curve

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Considering the sum of the DOF of input and output motions
• Single DOF mechanism
• Multi-DOF mechanism

Single DOF Mechanism

Sum of the input and output DOF is two.

Single DOF Motion - One Independent Input motion and one independent output motion
Examples : Four-Bar Mechanism, Cam-Follower Mechanism

Multi DOF Mechanism

Sum of the input and output motion DOF is more than two.
Multi DOF Motion – More than one Independent Output / Input Motions
Examples: Automobile Differential, 3-D Cam Mechanism, Five-Bar Mechanism

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 Based on position occupied in space
• Planar Mechanism
• Spherical Mechanism
• Spatial Mechanism
Planar Mechanism – Particles/Points of Members move in a plane or parallel planes
Examples: Planar Four-Bar Mechanism, Slider Crank Mechanism, Cam-Follower
Mechanism

Spherical Mechanism – Points maintain Constant Distance w.r.t. a Common Centre Point
in any position during motion.
Examples: Universal Joint, Bevel Gear Drive

Spatial Mechanism – Points can occupy any Position in space

Examples : Spatial Four-Bar Mechanism, Serial Manipulators
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 Link / Element

Kinematic Pair / Joint

Kinematic Chain

Mechanism

Machine

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Degrees of Freedom (DOF) of a Mechanism

• A mechanism may consists of a number of pairs belonging to different class

• Some of the restraints imposed on individual links may be common or general to all the
links of the mechanism
• Based on this number of general restraints, a mechanism may be classified into different
order
• Zero order mechanism have no such general restraints
• First order mechanism has one general restraints (up to fifth order)

𝑁 = total no. of links in a mechanism

𝐹 = DOF

𝑃1 = no. of pairs having 1 DOF

𝑃2 = no. of pairs having 2 DOF

𝑃3, 𝑃4, 𝑃5 = no. of pairs having 3, 4, 5 DOF

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• In a mechanism 1 link is fix

• No. of movable link = 𝑁 − 1

• No. of DOF of (𝑁 − 1) movable link = 6(𝑁 − 1)

• Each pair having 1 DOF imposes 5 constraint (reducing DOF by 5𝑃1)

• Each pair having 2 DOF imposes 4 constraint (reducing DOF by 4𝑃2)

𝑭 = 𝟔(𝑵 − 𝟏) − 𝟓𝑷𝟏 − 𝟒𝑷𝟐 − 𝟑𝑷𝟑 − 𝟐𝑷𝟒 − 𝑷𝟓

Most of the links are two dimensional

For 2-D no. of constraints is 3 and 𝐷𝑂𝐹 = 3

𝑭 = 𝟑 𝑵 − 𝟏 − 𝟐𝑷𝟏 − 𝑷𝟐
Grubler’s criterion
When 𝑃2 = 0
𝑭 = 𝟑(𝑵 − 𝟏) − 𝟐𝑷𝟏 Kutzback’s criterion

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• Most of the linkage have one DOF so that with one input to one link causes a constrained
motion of the others (i.e. F =1)

𝑭 = 𝟑(𝑵 − 𝟏) − 𝟐𝑷𝟏

When 𝑁 = 4, 𝑃1 = 4 𝑃1 and 𝑁 are whole numbers

𝑁 = 6, 𝑃1 = 7
𝑁 = 8, 𝑃1 = 10

Six bar chain

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 4 ternary link 2 quaternary link

4 ternary link 2 ternary link

1 quaternary link

Eight bar chain

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 𝑭 = 𝑵 − (𝟐𝑳 + 𝟏)

𝑷𝟏 = 𝑵 + (𝑳 − 𝟏) 𝐿 = no. of loop

(Valid for linkages with turning pair)

Redundant link

Redundant degrees of freedom

Effective degrees of freedom

𝑭 = 𝟑 𝑵 − 𝟏 − 𝟐𝑷𝟏 − 𝑷𝟐 − 𝑭𝒓

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Find out the DOF, considering
• Loop
• Kutzback’s criterion

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Find out the DOF, considering
• Loop
• Kutzback’s criterion

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Find out the DOF, considering
• Loop
• Kutzback’s criterion

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