Theory of Machine
MEC219
Lecture1
• Learning Objectives
• Difference between Mechanism and Machines
• Degree of freedom
• Links, Kinematic Pair and their Classification
Introduction
• Kinematics and Kinetics(Dynamics)
• Kinematics:- The study of motion without regards of
forces
• Kinetic: The study of forces on system in motion.
Introduction
• Mechanism is a device that transforms motion
to some desirable pattern and typically
develops very low forces and transmits little
power.
• Or
• Mechanism is a means of transmitting,
controlling, or constraining relative
movement.
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Example of Mechanism
Example of Mechanism
Example of Mechanism
Moves packages from an assembly
bench to a conveyor
Front loader
Lift platform
Example of Mechanism
Simple press
Conceptual design for an
exercise machine
Machines
• A Machine typically contains mechanisms that
are designed to provide significance forces
and transmits significant power.
Automatic Transmission
Applications of Kinematics
Virtually any machine or device that moves contains
one or more kinematic elements such as linkages,
cams, gears, belts, chains. Your bicycle is a simple
example of a kinematic system that contains a chain
drive to provide torque multiplication and simple
cable-operated linkages for braking.
Applications of Kinematics
An automobile contains many more examples of
kinematic devices. Its steering system, wheel
suspensions, and piston-engine all contain linkages;
the engine's valves are opened by cams; and the
transmission is full of gears.
Applications of Kinematics
Figure (a) shows a spatial linkage used to control the rear wheel movement of a modem
automobile over bumps.
Degree of Freedom(DOF)or Mobility
A mechanical system’s mobility (M) can be
classified according to the number of degree of
freedom that it possesses.
The system’s DOF is equal to the number of
independent parameters(measurements) that
are needed to uniquely define its position in
space at any instant of time.
Any rigid body in three space has six degree of
freedom, three translational motions (x, y, z)
and three rotational motions.
DOF = 6- Number of restraints
Types of Motion
Completely Constrained Motion
Incompletely Constrained Motion
Successfully Constrained Motion
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Types of Motion
Completely Constrained Motion
When the motion between two elements
of a pair is in a definite direction.
Types of Motion
Incompletely Constrained Motion
When the motion between two elements of
a pair is possible in more than one direction.
Types of Motion
Successfully Constrained Motion
When the motion between two elements of
a pair is possible in more than one direction
but is made to have motion only in one
direction by using some external forces.
Link
Linkages are the basic building blocks of all
mechanisms.
A link is an (assumed) rigid body that possesses
at least two nodes that are points for
attachment to other links.
Link
Joints
A joint is a connection between two or more
links (at their nodes), which allows some
motion, or potential motion between the
connected links. Joints are also called
Kinematic pairs.
Joints
Joints can be classified in several ways
1. By the type of contact between elements, line,
point (higher pair) or surface(lower pair) .
2. By the number of degree of freedom allowed
at the joint
3. By the nature of relative motion.
Joints
Joints: Single Degree-of-Freedom
pivot slider Helical (H)
Revolute (R)/Pin joint Prismatic (P)
Joints: Multiple Degree-of-Freedom
– Cylindrical (C) 2 DOF – Spherical (S) 3 DOF
Planar (F) 3 DOF
LINKS, JOINTS, AND KINEMATIC CHAINS
LINKS, JOINTS, AND KINEMATIC CHAINS
Kinematic Chain
– an assemblage of links and joints,
interconnected in a way to provide a controlled
output motion in response to a supplied input
motion.
- The kinematic chain forms the mechanism if at
least one link is grounded
LINKS, JOINTS, AND KINEMATIC CHAINS
• Ground
Any link or links that are fixed with respect
to the reference frame
• Crank
A link which makes a complete revolution
and is pivoted to ground
LINKS, JOINTS, AND KINEMATIC CHAINS
• Rocker
A link which has oscillatory (back and forth)
rotation and pivoted to ground
LINKS, JOINTS, AND KINEMATIC CHAINS
• Coupler
A link which has complex motion and is
pivoted to ground
Drawing Kinematic Diagrams
– Real links can be of any shape , but a
“kinematic” link, or link edge, is defined as a line
between joints that allows relative motion
between adjacent link or link edge.
Drawing Kinematic Diagrams
Moving rotating joints
Grounded rotating joints
Grounded translating joints
Grounded half joints
Drawing Kinematic Diagrams
Determining DOF or Mobility in
Planar Mechanism
To determine the overall DOF of any
mechanism, we must account for the number of
links and joints, and for the interactions among
them
The DOF of any assembly can be predicted from
an investigation of the Gruebler condition.
Determining DOF or Mobility in
Planar Mechanism
• Gruebler Condition
• Any link in a plane has 3 DOF.
• Therefore, a system of L unconnected links
in the same plane will have 3L DOF.
• A full joint removes two DOF
• A half joint removes only one DOF from
the system (because a half joint has two
DOF).
• Any link if grounded or attached to the
reference frame, all three of its DOF will be
removed.
Determining DOF or Mobility in
Planar Mechanism
Determining DOF or Mobility in
Planar Mechanism
Gruebler’s equation
M = 3L-2J- 3G (1)
Where : M = degree of freedom or Mobility
L = Number of links
J = number of joints
G = number of grounded links
G is always one as all the ground link for
different links will be considered as single plane,
So Gruebler’s equation becomes
M = 3(L-1)-2J (2)
Determining DOF or Mobility in
Planar Mechanism
• Kutzbach’s Modification of Gruebler’s Equation is:
M=3(L-1)-2J1-J2 (3)
where: M = degree of freedom or mobility
L = number of links
J1 = number of 1 DOF (full) joints
J2 = number of 2 DOF (half) joints
• The value of J1 and J2 in these equations must still be
carefully determined to account for all full, half, and
multiple joints in any linkage.
• Multiple joints count as one less than the number of
links joined at that joint and add to the "full" (J1)
category.
Exercise
• Compute the DOF of the following
examples with Kutzbach's equation.
a.4
b.5
c.6
d.8
Exercise
Question
Calculate
Mechanisms and Structures
• If the DOF is positive, it will be a
mechanism, and the links will have
relative motion.
• If the DOF is exactly zero, then it will be
a structure, and no motion is possible.
• If the DOF is negative, then it is a
preloaded structure.
Mechanisms and Structures
Gruebler Paradoxes
• Because the Delta Triplet
Gruebler criteria
pays no attention
to link sizes or
shapes it can give
misleading result
The Grashof Condition
• Grashof’s law states that for planar four-bar
linkage, the sum of the shortest and longest
link lengths cannot be greater than the sum of
the remaining two lengths if there is to be
continuous relative motion between two
members
The Grashof Condition
The Grashof Condition
• Grashof’s law does not specify the order in
which the links are connected
• If the shortest link s is adjacent to the fixed link
crank-rocker linkage is obtained
The Grashof Condition
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• If the shortest link s is fixed as frame drag link
or double-crank linkage is obtained
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The Grashof Condition
• By fixing the link opposite to s the double rocker
mechanism is obtained.
• Note that although the link s is able to make
complete revolution neither link adjacent to the
frame can do so; both must oscillate between limits
and are therefor rockers
The Grashof Condition
• For s+l > p+q, all inversions will be triple-
rockers
• For s+l = p+q, all inversions will either be
crank-rockers or double cranks, but will have
change points twice per revolution of the input
crank when the links all become collinear.
• Which of the following statements is incorrect
(a) Grashof's rule states that for a planar crank-rocker four
bar mechanism, the sum of the shortest and longest link
lengths cannot be less than the sum of the remaining
two link lengths.
• (b) Inversions of a mechanism are created-by fixing
different links one at a time.
• (c) Geneva mechanism is an intermittent motion device.
• (d) Gruebler's criterion assumes mobility of a planar
mechanism to be one.
The Grashof Condition
• Parallel Crank four bar linkage.
Kinematic chain
L = 2p – 4
Where,
L = no. of links
P = no. of pairs
J= joints
L= no. of links If LHS> RHS
If LHS = RHS
Locked chain
Kinematic chain
If LHS< RHS Unconstrained chain
Determine whether the given
connections are kinematic
chain or not ?
Single Slider Crank Chain
In a four bar kinematic chain there are four
revolute pairs. If one of this pairs is changed as
prismatic/sliding pair that kinematic chain is called
single slider crank chain.
Link 1 – Fixed Link Link 3 – Connecting Rod
Link 2 – Crank Link 4 – Slider / Piston
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Inversions of Single Slider Crank Chain
• As there are four links, fixing each link in
turn, four inversions can be obtained.
• In the first inversion, where the link with one
revolute pair and one prismatic pair is fixed.
Example: 1) I.C. Engine mechanism, in
which the fourth link piston is the input and the
crank is output. 2) In air compressor, in which
the second link crank is the input and the
piston is the output.
Inversions of Single Slider Crank Chain
Second Inversion of Single Slider Crank Chain
Second link in the original chain, ie., crank with two
revolute pairs is fixed, second inversion is obtained.
2
3
1
4
Link 2 is fixed
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Examples for the Second Inversion
1. Whitworth Quick Return Mechanism
Let C’’ at
C’’ at
Then,
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1. For what purpose are the quick return mechanisms used?
a) To convert reciprocating motion into oscillatory motion
b) To convert oscillatory motion into reciprocating motion
c) To convert reciprocating motion into rotary motion
d) To convert rotary motion into reciprocating motion
In a quick return mechanism, the forward reciprocating motion is faster rate than the
backward stroke. True or false?
a) True
b) False
Examples for the Second Inversion:
2. Rotary Engine Mechanism
Third Inversion of Single Slider Crank Chain
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Third link of the original chain, ie., Connecting Rod
with two revolute pairs (length of this link is more
than crank) is fixed to obtain third inversion.
Example: 1. Oscillating Cylinder Mechanism
2. Crank and slotted lever quick
return mechanism
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Oscillating Cylinder Mechanism
Crank and Slotted Lever Quick Return
Mechanism
Crank and Slotted Lever Quick Return
Mechanism
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Crank and Slotted Lever Vs Whitworth
Quick Return Mechanism
1. Crank of Whitworth mechanism is longer than fixed
link as compared to Quick Return Mechanism
2. Coupler of Whitworth mechanism makes complete
revolution while coupler for Quick Return
Mechanism oscillates
Crank and Slotted Lever Vs Whitworth
Quick Return Mechanism
3. Coupler link holding the tool is preferred towards
the fix link as in case of Whitworth
Fourth Inversion of Single Slider Crank Chain
In the original chain, if the fourth link with revolute
pair and prismatic pair is fixed, then the fourth
inversion is obtained.
Example : Hand Pump
Double Slider Crank Chain
This Chain has two revolute pairs and two prismatic pairs.
First inversion of the double slider
When the link 1 is fixed and the two adjacent pairs 23 and 34
are turning pairs and the others two pairs 12 and 41 sliding
pairs.
Example : Elliptic Trammel
X = BC cosθ
Y = AC sinθ
2 (X / BC) = cosθ
(Y / AC) = sinθ
3 (X2 / BC2) = cos2θ
4 (Y2 / AC2) = sin2θ
1 (X2 / BC2) + (Y2 / AC2) = cos2θ + sin2θ = 1
Equation for Ellipse.
Elliptic Trammel
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Second inversion of the double slider
If any of the slide block of the first inversion is fixed. When link 4 is fixed, the end
B of the crank 3 rotates about A and the link 1 reciprocates in the horizontal
direction.
Example: Scotch Yoke Mechanism, which is also called as Sinusoidal Generator.
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Scotch Yoke Mechanism
•
Scotch Yoke Mechanism
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Third inversion of the double slider crank
Third inversion of the double slider crank chain is
obtained when the link two revolute pairs is fixed.
Example: Oldham coupling, which is used to
connect two parallel misaligned shafts.
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Objective types Questions
Objective types Questions
Objective types Questions
