KINEMATICS OF

MACHINERY
- Dr.P.Parandaman

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 Theory of Machines
(Study of relative motion between the parts of a machine
& the forces acting on those parts)

Kinematics of Machines Dynamics of Machines

(Study of relative motion between the parts (Study of forces & their effects on the parts)
of a machine i.e. position, displacement,
velocity & acceleration)

Static
Kinetics
(Study of forces acting on various parts
(Study of inertia forces which arises from
the combined effect of the mass & motion when those parts are assumed to be
without mass or stationary)
of the machine parts)

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 Link or element
• A link (or element or kinematic link) is a resistance body
(or assembly of resistance bodies) that constitute the
part (parts) of the machine connecting other parts which
have motion relative to it.

• Characteristics:
• It should have relative motion
• It need not necessarily be rigid body, but it must be a
resistance body (a body capable of transmitting the
required forces with negligible deformation).
Ex:
– Liquids which are resistance to compressive forces
– Chains, belts & ropes, which are resistance to tensile
forces
Note: A link which is stationary and which supports the
moving members is called frame.

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 Link
Or
Element

Depending upon the ends on Depending upon the effect on

which revolute or turning pairs the link
can be placed

Binary link Rigid link

One which does not undergo any
deformation while transmitting motion.
Ex: connecting rod, crank etc

Ternary link Flexible link

One which partly deforms in a manner
not to affect the transmission of motion.
Ex: belts, ropes, chains etc

Quaternary link etc Fluid link

One which is formed by having a fluid in
a receptacle & motion is transmitted
through the fluid by pressure or
compression only
Ex: hydraulic presses, jacks, brakes etc

Floating link
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4
Example; Slider Crank
Mechanism

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 Representing Linkages
Binary Jointed
Link

Ternary
Jointed Link

Quaternary
Jointed Link

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Conventional Representation of
Planer Linkages:

Binary Link Ternary Link Quaternary Link

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Representation of Linkages
With Prismatic Joints

4-Bar (a) and 6-Bar (b)

Representations
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 Kinematic pairs
When two elements or links are connected together in such a
way that their relative motion is completely constrained or
successfully constrained, form a kinematic pair.

Ex: motion of a
Completely constrained shaft with collars at
Motion between a pair of each end in a
links is limited to a definite circular hole, motion
direction of a square bar in a
square hole, piston
& cylinder

Incompletely
constrained
Motion between a pair of Ex: shaft in a
links is not confined to a circular hole
definite direction

Successfully constrained
Motion in a definite Ex: shaft in
direction is not brought foot step
about by itself, but by some bearing
other means
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 Kinematic
pair’s
classification

1. Based on type of 2. Based on relative 3. Based on mechanical

contact between the motion between the constraints between the
elements elements elements
Self Closed pair
Lower pair Two elements of a pair are connected together
Two elements of a pair have a surface contact mechanically in such a way that only required
when relative motion takes place kind of relative motion occurs.

Force closed (Open) pair

Higher pair Two elements of a pair are not connected together
Two elements of a pair have a point or line mechanically but are kept in contact by the action
contact when relative motion takes place of external forces.

Turning (revolute) Sliding pair Rolling pair Screw (helical) Spherical pair
pair Two elements of a Two elements of a pair Two elements of a pair
Two elements of a pair pair are connected in pair are connected in Two elements of a are connected in such a
are connected in such a such a way that one such a way that one pair are connected in way that one element
way that one can only can only slide relative rolls over another such a way that one (with spherical shape)
turn or revolve about a to the other fixed link element can turn turns or swivels about
fixed axis of another link. about the other by the other fixed element
screw threads

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 Lower pairs
1 2

Link 2
(guide,
slot)
Link 1
(slider)

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Higher pairs
2
(follower)

1 (cam)

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 Kinematic chain
• It is defined as the “combination of
kinematic pairs, joined in such a way that
each link forms a part of two pairs and the
relative motion between the links
(elements) is completely or successfully
constrained. They are coupled in such a
way that the last link is always joined to
the first link to transmit definite motion.

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Example; Slider Crank
Mechanism

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 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 ………………………. (1)

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 ………………………. (2)

Note:
1. These two equations are applicable only to kinematic chains, in
which lower pairs are used. These equations may also be applied to
kinematic chains, in which higher pairs are used. In that case each
higher pair may be taken as equivalent to two lower pairs with an
additional element or link.
2. If L.H.S > R.H.S. then the chain is locked
3. If L.H.S = R.H.S. then the chain is constrained
4. If L.H.S < R.H.S. then the chain is unconstrained

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 Mechanism

• It is a constrained kinematic chain, with

one link fixed, which is used to transmit or
transform motion.

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 Four Bar Mechanism

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 Types:
1) Simple mechanism: has four links.
2) Compound mechanism: has more than four
links.
3) Complex mechanism: formed by the inclusion
of ternary or higher order floating link to a
simple mechanism.
4) Planar mechanism: formed when all links of
the mechanism lie in the same plane.
5) Spatial mechanism: formed when all links of
the mechanism lie in the different plane.
6) Equivalent mechanism: formed when one pairs
is replaced by other type of pairs and the new
mechanism obtained must have the same
number of degrees of freedom as the original
mechanism.
7) Ex:
A turning pair can be replaced by a sliding pair
A spring can be replaced by two binary links
A cam pair can be replaced by one binary link with
two turning pairs at each end.

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 7.Replace higher pairs with lower pairs
Example 1:
Both of the link are
circles

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 7.Replace higher pairs with lower pairs
Example 2
One is a
circle,
the other
is a point.

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 Unique Mechanisms

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 Inversion:
• The exchange of fixedness of an element with its
mating element in a kinematic chain is called
inversion. Thus in the fig. any one of the links may
be arbitrary selected as the fixed link, and each
arrangement is an inversion of the others.
• Note: Relative motions between the various links is
not changed in any manner through the process of
inversion, but their absolute motions (those
measured with respect to the fixed link) may be
changed drastically

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 Machine:
• A machine is a mechanism or group of mechanisms
used to perform useful work. Its chief function is
to adopt a source of power to some specific work
requirements.

When connected as per Kinematic

Kinematic Eq. 1 & 2 chain
pairs

Mechanism
When one link is When forces and motions
fixed are transmitted

Machine

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 Difference between
machine & mechanism
SI. No. Particulars Mechanism Machine

1 Definition It is a constrained kinematic A machine is a

chain, with one link fixed, mechanism or group
which is used to transmit or of mechanisms used
transform motion
to perform useful work
2 Purpose To transmit or To transmit energy or to do
transform motion useful work
3 Dependency No mechanism is A machine is a series or
necessarily a machine train of mechanism
4 Relationship It is a working model of It is a practical development of
any machine any mechanism
5 Examples mini-drafter etc Steam engine, shaper etc

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 Structure
• It is an assemblage of a number of
resistance bodies having no relative
motion between them.
• These are meant for taking up loads.
• There is only straining action due to
forces acting on them.

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SI. Particulars Machine Structure
No.

1 Definition A machine is a mechanism It is an assemblage of a

or group of mechanisms number of resistance bodies
used to perform useful having no relative motion
work between them
2 Work Modifies or transmit
Modifies & transmit
energy to do some kind
force only
of work
3 Relative Exists between its Not exists between its
motion members members

4 Energy Transmits useful

No energy transmission
energy
5 Examples Steam engine, shaper etc Roof truss, railway
bridges, machine frames
etc

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 Degrees of freedom
• It is defined as the number of independent
relative motions, both translational &
rotational, a pair can have.
• An unconstrained rigid body moving in
space can describe the following
independent motions.
– Translation motion along three mutually
perpendicular axes x, y & z
– Rotation motion about these axes.
• Thus a rigid body possesses 6 degrees of
freedom.
• The connection of a link with another
imposes certain constraints on their
relative motion.
• The number of restraints can never be
zero (joint is disconnected) or six (joint
becomes solid).

Degrees of freedom = 6 – number of restraints

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Mobility of Mechanism and
Grubler’s criterion

• Mobility of Mechanism defines the

number of degrees of freedom. The
Grubler’s mobility equation for a
planar mechanism is
F = 3 (l - 1) - 2j1 – j2

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Where,
• F = mobility of number of degrees of freedom
• l = number of links including frame
• j1 = joints with single (one) degree of freedom
(lower pairs or binary joints)
• j2 = joints with two degrees of freedom (higher
pairs)
• F > 0, results a mechanism with F degrees of
freedom
• F = 0, results in a statically determinate structure
• F < 0, results in a statically indeterminate
structure

A joint connecting l links at a single point must be

counted as (l-1) joints.

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Example 1: (mechanisms
with lower pairs)

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Fig. Type l j1 j2 Calculation F
a Three bar 3 3 0 F = 3 (3 - 1) - 2 0
mechanism ×3–0
b Four bar 4 4 0 F = 3 (4 - 1) - 2 1
mechanism ×4–0
c Five bar 5 5 0 F = 3 (5 - 1) - 2 2
mechanism ×5–0
d Five bar 5 6 0 F = 3 (5 - 1) - 2 0
mechanism (because there are two ×6–0
binary joints at B & D will be
considered as two, and two
ternary joints at A & C will be
considered as {l-1} i.e. [3-1] ×
2)
e Six bar 6 8 0 F = 3 (6 - 1) - 2 -1
mechanism (because there are four ×8–0
ternary joints at A, B, C & D
will be considered as {l-1} i.e.
[3-1] × 4 )

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 Conclusion:
• When F = 0, then the mechanism forms a
structure & no relative motion between the links
is possible as shown in the fig (a) & (d).

• When F = 1, then the mechanism can be driven by

a single input motion, as shown in the fig (b).

• When F = 2, then two separate input motions are

necessary to produce constrained motion for the
mechanism, as shown in the fig (c).

• When F = -1 or less then there are redundant

constrains in the chain and it forms strictly
indeterminate structure, as shown in the fig (e).

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Example 2: (mechanisms
with higher pairs)

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Fig. Type l j1 j2 Calcul F
ation

a Cam & 3 2 1 F=3 1

follower (there exist a (3 - 1) -
mechanis rolling & 2×2–
m sliding 1
between 2 & 3)
b Roller 4 3 1 F=3 2
mechanis (there exist a (4 - 1) -
m rolling & 2×3–
sliding 1
between 4 & 1)

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Redundant Link and Redundant Degree of Freedom

F=0 F=1

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F=-1 superstructure F=1 F=0 structure

F=0
F=-1 F=2

F=1

F=1
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F=1
 F=1
F=0 (redundant DOF)

F=1 (Cam-higher pair)

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Kinematic pairs with 3
lower pairs

Wedge: Screw press

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Kinematic chains with
four lower pairs
Kinematic chain

1. Four bar or 2. Slider crank chain 3. Double slider

Quadric cycle chain crank chain

1. crank & lever 1. Reciprocating engine mechanism (1st 1. Elliptical

mechanism inversion) trammel
2. Double crank 2. Oscillating cylinder engine mechanism 2. Scotch yoke
mechanism (2nd inversion) mechanism
3. Double lever 3. Crank & slotted lever mechanism (2nd 3. Oldhaum’s
mechanism inversion) coupling
4. Whitworth quick return motion
mechanism (3rd inversion)
5. Rotary engine mechanism (3rd
inversion)
6. Bull engine mechanism (4th inversion)
7. Hand pump (4th inversion)

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 Four bar or Quadric
cycle chain

According to the Grashof’s law for a four bar mechanism, the sum of the
shortest & the longest link lengths should not be greater than the sum of
the remaining two link lengths if there is to be continuous relative motion
between the two links

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Inversions of Four bar chain:
(based on Grashof’s law)

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Beam engine or crank & lever mechanism
(rotary & oscillatory motion)

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 C

3 D

E
B
2 1
A
1

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Coupling rod of locomotive or double crank mechanism
(complete rotation of the crank & follower)

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Drag link quick return mechanism or double crank mechanism
(complete rotation of the crank & follower)
C
B 3
4 5
2 6
D E
A
1

B1
a E2 E1
A D C1
C2
b

SROKE
B2

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Watt’s straight line mechanism or double lever
mechanism (oscillatory motion)

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 PANTOGRAPH
B

A
C

O E
A' D B'

D' C'

E'

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Single slider crank chain

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Inversions of Single slider crank
chain:

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 First inversion:
When link 1 is fixed, link 2 is made as crank and link 4
is made as slider, then first inversion of single slider
crank is obtained, shown in fig (a)

Example: steam engine, compressors, pumps, I.C. engines etc

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 Second inversion
By fixing the link 2
(crank) second inversion is
obtained.

Link 3 along with slider

at its end C, becomes a
crank.

Hence link 3 along with

slider (link 4) rotates
about B. B

2 3
By doing so, the link 1 4
rotates about A along A 1
C

with the slider (link 4)

which reciprocates on link
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Example 1: Whiteworth Quick-
Return Motion mechanism

4
C
3
B
1
2
6
E
A
5

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 B

2 3
4
C
A 1

b E1 E2

C2 D1 A D2 C1

STROKE

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Example 2: Rotary Engine
or Gnome Engine

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 Third inversion:
• The third inversion is
obtained by fixing B

the link 3 (connecting 2

3

rod).
4
C
A 1
• Link 2 acts as a crank
and is rotating about A
the point B.
1
• Link 4 oscillates. 4
2
C
3 B

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 Example 1: Oscillating
cylinder engine mechanism

B
3
2
4
C
A 1

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 Example 2: Crank & slotted
lever mechanism
6
E Stroke

5
E1 E2

D
D1 D2
A
2
B a
4 (slider)
B

1 b A2
A1

90°

90°
3
3

C
C
B
3
2
4
C
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 Fourth inversion
By fixing the link 4
(sliding pair or cylinder) B
fourth inversion is C

obtained.

Link 3 can oscillate A

about the fixed point C

on link 4. D

This makes end B of

link 2 to oscillate about B
C and end A 2
3
reciprocates along the 4

axis of the fixed link 4. A

C
1

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Bull Engine Mechanism or
Pendulum Pump

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Double slider crank
chain

3
1

2
1
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 First inversion

3
1
2
1

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 Example: Elliptical
Trammel
Y

C
C
B
4 q

3 B q
A 1 y
X
2
1

A q
O x

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 Second inversion

4
B

3
1

A 2
1

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Example: Scotch Yoke
Mechanism
4
B

A
1
2
2

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 Third inversion:

B
3
1

A 2
1

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Example: Old Ham’s
coupling

B
3
1

A 2
1

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Module 1 Contd…..

Mechanisms
• Quick return motion mechanisms-Drag link mechanism,
Whitworth mechanism and Crank and slotted lever
Mechanism.
• Oldham’s coupling.
• Straight line motion mechanisms Peaucellier's mechanism
and Robert's mechanism.
• Intermittent Motion mechanisms:Geneva wheel mechanism,
Ratchet and Pawl mechanism.
• Other Mechanisms: Pantograph,Toggle mechanism
• Condition for correct steering, Ackerman steering gear
mechanism

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Straight line motion mechanisms

Peaucellier mechanism

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Approximate straight line mechanism
Robert’s Mechanism

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Intermittent Motion mechanisms
Geneva wheel mechanism

D- Driving Wheel
P- Pin
F- Follower
Used in preventing overriding of main
springs in clocks and watches, feeding
of film in projectors and indexing
working table on machine tool
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 Intermittent Motion mechanisms
Ratchet and Pawl mechanism

Used in Feed mechanisms, lifting jacks,

clocks, watches & counting devices

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Other Mechanisms
Toggle mechanism

Used in toogle clamps, rivetting machines, punch

presses, stone crushers, etc.

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Steering Mechanisms
Condition for correct steering
tanq = CF/FG
FG = CF/ tanq = CFcotq….(1)

tan = AE/EG
EG = AE/ tan = AEcot….(2)

AC = EF = EG – FG……(3)

Substituting (1) & (2) in (3), we

get
AC = AE cot - CF cotq
w = l (cot - cotq)
cot - cotq = w/l
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Steering Mechanisms
Ackerman steering gear mechanism

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 Dr.P.Parandaman,
Associate professor,
Dept. of Mech. Engg.,
DGCT.

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