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Kinematics of
Machinery
LECTURE 1
SYLLABUS DISCUSSION
 Kinematics of Machinery
• Deals with relative motion between the
various parts of machine, and forces
acting on them

The design of a mechanical system

needs a proper understanding of
• The geometrical aspects of motion
• The forces involved in motion
 Kinematics of Machinery
• Analysis –
• Study of motions & forces of different parts
of mechanism

• Synthesis -
• Design of various parts of machine
regarding its shape, size, materials &
arrangement of parts
 CLASSIFICATION
Theory of machine and mechanisms

Kinematics (Study from

geometric point of view) Dynamics (Involves
(Relative motion bet various force & their effects)
parts)

Statics (Study of Kinetics (Study of

forces when the body inertia forces when
is stationary) body is in motion)
Fundamentals of Kinematics &
Mechanisms
• Machine –
• consists the various elements arranged
together so as to perform the prescribed
task.
 Rigid and Resistant body
• A body is said to be rigid if under the action of
forces, it does not suffer any distortion or the
distance between any two points on it remains
constant.

• Resistant body is one which transmits force with

negligible deformation in the direction of force
transmission
 LECTURE 2
• Kinematic link
• Types of links
• Kinematic pair
• Types of constrained motions
Fundamentals of Kinematics &
Mechanisms

• Link-
• A resistant body , which is the part of the
machine and has a motion relative to
other connected parts.

• Types –
1. Rigid link
2. Flexible link
3. Fluid link
Fundamentals of Kinematics &
Mechanisms

1. Rigid link
• Do not undergo any deformation
eg; piston, connecting rod, crank

Connecting rod
Fundamentals of Kinematics &
Mechanisms

2. Flexible link
• Partly deformed
eg; chains, belts, springs
Fundamentals of Kinematics &
Mechanisms

3. Fluid link
• Motion transmission by fluid pressure
(fully deformed)
eg; liquid used in hydraulic press, jacks &
brakes of an automobile
Fundamentals of Kinematics &
Mechanisms

• Types of Rigid links-

1. Binary link
2. Ternary link
3. Quarternary link
 TYPES OF CONSTRAINED
MOTIONS
• Completely constrained motion
• Incompletely constrained motion
• Successfully constrained motion
 COMPLETELY CONSTRAINED MOTION
• When the motion between a pair is limited to a
definite direction irrespective of the direction of
force applied, then the motion is said to be a
completely constrained motion.
 INCOMPLETELY CONSTRAINED MOTION
• When the motion between a pair can take place
in more than one direction, then the motion is
called an incompletely constrained motion.
 SUCCESSFULLY CONSTRAINED
MOTION
• When the relative motion between the links is
not completely constrained by itself but by some
other means, then the motion is said to be
successfully constrained motion. e.g. Piston
reciprocates inside an engine cylinder.
 LECTURE 3
• Types of Kinematic pairs
• Kinematic chain
• Types of joints
• Machine/ Structure
• Mechanism
 KINEMATIC PAIR
The two links or elements of a machine,
when in contact with each other, are said
to form a pair.

If the relative motion between them (pair)

is completely or successfully constrained
(i.e. in a definite direction), the pair is
known as kinematic pair.
 CLASSIFICATION OF KINEMATIC PAIRS
The kinematic pairs are classified based on the following considerations
• (a) According to nature of relative motion between the contacting
surfaces
(i) Sliding pair or prismatic pair
(ii) Turning or revolute pair
(iii) Rolling pair
(iv) Screw or helical pair
(v) Spherical or globular pair

• (b) According to nature of contact between the contacting surfaces

(i) Lower pair
(ii) Higher pair

• (c) According to nature of constraint between the contacting surfaces

(i) Closed pair
(ii) Unclosed pair
 SLIDING PAIR
• If two links have a sliding motion relative to each
other, they form a sliding pair.
• Eg:
▫ A rectangular rod in a rectangular hole in a prism
▫ The piston and cylinder,
▫ ram and its guides in shaper,
▫ tail stock on the lathe bed

• sliding pair has a

completely constrained motion.
 TURNING OR REVOLUTE PAIR
• When one link has a turning or revolving motion relative
to the other, constitute a turning or revolving pair
 ROLLING PAIR
• When the links of a pair have a rolling motion
relative to each other, they form a rolling pair,

• e.g. A rolling wheel on a flat surface,

Belt drive,
Wheels of rail,
ball and roller bearings
 SCREW OR HELICAL PAIR
• When the two elements of a pair are connected
in such a way that one element can turn about
the other by screw threads, the pair is known as
screw pair.
 SPHERICAL PAIR
• When one link in the form of a sphere turns
inside a fixed link, it is a spherical pair

• The ball and socket joint is a spherical pair

 CLASSIFICATION OF KINEMATIC PAIRS

•(b) According to nature of contact between the

contacting surfaces
(i) Lower pair
(ii) Higher pair
 LOWER PAIR

• When the two elements of a pair have a

surface contact when relative motion
takes place and the surface of one
element slides over the surface of the
other, the pair formed is a lower pair.

• It will be seen that sliding pairs, turning

pairs and screw pairs form lower pairs.
LOWER PAIRS
• NUT AND BOLT
 HIGHER PAIR
• When the two elements of a pair have a
line or point contact when relative motion
takes place, it is known as higher pair.

• Eg:
▫ A pair of friction discs,
▫ toothed gearing,
▫ belt and rope drives,
▫ ball and bearings and
▫ cam and follower
• BALL BEARING
• GEAR
 CLASSIFICATION OF KINEMATIC PAIRS

(c) According to nature of constraint between

the contacting surfaces
(i) Self-Closed pair
(ii) Force-closed pair
 SELF-CLOSED PAIR
• When the elements of a pair are held together
mechanically, it is known as a closed pair.

• All the lower pairs and some of the higher pairs are
closed pairs.
 FORCE-CLOSED PAIR
• When two links of a pair are in contact
either due to force of gravity or some
spring action, they constitute an unclosed
pair.
• In this, the links are not held together
mechanically, e.g. cam and follower pair
• CAM AND FOLLOWER
 KINEMATIC CHAIN
• A kinematic chain is an assembly of links which
are interconnected through pairs, permitting
relative motion between the links
 KINEMATIC CHAIN

• Conditions to form a kinematic chain

Where;
n- number of links p-no. of lower
pairs
j-number of joints H-no. of
 KINEMATIC CHAIN

• A W Klien’s criteria of constraint

•
• ….chain is
locked/structure

• ……chain is
constrained
•
• ……..chain is
unconstrained
TYPES OF JOINTS IN KINEMATIC CHAIN
• Binary Joint
• Ternary joint
• Quaternary joint
 BINARY JOINT
• When two links are
joined at the same
connection, the joint
is known binary joint.

• For example, a chain

as shown in Fig. has
four links and four
binary joins at
A,B,C,D
• When three links are joined at TERNARY JOINT
the same connection, the joint is
known as ternary joint.

• It is equivalent to two binary

joints as one of the three links
joined carry the pin for the other
two links.

• For example, a chain, as shown

in Fig, has six links. It has three
binary joints at A, B and D and
two ternary joints at C and E.
• When four links are joined at QUATERNARY JOINT
the same connection, the joint
is called a quaternary joint.

• It is equivalent to three binary

joints. In general, when l
number of links are joined at
the same connection, the joint
is equivalent to (l — 1) binary
joints.

• Fig. has two binary joint at F,C

two ternary joints at A, D, and,
and two quaternary joints at B
and E.
• Check whether the following
configurations are kinematic chain or
not.
1)

2)

3)
 MACHINE
• A machine is a mechanism or a
combination of mechanisms which,
transmits force from the source of power
to the resistance (load) to be overcome,
and thus performs useful work.
 STRUCTURE
• An assemblage of resistant bodies, having
no relative motion between them and
meant for carrying loads having straining
action, is called a structure.

• Examples : Roof trusses, bridges,

buildings
 Differentiate between a machine
& Structure
MACHINE STRUCTURE
1) A machine is a mechanism or 1) An assemblage of resistant
a combination of bodies, having no relative
mechanisms which, motion between them and
transmits force from the meant for carrying loads
source of power to the having straining action, is
resistance (load) to be called a structure.
overcome, and thus performs
useful work. 2) No relative motion exists
2) Relative motion exists between its members
between its parts.
3) Structure serves to modify
3)Machine serves to modify and and transmit forces only.
transmit forces & motion.
4) Examples : Roof trusses,
4) Examples : Shaper, lathe. bridges, buildings.
 MECHANISM &INVERSION
• When one of links is fixed in a kinematic chain, it
is called a mechanism.

• So we can obtain as many mechanisms as the

number of links in a kinematic chain by fixing, in
turn, different links in a kinematic chain.

• This method of obtaining different mechanisms

by fixing different links in a kinematic chain, is
known as inversion of the mechanism.
 LECTURE 4
• Degree of freedom /Mobility
• Kutzbach crieterion
• Grubler’s criterion
 DEGREE OF FREEDOM
• Degrees of freedom of a pair is
defined as the number of
independent co-ordinates required to
define the position & orientation of a
body.

• Point in space have 3 DOF

 DEGREE OF FREEDOM
• Degrees of freedom of a pair is
defined as the number of
independent relative motions, both
translational and rotational, a pair
can have.

• For spatial mechanisms

Degrees of Freedom = 6 -
(Number of Constraints)

• For planar mechanisms :-

Degrees of Freedom = 3 -
(Number of Constraints)
 DEGREE OF FREEDOM
• For spatial mechanisms
The complete motion cannot
be represented by single plane
(3D motion paths)

• For planar mechanisms :-

The complete motion can be
represented by single plane
Mobility
• The number of independent input parameters
that are to be controlled so that a mechanism
can take up a particular position

• The number of inputs required to produce the

constrained motion of a mechanism is called
DOF. So if only one input is required to produce
the constrained motion of a mechanism, then
DOF is 1.
• Classification based on no. of restraints:-
• Zero order mechanism - No restraint
• First order mechanism - No restraint
• Second order mechanism - No restraint
• Third order mechanism - No restraint
• Fourth order mechanism - No restraint
• Fifth order mechanism - No restraint
 DOF OF PLANAR MECHANISMS
• It can be stated that an
unconstrained rigid link
in the plane has three
degrees of freedom.
KUTZBACH CRITERIA
• Since in a mechanism, one of the links is to be
fixed, therefore the number of movable links will
be
(n-1)
• Thus the number of degrees of freedom of a
mechanism is given by
f = 6 (n-1)

f = 6 (n-1) – 5p1 – 4p2 – 3p3 – 2p4 – 1p5 – 0p6

p1 – No. of pairs having 1 DOF

p2 – No. of pairs having 2 DOF
p3 – No. of pairs having 3 DOF
p4 – No. of pairs having 4 DOF
p5 – No. of pairs having 5 DOF
GRUBLER’S CRITERIA
• The Grubler’s criterion applies to mechanisms
with only single degree of freedom joints where
the overall movability of the mechanism is unity.

• Substituting n = 1 and h = 0 in Kutzbach

equation, we have
• f = 3 ( n – 1 ) – 2p1

f=3(n–1)– 2p1 – 1p 2
 PROBLEM M-09
• Q1(c) Fig. shows
schematic of a
mechanism. Redraw the
free-hand sketch on the
answer book. Find out
the total number of
kinematic links and
number of kinematic
pairs. Hence find out
the degrees of freedom
for the mechanism
[4
 PROBLEM M-09
•Q 2C)Fig. shows
schematic of a
mechanism. Redraw
the free-hand sketch on
the answer book. Find
out the total number of
kinematic links and
number of kinematic
pairs. Hence find out
the degrees of freedom
for the mechanism. [4]
• (n=8;p1=10;dof=1)
 PROBLEM M-07
• (b) Figure shows
schematic of a
mechanism. Redraw
the free hand sketch
on the answer-book.
Find out the total
number of kinematic
links and number of
kinematic pairs.
Hence find out
degrees of freedom
for the mechanism. [
 PROBLEM M-07
• Q2C) Figure shows
schematic of a
mechanism. Redraw
the free hand sketch
on the answer-book.
Find out the total
number of kinematic
links and number of
pairs. Hence find out
degrees of freedom
for the mechanism.
[4]
 PROBLEM D-05
• Justify the linkages
shown in Fig. is a
mechanism with
single degree of
freedom.
• (n=5;p1=5;p2=1;dof
=1)
 PROBLEM DO-04
• Define degrees of freedom of a
mechanism and find degrees of freedom
for the following cases (Fig. 1 and Fig. 2).
[8 MARKS]
 PROBLEM
• Figure shows
schematic of a
mechanism. Redraw
the freehand sketch
on the answer-book.
Find out the total
number of kinematic
links and number of
pairs. Hence find out
degrees of freedom
for the mechanism.
[4]
 LECTURE 5
• Grashoff’s law
• Four bar chain & its inversions
Grashof’s Law

• For a planar four-bar linkage, sum of the shortest and

longest link-lengths must be less than or equal to the
sum of the remaining two link-lengths, if there is to be a
continuous relative rotation between two members.
s+l≤ p+q
Types of Mechanisms for 3 different conditions of
Grashof’s Law

1] Class – I (s + l < p + q) :-
a) Grashoffian Four Bar Linkage /
Double crank

⮚ Link s - fixed
⮚ Link l & q – crank
⮚ Link p – coupler

b Crank & rocker /

a)
Rotary oscillating converter mechanism

⮚ Link l - fixed
⮚ Link s – crank
⮚ Link p – rocker
⮚ Link q - coupler
Types of Mechanisms for 3 different conditions of
Grashof’s Law
c) Rocker rocker mechanism/ Double lever

⮚ Link p - fixed
⮚ Link l & q – rocker
⮚ Link s – coupler
Types of Mechanisms for 3 different conditions of
Grashof’s Law
2] Class – II (s + l > p + q) :-
a) Non-Grashoffian Four Bar Linkage
Double rocker / Rocker-Rocker / Double Lever
Types of Mechanisms for 3 different conditions of
Grashof’s Law
3] Special Cases of Four Bar Linkage (s + l = p + q) :-
a) Parallel crank four Bar Linkage
Rotary-Rotary converter

b) Deltoid four Bar Linkage

 KINEMATIC CHAIN

1. Four bar chain (4R)

2. Single slider crank chain (3R-1P)

3. Double slider crank chain (2R-2P)
 INVERSIONS OF FOUR BAR
MECHANISM
• Crank and Lever Mechanism (First
Inversion) (Beam engine
mechanism)

• Coupling rod of a locomotive

(Double crank mechanism)

• Watt’s indicator mechanism

(Double lever mechanism).
 CRANK & LEVER MECHANISM
BEAM ENGINE (FIRST INVERSION)
• Beam Engine
Mechanism is the
most popular example
of crank and lever
mechanism. The
purpose of this
mechanism is to
convert rotary motion
into reciprocating
motion.
BEAM ENGINE ANIMATION
 Double crank Mechanism

• This mechanism is
meant for transmitting
rotary motion from one
wheel to the other
wheel.

• Coupled wheels of
locomotive is the
example of double crank
mechanism.
Watt’s indicator mechanism (Double
lever mechanism).
 LECTURE 6
• Slider crank chain & its inversions
 INVERSIONS OF SINGLE SLIDER
MECHANISMS
• It consists of one sliding pair and three
turning pair. It is usually found in
reciprocating steam engine mechanism.
This mechanism converts rotary motion
into reciprocating motion
 Reciprocating Engine Mechanism/Bull
Engine (First Inversion)
• It converts rotary
motion into
reciprocating and
vice-versa.

• This mechanism has

four links and forming
three turning pairs
and one sliding pair.

Link 1 - Cylinder and

Frame
(Fixed)
Link 2 – Crank
Link 3 - Connecting
rod
Link 4 - Piston or
 A) Rotary engine (Second inversion)

link 1- Cylinder link

link2- Fixed Link
link 3 - Connecting Rod
link 4 - Piston ,
B)Withworth quick return mechanism
(Second inversion)
 A)Oscillating Cylinder Engine
Mechanism (Third Inversion)
• Link 1 - Piston & Piston Rod
• Link 2 - Crank
• Link 3 - Fixed Link
• Link 4 – Cylinder

• In this mechanism, the link 3

forming the turning pair is fixed.
The link 3 corresponds to the
connecting rod of a
reciprocating engine
mechanism.
• When the crank (link 2) rotates,
the piston attached to the
piston rod (link 1) reciprocates
and cylinder (link 4) oscillates
about a pin pivoted to the fixed
link (link 3) at A.
B)Crank and Slotted Lever Mechanism (Third
Inversion)

• This mechanism is mostly

used in shaping machines and
slotting machines. This is a
Quick return motion
mechanism.

• The slider (1) reciprocates in

oscillating slotted lever (4)
and crank (2) rotates while
link 3 is a stationary link.
Another link 5, connects the
end of link 4 to the ram (6).

• Stroke = (length of slotted

bar × length of crank ) /
length of fixed link
ANIMATION OF QUICK RETURN
MOTION MECHANISM
Hand pump (fourth inversion
DEC-08
• Q2(c) In a crank and slotted lever quick
return motion mechanism, the distance
between the fixed centers is 240 mm and
the length of the driving crank is 120 mm.
Find the inclination of the slotted bar with
the vertical in the extreme position and
the time ratio of cutting stroke to the
return stroke. If the length of the slotted
bar is 450 mm, find the length of the
stroke if the line of stroke passes through
the extreme positions of the free end of
the lever. [4]
LECTURE 7
• Double crank chain & its inversions
 Double slider crank chain
• A kinematic chain which
consists of two turning
pairs and two sliding pairs
is known as double slider
crank chain,

• INVERSIONS:-
• 1)Elliptical Trammel
• 2)scotch-yoke mechanism
• 3)Oldham coupling
 ELLIPTICAL TRAMMEL
• Here, the slotted frame is
fixed. Any point, such as S
on the link BC will trace out
an ellipse as the blocks B
and C slide along their
respective slots.
• It is an instrument for
drawing ellipses. Clearly, the
CS and BS are respectively
the semi-major and semi-
minor axis.
• link 1 - Slider
• link 2 - Connecting Link
•
ANIMATION OF ELLIPTICAL
TRAMMEL
 SCOTCH YOKE MECHANISM
link 1 – Slider (fixed link) ,
link 2 - Connecting link ,
link 3 - Slider link ,
link4 – Slotted Frame
• Here, one of the two slide blocks i.e.
either link 1 or link 3, is kept fixed. In
such an arrangement, the whole frame
i.e. link 4 will reciprocate as seen in
Scotch-Yoke mechanism.
• Here, rotary motion of link 2 is
converted to reciprocating motion to
link 4.
 OLDHAM COUPLING (THIRD
INVERSION)
• Here the Connecting link in the
basic configuration is fixed.

• Maximum sliding speed of each

tongue is
Vs = w. r
W = angular velocity of each
shaft
r = distance between the
axes of
shafts
Animation of Oldham coupling
LECTURE 8
• Equivalent linkage of mechanisms
• Steering gear mechanisms :
• Condition for correct steering
 EQUIVALENT LINKAGE OF
MECHANISMS

• Many times the physical shape of the

connection between the links is such that
the actual nature and function of the
connection are not immediately noticed.
This is mainly on account that the centre
of a revolute pair is not directly apparent..
 EQUIVALENT LINKAGE OF
MECHANISMS
• Very often, a mechanism with higher pairs can
be replaced by an equivalent mechanism with
lower pairs.

• This equivalence is valid for studying only the

instantaneous characteristics.

• The equivalent lower pair mechanism

facilitates analysis as a certain amount of
sliding takes place between connected links in
a higher-pair mechanism.
Equivalent Linkages of Mechanism
1] Turning Pair in Place of Sliding Pair
Equivalent Linkages of Mechanism
1] Turning Pair in Place of Sliding Pair
Equivalent Linkages of Mechanism
2] Turning Pair in Place of Higher Pair
Equivalent Linkages of Mechanism
2] Turning Pair in Place of Higher Pair
Equivalent Linkages of Mechanism
3] Turning Pair in Place of Spring
Equivalent Linkages of Mechanism
3] Turning Pair in Place of Spring
 OBJECTIVE TYPE
QUESTIONS
Q 1(a) Fill in the blanks (2) In a planar pair,
with proper number of Degrees of
alternative and Freedom is
rewrite the sentences (a) 1
(b) 2
(c) 3
(1) A screw pair with 0 (d)4
pitch can he called
as
(a) Cylindrical pair
(b) Prismatic pair
(c) Spherical pair
 OBJECTIVE TYPE
QUESTIONS
• (3) In a four bar • (4) mechanisms can
‘Grashoffian Linkage’, if be obtained from a
shortest link is grounded double slider simple
we get kinematic chain
(a) Two
(a) Double Crank (b) Three
Mechanism (c) Four
(b) Crack-Rocker (d) Five
Mechanism
(c) Double Rocker
Mechanism
 OBJECTIVE TYPE
QUESTIONS
• (5) link can transmit • (6) The type of
only compressive constraint in a
force, cylindrical pair is
(a) Rigid (a) Incomplete
(b) Flexible (b) Complete
(c) Fluid (c) successful
 OBJECTIVE TYPE
QUESTIONS
• Q2 (a) i) A • (ii) The motion of a
combination of piston in the cylinder of
kinematic pairs, a steam engine is an
joined in such a way example of
that the relative
motion between the (a) Completely
links is completely constrained
constrained, is called (b) Incompletely
a constrained
(c) Successfully
a) Structure constrained
b) Mechanism (d) None of the above.
 OBJECTIVE TYPE
QUESTIONS
• (iii) Which of the following is a turning pair

(a) Piston and cylinder of a reciprocating

steam engine
(b) Shaft with collar at both ends fitted in a
circular hole
(c) Lead screw of a lathe with nut
(d) Ball and socket joint.
 OBJECTIVE TYPE
QUESTIONS
• (5) number of pairs • (6) In a single s1idr
are associated with chain, if crank is
Ternary joint grounded, we get,
(a) 1
(b) 2 (a) Oscillating cylinder
(c) 3 engine
(d) 4 (b) IC engine, mechanism
(c) Door closer mechanism
(d) Hand pump.
 OBJECTIVE TYPE
QUESTIONS
• (1) A kinematic chain with 01 ternary, 01 quaternary
and 11 binary joints must have-------- links, if it has
one degree of freedom.

• (2) In any given kinematic chain we can add

minimum------ links and....,, pairs to maintain its
current degrees of freedom.

• (3) Joystick and its body form a ...... pair.

• (4) Hydraulic oil used in Hydraulic Press, Jack or

Brakes is an............ example of link,

• (5) In a four bar ‘Grashoffian linkage’, if link

opposite to the shortest link is grounded, we get
---------mechanism.
 OBJECTIVE TYPE
QUESTIONS
• (iv) The lead screw of a lathe with nut
forms a:
(a) Sliding pair
(b) Rolling pair
(c) Helical pair
(d) Turning pair.
 OBJECTIVE TYPE
QUESTIONS
• Q 3 Fill in the blanks • (2) In a 2R-2P kinematic
with correct alternative chain, we must ground
& rewrite the complete to get Scotch-Yoke
sentences mechanism.

(1)Spherical pair is a pair. (a) slotted disc.

(a) Higher (b) link connecting the two
(b)lower sliders
(c) open (c) slider.
(d) constrained.
 OBJECTIVE TYPE
QUESTIONS
• (3) Screw pair has (4) Piston and Cylinder
number of degrees of pair from an IC engine is
freedom an example of
(a) 1
(b) 2 (a) completely constrained
(c) 3 motion
(d) 4 (b) Unconstrained motion
(c) normally constrained
motion
(d) successfully
constrained motion.