Kinematics of Machinery Unit 1

KINEMATICSOFMACHINERY
MEE215
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KHALID/SMBS/VITU/WINTER201516
Example forMechanism
Cancrusher
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Simplepress
Rearwindow
wiper
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Liftplatform
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BINARYLINK
Movespackagesfromanassembly
benchtoaconveyor
TERTIARYLINK
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CANSLIDE
ANDROTATE
Microwavecarriertoassist
peopleonwheelchair
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Liftplatform
Deviceto
closethetop
flapofboxes
Frontloader
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Rowingtypeexercisemachine
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Conceptualdesignforan
exercisemachine
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Machines
Machine:
an
assemblage
of
parts
(components) that transmit forces, motion
and energy in a predetermined manner.
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Machines
A machine is a combination of rigid or

resistant bodies, formed and connected so
that they move with definite relative motions
and transmit forces from the source of power
to the resistance to be overcome.
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Machines
Amachinehastwofunctions:
1. transmittingdefiniterelativemotions,and
2. transmittingforces.
These functions require strength and rigidity

to transmit the forces.
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Mechanisms
A mechanism defined as a
combination of rigid or resistant
bodies, formed and connected so
that they move with definite
relative motions with respect to
one another.
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MachinesVsMechanisms
Thesimilarity betweenmachines and mechanisms is

that:
Theyarebothcombinationsofrigidbodies
Therelativemotionamongtherigidbodiesaredefinite
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Structures
A structure is an assembly of rigid or resistant bodies

with nonmovable joint for load bearing purpose.
Structure does not have internal mobility (No relative
motion)
Machines and Mechanisms have internal mobility
Usually static deals with structures
Kinematics and Kinetics deal with the Mechanics and
Mechanisms
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SomeImportantDefinitions
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LinksorElements
A link is defined as a rigid body having two or

more pairing elements which connect it to other
bodies for the purpose of transmitting force or
motion
OR
A machine part or component of a mechanism
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Links(completelyrigid)
CrankPin
CrankShaft
Flywheel
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Identifywhich
linkisfixed?
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Links(Notrigid)
Springs
Belts
Ropes
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Links
Linksareconnectedtotransmitmotion
FromDriver(inputlink)
ToDrivenorfollower(outputlink)
Links
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Unitary(singular),
Binary,
Ternaryor
Quaternary.
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Links
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KinematicPairs
Two elements or links are connected together

in such away that their relative motion is
completely constrained form a kinematic
pair.
or
Ajointoftwolinkshavingrelative
motionbetweenthem.
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KinematicPairs Types
Types
HigherPairs(point,LineorCurvecontact)
Gearteeth,camandfollower,frictiondisks
Lowerpairs(SurfaceContact)
1.
2.
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Revolutejoint(Pinjoint)suchashinges
Prismaticpairsuchassliders
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SixTypesofLowerPairs
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Higher pair:
The contact between the pairing elements takes place at a point or along a line.
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KinematicChain
When several movable links are connected to each
other by joints, they are called kinematic chain.
A kinematic chain with at least one link has been
grounded constitutes a mechanism chain.
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ClosedChain
If every link in the chain is connected to two or more
links then the chain form one or more closed loops
If the link form a closed loops, it is called closed
mechanism chain
If NOT, the chain is said to be open mechanism chain
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PlanarandSpatialMechanisms
In 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 spatial mechanism.
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Degreesoffreedom(DOF)
The definition of the Degrees of Freedom of a
mechanism is the number of independent
relative motions among the rigid bodies.
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Mobility
The number of degrees of freedom of a mechanism
is also called the mobility of the device.
The Kutzbach criterion
M 3(n 1) 2 j h 3(n 1) 2 J1 1.J 2
Where
M total degrees of freedom in the mechanism
n number of links (including the frame)
j number of binary joints or lower pairs (one degree of freedom)
h number of higher pairs (two degrees of freedom)
J1 numberjo int swith1DOF
J 2 numberjo int swith 2 DOF
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Degreesoffreedom/mobilityofa
mechanism
It is the number of inputs (number of
independent coordinates) required to describe
the configuration or position of all the links of
the mechanism, with respect to the fixed link
at any given instant.
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Examples DOF
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F = 3(n-1)-2J-h
Here, n = 4,
J=4&
h = 0.
F = 3(4-1)-2(4) = 1
I.e., one input to any one
link will result in definite
motion of all the links.
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F = 3(n-1)-2J-h
Here, n = 5, l = 5 and h = 0.
F = 3(5-1)-2(5) = 2
I.e., two inputs to any two links are
required to yield definite motions in
all the links.
F = 3(n-1)-2J-h
Here, n = 6, l = 7 and h = 0.
F = 3(6-1)-2(7) = 1
I.e., one input to any one link will result in
definite motion of all the links.
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DOF?
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F = 3(n-1)-2J-h
Here, n = 6, l = 7 (at the intersection of
2, 3 and 4, two lower pairs are to be
considered) and h = 0.
F = 3(6-1)-2(7) = 1
F = 3(n-1)-2J-h
Here, n = 11, l = 15 (two lower
pairs at the intersection of 3, 4,
6; 2, 4, 5; 5, 7, 8; 8, 10, 11) and
h = 0.
F = 3(11-1)-2(15) = 0
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Calculatethedegreesoffreedomofthemechanisms
showninFigure.
Here , n = 4, l = 4 ( at A, B,C,D) and h = 0.

F=3(4-1) -2 x 4-0 = 1
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LOCKEDCHAINORSTRUCTURE
Links connected in such a way that no relative
motion is possible.
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Unconstrainedkinematicchain
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MECHANISM
Slider crank and four bar mechanisms
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FindDOF?
(a)
F = 3(n-1)-2l-h
Here, n = 4, l = 5 and h = 0.
F = 3(4-1)-2(5) = -1
I.e., it is a structure
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(b)
F = 3(n-1)-2l-h
Here, n = 3, l = 2 and h = 1.
F = 3(3-1)-2(2)-1 = 1
(c)
F = 3(n-1)-2l-h
Here, n = 3, l = 2 and h = 1.
F = 3(3-1)-2(2)-1 = 1
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F = 3(n-1)-2l-h
Here, n = 9, l =11 and h = 0.
F = 3(9-1)-2(11) = 2
F = 3(n-1)-2l-h
Here, n = 8
l = 9+2(on account of double joint),
h = 0.
F = 3(8-1)-2(11) = -1
F = 3(n-1)-2l-h
Here, n = 10,
l = 9+2(2)=13 and
h = 0.
F = 3(10-1)-2(13) = +1
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F = 3(n-1)-2l-h
Here, n = 9,
l = 11 and
h = 0.
F = 3(9-1)-2(11) = +2
F = 3(n-1)-2l-h
Here, n = 7,
l = 8 and
h=1
F = 3(7-1)-2(8)-1 = +1
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F = 3(n-1)-2l-h
Here, n = 9,
l =11 (one DOF)
h=1
F = 3(9-1)-2(11)-1 = +1
Fig.Undercarriagemechanismofanaircraft
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KinematicEquivalence
Higherpairjointsareoftenreplacedbykinematically equivalentlower
pairjoints.
2
1
1
2
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n=2
l=1
h=0
F=1
n=3
l=2
h=0
F=2
n=4
l=4
h=0
F=1
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n=4
l=3
h=0
F=3
n=6
l=7
h=0
F=1
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FindDOF?
F = 3(n-1)-2l-h
F=3(10-1)-2(12)=+3
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FindDOF?
F = 3(n-1)-2l-h
= 3(10-1)-2(12)
=+3
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GrublerscriterionforplaneMechanisms
The Grublers criterion applies to mechanisms with only
one degree of freedom joints, where overall mobility of
the mechanism is unity. Substituting F=1 and h=0 in
Kutzbach equation
1 3( L 1) 2 j 0
or
3L 2 j 4 0
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Reference:Theoryofmachines S.S.RATTANPP21
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Grashoffs Type2:s+l >p+q

nocompleterotatablejoints
Grashoffs lawneutral:s+l=p+q
linkagescanbeflattened
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TransmissionAngle
Max.transmissionangle
Min.transmission
angle
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Transmissionangle
Crankrocker
doublerocker
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Mechanicaladvantage
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INVERSIONSOFMECHANISM
A mechanism is one in which one of the links of a kinematic

chain is fixed. Different mechanisms can be obtained by fixing
different links of the same kinematic chain. These are called as
inversions of the mechanism.
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FOURBARCHAIN
(link 1) frame
(link 2) crank
(link 3) coupler
(link 4) rocker
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INVERSIONSOFFOURBARCHAIN
1. Crank-rocker mechanism
2. Drag link mechanism

3. Double rocker mechanism
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CRANKROCKERMECHANISM
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DRAGLINKMECHANISM
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DOUBLECRANKMECHANISM
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SLIDERCRANKCHAIN
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INVERSIONSOFSLIDERCRANKCHAIN
(a) crank fixed (b) connecting rod fixed

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(c) slider fixed

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INVERSIONSOFSLIDERCRANKCHAIN
(a) crank fixed (b) connecting rod fixed

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(c) slider fixed

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FirstInversion fixlinkno.1
2crank
4slider
Link1 fixed
IC Engine
Compressor
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SecondInversion fixlinkno.2(crank)
Fixinglink No2
RotaryEnginemechanism
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Whitworthquickreturnmotionmechanism2Inversion
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Rotaryengine 2inversionofslidercrankmechanism.(crankfixed)
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ThirdInversion
Oscillatingcylinderengine
Fixinglink No3
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Crankandslottedquickreturnmotionmechanism
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FourthInversion
Fixinglink No4
HandPump
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DOUBLESLIDERCRANKCHAIN
It is a kinematic chain consisting of two

turning pairs and two sliding pairs.
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SCOTCHYOKEMECHANISM
Turning pairs ? Sliding pairs ?
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Inversionsofdoubleslidercrankmechanism
Elliptical trammel
AC = p and BC = q, then,
x = q.cos and y = p.sin.
Rearranging,
2
x y
cos 2 sin 2 1
q p
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OldhamsCoupling
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FOURBARMECHANISM
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Straightlinemotionmechanisms
Condition for perfect steering
Locus of pt.C will be a straight

line, to AE if, AB AC
is constant.
AEC ABD
Proof:
AD AB
AC AE
AB AC
AE
AD
butAD const.
AE const., ifAB AC const.
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Peaucelliermechanism
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Hartsmechanism
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ScottRussellsmechanism
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Robertsmechanism
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Intermittentmotionmechanisms
Geneva wheel mechanism
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Intermittentmotionmechanisms
Ratchet and pawl mechanism
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ApplicationofRatchetPawlmechanism
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Othermechanisms
Toggle mechanism
Considering the equilibrium
condition of slider 6,
F
2
P
F 2 P tan
tan
For small angles of , F is

much smaller than P.
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Pantograph
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Kinematics of Machinery Unit 1

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Kinematics of Machinery Unit 1

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KINEMATICSOFMACHINERY

A machine is a combination of rigid or

These functions require strength and rigidity

Thesimilarity betweenmachines and mechanisms is

A structure is an assembly of rigid or resistant bodies

A link is defined as a rigid body having two or

Two elements or links are connected together

Here , n = 4, l = 4 ( at A, B,C,D) and h = 0.

Grashoffs Type2:s+l >p+q

A mechanism is one in which one of the links of a kinematic

2. Drag link mechanism

(a) crank fixed (b) connecting rod fixed

(c) slider fixed

(a) crank fixed (b) connecting rod fixed

(c) slider fixed

It is a kinematic chain consisting of two

Turning pairs ? Sliding pairs ?

Condition for perfect steering

Locus of pt.C will be a straight

Geneva wheel mechanism

Ratchet and pawl mechanism

For small angles of , F is

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