Introduction to Kinematics

Kinematics is the branch of science which deals with motion without considering the forces causing the motion while kinetics is the branch of science which also takes forces which causes motion as well as weight and inertia effects in study.

Kinematic Link and Kinematic Pair

Link: It is defined as a machine element having relative motion with respect to other part of machine element. Kinematic pair is defined as a joint of two links which permits relative motion between elements or links. Kinematic pair is constituted when there is mechanical contact between them and having arrangement of mechanism. Lower pair is said to be constituted when two elements have surface contact between them. Higher pair is said to be constituted when two element have point contact between them.

Kinematic Chain
Kinematic chain is one in which number of links are so connected that relative motion of any point on a link with respect to any other point on the other link follows a law L = 2/3(J+2) Where, L = Number of links, J = Number of Joints or J = 3/2(L)-2, Where, H = Number of Higher pairs One Higher pair = Two lower pair

The criterion for a chain to be constrained:

J+H/2 = 3/2(L)-2, Where, H = Number of Higher pairs and J =Number of binary joints in chain If R.H.S. = L.H.S. , Chain is said to be locked.

Mechanism
If the one of the link of constrained kinematic chain is fixed, it results into 'Mechanism' A mechanism with four links is called simple mechanism. Mechanism with single degree of freedom are having only even number of links. Real life example is automobile propelling system which contains links in form of piston, connecting rod and cranks shaft to which flywheel and rear tire is attached.

 Mechanism should follow Grashoff's law Grashoff's Law The sum of lengths of shortest and longest link should not be greater than the sum of the remaining link lengths if there is to be continuous relative motion between the links

 Example, Linkage mechanism of excavator and its system.

Inversion of kinematic chain

The different mechanism obtained by fixing one of the links of kinematic chain is called inversion of kinematic chain. Four bar mechanism and single slider mechanism if inversed; they give following inversion for different application in real world.

Inversion of Four Bar Chain

Beam Engine (Crank & lever mechanism) Connecting rod of locomotive (Double crank mechanism) Watt's Indicator mechanism (Double lever mechanism)

Inversion of single slider crank chain

Pendulum pump (Bull engine) Oscillating cylinder engine Rotary IC Engines (Gnome engine) Crank and solotted lever quick return motion mechanism Whitworth's Quick return motion mechanism

Double Slider Crank Chain

Elliptical trammels Scotch yoke mechanism Oldham's coupling

Other basic concepts in Kinematics

The centre which goes on changing from one instance to another is called instantaneous centre. In order to find the location and number of location of instantaneous centre of rotation of body, body/mechanism must follow this law/theorem, Kennedy's Theorem : If three bodies have plane motions, their instantaneous centre lie on a straight line. And Number of instantaneous centre = n(n-1)/2; where n=number of links Attachments

Excavator_Real life example ...

Four bar mechanism and single ...