ME 207 - KOM Unit 1 PDF

KINEMATICS OF
MACHINERY (ME-207)
Instructor
Dr. Deepak k Kumar
Room No: 116, Department of Mechanical
Engineering,
i i MMU.
Email: deepakkumar@mmumullana.org
M#8059931047
#80 993104
13 October 2016 Kinematics of Machinery - Unit - I 1
Course Objectives
To provide the basic concepts of kinematic aspects of mechanical machines
and major parts used in running of the machines.
The students will understand the basic concepts of machines and able to
understand constructional and working features of important machine elements.
The students should be able to understand various parts involved in kinematics
of machines for different applications.
The students shall also be able to understand requirements of basic machine
parts which would help them to understand the design aspects of the machine
parts.
Course Outcomes
Understand the basic mechanisms used in machines & their applications
in industries
Familiarize with the velocity and acceleration in mechanism & its
applications in industries and daily life
Understand the synthesis of mechanisms, Cams and Followers & its
applications in industries
Understand the friction concepts and Belt, Ropes, Chains and its practical
applications.
Kinematics of Machinery - Unit - I 13 October 2016 2
KINEMATICS OF
MACHINERY
Unit I-Introduction,
I-Introduction Basic Concepts,
Concepts
Mechanism with Lower Pairs
Unit II Velocity And Acceleration In
Mechanism (Instantaneous Centre and
Relative Velocity Method)
Unit III Synthesis of mechanisms, Cams
and
dFFollowers
ll
Unit IV Friction and Belt, Ropes, Chains
Kinetics and Kinematics
Kinetics
The study of forces that causes motion, for example, Torque, Gravity,
Friction etc. and can be classified as linear and angular
g motion.
Kinematics
The study of describing movement, for example, displacement, time,
Velocity etc.
Dynamics
The study of calculation of forces impressed upon different parts of
a mechanism. The forces can be either static or dynamic.

Kinematics of Machinery - Unit - I 13 October 2016 4
,
Concepts, Mechanism with Lower
P i
Pairs
1.Terminologies
g 3.Grashoff Law
Machine 4.Mechanism
Mechanism Four Bar
Kinematic Pair Single-Slider Crank
Links Double-Slider
Kinematic Chain 5.Inversion of
2. DOF Mechanism
Kutzhback Equation
Grubler Equation

MECHANISM
Mechanism Part of a machine, which
transmit motion and power from input point to
output point.
In
I other
th way, If a number
b off bodies
b di (usually
( ll
rigid) are assembled in such a way that the
motion
ti off one causes constrained
t i d and d
predictable motions to the others, it is known
h i
as mechanism. Th mechanism
Thus, h i transmits
t it andd
modifies a motion.

MACHINE
A machine is a mechanism or collection of
mechanisms, which transmit force from the
source of p power to the resistance to be
overcome.
In other way, A machine is a mechanism or a
combination of mechanisms which, apart from
imparting definite motions to the parts, also
transmits and modifies the available
mechanical energy into some kind of desired
work.
It is neither a source of energy nor a producer

Example for Mechanism
Frame and Guides: 1
C k 2
Crank:
Connecting Rod: 3
Slider: 4
A slider crank mechanism converts the

reciprocating motion of a slider into a
rotary motion of the crank or vice
vice-versa
versa

Though
g all machines are mechanisms,, all
mechanisms are not machines

Rigid and Resistant Bodies
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 bodies are those which are rigid for the purposes they have to
serve.
A belt is rigid when subjected to tensile forces. Therefore, the belt in
belt-drive act as resistant body.
Similarly, Fluid can also act as resistant bodies when compressed as
in case of hydraulic press.
LINK
A mechanism is made of a number of resistant bodies out of which
some may have motions relative to the others. A resistant body or a
group of resistant bodies with rigid connections preventing their
relati e mo
relative movement
ement is kno
knownn as a Link.
Link A link is also kno
known
n as
kinematic link or element.
LINK
A resistant body or a group of resistant bodies
with rigid connections preventing their relative
movement is known as a Link. A link is also
known as kinematic link or element.
Link can be classified into binary, ternary,
quaternary, etc depending upon its ends on
revolute or turning pairs can be placed.

PAIRING ELEMENTS
Pairing elements: the geometrical
th t i l forms
f b which
by hi h two
t
members of a mechanism are joined together, so that the
relative motion between these two is consistent. Such a pair of
links is called Kinematic Pair.

PAIRING ELEMENTS

PAIRING ELEMENTS

Kinematic Pair
A kinematic pair or simply a pair is a joint of
two links having relative motion between
them.
Slider crank mechanism
IIn a slider
lid crank k mechanism,
h i lilink
k 2 rotates
t t relative
l ti tto lilinkk 1 and
d constitutes
tit t
A revolute or turning pair. Similarly, links 2, 3 and 3, 4 constitutes turning
Pairs. Link 4 (Slider) reciprocates relative to link 1 and is a sliding pair.

Types of Kinematic Pair
Kinematic pairs can be classified according to
Nature of contact
Nature of mechanical constraint
Nature of relative motion
Kinematic pairs according to nature of contact
(a) Lower Pair: A pair of link having surface or area contact between
the members
members. The contact surfaces of the two links are similar
similar.
Example: Nut turning on a screw, Shaft rotating in a bearing, all pairs
of slider crank mechanism, universal joint, etc.
Shaft rotating in a bearing Universal Joint

13 OctoberNut
2016
turning a screw Kinematics of Machinery - Unit - I 16
(b) Higher Pair: Pair having a point or line contact between the links,
it is known as a higher pair. The contact surfaces of the two links
are dissimilar.
dissimilar
Example: Wheel rolling on a surface, cam and follower pair, tooth
gears, ball and roller bearing, etc.
Ball and roller bearing Wheel rolling on a surface
Cam and follower pair

Kinematic pairs according to nature of Mechanical Constraint
(a). Closed Pair

When the elements of a pair are
held together mechanically, it is
known as a closed pair.
p
(b). Unclosed Pair Close Pair
When two links of a pair are in
contact either due to force of
gravity or some spring action,
action
they constitute an unclosed pair.
Open
All the lower Pair
pairs and some of
the higher pairs are closed pairs.
Kinematic pairs according to nature of Relative Motion
(a) Siding pair [DOF = 1]
(b) Turning pair (revolute pair)

[DOF = 1]

((c)) Cylindrical
y pair [[DOF = 2]]
p
((d)) Rolling
gppair
[DOF = 1]

((e)) Spherical
p pair [[DOF = 3]]
p
((f)) Helical p
pair or screw p
pair [[DOF = 1]]

PLANAR MECHANISMS
When all
Wh ll the
th links
li k off a mechanism
h i haveh plane
l
motion, it is called as a planar mechanism. All
th links
the li k in i a planar
l mechanism
h i move in
i
planes parallel to the reference plane.
The deployable mirror

linkage is constructed from
a series of rhomb
rhombuss or
scissor linkages.
An extended scissor lift
DEGREES OF FREEDOM
(DOF):
Degree of freedom of rigid body is defined as the number of
independent movement it has.

DEGREES OF FREEDOM
In other way, It is the number of inputs
(number of independent coordinates) required
to describe the configuration or position of all
the links of the mechanism,
mechanism with respect to the
fixed link at any given instant.

KINEMATIC CHAIN
A kinematic chain is an assembly of links
which are interconnected through g jjoints or
pairs, in which the relative motions between
the links is p possible and the motion of each
link relative to the other is definite.

NON-KINEMATIC CHAIN
In this case, the motion of a link results in
indefinite motions of others links,
links so it is a
non-kinematic chain.
Th reason for
The f this
thi indefinite
i d fi it motion
ti lies
li in
i the
th
fact that if the given motion to any of the link
i the
in th chain
h i then,
th th other
the th links
li k can take
t k
indefinite positions.

REDUNDANT CHAIN
There is no motion possible in the redundant
chain It is observed
chain. obser ed from the below
belo figure,
fig re the
chain is locked due to its geometry.

Kinematic Chain
Relation between Links,, Pairs and Joints ((Grublers
Equations)
L=2P-4
J (3/2) L 2
J=(3/2)
L => No of Links
P => > No of Pairs
J => No of Joints
L.H.S > R.H.S => Locked chain
L.H.S = R.H.S => Constrained Kinematic or Kinematic
Chain
LHS<R
L.H.S R.H.S
H S => Unconstrained Kinematic or Non-Non
Kinematic ChainKinematics of Machinery - Unit - I
13 October 2016 32
LOCKED CHAIN (Or) STRUCTURE
Links connected in such a way that no relative
motion is possible.
L=3, J=3, P=3 L.H.S>R.H.S

Kinematic Chain Mechanism
Slider crank and four bar mechanisms
L=4, J=4, P=4
L.H.S=R.H.S

MECHANISM AND
STRUCTURE
If motion of each link results in definite

motions of the others,
others the linkage is known as
a mechanism.
If one of the links of redundant chain is fixed,
fixed
it is known as a structure.
Th DOF off a Structure
The St t i zero
is or less
l .
A structure with negative DOF is called as
Superstructure
EXAMPLE
Excavator Table Lamp Structure
Robotic Manipulator Blue and white part of the Ship

CLASSIFICATION OF
MECHANISMS
According to the number of these common restraints, A mechanism can be
classified
l ifi d iinto
t diff
differentt orders:
d
Zero order mechanism: no common restraint
First order mechanism: one common restraint
Second
Second order mechanism: two common restraint
so on

Determination of DOF of A
MECHANISM IN SPACE
Let N= total number of links in a mechanism
F= degrees of freedom
P1=number of pairs having one degree of freedom
P2=number of pairs having two degrees of freedom
In a mechanism, one link is fixed.
Therefore,
Number of movable links =N-1
Number of degrees
g of freedom of ((N-1)) movable links = 6(N-1)
( )
Each pair having one degree of freedom imposes 5 restraints on the
mechanism reducing its DOF by 5P1
Each pair having one degree of freedom imposes 4 restraints on the
mechanism reducing its DOF by 4P2
Similarly, other pairs having 3, 4 and 5 DOF reduce the DOF of the
mechanism.
F = 6(N-1)
6(N 1) - 5P1 - 4P2 - 3P3 - 2P4 - 1P5
GRUBLERS CRITERION
Number of degrees
g of freedom of a mechanism in a pplane is ggiven byy
F = 3(n-1)-2l-h. Where,
F = Degrees of freedom
n = Number of links in the mechanism.
mechanism
l = Number of lower pairs, which is obtained by counting the
number of joints. If more than two links are joined together at any
point then,
point, then one additional lower pair is to be considered for every
additional link.
h = Number of higher pairs
or
F = 3(N-1) - 2P1 - 1P2
If F=1
F 1, = 3(n-1)-2l-h

Examples - DOF
F = 3(n-1)-2l-h
Here, n = 4, l = 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.

Examples - DOF
F = 3(n-1)-2l-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
I.e.,
required to yield definite motions in
all the links.

Examples - DOF
F = 3(n-1)-2l-h
Here, n = 6, l = 7 and h = 0.
F = 3(6-1)-2(7) = 1
I one input
I.e., i to any one link
li k will
ill result
l in
i
definite motion of all the links.

Examples - DOF
F = 3(n-1)-2l-h
Here, n = 6, l = 7 (at the intersection of
2, 3 and 4, two lower pairs are to be
considered) and h = 0.
0
F = 3(6-1)-2(7) = 1

Examples - DOF
F = 3(n-1)-2l-h
Here,
Here n = 11 11, l = 15 (t
(two
o lo
lower
er
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

Examples
p - DOF
(a) (b) (c)

F = 3(n-1)-2l-h F = 3(n-1)-2l-h F = 3(n-1)-2l-h
Here, n = 4, l = 5 and h = 0. Here, n = 3, l = 2 and h = 1. Here, n = 3, l = 2 and h = 1.
F = 3(4-1)-2(5) = -1 F = 3(3-1)-2(2)-1 = 1 F = 3(3-1)-2(2)-1 = 1
I.e., it is a structure

Paradoxes
Gruebler's
G bl ' criterion
it i d does nott iinclude
l d geometry,
t so it can give
i wrong
prediction
We must use inspection
n=5, l=6
F 0
F=0
n=5,, l=6
F=0,

Paradoxes
Gruebler's
G bl ' criterion
it i d does nott iinclude
l d geometry,
t so it can give
i wrong
prediction
We must use inspection
n=3, l=3
F 0
F=0
If no slip occurs, then this is a one-

freedom, or full, joint that allows only
relative angular
g motion (()) between
the wheels.
Others paradoxes exist, so the
designer must not apply the equation
blindly
blindly.

Some Examples
Punch Press
Vise Grip Pliers
DOF=2
DOF 2? DOF=1 ?

Some Examples
Dump truck
Transom mechanism

TYPES OF PAIRS OR JOINTS

TYPES OF PAIRS OR JOINTS

Determining DOF and Pairs
Nb=No of Binary P=No
P No of Pairs
Links F=Mobility or DOF
Nt=No of Ternary P=N+L 1
P=N+L-1
Links F=N-(2L+1)
No=No N off Oth
Other Only for Turning and
Links Sliding pair
N=Total No of
Links
L=No
13 October 2016
of Loops
Kinematics of Machinery - Unit - I 53
P=N+L-1
M=N-(2L+1)
Nb = 4,N
, t=2,, N0=0
N=6, L=2
Sol:
P=6+2-1=7
F=6-(2x2 +1)=1

P=N+L-1
M=N-(2L+1)
Nb = 5
5,N
Nt=1,
=1 N0=0
N=6, L=2
Sol:
P=6+2-1=7
M=6-(2x2 +1)=1

P=N+L-1
P N+L 1
F=N-(2L+1)
Nb = 9,Nt=0, N0 =2
N=11,
N 11, L=5
L 5
Sol:
P 11+5 1 15
P=11+5-1=15
F=11-(2x5 +1)=0
Some Examples
Weight Training Mechanism Kinematic Diagram

REDUNDANT DEGREE OF FREEDOM
There are instances when Grueblers formula predicts a seemingly excessive number
of degrees of freedom. This may involve a passive or redundant degree of freedom.
The redundant degrees of freedom does not influence the overall motion of the
mechanism.
The rotation of the roller about its own axis is a redundant degree of freedom and it
does not affect the motion of the output follower. # DOF = 3(n -1) - 2f1 - f 2
incorrect:
n =4
Redundant degree of f1 = 3
freedom between
arm and roller f2 = 1
# DOF = 3 (4 -1) - 2 3 - 1 = 2
correct:
n =3
f1 = 2
f2 = 1
# DOF = 3 (3 -1) - 2 2 - 1 = 1
58
cam and follower.SLDASM
REDUNDANT CONSTRAINT
There are mechanisms whose computed degrees of freedom may be zero or
negative. They can, nevertheless, move due to special proportion, for example,
the five-bar linkage.
Because of the parallel configuration, the linkage can move. This is called
overconstrained linkage, in which one of the two couplers provides a redundant
constraint.
Remove the link which provides redundant constraint in calculating the degrees of
freedom.
# DOF = 3(n -1) - 2f1 - f 2
incorrect:
n =5
f1 = 6
f2 = 0
1) - 2 6 - 0 = 0
# DOF = 3 (5 -1)
correct:
n =4
f1 = 4
f2 = 0
59
5 bar linkage overconstrained.SLDASM # DOF = 3 (4 -1) - 2 4 - 0 = 1
Gruebler's Criterion and
Kutzbachs Criterion
F = 3(
3(n-1)-2l-h
1) 2l h
Applied when over DOF is unity
F = total degrees of freedom in the mechanism
n = number of links (including the frame) F = 3(n-1)-2l-h
l = number of one degree of freedom pairs or lower pairs
1=3n-3-2l
h = number of two degrees of freedom pairs or higher pairs
This equation is also known as Gruebler's equation. 3n-2l-4=0
The number of degrees of freedom of a

Applied when over mechanism is also called the mobility of the
device.
almost all mechanism The mobility
o y is
s the number
u b of o input
pu parameters
pa a s
(usually pair variables) that must be
independently controlled to bring the device into
a particular position.
The Kutzbach criterion, which is similar to
Gruebler's equation,
equation calculates the mobility.
mobility

Nb=No of Binary
P No of Pairs
P=No
Li k
Links
F=Mobility or DOF
Nt=No of Ternary
Links P=N+L 1
P=N+L-1
No=No of Other F=N-(2L+1)
Links only for Turning and
Total No of
N=Total
N Sliding pair
Links
L=No of Loops
Kutzbachs Criterion
F or m = 3(n-1)-2l-h
n=3, l=3, n=4, l=4,

h=0,
h 0, m=0
m 0 h=0,
h 0, m=1
m 1
n=4, l=4,
h=0,, m=1
n=5, l=5,
h=0, m=2

Kutzbachs Criterion
F or m = 3(n-1)-2l-h
n=5, l=6, n=6, l=8,

h=0, m=0 h=0, m=-1
n=4,
n 4 l=3,
l 3
h=1, m=2
n=3,
13 October l=2,
2016 Kinematics of Machinery - Unit - I 63
h=1, m=1
n=5, l=6, n=5, l=6,
h=0, m=0 h=0, m=0
The actual mobility of 1 results only if the parallelogram geometry

is achieved. Because in the development of Kutzbach criterion, no
consideration was given to the lengths of the links or other
dimensional properties.

If a link can move without causing any movement in the rest of
mechanism, then the link is said to have redundant degree
g of
freedom.

Grashoff Law
The sum of the
shortest and longest
link length should
not exceed the sum
of the other two link
lengths.
s+l < p+q

(ex.) (1+2) < (3+4)

INVERSIONS OF MECHANISM
A mechanism is one in which one of the links of a kinematic

chain
h i is
i fixed.
fi d Different
iff mechanisms
h i can be
b obtained
b i d byb fixing
fi i
different links of the same kinematic chain. These are called as
inversions of the mechanism.

INVERSIONS OF MECHANISM
Four Bar Mechanism: 4 Turning

Pair
Single Slider Crank Chain: 1
Sliding Pair and 3 Turning Pair
Double Slider Crank Chain: 2
Turningg Pair and 2 Sliding
g Pair
FOUR BAR MECHANISM
(link 1) frame
(link 2) crank
((link 3)) coupler
p
(link 4) rocker

INVERSIONS OF FOUR BAR
MECHANISM
Fix link 1 (q) & 3 (l).
Crank rocker or
Crank-rocker
Crank-Lever mechanism
Fix link 2 (s).
Double Crank mechanism
or Drag-crank mechanism
Fix link 4 (p).
Double rocker mechanism

INVERSION OF FOUR BAR
MECHANISM
Crank Rocker or Crank
Crank-Rocker Crank-Lever
Lever mechanism
Rear Wiper Mechanism

MECHANISM
Double rocker Mechanism
Application: Crane
It is of importance to note that inversion of a mechanism in no

way changes the type of revolute and the relative motion
between its links.

MECHANISM
Double Crank Mechanism or
Drag Link Mechanism
Application of Double Crank Mechanism:

Bell Pepper Harvester

Locomotive Wheel - DOUBLE
CRANK MECHANISM
Rotary motion of one wheel is transmitted to the other

wheel
FOUR BAR APPLICATION
4 Bar Mechanism used for
artificial Knee Joint

SLIDER CRANK MECHANISM
Link1=Ground
Link2=Crank
Li k3 C
Link3=Connecting
ti RRod
d
Link4=Slider

Inversions
e so so of S
Slider
de CCrank
a
Mechanism Application: Reciprocating engine and compressor
(a) Link 1 Fixed
(b) crank fixed (c) connecting rod fixed (d) slider fixed
Link 2 fixed Link 3 fixed Link 4 fixed
Application:
Application: Application:
Whitworth quick-return mechanism
Oscillating Cylinder Engine Hand Pump
Rotary Engine
Crank and Slotted-lever Mechanism

First
st Inversions
e so so of S
Slider
de CCrank
a
Mechanism
Link 1: Fixed, Application: Reciprocating engine and compressor

Link 2: Crank
For, reciprocating engine: 4 (Piston) is the driver
Link4: Slider For reciprocating compressor: 2 (Crank) is the
For,
driver
Reciprocating Compressor One of the type of Reciprocating engine

Second
Seco d Inversions
e so so of S
Slider
de
Crank Mechanism
Link 2: Fixed
Application:
Timeforforwardstroke

Ti f
Timeforreturnstroke
k
Seco d Inversions
Second e so so of S
Slider
de
Crank Mechanism
Link 2: Fixed
Application:

Seco d Inversions
Second e so so of S
Slider
de
Crank Mechanism
Application:
Rotary Engine
Link 2: Fixed

Rotary engine 2nd inversion of slider crank
mechanism. (crank fixed)

Application
Inversion 3rd -Link 3 Connecting rod fixed
Crank and slotted lever quick return
mechanism
T im e fo r fo r w a r d s tr o k e

T im e fo r r e tu r n s tr o k e
Application of Crank and slotted lever quick
return motion mechanism

Application of Crank and slotted lever quick
return motion mechanism

Oscillating
O ill i cylinder
li d engineIII
i III inversion
i i off
slider crank mechanism (connecting rod fixed)

I
Inversion
i 4 Link
Li k 4 Slid
Slider fifixed
d

Application
Inversion 4 Link 4 Slider
S fixed
f
Pendulum pump or bull engine

DOUBLE SLIDER CRANK
CHAIN
It is a kinematic chain consisting of two
turning pairs and two sliding pairs.
Link 1 Frame
Link 2 Slider -I
Link 3 Coupler
Link 4 Slider - II

Inversion I Frame Fixed
Double slider crank mechanism
Elliptical trammel
AC = p and BC = q, then,
x = q.cos and y = p.sin.
Rearranging,
2 2
x y
cos 2 sin 2 1
q p

Inversion I Frame Fixed
Double slider crank mechanism
Elliptical trammel application
It is used in automatic tool changer in a machining

machining.
Elliptical Trammels are used for drawing large ellipses.
They can be used to draw smaller ellipses but only draw
one half at a time,
time having to be reversed to draw the
complete ellipse.

Inversion II Slider - I Fixed
SCOTCH YOKE MECHANISM
Turning pairs 1&2, 2&3; Sliding pairs 3 &
4, 4 &1

Inversion
ve s o III Coup
Coupler
e Fixed
ed
OLDHAM COUPLING

Pantograph
Pantograph are used to copy the curves on reduced or enlarged scales.

Pantograph
Four links of a pantograph are arranged in such a way that parallelogram ABCD is formed
Thus, AB=DC and BC=AD
If Point O in one of the links is made fixed and three other points P, Q and R on the other three links are located in such a way that OPQR is a
straight line and points, P, Q, R always move parallel.
Let O, P, Q and R lie on the links CD, DA, AB and BC respectively. ABCD is the initial assumed position as shown in the figure.
g be moved to another position
Let the linkage p so that A moves to A , B to B and so on.
In ODP and OCR

O, P and R lie on a straight line and thus OP and OR coincides.
DOP =COR
ODP =OCR
There ffore, s are similar and
Now, AB = AB =DC =DC and BC = BC =AD= AD

Therefore, ABCD is again a parallelogram.
In s ODP and OCR
ODP
and OD P =OCR
OC R
A the
As h li k
linkage i moved,
is d the
h ratio
i off the
h distances
di off P andd R from
f fi d point
fixed i
Thus, s are similar.
remains same or the two points are displaced proportional to their distances from
DOP =COR
Or O, P and R lie on a straight line. fixed point. This will be true for all the positions of the links. Thus, P and R will
Now, trace exactly similar path.
Similarly, It can be shown that P and Q traces similar paths. Thus, P, Q and R trace
similar paths when the linkage is given motion.
motion

Pantograph
Four links of a pantograph are arranged in such a way that parallelogram ABCD is formed
Thus, AB=DC and BC=AD
If Point O in one of the links is made fixed and three other points P, Q and R on the other three links are located in such a way that OPQR is a
straight line and points, P, Q, R always move parallel.
Let O, P, Q and R lie on the links CD, DA, AB and BC respectively. ABCD is the initial assumed position as shown in the figure.
g be moved to another position
Let the linkage p so that A moves to A , B to B and so on.
In ODP and OCR

O, P and R lie on a straight line and thus OP and OR coincides.
DOP =COR
ODP =OCR
There ffore, s are similar and
Now, AB = AB =DC =DC and BC = BC =AD= AD

Therefore, ABCD is again a parallelogram.
In s ODP and OCR
ODP
and OD P =OCR
OC R
A the
As h li k
linkage i moved,
is d the
h ratio
i off the
h distances
di off P andd R from
f fi d point
fixed i
Thus, s are similar.
remains same or the two points are displaced proportional to their distances from
DOP =COR
Or O, P and R lie on a straight line. fixed point. This will be true for all the positions of the links. Thus, P and R will
Now, trace exactly similar path.
Similarly, It can be shown that P and Q traces similar paths. Thus, P, Q and R trace
similar paths when the linkage is given motion.
motion

Pantograph Applications
Drafting or Drawing
Mounted on the roof of the train Milling Machine

1.Straight line motion mechanisms
It is a constraint mechanism that permits only relative motion of an
oscillatory nature along a straight line. Condition for Exact Straight Line Mechanism
These mechanisms are of the following two types:
Locus of ppt. C will be a straight
g line,, to
1 in
1. i which
hi h only
l turning
i pairsi are used,
d andd AE if, AB X AC is constant.
2. in which one sliding pair is used.
The p
principle
p adoptedp for a mathematicallyy correct or Proof:
exact straight line motion is described in Fig. shown
below. AEC ABD
AD AB

AC AE
AB AC
AE
AD
butAD const.
AE const., ifAB AC const.
Exact straight line motion mechanism with Turning pair

1.a) Peaucellier mechanism
C
P
A Paucellier mechanism consists of eight R
links such that OA=OQ; AB=AC
AB=AC, and 1
Q
BP=PC=CQ=QB 3
2
4 B
OA is the fixed link and OQ is
a rotating link. 5
P'
A
O Q'
As the link OQ moves around O,
P moves in straight line perpendicular to
OA. All the joints are pin-jointed.

Peaucellier mechanism
Since BPCQ is a rhombus, QP always bisect the angle BQC
i.e., 1= 2 (i) C
P
in all the positions R
Also in s AQC and AQB, Q

1
3
AQ is common, 2
AC = AB 4 B
QC = QB
5
P'
s are congruent in all positions. A
O Q'
Or 3= 4 (ii)
Adding (i) and (ii) LetPPbetheperpendicularonAO
produced.
1+ 3=
3 2+ 4 sAQQandAPParesimilarbecause5
But, 1+ 2+ 3+ 4=360 iscommonandAQQ= APP=90
1+ 3= 2+ 4= 180
OrA,Q,Plieonastraightline.
Peaucellier mechanism C
P
R
1
3 Q
2
4 B
5
P
P'
A
O Q'
=Constant, as AC, CQ and AQ are always fixed
This means that the projection of P and AQ produced is constant for all the configurations.
Thus, PP is always normal to AO produced or P moves in a straight line perpendicular to
AO.

1.b) Harts mechanism

1.b) Harts mechanism
Six link
OO
OO1 is fixed link
Other Straight links OA, FC, CD, DE and EF are connected by turning pairs
FC=DE
CD=EF
The points O, A and B divide the links FC, CD and EF in the same ratio.

BOCE is a trapezium and OA and OB are respectively parallel to FD
and
d CE
CE.
Hence, OAB is a straight line. We have to prove that OA XOB is constant.
From Similar Triangles CFE and OFB
From Similar Triangles FCD and OCA

Multiplying equation (i) and (ii)
Since, the length of OC, OF and FC are fixed, therefore
From Point E, draw EM parallel to CF and EN perpendicular to FD. Therefore,
(From right angled triangles FEN and EDN)
Hence,
Scott-Russel Mechanism

Scott-Russel
Scott Russel Mechanism
Consists of three movable links: OQ, PS and slider S
The links are connected in such a way that
OQ=QP=QS
So, P moves in a straight line in
perpendicular to OS as the slider
S moves along OS.
As, OQ=QP=QS, Draw a circle

Passing through O, P and S with PS
as diameter and Q as the center.
O lies on the circumference of the circle, <POSPOS is right angled.
This is true for all the positions of S and is possible only if P moves in
a straight line perpendicular to OS at O.

Scott-Russel Mechanism
I such
In h a mechanism
h i , th th off P iis th
the path h th
through the jjoint
i t O which
hi h iis nott d i d
desired.
This can be avoided if the links are proportioned in a way that QS is the mean
Proportional between OQ and QP, i.e.
However in this case, P will approximately traverse a straight line

perpendicular
di l tto OS and d that
th t also
l for
f smallll movementst off S or for
f smallll
Values of angle .
Mathematical proof of this is not simple. However, by drawing the
Mechanism in a number of positions,
positions the fact can be verified
verified.
This is known as
Modified Scott-Russel
Mechanism

Grass-Hopper
Grass Hopper Mechanism

Grass-Hopper
Grass Hopper Mechanism
This mechanism is a derivation of the
Modified Scott-Russel
Scott Russel mechanism
In which the sliding pair at S is
Replaced by a turning pair.
This is achieved by replacing the slider

With a link AS perpendicular to OS in the mean position
position.
AS is pin-jointed at A.
If the length AS is large enough, S moves in an approximated
Straight
g line pperpendicular
p to AS for small angular
g movements.
P again will move in an approximate straight line if QS is the mean
proportional between OQ and OP, i.e.

Watt Mechanism
It is a very simple mechanism. It has four links OQ, OA, QB and AB.
OQ is a fixed link. Links OA and QB can oscillate about centers O and Q
respectively.
It is seen that if P is a point on the link AB such that PA/PB=QB/QA,
The for small oscillations of OA and QB, P will trace an approximate
straight line.

ME 207 - KOM Unit 1 PDF

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KINEMATICS OF

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It is neither a source of energy nor a producer

A slider crank mechanism converts the

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Slider crank mechanism

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Shaft rotating in a bearing Universal Joint

Ball and roller bearing Wheel rolling on a surface

Cam and follower pair

(a). Closed Pair

(a) Siding pair [DOF = 1]

(b) Turning pair (revolute pair)

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The deployable mirror

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If motion of each link results in definite

Excavator Table Lamp Structure

Robotic Manipulator Blue and white part of the Ship

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Zero order mechanism: no common restraint

First order mechanism: one common restraint

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(a) (b) (c)

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If no slip occurs, then this is a one-

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Weight Training Mechanism Kinematic Diagram

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The number of degrees of freedom of a

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n=3, l=3, n=4, l=4,

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n=5, l=6, n=6, l=8,

The actual mobility of 1 results only if the parallelogram geometry