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SUBJECT

THEORY OF MACHINES AND MECHANISMS


[ME-403]

Scheme and Syllabus


The Scheme of the course is - Scheme of IV Sem
Grading System.pdf
The scheme of the course is - Syllabus-TOMM.docx

THEORY OF M/C AND MECHANISM


[ME-403] SYLLABUS
Unit
Unit
Unit
Unit
Unit

I-Basics of Mechanism and Machines


II Kinematics
III Gears
IV Cams
V - Gyroscopic Action in Machines

UNIT I-BASICS OF MECHANISM & MACHINES


1.Terminologies
4. Inversion of Kinematic Chains
Machine
Four bar chain
Slider crank chain
Mechanism
5. Some Lower paired
Links
mechanisms
Kinematic Pair
Pantograph
Kinematic Chain
Straight line motion
Degree of freedom
mechanisms
Inversion
Davis and Ackermanns
steering mechanisms
2. DOF for Mechanism
Hookes joint.
Kutzhback Equation /
Slotted Lever & Whitworth
Grubler Equation
Q.R. mechanisms
3. Grashoff Law
4. Equivalent Linkages
4

THEORY OF MACHINES

Theory of Machine may be defined as that branch of


Engineering - Science, which deals with the study of
relative motion between the various parts of machine,
and forces which act on them. Theory of Machine may
be divided into Kinematics & Dynamics.

SUB-DIVISIONS OF THEORY OF MACHINES


Kinematics - It is that branch of Theory of Machines which
deals with the relative motion between the various parts of
the machines with out forces applying to it.

Dynamics - It is that branch of Theory of Machines which


deals with the forces and their effects, while acting upon the
machine parts in motion. The forces may be either static or
dynamic. Dynamics is further divided into Kinetics & Statics

- Kinetics - It is that branch of Theory of Machines which


deals with the inertia forces which arise from the combined
effect of the mass and motion of the machine parts.

- Statics - It is that branch of Theory of Machines which


deals with the forces and their effects while the machine
parts are at rest. The mass of the parts is assumed to be
negligible
6

DEFINITIONS
Link - A resistant body which is connected to other such body
such
that a relative motion takes place between the two for transferring
the motion.

Element Surface on link that decides its relative with respect to


adjacent link.
Kinematic Pair - A combination of two links constitute a pair.
Kinematic Chain - A combination of different links to transfer
motion from one place to another.

DEFINITIONS
Mechanism - is a combination of rigid bodies which are
formed and connected together by some means, so that they
are moved to perform some functions, such as the crankconnecting rod mechanism of the I.C. engines, steering
mechanisms of automobiles. etc

Machine - is a mechanism or a collection of mechanisms


which transmits force from the source of power to the
resistance to be overcome, and thus perform a mechanical
work.

Definitions
Inversions - When different links of mechanism are
fixed one by one , it results in different useful
mechanisms . Each of this mechanism is called as
Inversion.
Degree of Freedom

For pairs
links

: Number of relative motions between

For mechanism :
- No. of independent input motions required for
operating the
mechanism
9
- No. of coordinates required to define the

Example of Mechanisms

Lift platform
Front loader

Device to close
the top flap of
boxes
9

Example of Mechanisms
Moves packages from an
assembly bench to a
conveyor

Lift platform

Microwave carrier to
assist people on
wheelchair
11

Example of Mechanisms

Rowing type exercise


machine
Conceptual design for
an exercise machine

12

Classification of links
Any body (normally rigid) which has motion relative to
another
(a) Binary link
(b) Ternary link
(c) Quaternary link

13

CLASSIFICATION OF KINEMATIC PAIRS


Four criteria :
a) Type of relative motion
o
o
o
o
o
o

Revolute pair
Prismatic pair
Twisting pair
Screw pair
Spherical pair
Rolling pair

b) Number of degree of freedom


o
o

One degree of freedom


Two degree of freedom

c) By type of closure between the links


o
o
d)

Open Pair
Closed Pair

Type of contact between links


o
o

Lower pair
Higher Pair

14

Based on relative motion


Revolute pair

A revolute allows only a relative rotation between


elements 1 and 2, which can be expressed by a single
coordinate angle 'theta.

15

Based on relative motion


Prismatic pair
A prismatic pair allows only a relative translation
between elements 1 and 2, which can be expressed
by a single coordinate 'S'.

16

Based on relative motion


Screw pair

A screw pair allows only a relative movement between


elements 1 and 2, which can be expressed by a single
coordinate angle 'theta' or 'S'

17

Based on relative motion


Cylindrical pair
A cylindrical pair allows both rotation and translation
between elements 1 and 2, which can be expressed
as two independent coordinates angle 'theta' and 'S'

18

Based on relative motion


Spherical pair
A spherical pair allows three degrees of freedom since the
complete description of relative movement between the
connected elements needs three independent coordinates.

19

Based on relative motion


Flat pair

A planar pair allows three degrees of freedom. Two


coordinates x and y describe the relative translation in
the xy - plane and the third 'theta' describes the
relative rotation about the z-axis.

20

DEGREES OF FREEDOM (DOF)


It is the number of independent motion (both
translation & rotational) a body can have.

21

DEGREES OF FREEDOM (For a planer


link)
The directions an object can move in.
2D Motion (3 DOF) - 2 translation & 1 rotation (2 lengths & 1
angle)

In 2D plane

How about 3D Space?


22

DEGREES OF FREEDOM (For a spatial


link)
3D Motion (6 DOF) - 3 translation & 3 rotation (3
lengths & 3 angles)

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Kinematic Pairs
Based on type of closure

OPEN KINEMATIC PAIR: is a joint for which contact


between kinematic elements is maintained only for
some possible positions of a mechanism.

CLOSED KINEMATIC PAIR: is a joint for which contact


between kinematic elements is maintained within all
possible positions of a mechanism.

24

Types of kinematic pairs


Based on nature of contact between elements

(i) Lower pair : The joint by which two members are


connected has surface contact. A pair is said to be a
lower pair when the connection between two elements
are through the area of contact. Its 6 types are Revolute(Or)TurningPair
Screw(Or) HelicalPair
CylindricalPair
PlanarPair

Prismatic(Or)SlidingPair

Spherical (Or)GlobularPair

Flat(or)

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Higher pair - is a joint for which the contact


between the two kinematic elements is along a
line or at a point.

Ball Bearing
roller follower

Cam with
26

Types of kinematic pairs


Based on degree of freedom
Pairs with one DOF

Pairs with two DOF

27

Types of kinematic pairs


Based on degree of freedom

Pairs with three DOF

28

Constrained motion
(a) Completely constrained motion

(b) Successfully constrained motion

29

(c) Incompletely /Partially constrained


motion

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Degree of freedom for Mechanism

Relation between Links, Pairs and Joints


L=2P-4
J=(3/2) L 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
Chain
L.H.S < R.H.S => Unconstrained Kinematic
Chain
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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

32

KINEMATIC CHAIN MECHANISM


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

33

UNCONSTRAINED KINEMATIC CHAIN

L=5,P=5,J=5
L.H.S < R.H.S

34

DEGREES OF FREEDOM/MOBILITY OF A 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.

35

GRUBLERS CRITERION
Number of degrees of freedom of a mechanism is
given by
F = 3(n-1)-2l-h.
where,
F = Degrees of freedom
n = Number of links in the 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, one additional
lower pair is to be considered for every additional
link.
h = Number of higher pairs

36

A Few Examples DOF of Mechanisms

F = 3(n-1)-2l-h
Here, n = 4, l = 4 & h =
0.
F = 3(4-1)-2(4) = 1
(one input at one link will
result in definite motion of
all the links.

37

A Few Examples DOF of Mechanisms

F = 3(n-1)-2l-h
Here, n = 5, l = 5 and h = 0.
F = 3(5-1)-2(5) = 2
(two inputs to any two links
are required to yield definite
motions in all the links.)

38

A Few Examples DOF of Mechanisms

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.
F = 3(6-1)-2(7) = 1

39

A Few Examples DOF of Mechanisms

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.
F = 3(6-1)-2(7) = 1

40

DETERMINING DOF AND PAIRS

Nb=No of Binary
Links
Nt=No of Ternary
Links
No=No of Other
Links
N=Total No of Links
L=No of Loops

P=No of Pairs
M=Mobility or DOF
P=N+L-1
M=N-(2L+1)

41

DETERMINING DOF AND PAIRS

P=N+L-1
M=N-(2L+1)
Nb = 4,Nt=2, N0=0
N=6, L=2
Solution:
P=6+2-1=7
M=6-(2x2 +1)=1

42

DETERMINING DOF AND PAIRS

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

43

Grashoffs law
For a four bar linkage planer, the 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 continuous relative motion
between the links

44

Grashoffs law
(a) Crank Rocker mechanism
[Link adjacent to shorter link fixed ]
(b) Crank Rocker mechanism
[Link adjacent to shorter link fixed ]
(c ) Crank Crank mechanism
[Shortest link is fixed]
(d) Rocker Rocker mechanism
[Link opposite to Shortest link is
fixed]
45

Inversions of mechanism
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. Each of
these mechanisms is called as inversion of the
parent kinematic chain.
Four Bar Chain
Single Slider Crank
Double Slider Crank
46

Link 2 Fixed- DRAG LINK MECHANISM

48

Locomotive Wheel
DOUBLE CRANK MECHANISM

49

Inversions of Slider Crank Chain


Slider Crank Mechanism

50

Inversions of Slider Crank Chain


Crank (Link 2) fixed

Whitworth Quick Return Mechanism

Crank (Link 2 fixed )

tua

Actual Mechanism

Timeforfor wardstroke B o 2 B 1

Timeforret urnstroke
B o 2 B 2

51

Inversions of Slider Crank Chain


Crank (Link 2) fixed
Rotary Engine Mechanism

52

Inversions of Slider Crank Chain


Connecting rod (Link 3) fixed

Slotted Lever Quick Return Mechanism

Crank (Link 2) fixed


(Verbatim mechanism)
Actual Mechanism

Timeforfor wardstroke B o 2 B 1

Timeforret urnstroke
B o 2 B 2
53

Inversions of Slider Crank Chain


Connecting rod (Link 3) fixed
Oscillating cylinder mechanism

54

Inversions of Slider Crank Chain


Hand Pump Mechanism

Slider (Link 4) is fixed


55

Inversions of Four Bar chain


Quick return motion mechanisms

Drag link mechanism

Timeforfor wardstroke B1 A B2

Timeforret urnstroke
B2 A B1
56

Crank and slotted lever quick


return motion mechanism

57

Crank and slotted lever quick return


motion mechanism

58

Application of Crank and slotted lever


quick return motion mechanism

59

Application
Inversion IV Link 4 Slider fixed
Pendulum pump or bull engine

60

3. 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

61

x

q

y

p

cos 2 sin 2 1

Inversion I Frame Fixed


Double slider crank mechanism

Elliptical trammel
AC = p and BC = q, then,
x = q.cos and y = p.sin.
Rearranging,

x

q

y

p

cos 2 sin 2 1
62

Inversion II Slider - I Fixed

SCOTCH YOKE MECHANISM

Turning pairs 1&2, 2&3; Sliding pairs


3&4, 4&1

63

Inversion III Coupler Fixed

OLDHAM COUPLING

64

Other Mechanisms
1.Straight line motion mechanisms

Condition for perfect


steering

Locus of pt.C will be


a straight
to
AB line,
AC
AE if,
is constant.
AEC ABD
AD AB

Proof:
AC AE
AB AC
AD
butAD const.

AE

AE const., ifAB AC const.


65

1.a) Peaucellier mechanism

66

1.b) Roberts mechanism

67

1.c) Pantograph

68

2.Indexing Mechanism

Geneva wheel mechanism

69

3.Ratchets and Escapements


Ratchet and pawl mechanism

70

Application of Ratchet Pawl


mechanism

71

4. 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.
72

5.Hookes joint

73

Hookes joint

74

6.Steering gear mechanism


Condition for perfect steering

75

Ackermann steering gear


mechanism

76

Mechanical
Advantage
Mechanical
Advantage of the
Mechanism at
angle a2 = 00 or
1800
Extreme position of
the linkage is
known as toggle
positions.
77

Transmission
Angle
= a1=Crank Angle
= a2 =Angle between
crank and Coupler
= a3 =Transmission
angle
Cosine Law
a2 + d2 -2ad cos =
b2 + c2 -2 bc cos
Where a=AD, b=CD,
c=BC, d=AB
Determine .
78

Design of
Mechanism
1.Slider Crank
Mechanism
Link Lengths, Stroke
Length, Crank Angle
specified.
2.Offset Quick Return
Mechanism
Link Lengths, Stroke
Length, Crank Angle,
Time Ratio specified.
3.Four Bar Mechanism
Crank Rocker
Mechanism
Link Lengths and

79

END

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