MECHANISM

Mechanism Part of a machine, which

transmit motion and power from input point to
output point
Example for Mechanism
Example for Mechanism
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KINEMATICS

RELEVANCE OF KINEMATIC
STUDY

Motion requirements
Design requirements

Motion requirement
DESIGN REQUIREMENTS

Design: determination of shape and size
1. Requires knowledge of material
2. Requires knowledge of stress
Requires knowledge of load acting
(i) static load
(ii) dynamic/inertia load

DYNAMIC/INERTIA LOAD
Inertia load require acceleration

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LINK OR ELEMENT
Any body (normally rigid) which has
motion relative to another

Binary link
Ternary link
Quaternary link
Examples of rigid links
PAIRING ELEMENTS
Pairing elements: the geometrical forms by which two
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
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PAIRING ELEMENTS
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DEGREES OF FREEDOM
(DOF):
It is the number of independent coordinates required to
describe the position of a body.
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.

(ii) Higher pair: The contact between the pairing
elements takes place at a point or along a line.

Based on relative motion between pairing elements

(a) Siding pair [DOF = 1]


(b) Turning pair (revolute pair) [DOF = 1]

Based on relative motion between pairing elements

(c) Cylindrical pair [DOF = 2]



(d) Rolling pair [DOF = 1]

Based on relative motion between pairing elements

(e) Spherical pair [DOF = 3]
Eg. Ball and socket joint


(f) Helical pair or screw pair [DOF = 1]

Based on the nature of mechanical
constraint
(a) Closed pair



(b) Unclosed or force closed pair
CONSTRAINED MOTION
one element has got only one definite
motion relative to the other

(a) Completely constrained motion

(b) Successfully constrained motion

(c) Incompletely constrained motion
KINEMATIC CHAIN
Group of links either joined together or
arranged in a manner that permits them to
move relative to one another.
LOCKED CHAIN OR
STRUCTURE
Links connected in such a way that no
relative motion is possible.

A mechanism is a constrained kinematic chain.
Motion of any one link in the kinematic chain will
give a definite and predictable motion relative to
each of the others. Usually one of the links of the
kinematic chain is fixed in a mechanism
MECHANISM
Slider crank and four bar mechanisms

Working of slider crank
mechanism

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Unconstrained kinematic
chain

MACHINE
A machine is a mechanism or collection of
mechanisms, which transmit force from the
source of power to the resistance to be
overcome.

Though all machines are mechanisms, all
mechanisms are not machines
PLANAR MECHANISMS
When all the links of a mechanism have
plane motion, it is called as a planar
mechanism. All the links in a planar
mechanism move in planes parallel to the
reference plane.
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.
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
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.
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
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.e., one input to any one link will result
in definite motion of all the links.
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
Examples - DOF
F = 3(n-1)-2l-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
(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
(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
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. These are called as inversions of the mechanism.

(link 1) frame
(link 2) crank
(link 3) coupler
(link 4) rocker
INVERSIONS OF FOUR BAR
CHAIN
1. Crank-rocker mechanism
2. Drag link mechanism
3. Double rocker mechanism
CRANK-ROCKER
MECHANISM
CRANK-ROCKER
MECHANISM
DRAG LINK MECHANISM
DOUBLE CRANK
MECHANISM

lnversions of slider crank
chain






(a) crank fixed (b) connecting rod fixed (c) slider fixed
Rotary engine I inversion of slider crank
mechanism. (crank fixed)
Whitworth quick return motion
mechanism
Oscillating cylinder engineII inversion of
slider crank mechanism (connecting rod
fixed)
Crank and slotted lever
quick return motion
mechanism
Pendulum pump or bull engineIII inversion
of slider crank mechanism (slider fixed)
DOUBLE SLIDER CRANK
CHAIN
It is a kinematic chain consisting of two
turning pairs and two sliding pairs.

Turning pairs 1&2, 2&3; Sliding pairs
3&4, 4&1
Inversions of double slider crank mechanism
1 sin cos
2 2
2 2
= + =
|
|
.
|

\
|
+
|
|
.
|

\
|
u u
p
y
q
x
1 sin cos
2 2
2 2
= + =
|
|
.
|

\
|
+
|
|
.
|

\
|
u u
p
y
q
x
Elliptical trammel
AC = p and BC = q, then,
x = q.cos and y = p.sin.
Rearranging,
OLDHAM COUPLING
Quick return motion
mechanisms
Drag link mechanism







1 2
2 1

B A B
B A B
urnstroke Timeforret
wardstroke Timeforfor
=
Whitworth quick return motion
mechanism
2
1
2
2

u
u
=
' ' '
' ' '
=
B o B
B o B
urnstroke Timeforret
wardstroke Timeforfor
Crank and slotted lever quick return motion
mechanism
2
1
2
2

u
u
=
' ' '
' ' '
=
B o B
B o B
urnstroke Timeforret
wardstroke Timeforfor
Crank and slotted lever quick return motion
mechanism
Crank and slotted lever quick return
motion mechanism
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Application of Crank and slotted
lever quick return motion
mechanism
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Straight line motion
mechanisms
Condition for perfect steering
Locus of pt.C will be a
straight line, to AE if,
is constant.
Proof:
AC AB
. .,
.
const AC if AB const AE
const butAD
AD
AC AB
AE
AE
AB
AC
AD
ABD AEC
= =
=

=
=
A A
Pantograph

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