Chapter

F UNDAMENTALS A ND T YPES O F M ECHANISMS

[ 18 M ARKS ]

Chapter Details
1.1 1.2 1.3 Introduction Inversions of Kinematic Chain Common Mechanism

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Theory of Machines and Mechanisms

Graphical and Statistical representation of questions asked from this chapter in previous years MSBTE Question Papers

Statistical Analysis MSBTE paper S-2010 W-2010 S-2011 Marks 24 24 28

Fundamentals and Types of Mechanisms

1-3

1.1

INTRODUCTION
As name indicates, this subject is related with various machines which are to be handled by a mechanical engineer. The machine is made of various components arranged in the form of various mechanisms. In our daily life we are using machines like bicycle, mixer, washing machine, drilling machine, etc. Similarly in industries Lathe machine, milling machine, shaper machine, etc are used. The mechanism used in machines give us idea about motions in the machine for its working and applications.
Bicycle

Definition
Theory of Machine The subject theory of machines 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.

Definition of Theory of Machine The subject theory of machines 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. The knowledge of this subject is very essential for an engineer, in designing the various parts of a machine.

Theory of machine divided into

i. Kinematics ii. Dynamics a. Kinetics b. Statics

1.1.1

Branches of Theory of Machines

The theory of machines may be sub-divided into the following branches: i. Kinematics: It is that branch of theory of machines which deals with the relative motion between the various parts of the machines. ii. 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. a. 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. b. 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.

Kinematics: Study of
relative motion

Dynamics: Study of
forces with motion

Kinetics: Study of
inertia forces

Statics: Study of
forces at rest

English Word = ejkBh

vFkZ

Kinetics = xrhkkL= Statics = fLFkrhkkL=

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Theory of Machines and Mechanisms

Theory of machine

Kinematics

Dynamics

Statics

Kinetics

Definition
Kinetic Link Each part of a machine, which moves relative to some other part, is known as a kinematic link (or simply link) or element.

1.1.2

Kinematic Link

A mechanism is made of number of resistant bodies, out of which some may have motions relative to the others. Definition of Kinematic Link Each part of a machine, which moves relative to some other part, is known as a kinematic link (or simply link) or element. e.g. In a drilling machine, spindle is a link. A link is not necessarily a rigid body but it is a resistant body. A resistant body is one which is capable of transmitting the required motion and forces with negligible deformation. Types of Kinematic Link

English Word = ejkBh

vFkZ

Resistant = izfrjks/kh Kinematic = kq)xfrd Rigid = dMd

Types of Kinematic Link

i. Rigid ii. Flexible iii. Fluid

In order to transmit motion, the three types of links are:

Kinematic links

Rigid

Flexible

Fluid

Rigid Link
Do not have any deformation during motion.

i.

Connecting rod

Rigid link: A rigid link is one which does not undergo any deformation while transmitting motion. Strictly speaking, rigid links do not exist. However, as deformation of a connecting rod, crank etc, of reciprocating steam engine is not appreciable, they can be considered as rigid links. e.g., Connecting rod of steam engine.

Fundamentals and Types of Mechanisms

1-5

Figure 1.1: Connecting rod

ii.

Flexible link: A flexible link is one which is partly deformed in a manner not to affect the transmission of motion. e.g., Ropes, chains and wires are flexible links and transmit tensile force only, belt of cone pulley of Lathe machine.

Flexible Link
Partly deformation is allowed.

Chain drive Figure 1.2: Belt

iii.

Fluid link: A fluid link is one which is formed by having a fluid in a receptacle and the motion is transmitted through the fluid by pressure or compression only, e.g., Hydraulic presses, jacks and brakes, hydraulic jack used at service station.
Load

Fluid Link
Motion using high pressure fluid.

Oil

Hydraulic jack Figure 1.3: Hydraulic jack

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Pair
Two elements or links of a machine.

Theory of Machines and Mechanisms

1.1.3

Kinematic Pair and its Types

Definition of Pair The two links or elements of a machine, when in contact with each other, are said to form a pair.

Definition
Kinematic Pair If the relative motion between two links or elements is completely or successfully constrained, the pair is known as kinematic pair.

Definition of Kinematic Pair If the relative motion between two links or elements is completely or successfully constrained (i.e. in a definite direction), the pair is known as Kinematic pair. e.g., Piston and cylinder
Cylinder

Piston
Figure 1.4

Classification of Kinematic Pairs

i. Nature of relative motion ii. Nature of contact iii. Nature of mechanical arrangement

Classification of Kinematic Pairs Classification is based on following consideration: i. According to nature of relative motion between the elements. ii. According to nature of contact between the links. iii. According to nature of mechanical arrangement between the links.
Kinematic pairs

Relative motion

Nature of contact

Mechanical arrangement

Sliding Rolling Spherical Screw Turning pair pair pair pair pair

Higher pair

Lower pair

Closed pair

Open pair

Kinematic pair classification

Fundamentals and Types of Mechanisms i. According to nature of relative motion between the elements

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According to relative motion kinetic pairs are: i, Sliding ii. Turning iii. Rolling iv. Screw v. spherical

The kinematic pair according to type of relative motion between the elements may be classified as discussed below: a. Sliding pair: It has sliding motion. When the two elements of a pair are connected in such a way that one can only slide relative to the other, the pair is known as sliding pair. Example The motion of piston in the cylinder in a steam engine or internal combustion engine. Tail stock on the lathe bed.

Examples of sliding pair

i. Piston and cylinder ii. Tailstock on Lathe bed

Tailstock

Sliding motion

Sliding motion piston and cylinder

Figure 1.5: Tailstock on lathe bed

Lathe bed

Turning Pair

b.

Turning pair: It has turning motion. When the two elements of a pair are connected in such a way that one can only turns or revolves about fixed axis of another link, the pair is known as turning pair. Example A shaft with collars at both ends fitted into a circular hole. cycle wheels turning over their axles.

One link turns about the axis of another link.

Example
Cycle wheel turning on axle

BTE [S.2011] - 2M List the types of kinematic pair according to its relative motion between the elements.

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Theory of Machines and Mechanisms

Collar Wheel

Axle Shaft (a) Shaft with collar

Figure 1.6

(b) Cycle wheel

Rolling Pair
One link rolls over another fixed link. Example: Ball bearing

c.

Rolling pair: It has rolling motion. When the two elements of a pair, connected in such a way that one rolls over another fixed link, the pair is known as rolling pair. Example Ball and roller bearings
Outer case Balls

Ball bearing BTE [W.2010] - 4M Describe in brief following pair: i. Sliding pair ii. Screw pair

Inner case

Screw Pair
One link moves on other link using screw threads.

Figure 1.7: Ball bearing

Example
Lead screw of Lathe Nut and bolt

d.

Screw pair: It has screw thread motion. When the two elements of a pair are connected in such a way that one element can turn about the other by screw threads, the pair is known as screw pair. Example The lead screw of a lathe with nut Bolt with a nut are examples of screw pair.

Lathe lead screw

Fundamentals and Types of Mechanisms

1-9

Screw

Nut

Figure 1.8: Bolt and nut

e.

Spherical pair: It has spherical movement. When the two elements of a pair are connected in such a way that one element with spherical shape turns or swivels about the other fixed element, the pair formed is called spherical pair. Example The ball and socket joint Attachment of car mirror Pen stand

Spherical Pair
One link of spherical shape turns about fixed link.

Example
Ball and socket joint Pen stand

Pen stand Figure 1.9: Ball and socket joint

ii.

According to nature of contact between the links

The kinematic pairs according to the type of contact between the elements may be classified as discussed below: a. Lower Pair: When the two elements of a pair have surface contact when relative motion takes place and the surface of one element slides over the surface of the other, the pair formed is known as lower pair.

Classification of Kinematic Pair according to Nature of Contact

i. Lower pair ii. Higher pair Lower pair has surface contact.

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Examples of Lower Pair
i. Sliding pair ii. Turning pair iii. Screw pair

Theory of Machines and Mechanisms Example, It will be seen that sliding pairs, turning pars and screw pair form lower pairs.

BTE [S.2010] - 2M Define higher pair and lower pair with one example.

Surface contact

Sliding motion

Figure 1.10: Sliding pair (piston and cylinder)

Higher Pair
Line or point contact

b.

Examples of higher pair

i. Bearing ii. Calm and follower iii. Gear drive

Higher Pair: When the two elements of a pair have a line or point contact when relative motion takes place and the motion between the two elements is partly turning and partly sliding then the pair is known as higher pair. Example: A pair of friction discs, toothed gearing, belt and rope drives, ball and roller bearings and cam and follower are the examples of higher pairs.

Follower Point of contact Point of contact Cam

(a)

Gear drive
Figure 1.11

(b)

Cam and follower

Fundamentals and Types of Mechanisms iii. According to nature of mechanical arrangement between the links The kinematic pairs according to the type of closure between the elements may be classified as discussed below: i. Closed pair or self closed pair: When the two elements of a pair are connected together mechanically, in such a way that there is only required kind of relative motion, it is then known as self closed or closed pair. Example: The lower pair are self closed pair. ii. Open pair or force closed: When the two elements of a pair are not connected mechanically but are kept in contact by the action of external forces, the pair is said to be open pair, or force closed pair. Example: The cam and follower is an example of force closed pair, as it is kept in contact by the force exerted by springs or gravity.
Spring

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Classification of Kinematic Pair according to Mechanical arrangement
i. Closed pair or self closed pair ii. Open pair or force closed pair

Closed Pair
Connected mechanically e.g. Piston and cylinder

Open Pair
Connected by external forces e.g. Cam and follower

Follower

Cam

Figure 1.12

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Types of Constrained Motion
i. Completely constrained motion ii. Incompletely constrained motion iii. Successfully constrained motion.

Theory of Machines and Mechanisms

1.1.4

Constrained Motion and its Types

The type of constrained motion is divided into three types: i. Completely constrained motion: When the motion between a pair is limited to a definite direction irrespective of the direction of force applied, then the motion is said to be a completely constrained motion. Example: The piston and cylinder (in steam engine) form a pair and the motion of the piston is limited to definite direction, i.e., it will only reciprocate relative to the cylinder irrespective of the direction of motion of the crank.

Completely Constrained Motion

Motion in a definite direction e.g. Piston and cylinder

Square bar (a) Piston and cylinder

Square hole

(b) Motion of square bar in square hole

Figure 1.13

Incomplete Constrained Motion

Motion of pair more than one direction. e.g., Round bar in round hole.

Incompletely constrained motion: When the motion between a pair can take place in more than one direction, then the motion is called incompletely constrained motion. The change in the direction of impressed force may alter the direction of relative motion between the pair. Example: A circular bar or shaft in circular hole as shown in fig. 1.14 is an example of an incompletely constrained motion as it either rotates or slides in the hole. These both motions have no relationship with the other.
Slide Rotate

ii.

Figure 1.14

Fundamentals and Types of Mechanisms iii. Successfully constrained motion: When the motion between the elements, forming a pair, is such that the constrained motion is not completed by itself, but by some other means, then the motion is said to be successfully constrained motion. Example: Consider a shaft in a footstep bearing as shown in fig. 1.15. The shaft may rotate in a bearing or it may move upwards. This is case of incompletely constrained motion. But if the load is placed on the shaft to prevent axial upward movement of the shaft, the motion of the pair is said to be successfully constrained motion.
Load Shaft

1-13
Successfully Constrained Motion
The constrained motion is not completed by itself, but by some other means. e.g., Footstep bearing

BTE [S.2011] - 2M Define successfully constrained motion & give one example.

Figure 1.15: Footstep bearing

Comparison between Completely Constrained and Successfully Constrained Motion [S. 2010 4M ]
Completely constrained motion i. ii. iii. iv. Motion of a pair, in a definite direction irrespective of the direction of force applied. There is no need of any other external force or means. It has simple construction as there is no need of external arrangement. Example, Motion of square bar in square hole. Successfully constrained motion Motion of a pair is constrained i.e. not by itself motion by some other means externally. It requires external force or means for constrained motion. It has complex construction to provide external force. Example, foot step bearing with load.

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Kinematic Chain
Each link forms a part of two pairs. Relative motion between the links is completely constrained.

Theory of Machines and Mechanisms

1.1.5

Kinematic Chain and Its Types

Definition Kinematic chain may be defined as a combination of kinematic pairs, joined in such a way that each link forms a part of two pairs and the relative motion between the links or elements if completely or successfully constrained. Examples: The crank-shaft of an engine forms a kinematic pair with the bearings which are fixed in a pair. The connecting rod with the crank forms a second kinematic pair. The piston with connecting rod forms a third pair and piston with cylinder forms a fourth pair. The total combination of these links is kinematic chain. Kinematic Pairs i. ii. iii. iv. Bearing 1 and crankshaft Crank and connecting rod Piston and connecting rod Piston and cylinder
Bearing 1 Connecting rod Crank

BTE [W.2010] - 2M Define kinematic chain with one example.

BTE [S.2010] - 2M Define Kinematic Chain and Mechanism.

Crankshaft Piston and cylinder Bearing 2

Figure 1.16

In a kinematic chain no link is fixed.

For Lower Pairs
Equation for no. of pairs l = 2p 4 Equation for no. of joints j=3l2 2

Equation for Number of Pairs and Number of Joints For any arrangement of different links connected together with all lower pairs, to be a kinematic chain, then the relation between the number of pair (p) and number of link (l) and the number of joint (j) is given as l = 2p 4 .................................................. (1) 3 and j = 2 ................................................... (2) 2l

Fundamentals and Types of Mechanisms The above equations are applicable only to kinematic chain in which all lower pairs are used. If the above equations are used for kinematic chain having higher pairs, then one higher pair is to be considered equivalent to two lower pairs and one addition link. If above equations are not satisfied, then no relative motion exists in a kinematic chain.

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For higher pair
1 higher pair = 2 lower pairs + 1 addition link

Example 1

Link 3

Link 2

Link 1

In this example Number of link = 03 Number of pair = 03 Number of joint = 03

Let us check by equation of pairs and equation of joints. Equation of pairs l = 2p 4 3 = 2 3 4 = 6 4 3 2 (LHS > RHS) Equation of joints j = 3 = 3 2 2l 3 2 2l
In structure (lock chain) LHS> RHS for equation of pairs LHS > RHS for equation of joints

= 2.5 (LHS > RHS) As LHS is greater than RHS, therefore does not satisfy the equation (1) and (2). Hence no relative motion is possible. Hence it is not a kinematic chain. Such types of chain is lock chain or called as structure.