Ch 1.

Fundamentals & Types of Mechanisms Notes By: Sohail Sir

Chapter 01. FUNDAMENTALS AND TYPES OF MECHANISMS

Specific objectives:
Define various terms related to mechanisms.
Explain construction and working of various mechanisms

1.1 Kinematics of Machines:- Definition of Kinematics, Dynamics,

statics, Kinetics, Kinematic link, Kinematic pair and its types,
constrained motion and its types, Kinematic chain and its types,
Mechanism, inversion, machine and structure. ----- 8 Marks

1.2 Inversion of Kinematic Chain

Inversion of four bar chain, coupled wheels of Locomotive, Beam
engine, Pantograph.
Inversion of single slider Crank chain–Pendulum pump, RotaryIC
Engine mechanism, Oscillating cylinder engine, Whitworth quick
return mechanism. Quick return mechanism of shaper.

Inversion of Double Slider Crank Chain-Scotch Yoke Mechanism,

Elliptical trammel, Oldham’s Coupling -----8 Marks

THEORY OF MACHINES

Theory of machine is Branch of engineering science which deals with the study of
relative motion and forces between the various machine elements

THEORY OF MACHINE

STATICS DYNAMICS KINETICS KINEMATICS

Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

1. Statics

It is the branch of theory of machine, which deals with the forces and its effect on the
machine part while the latter is at rest.

2. Dynamics of machine

It is the branch of theory of machine, which deals with the forces and effect of
forces on the machine component when they act on them.

3. Kinetics

It is the branch of theory of machine, which deals with the inertia forces, which are
formed due to combined action of mass and motion of machine elements.

4. Kinematics of machine

It is the branch of theory of machine, which deals with the relative motion between the
various parts of the machine, without considering the forces

1. Kinematic Link

a. Links are individual parts of a mechanism.

b. Each parts of a machine which has a relative motion to some other parts is known as
Kinematic link.

Characteristics of the Kinematic link

1. It should have relative motion and

2. It should be a resistant body

Classification of the LINK

A. Depending upon the nature of the resistant bodies

1. Rigid link.
2. Flexible link.
3. Fluid link.

B. Depending upon the points at which the link is attached to mechanism

1. Binary link
2. Ternary link
3. Quaternary link

A. Depending upon the nature of the resistant bodies

1. Rigid linkThe links which do not undergo appreciable transformation while transmitting the
required motion and forces is known as rigid link.
Example:
a. Piston,
b. Connecting Rod of Steam engine.
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

2. Flexible Link

The links which are partly deformed transformation while transmitting the required
motion and forces in such a way that they don effect the required transmission of
motion is known as Flexible link.
Example:
a. Chain,
b. Belt and Spring

3. Fluid Link

The link which transmit the motion by fluid pressure as compression are called fluid
link.
Example:
a. Liquid used in Hydraulic presses
b.
B. Depending upon the points at which the link is attached to mechanism

1. Binary link
The link which is attached to two points in the mechanism is called Binary link.

2. Ternary link
The link which is attached to three points in the mechanism is called Ternary link.

3. Quaternary link
The link which is attached to four points in the mechanism is called Quaternary link.

2. Kinematic Pair
The two links of the machine when in contact with each other are said to form a pair if
the relative motion between them is successfully constrained.

CLASSIFICATION OF KINEMATIC PAIR

A. According to the relative motion between them

1. Sliding pair. S
2. Turning pair.
3. Rolling pair.
4. Screw pair.
5. Spherical pair.

B. According to Nature of the contact

1. Lower pair.
2. Higher pair.

C. According to type of closure

1. Self closed pair.

2. Force closed pair.
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

A. According to the relative motion between them

1. Sliding pair.
A sliding pair is said to be formed by two links such a manner that one link is
constrained to have a sliding motion relative to other link.

Figure: Sliding Pair

Example:
1. Piston and Cylinder,
2. Cross head and guides of Steam engine.

2. Turning pair

A turning pair is said to be formed by two links such a manner that one link is
constrained to turn or revolve relative to other link.

Figure: Turning Pair

Example:
Shaft with collar in circular hole.

3. Rolling pair.
A Rolling pair is said to be formed by two links such a manner that one link is constrained
to have a rolling motion over the other link.
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

Figure: Rolling Pair

Example:
Ball bearing forms Rolling pair.

4. Screw pair.

When the two elements of pairs are connected in such a way that one element can
turn about the other by means of screw threads is known as
Screw Pair.

Figure: Screw Pair

Example:
Bolt and nut is example of Screw Pair.

5. Spherical pair.
When the two elements of pairs are connected in such a way that one element turn or
swivels about the other fixed element, the pair formed is known as Spherical Pair.

Figure:Spherical Pair
Example:Ball and socket is example of Spherical Pair.
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

B. According to Nature of the contact

1. Lower pair.
When the two element of a pair have a surface contact when the relative motion takes
place and the surface of one element slides over the other, the
pair forced is known as lower pair.

Figure: Lower Pair

Example:
a. The motion of piston and cylinder in the engine.
b. Shaft rotating in a bearing and
c. Nut turning on a screw.

2. Higher pair.
When the two element of a pair have a line or point contact when the relative motion
takes place and the motion between the two element is partially turning and partly
sliding then the pair formed is know as Higher
pair.

Figure: Higher Pair

Example:
The motion of cam and follower
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

C. Kinematic pairs according to nature of mechanical constraint

1. Self Closed pair

When the elements of a pair are held together mechanically in such a way that only the
required kind of relative motion occurs , all the lower pairs and some of the higher pairs
are closed pairs.
Example:
The lower pair is known as closed pair.

2. Force Closed pair or Unclosed pair

When two links of a pair are not connected mechanically but kept in contact either due to
force of gravity or some spring action, they constitute an unclosed pairs.
Example:
The motion of cam and follower

TYPE OF CONSTARINED MOTIONS.

1. Completely constrained motion.

2. Incompletely constrained motion.
3. Successfully constrained motion.
1. Completely constrained motion.

When the motion between a pair is limited to definite direction irrespective of the direction
of force applied, then the motion is said to be a completely constrained motion.

Figure: Complete Constrained Motion

Example:
1. The motion of the square bar in square hole.
2. The motion of shaft with collars at each end in a circular hole.

2. Incompletely constrained motion.

When the motion between a pair can take place in more than one direction,
then the motion is said to be a completely constrained motion.
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

Figure: Incomplete Constrained Motion

Example:
1. The motion of the circular bar in circular hole.

3. Successfully constrained motion

When the relative motion between the link is not

completely constrained by itself but it is made by
some other means is called successfully constrained
motion.

Figure: Successfully Constrained Motion

Example:
1. Shaft in Footstep Bearing
2. The motion IC engine valve and piston in reciprocating inside an engine cylinder.

3. Kinematic Chain

When the kinematic pairs are coupled in such a way that the last linked is joined the first
link to transmit the definite motion it is called a kinematic chain.

To determine the given assemblage of links forms the kinematic chain or not:
The two equations are:
1. l = 2p - 4
2. J = 3/2 * l - 2
 l = number of links
 p = number of pairs
 j = number of joints
Three possible cases are
1. If L.H.S=R.H.S then it is Constrained kinematic chain
2. If L.H.S>R.H.S then it is Locked Chain
3. If L.H.S<R.H.S then it is Unconstrained kinematic chain
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

1. Arrangement of three links 2. Arrangement of four links

3. Arrangement of five links 4. Arrangement of six links

Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

Types of Joints in the Chain

1. Binary joints
When the two links are joined at the same connections, the joint is known as binary
joint

Figure: Binary Joints

Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir
W.Klien’scriterionofconstraint

 l = number of links
 h = number of higher pairs
 j = number of binary joints
j=4; l=4; h=0 j+h/2 = 3/2*l - 2
4+0 = 3/2*4 - 2
4 =4
L.H.S=R.H.S

2. Ternary Joints
When the three links are joined at the same connections, the joint is known as
ternary joints.

Figure: Ternary Joints

A.W.Klien’scriterionofconstraint

 l = number of links
 h = number of higher pairs
 j = number of binary joints

j=7; l=6; h=0 j+h/2 =3/2*l – 2

7+0 =3/2*6 – 2
7 =7
L.H.S=R.H.S

3. Quaternary Joints
When the four links are joined at the same connections, the joint is known as
Quaternary joints.
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

Figure: Quaternary Joints

W.Klien’scriterion of constraint

 l = number of links
 h = number of higher pairs
 j = number of binary joints
j=12; l=9; h=0 j+h/2 = 3/2*l – 2
12+0 = 3/2*9 – 2
12 = 11.5
L.H.S>R.H.S
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

Types of Kinematic chain

1. Four bar chain
2. Single slider crank chain.
3. Double slider crank chain
Inversion of the following types

1. Four bar chain

a) Beam engine.
b) Coupling rod of Locomotives. c) Watts’
indicator mechanism. d) Pantograph.

2. Single slider crank chain.

a) Pendulum pump or Bull engine.
b) Oscillating cylinder engine.
c) Rotary IC engine.
d) Crank and slotted lever quick return mechanism. e) With
worth quick return mechanism.

3. Double slider crank chain.

a) Elliptical trammel
b) Scotch yoke mechanism.
c) Oldham’s coupling.
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

3. MECHANISM
a. When one of the links of a kinematic chain is fixed, the chain is known as mechanism.
b. It may be used for transmitting or transforming motion. Example:
1. Engine indicator,
2. Typewriter.

Types of Mechanism
a. Simple mechanism (a mechanism with four links)
b. Compound mechanism (a mechanism with more than four link)
Differentiate between Machine and Mechanism

NO MACHINE MECHANISM
1. It is like the human body, it It is like a frame work and has a
transforms energy into useful definite motion between various
work. links.

2 It relates to energy only. It relates to motion.

3 It has many link. It also has many links.

4 Ex: lathe, shaper. Ex. watt indicator,typwriter

4. Structure
It is the assemblage of a number of resistant bodies having no relative motion
between then and meant for carrying loads having a straining action.

Figure: Structure
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

Example:
1. A Railway bridge.
2. Roof Trusses
3. bridges,
4. buildings
5. machine frames

Differentiate between Machine and Structure.

NO MACHINE STRUCTURE
1 Has relative motion between the Has no relative motion
members
2 Transforms available energy into Does not transform.
possible work.
3 Members are meant to transmit Members are meant to accept
motion and forces. load
4 Example Shaper, lathe Example :Bridge.

5. Inversion

The method of obtaining the different mechanism by fixing the different links in a kinematic
chain is known as inversion of the mechanism.

Important Terminologies and Definition

1. Machine
 It is device which takes in the available energy and converts it into useful work.
 When the mechanism is required to transmit the power or to do some particular
type of work, it then becomes a Machine.
 Example: Shaper, Lathe machine

2. Mechanics( Theory of Machine)

 Branch of engineering which deals with the relative motion and forces between the
various machine elements.
 Kinematics of machine
Deals with the relative motion without considering the forces
 Dynamics of machine
Deals with the forces and effect of forces on the machine component when they
act on them.

3. Kinetics of machine
 Deals with the forces, which are formed due to combined action of mass and
motion of machine elements.

4. Statics
 Deals with the forces and its effect on the machine part while the latter is at rest.
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir
5. Resistant body
A body is said to be resistant body if it is able to transmit the forces with the least
possible deformation.
 Example: spring, belt oils in hydraulic presses

6. Kinematic Link
 Links are individual parts of a mechanism.
 Each parts of a machine which has a relative motion to some other parts is
known as Kinematic link.

7. Kinematic Chain
When the kinematic pairs are coupled in such a way that the last linked is joined the first
link to transmit the definite motion it is called a kinematic chain.

8. Kinematic Pair
The two links of the machine when in contact with each other are said to form a pair if the
relative motion between them is successfully constrained.

9. Inversion
The method of obtaining the different mechanism by fixing the different links in a kinematic
chain is known as inversion of the mechanism.

10. Structure
It is the assemblage of a number of resistant bodies having no relative motion between
then and meant for carrying loads having a straining action.
Example: a railway bridge.

11. Mechanism
 When one of the links of a kinematic chain is fixed, the chain is known as mechanism.
 It may be used for transmitting or transforming motion.
Example: Engine indicator, Typewriter.

Grashof's Law

The sum of the length of shortest and longest link must be equal or less than the
sum of the length of the other two link length, if there is to be a
continuous relative motion between the two links.

According to Grashofs law

s+l<p+q  l = length of the longest link.
 s = length of the shortest link.
 p & q = length of the other two
links
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir
In a four-bar linkage, we refer to the line segment between hinges on a given link as a bar
where:  s = length of shortest bar
 l = length of longest bar
 p, q = lengths of intermediate bar

Grashof's theorem states that a four-bar mechanism has at least one revolving link if
s + l <= p + q (1) and all three mobile links will rock if
s+l>p+q (2) The inequality (1) is Grashof's criteria
 The Link opposite to the frame is called Coupler Link and the link which are hinged to the
frame are called side link.
 The link which is free to rotate through 360 0 with respect to second link will be said to
revolve relative to the second link (not necessarily a frame).
 If it is possible for all four bar to become simultaneously aligned, such a state is called
change point.
Case Criterion Shortest link Category
1 s+l < p+q frame double crank
2 s+l < p+q slide crank rocker
3 s+l < p+q coupler double rocker
4 s+l = p+q any change point
5 s+l < p+q any triple rocker

From the table we can see that for a mechanism to have a crank, the sum of the length of
shortest and longest link must be equal or less than the sum of the length of the other two
link.
However this condition is necessary but not sufficient. Mechanism satisfying this condition
falls into following three categories.
1) When the shortest link is the side link, the mechanism is crank rocker mechanism.
The shortest link is the CRANK in the mechanism.
2) When the shortest link is the Frame, the mechanism is double crank mechanism.
3) When the shortest link is the coupler link, the mechanism is Double rocker mechanism

Inversion of the following types

1. Four bar chain
a. Beam engine.
b. Coupling rod of Locomotives.
c. Watts’ indicator mechanism.
d. Pantograph.

2. Single slider crank chain.

a. Pendulum pump or Bull engine.
b. Oscillating cylinder engine.
c. Rotary IC engine.
d. Crank and slotted lever quick return mechanism.
e. Whit worth quick return mechanism.

3. Double slider crank chain.

a. Elliptical trammel
b. Scotch yoke mechanism.
c. Oldham’s coupling.
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

INVERSION OF FOUR BAR CHAIN MECHANISM

a. BEAM ENGINE
1. Beam engine is also called as Crank and lever mechanism.
2. It consist of four link
a. Link A –Frame
b. Link AB –Crank
c. Link BC –Coupler
d. Link CE–Lever

Figure: Beam Engine

3. In this mechanism, when the crank rotated about the fixed centre A, the lever
oscillates about the fixed center D.
4. The end E of the lever CDE is connected to piston rod which reciprocates
due to the rotation of the crank.
5. Purpose: Convert rotary motion into reciprocating motion.

b. Coupling rod of locomotive

1. The coupling rod of the locomotive consists of four links as shown in figure.
2. It consist of four link
a. Link AD – frame
b. Link AB –crank
c. Link BC –connecting rod
d. Link CD–crank
3. In this mechanism, the link AD and BC act as crank and are connected to
the respective wheel.

Figure: Coupling Rod of locomotive

Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

4. The link CD act as a coupling rod and the link AB is fixed in order to maintain a
constrain motion between them.
5. Purpose: meant for transmitting rotary motion from one wheel to another wheel.

c. Watts indicator mechanism

A watt indicator mechanism has a four link as shown in figure.

Figure: Watts Indicator Mechanism

1. The four links are fixed link at A, link AC, link CE, and link BFD.
2. It may be noted that BF and FD forms one link because two parts have no relative
motion between them.
3. The link CE and BFD act as lever.
4. The displacement of link BFD is directly proportional to the pressure of gas or steam
which acts on the indicator plunger.
5. On any small displacement of the mechanism, the tracing point E at the end of the link
CE traces out approximately straight line.
6. The initial position of the mechanism is shown in full line whereas the dotted lines shows
the position of mechanism when the gas or steam pressure acts on the indicator plunger.

d. Pantograph
A pantograph is an instrument used to reproduce an enlarged or reduce scale and as
exactly as possible the path described by a given point.

Figure: Pantograph
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

1. It is a based on four based kinematic chain.

2. It consists of jointed parallelogram ABCD.
3. It is made up of bar connected by turning pair. It has a four turning pair.
4. Link BA and BC are extended to O and E respectively such that
OA/OE = AD/BE.
5. For all relative position of bars the triangle OAD and OBE are similar and the point
O,D,E are in straight line.
6. The point E describes the same path as described by point D.

INVERSION OF SINGLE SLIDER CRANK CHAIN MECHANISM

1. A single slider crank chain is modification of the basic four bar chain.
2. It consist
a. One Sliding pair and
b. Three Turning pair

Single Slider Crank Chain Mechanism

3. Link 1 - Frame of engine;
Link 2 - Crank
Link 3 - Connecting rod
Link 4 - Cross head
4. As the crank rotates the cross head reciprocates in the guides and thus the
piston reciprocates in the cylinder
5. It is usually found in reciprocating steam engine mechanism.
6. This type of mechanism converts rotary motion into reciprocating motion and
vice versa

a. Pendulum pump or Bull engine.

1. In this mechanism, the inversion is obtained by fixing the link 4 or cylinder
(sliding pair).
2. It consist of four link
a. Link 1 – Piston rod
b. Link 2 – AB-Crank
c. Link 3 -BC -connecting rod
d. Link 4 –Cylinder.

Figure: Pendulum pump or Bull engine

Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir
3. In this case, the crank rotates the connecting rod oscillates about the pin pivoted to
the fixed link.
4. The piston attached to the piston rod reciprocates inside the cylinder.

b. Oscillating cylinder engine.

1. In this mechanism, the inversion is obtained by fixing the link 3 or connecting
rod (turning pair).
2. It consist of four link
e. Link 1 -AB- Piston rod
f. Link 2 -BD-Crank
g. Link 3 -AD -Connecting rod
h. Link 4 –Cylinder.

Figure: Oscillating Cylinder Engine

3. The link 3 (AD-connecting rod) is corresponds to the connecting rod of the
reciprocating steam engine mechanism.
4. When the link 2 rotates (BD-Crank) rotates, the piston attached to the piston rod
reciprocates and the cylinder oscillates about the pin pivoted to the fixed link at A.

d. Rotary IC engine.
1. In this mechanism, the inversion is obtained by fixing the link 2 or crank.
2. It consist of four link
a. Link 1 - Cylinder.
b. Link 2 -Fixed Crank
c. Link 3 -Piston
d. Link 4 – Connecting rod

Figure: Rotary IC Engine

Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

3. The link 4 (AD-connecting rod) rotates, the piston reciprocates inside the cylinder
forming link1.

a. Crank and slotted lever quick return mechanism

1. In this mechanism, the inversion is obtained by fixing the link 3 or turning pair.
2. It consist of four link
a. Link 1 -Slider
b. Link 2 – Driving Crank
c. Link 3 -Fixed link
d. Link 4 –Slotted lever or Slotted bar

Figure: Crank and slotted lever quick return mechanism

3. The driving crank AC revolves with uniform angular speed about fixed centre.
4. The sliding bock is attached to crank pin at A slides in the slotted bar AP
and thus causes AP to oscillate about the point A.
5. A short link PR transmits the motion from AP to the Ram to which the cutting tool
is fixed
6. The motion of the tool is constrained along the line produced

b. Whitworth quick return mechanism.

1. In this mechanism, the inversion is obtained by fixing the link 3 or turning pair.
2. It consist of four link
a. Link 1 -Slider
b. Link 2 - Crank
c. Link 3 -Fixed link
d. Link 4 –Slotted lever

Fig: Withworth Quick Return mechanism

Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

3. The driving crank BC revolves with uniform angular speed about fixed centre.
4. The sliding bock is attached to crank pin at B slides in the slotted bar AP
and thus causes AP to oscillate about the point A.
5. A short link PQ transmits the motion from AP to the Ram to which the cutting tool
is fixed
6. The motion of the tool is constrained along the line produced.

INVERSION OF DOUBLE SLIDER CRANK CHAIN MECHANISM

1. A kinematic chain which consists of two turning pair and two sliding pair is called
double slider crank chain.
2. It consist
a. Two Sliding pair and
b. Two Turning pair
3. The inversion of double slider crank chain mechanism are
a. Elliptical trammel
b. Scotch yoke mechanism.
c. Oldham’s coupling.

a. Elliptical trammel
1. In this mechanism, the inversion is obtained by fixing the link 4 or slotted plate.
2. It consist of four link
a. Link 1 – Sliders
b. Link 2 – Bar
c. Link 3 – Sliders
d. Link 4 –Slotted Plate

Figure: Elliptical trammel

3. The looted plate has two grooves cut in it at right angles to each other.
4. The link 1 and known as a sliders and form sliding pair with the link 4.
5. The link AB is a bar which forms the turning pair with the links 1 and link 3.
6. When the link 1 and link 3 slides along the respected grooves ,any point of the link 2
such as point P traces out the ellipse on the surface.

b. Scotch yoke mechanism.

1. In this mechanism, the inversion is obtained by fixing link 1 or link3.
2. It consist of four link
e. Link 1 – Fixed Link
f. Link 2 – Crank
g. Link 3 – Slider
h. Link 4 – Frame (Piston and Cylinder arrangement )
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

Figure: Scotch Yoke Mechanism

3. When the link 2 rotates about the about B as a centre the link 4
reciprocates.(Piston reciprocates inside the cylinder)
4. The fixed links guides the frame

c. Oldham’s coupling.
1. In this mechanism, the inversion is obtained by fixing link 2.
2. It consist of four link
a. Link 1 – Flanges
b. Link 2 – Supporting Frame
c. Link 3 – Flanges
d. Link 4 –Intermediate Piece.

Figure: Oldham’s Coupling

3. The flanges (link 1 and link 3) forms turning pair with the link 2.
4. When the driving shaft is rotated, the flange (link 1) causes the intermediated piece
(link 4) to rotate at the same angle through which the flange (link 1) is rotated.
5. It further rotates the flange (link 3) at the same angle through which the flange (link
1) is rotated. Hence link 1,3,4, have same angular velocity.
6. A little consideration there is a sliding motion between link 4 and link 1 and 3.
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

COMMON MECHANISM
1. BICYCLE FREE WHEEL SPROCKET MECHANISM
2. GENEVA MECHANISM
3. ACKERMAN’S STEERING GEAR MECHANISM
4. FOOT OPERATED AIR PUMP MECHANISM

1. BICYCLE FREE WHEEL SPROCKET MECHANISM

1. Mechanical or automotive engineering, a freewheel or overrunning clutch is a device in

a transmission that disengages the driveshaft from the driven shaft when the driven
shaft rotates faster than the driveshaft. An overdrive is sometimes mistakenly called a
freewheel, but is otherwise unrelated.
2. The condition of a driven shaft spinning faster than its driveshaft exists in most
bicycles when the rider holds his or her feet still, no longer pushing the pedals.
Without a freewheel the rear wheel would drive the pedals
around.

Figure: Bicycle Free Wheel Sprocket Mechanism

Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

3. In the past, such freewheel mechanisms have included an inner freewheel body which
engages threads on a rear wheel hub, and an outer freewheel body, including an
integral sprocket for engagement with the roller chain.
4. A pair of pawls, and at least one pawl spring have been disposed between said inner
and outer freewheel bodies, whereby forward rotation of the outer freewheel body would
cause the pawls to engage and drive the inner freewheel body and rear wheel. Also, the
pawls would allow the rear
wheel to rotate in a forward direction when the outer freewheel body was rotating
more slowly or was stopped.

2. GENEVA MECHANISM
1) In the mechanism shown in figure, link A is driver and it contains a pin which
engages with the slots in the driven link B.
2) The slots are positioned in such a manner, that the pin enters and leaves
them tangentially avoiding impact loading during transmission of motion.

Figure: Geneva mechanism

3) In the mechanism shown, the driven member makes one-fourth of a revolution for
each revolution of the driver.
4) The locking plate, which is mounted on the driver, prevents the driven member
from rotating except during the indexing period.
5. The Geneva mechanism is a timing device.
6. Geneva mechanism consists of a rotating disk with a pin and another rotating disk
with slots (usually four) into which the pin slides
7. In the most common arrangement, the driven wheel has four slots and thus
advances for each rotation of the drive wheel by one step of 90°.
If the driven wheel has n slots, it advances by 360/n° per full rotation of the
drive wheel.
8. One application of the Geneva drive is in movie projectors. Geneva wheels having the
form of the driven wheel were also used in mechanical watches. Other applications of
the Geneva drive include the pen change mechanism in plotters, automated sampling
devices, indexing tables in assembly lines, tool changers for CNC machines, and so
on.
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

3. Ackerman’sSteeringGear Mechanism.
1) The steering gear mechanism is used for changing the direction of two or more of the
wheel axles with reference to the chassis, so as to move the automobile in any desired
path.
2) When the vehicle takes a turn the front wheels along with the respective axles turn
about the respective pivoted points. The back wheels remain straight and do not turn.
Therefore steering is done by front wheels only.
3) In order to avoid skidding the two front wheels must turn about the same Instantaneous
center I which lies on the axis of the back axle. If the ICR of the two front wheels do not
coincide with the ICR of the back wheels skidding will take place, which causes wear
and tear of tires.
4) Thus the condition for correct steering is that the entire four wheel must turn about
the same ICR. The axis of the inner wheel makes a larger turning angle θ than the
angle Φ subtended by the axis of outer wheel.
Let
a= wheel track b=wheel
base
c=distance between the pivots A and b of the front axle

Now from triangle IBP

Cot θ=BP IP
and from triangle IAP
Cot Φ = AP = AB + BP = AB + BP = c + Cot θ
IP IP IP IP b
Cot Φ - Cot θ =c/b
Ch 1. Fundamentals & Types of Mechanisms Notes By: Sohail Sir

5) This is the fundamental equation for correct steering. If this condition is

satisfied there will be no skidding of the wheels when vehicle takes a turn.
6) In Ackerman steering gear the mechanism ABCD is a four bar crank chain. The
shorter link BC and AD are of equal length and are connected by hinge joints with front
wheel axle.The longer link AB and CD are of unequal length.
7) The following are three positions for correct steering
a. When vehicle moves along a straight path, the longer link AB and CD are parallel
and shorter link BC and AD are equally inclined to the longitudinal axis of the
vehicle.
b. When the vehicle is steering to the left, the position of the gear as shown by dotted
lines. In this position the lines of the front wheel axle intersect on the back wheel
axle at I for correct steering.
c. When the vehicle is steering to the right the similar position may be obtained.

4. Foot operated Air Pump Mechanism.

1) It consists of a cylinder which can oscillate. A piston is mounted in the cylinder. The
cylinder is connected to the foot rest.
2) The arms connected to the foot rest can oscillate.

Figure: Foot Operated Air Pump Mechanism

3) A retrieving spring can bring back the foot rest back to initial position’s the
foot rest is pressed the cylinder oscillates.
4) It creates reciprocating motion of the piston in the cylinder. Therefore suction and
delivery stroke can be obtained.
This is also called as oscillating cylinder mechanism.