Mechanisms Terminology

SRI KRISHNA COLLEGE OF ENGINEERING AND TECHNOLOGY
DEPARTMENT OF MECHATRONICS ENGINEERING
Module 1
Session: Mechanisms Terminology
12/17/18 17MT309 Theory of Machines 1

SESSION OBJECTIVES
❑ On the completion of this session, the students might

be able to understand,
▪ Different terminologies used in mechanisms

▪ Types of mechanisms

Topics
❑ Mechanism Definitions
❑ Machine Definitions
❑ Kinematic Chains
❑ Kinematic Pairs
❑ Kinematic Pair Types
❑ Planar and Spatial Mechanisms

Theory of Machines
❑ Branch of Engineering-science, which deals with the study of
relative motion between the various parts of a machine, and
forces which act on them
TOM
Statics Dynamics
Forces and their effects Forces and their effects while the
while the machine machine parts are at motion
parts are at rest
Kinematics Kinetics
Relative motion between parts
Deals with the inertia
forces from the mass
and motion
Brief history of Kinematics Reference
Analytical 1755-1819
treatment of Straight line
mechanisms link for steam
Euler
engine
1707-1783 Oliver Evans
1829-1905
6 basic
mechanical
components
Franz Reuleaux
1st straight 1775-1836
line link
Motion Study
James Watt
Andre Marie
1736-1819 Ampere
Units followed Reference
❑ International System of Units (S.I. Units)

❑ Fundamental units: Length – meter(m) , Mass – Kilogram(kg)
and Time – Second(s)
❑ Derived units:
❑ Density ❑ kg/m3
❑ Force ❑ Newton (N)
❑ Pressure ❑ rad/s2
❑ Work ❑ m/s2
❑ Power ❑ m/s
❑ Velocity ❑ Watt (1 W = 1 J/s)
❑ Acceleration ❑ Joule (1 Joule = 1 Nm)
❑ Angular Acceleration ❑ Pascal ( 1 Pa = 1 N/m2)
❑ Frequency ❑ Hz

Basic definitions recall Reference
Quantity of matter contained in

❑ Mass a body (kg)
Total motion possessed by a

❑ Weight body (mass x velocity)
Amount of pull, which the earth

❑ Force exerts upon a given body ,
equivalent to force (N)
❑ Momentum Agent which tends to produce

or destroy motion (mass x
acceleration)
Two equal and opposite parallel
❑ Moment forces, whose lines of action are

different
Turning effect produced by a

❑ Couple
force, on the body, on which it
acts (F x l)
❑ Centrifugal force
Force radially inwards on a
rotating object
❑ Centripetal force
Force radially outwards on a
rotating object

❑ Moment of Inertia Moment of momentum ( I x ω)
Product of force and the

❑ Angular momentum
perpendicular distance of its
line of action from the given
❑ Torque point or axis
Body's tendency to resist angular

acceleration ( I = mk2)

Rate of doing work or work

❑ Work
done per unit time
❑ Power Capacity to do work
Force acts on a body and the

❑ Energy body undergoes a displacement
in the direction of the force

Introduction – Mechanical systems
❑ Set of physical components that convert an input motion and
force into a desired output motion and force
❑ 3 elements – Input, Process and Output
Input Process Output
Motion or force Mechanisms are Change created

Human effort, used to convert the in the input
energy from input motion and motion and
wind water, force into an output
force by the
heat, etc. motion
mechanism

Example of mechanical system
❑ Crank and slider mechanism found in a
single cylinder internal combustion engine
Fuel ignites
causing gases to
expand forcing the
piston down
Crank & slider

converts
reciprocating
motion into rotary
motion
Crank and
shaft rotate

Example of mechanical system
❑ Internal combustion engine is a system that gives a motor vehicle
the power to move
❑ The ignition system, the timing system, the fuel injection system
and the valve system are subsystems
Ignition IC engine Injection

System SYSTEM System
Timing Cooling Valve

System System System

Mechanism
Input - The work or effort
Mechanism
Output - Change
Direction
Type
Speed
Amount of force

Mechanism
Direction & Type Amount of

Speed force
❑ Speed changes due ❑ Rotational ❑ Force increase

to no of gear teeth motion to linear with hydraulic
motion pressure
❑ Direction changes
due to alignment
Definitions – Mechanism (Kinematics)
“Number of bodies assembled in such a way that the

motion of one causes constrained and predictable
motion to others” - S.S Rattan
“A system of moving parts that performs some

function” – Collins Dictionary

Definitions - Mechanism
“mechanical portion of a machine that has the
function of transferring motion and forces from a
power source to an output” – David.H.Myszka
"assemblage of resistant bodies connected by

movable joints, to form a closed kinematic chain
with one link fixed and having the purpose of
transforming motion"– F. Reuleaux

Definitions - Machine
“is a mechanism or a combination of mechanisms
which, apart from imparting definite motions to parts,
also transmits and modifies the available mechanical
energy into some kind of work” - S.S Rattan
“an assembly of interconnected components

arranged to transmit or modify force in order
to perform useful work – Collins Dictionary

Definitions – Machine (Kinetics)
“devices used to alter, transmit, and direct forces

to accomplish a specific objective” – David.H.Myszka
"combination of resistant bodies so arranged that

by their means the mechanical forces of nature can
be compelled to do work accompanied by
certain determinate motions"– F. Reuleaux

Definitions – Structure (Statics)
❑ “assembly of rigid or resistant bodies with non-

movable joints for load bearing purpose”

Mechanism, Machine and Structure
Bi-cycle
A machine
Frame Chain and Sprocket
Structure A mechanism

Machine and Structure
Machine
❑ Parts move relative to one
another
❑ Transforms available energy
into useful work
❑ May transmit both power and
motion Structure
❑ No relative movement
❑ No transformation
❑ Transmit forces only

Machine and Mechanism
Machine
Engine
❑ Modifies
mechanical work
❑ Development of Mechanism
any mechanism Slider - Crank
❑ May have a no. of ❑ Transmits and
mechanisms modifies motion
❑ Part of a
machine
❑ Skeleton outline
“All machines are mechanisms, but all of a machine to
mechanisms are not machines”
produce motion
Motion
❑ The process of continual change in the position of an object
“movement” – Collins Dictionary
Motion
Linear Rotary Reciprocating Oscillating

Straight line Circular path To and Fro To and Fro in a
circular motion

Mechanism - Examples
Can Crusher Windshield

Wiper
Lift Platform
Door hinge Window hinge Front Loader

Machine - Examples
Excavators Lathe
Automobiles Good old Robots

Typewriter
Links
Machine
Mechanism Structure
Links Joints
“Each part of a machine, which moves relative to some

other part, is known as a kinematic link (or simply link)
or element” – R.S.Khurmi

Links - Definitions
“Links are the individual parts of the mechanism. They

are considered rigid bodies and are connected with
other links to transmit motion and forces -
David.H.Myszka
“A resistant body or a group of resistant bodies with

rigid connections preventing their relative movement –
S.S.Rattan

Rigid or Resistant?
❑ Link need not be a rigid body,
but it must be resistant
❑ Resistant body – capable

of transmitting motion or
required forces with negligible
deformation
❑ Characteristics of link:
❑ Should have relative motion
❑ Must be a resistant body
❑ One link acts as a frame - Connecting Crankshaft
reference rod
Types of links
Links
Rigid Flexible
❑ No deformation ❑ Partly deform
❑ Does not exist ❑ Doesn’t affect
❑ If deformation is negligible it transmission of motion
can be considered as a rigid
link
Piston, Crankshaft and Connecting rod Chain and Belt Drives

assembly
Types of links
Links
Fluid
❑ Formed by having a fluid in a
receptacle
❑ Motion is transmitted by fluid
pressure
❑ Eg: Hydraulic jack, Disc brakes
Disc Brake

Types of Rigid links
Binary
Representation
❑ Attached at two
different points
❑ Attachment points are
Nodes
called as “nodes”
❑ 2 nodes
Connecting Rod

Ternary
❑ Attached at three
Representation
points in mechanism
❑ 3 nodes
Delta Printer Nozzle

Plate
Quaternary Representation
❑ Attached at four
points in mechanism
❑ 4 nodes
Quadcopter base plate

Kinematic Pairs
❑ Links must be connected in some manner to transmit motion or
force from driver(input) to the follower(output)
❑ Two elements or links are connected together in such a way that
their relative motion is completely constrained. This

forms a kinematic pair.
❑ Joints - Movable connection between links and allows relative

motion between the links

Types of constrained motions
Completely constrained - motion between a pair is

limited to a definite direction irrespective of the direction
of force applied
Piston and Linear Guideways Motor shaft

Cylinder

Incompletely constrained - motion between a pair can

take place in more than one direction
Linear ball bearing Pen and a cap

with shaft

Successfully constrained - constrained motion is not

completed by itself, but by some other means
Engine Poppet Valve Click pen

Types of kinematic pairs
Kinematic Pairs
Type of relative Type of contact Type of closure

motion or mechanical
constraint
Sliding Lower pair
Self closed
Turning Higher Pair
Force closed
Rolling
Screw
Spherical

Types of kinematic pairs Type of relative
motion
Sliding pair Turning pair

❑ Connected in such a way that ❑ One can only turn or revolve
one can only slide relative to about a fixed axis of another
the other link
❑ Completely constrained motion
Bearing block
Linear Guideways Bicycle wheel
with shaft

motion
Rolling pair Screw pair

❑ Connected in such a way that ❑ Connected in such a way that
one rolls over another fixed one element can turn about
link the other by screw threads
Bolt and nut

Lead screw
Ball bearings

motion
Spherical pair
❑ Connected in such a way that
one element (with spherical
shape) turns or swivels about
the other fixed element
CV joint
Ball and socket Bike mirror

Types of kinematic pairs Type of contact
Higher pair Lower pair

❑ Have a line or point contact ❑ Surface contact when relative
when relative motion takes motion takes place and the
place surface of one element slides
❑ Partly turning and partly over the surface of the other
sliding
Screw pair, Sliding
pairs and Turning pairs
Belt, Rope Drives,

Gears and Roller
Bearings

Type of closure or
Types of kinematic pairs mechanical constraint
Self closed Force closed

❑ Connected together ❑ Not connected mechanically
mechanically in such a way but are kept in contact by the
that only required kind of action of external forces, the
relative motion occurs pair is said to be a force-
All lower pairs closed pair
Poppet valve and

CAM

Six types of lower pairs
Revolute joint(R) ❑ Pure circular motion between
Pin or Hinge joint two links ; also called as full joint
❑ Only one degree of freedom
❑ Variable - Δθ
Link 2
Link 1
Pair of scissors
Robot links
❑ Linear sliding between the links
Sliding joint(P)
that it connects also called as full
Prism or Piston joint
joint;
❑ Only one degree of freedom
❑ Variable - Δs
Link 2 Link 1
Linear Guideways

❑ Linear or circular
Screw joint(S) or
Helical Joint(H) ❑ 1 degree of freedom
❑ Variable – Δs or Δθ
Link 2 Link 1
Lead screw

❑ Cylindric movement
Cylinder joint(C)
❑ 2 degrees of freedom
❑ Variable – Δs and Δθ
Linear ball bearing

with shaft

❑ Spherical movement
Spherical joint(G)
❑ Variable –Δθ, Δɸ, Δψ
Ball and socket

❑ Planar movement
Flat joint(F)
❑ Variable –Δθ, Δx, Δy
❑ Seldom ever found in
mechanisms
Human Carpals
Other joints
Pin in a slot Cam Gear

❑ Two links can ❑ Allows both rotation ❑ Allows both rotation
slide and rotate and sliding and sliding
relative to one ❑ Complex motion Link 2
another ❑ Also called as higher

Link 2 order or half joint
Link 1
Link 1
Link 1
Link 2
Multi grip plier

Manual Gear Box
Kinematic Chain
❑ It is an assembly of links in which relative motions of the links
is possible and the motion is definite
❑ If indefinite motion – it is called as non-kinematic chain
❑ A kinematic chain with at least one link grounded is called a
linkage
Indefinite Redundant chain

Definite motion No relative
motion
motion

Kinematic Chain
❑ If every link in the chain is connected to two or more links then
the chain forms one or more closed loops
❑ If it is closed, it is called closed mechanism chain
❑ If it is not, it is called open mechanism chain
Open Mechanism Closed Mechanism
Fixed reference
Frame

Planar, Spatial Mechanisms
❑ Planar – Particles describe plane curve in space and all these
curves lie in parallel planes; motion transmitted is called
coplanar
❑ Spatial – Made entirely of revolute pairs, no restrictions on the
relative motion
Ball and
Lead screw socket
4 Bar Slider Crank Eg: Spatial Mechanisms

Hint – Two or more DOF
Eg: Planar Mechanisms mechanisms
Hint – One DOF mechanisms
END

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SRI KRISHNA COLLEGE OF ENGINEERING AND TECHNOLOGY

DEPARTMENT OF MECHATRONICS ENGINEERING

12/17/18 17MT309 Theory of Machines 1

❑ On the completion of this session, the students might

▪ Different terminologies used in mechanisms

12/17/18 17MT309 Theory of Machines 2

❑ Kinematic Pair Types

❑ Planar and Spatial Mechanisms

12/17/18 17MT309 Theory of Machines 3

❑ International System of Units (S.I. Units)

12/17/18 17MT309 Theory of Machines 6

Quantity of matter contained in

Total motion possessed by a

Amount of pull, which the earth

❑ Momentum Agent which tends to produce

Two equal and opposite parallel

❑ Moment forces, whose lines of action are

Turning effect produced by a

12/17/18 17MT309 Theory of Machines 8

❑ Moment of Inertia Moment of momentum ( I x ω)

Product of force and the

Body's tendency to resist angular

12/17/18 17MT309 Theory of Machines 9

Rate of doing work or work

❑ Power Capacity to do work

Force acts on a body and the

12/17/18 17MT309 Theory of Machines 10

Input Process Output

Motion or force Mechanisms are Change created

12/17/18 17MT309 Theory of Machines 11

Crank & slider

12/17/18 17MT309 Theory of Machines 12

Ignition IC engine Injection

Timing Cooling Valve

12/17/18 17MT309 Theory of Machines 13

Input - The work or effort

12/17/18 17MT309 Theory of Machines 14

Direction & Type Amount of

❑ Speed changes due ❑ Rotational ❑ Force increase

“Number of bodies assembled in such a way that the

“A system of moving parts that performs some

12/17/18 17MT309 Theory of Machines 16

"assemblage of resistant bodies connected by

12/17/18 17MT309 Theory of Machines 17

“an assembly of interconnected components

12/17/18 17MT309 Theory of Machines 18

“devices used to alter, transmit, and direct forces

"combination of resistant bodies so arranged that

12/17/18 17MT309 Theory of Machines 19

❑ “assembly of rigid or resistant bodies with non-

12/17/18 17MT309 Theory of Machines 20

Frame Chain and Sprocket

12/17/18 17MT309 Theory of Machines 21

12/17/18 17MT309 Theory of Machines 22

Linear Rotary Reciprocating Oscillating

12/17/18 17MT309 Theory of Machines 24

Can Crusher Windshield

Door hinge Window hinge Front Loader

Automobiles Good old Robots