PRPC15 - Kinematics and Dynamics of Machines

Kinematics and Dynamics of Machines

• Relative motion between the various parts of a machine, and forces which
act on them.

• Knowledge - designing the various parts of a machine.

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Theory of Machines[Kinematics and Dynamics of Machines]

1. Kinematics

2. Dynamics – kinetics , statics

• Kinematics. - relative motion between the various parts of the machines.
without taking into consideration the forces producing the motions.(include displacement,
velocity and acceleration).

• Dynamics. - forces and their effects, while acting upon the machine parts in
motion.
Dynamics

• Kinetics is the study of forces when the body is in motion

• whereas the statics deals with forces when the body is stationary.
• Machine

• Mechanism

• Structure
Kinematics of motion
• Plane of motion
• Rectilinear motion
• Curvilinear motion
• When the motion of a body is confined to only one plane, the motion is said to be plane

motion. The plane motion may be either rectilinear or curvilinear.

Rectilinear Motion

It is the simplest type of motion and is along a straight line path. Such a motion is also known as

translatory motion.

Curvilinear Motion

It is the motion along a curved path. Such a motion, when confined to one plane, is called plane

curvilinear motion
• In a reciprocating steam engine, all the particles on the piston, piston rod and
crosshead trace a straight path,

• whereas all particles on the crank and crank pin trace circular paths, whose centre
lies on the axis of the crank shaft.

• It will be interesting to know, that all the particles on the connecting rod neither trace
a straight path nor a circular one; but trace an oval path, whose radius of
curvature changes from time to time.
 Kinematic Link or Element

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

• A link may consist of several parts, which are rigidly fastened together, so that
they do not move relative to one another.
• A link or element need not to be a rigid body, but it must be a resistant body.
• A body is said to be a resistant body if it is capable of transmitting the required
forces with negligible deformation.

• Thus a link should have the following two characteristics:

1. It should have relative motion, and

2. It must be a resistant body

Types of Links
• Rigid link. A rigid link is one which does not undergo any deformation while
transmitting motion.

• However, as the deformation of a connecting rod, crank etc. of a

reciprocating steam engine is not appreciable, they can be considered as rigid
links
• Flexible link. A flexible link is one which is partly deformed in a manner not to
affect the transmission of motion.

• For example, belts, ropes, chains and wires are flexible links and transmit
tensile forces only
• Fluid link. - motion is transmitted through the fluid by pressure or
compression only
• Structure
It is an assemblage of a number of resistant bodies (known as members)
having no relative motion between them and meant for carrying loads
having straining action.

A railway bridge, a roof truss, machine frames etc., are the examples of a
structure
KINEMATIC PAIRS
Kinematic pair – Two links of a machine when in contact with each other are said to
form a pair.
CLASSIFICATION OF KINEMATIC PAIRS

1. Based on the nature of relative motion.

2. Based on nature of contact.

3. Based on nature of closure.

4. Based on the constraints.

5. Based on degrees of freedom.

1. BASED ON THE RELATIVE MOTION
a. SLIDING PAIR/TRANSLATIONAL PAIR
Primary
b. ROTATIONAL/ROTARY/TURNING PAIR Pairs

c. CYLINDRICAL PAIR

d. SHPERICAL PAIR

e. ROLLING PAIR

f. SCREW/HELICAL PAIR
a. SLIDING/TRANSLATIONAL/ PRISMATIC PAIR (P)

• If two elements of a pair are connected in such a way that one can only slide relative to the
other, then the pair is known as a sliding pair.

• Rectangular block in a rectangular hole.

 B. ROTATIONAL/ROTARY/REVOLUTE/HINGE/TURNING PAIR (R)

• If two elements of a pair are connected in such a way that one can only turn or revolve about
a fixed axis of another link, then the pair is known as a Turning pair.

• Circular shaft revolving inside a circular hole with collar

 c. CYLINDRICAL PAIR (C)

• Combination of both turning and sliding pairs.

• Circular shaft inside a circular hole

 d. SPHERICAL/GLOBULAR PAIR (S)

• 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

a spherical pair.

Eg:- * ball and socket joint

 e. ROLLING PAIR (S)

• When the two elements of a pair are connected in such a way that one rolls over another
fixed link, the pair is known as rolling pair.

Eg:- Ball and roller bearing

 f. SCREW/HELICAL PAIR (H)

• 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.

Eg:- The lead screw of a lathe with nut

II. BASED ON NATURE OF CONTACT

1. LOWER PAIR

2. HIGHER PAIR

3. WRAPPING PAIR
 a. LOWER PAIR

• If a pair has a surface/area contact between the two elements while in motion, it is called a
Lower Pair.

• The relative motion is purely turning or sliding.

• Therefore all Turning and Sliding pairs comes under this category.

Eg:- * piston inside a cylinder

 b. HIGHER PAIR

• If a pair has a line/point contact between the two elements while in motion, it is called a Higher
Pair.

• The contact surfaces are dissimilar.

Examples of line contact:-

• Wheel rolling on a surface

• Tooth gears

• Ball and roller bearings

 c. WRAPPING PAIR
• If one element in a pair completely wraps over the other, it is called a Wrapping Pair.

• It is similar to higher pair, but has multiple points of contact.

Eg:- * belt and a pulley

* chain and sprocket

III. BASED ON NATURE OF MECHANICAL
CONSTRAINTS

1. FORM CLOSED PAIR/SELF – CLOSED PAIR

2. FORCE CLOSED PAIR/UNCLOSED PAIR

 a. FORM CLOSED/SELF – CLOSED PAIR
• If the contact between the two bodies at kinematic pair is maintained by the geometric form,
then we call it a Form Pair.

i.e. when two elements are connected together mechanically in such a way that there occurs
only the desired relative motion.

• Form refers to shape only.

• Shape is selected such that it ensures the contact between the links forever.

• The contact between the two can be broken only by the destruction of atleast one of the
members.
 b. FORCE CLOSED/UNCLOSED PAIR
• When two elements of a pair are not connected mechanically but are kept in contact by
action of external forces like spring or body forces, then it forms a Force closed Pair.

Eg: cam and follower

IV. BASED ON THE CONSTRAINED MOTION

1. Fully/completely constrained

2. Partially/incompletely constrained

3. Successfully constrained
 a. Completely constrained
• Motion between a pair is limited to a definite direction irrespective of the force applied.

Eg:- * Motion of a square bar in a square hole.

 b. PARTIALLY/INCOMPLETELY CONSTRAINED

• Motion between a pair can takes place in more than one direction.

• The motions have no relationship with each other

Eg:- * Motion of a circular bar in a circular hole without collar.

 c. Successfully constrained
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.
V. BASED ON DEGREES OF FREEDOM
1. SPATIAL KINEMATIC PAIRS

2. PLANAR KINEMATIC PAIRS

 a. Spatial kinematic pairs
• In space, a body can have maximum six degrees of freedom – 3
Translational and 3 Rotational.
 b. Planar kinematic pairs
• In a plane, a body can have maximum three degrees of freedom – 2
Translational and 1 Rotational.
 Kinematic chain
It is 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 is completely

constrained.
Three Important Kinematic Chains

Kinematic Chain

Four bar Single Slider Double Slider

chain crank crank
chain chain
Inversions of Four Bar Chain

1. Beam engine (crank and lever mechanism).

2. Coupling rod of a locomotive (Double crank mechanism).

3. Watt’s indicator mechanism (Double lever mechanism).

 Inversions of Four Bar Chain
1. Beam engine (crank and lever mechanism).
2. Coupling rod of a locomotive (Double crank mechanism).
Watt’s indicator mechanism (Double Rocker mechanism):
Single Slider Crank Chain
 Inversions of Single Slider Crank Chain
First inversion (link 1 fixed)
 Inversions of Single Slider Crank Chain
First inversion (link 1 fixed)
Pendulum pump
Oscillating Cylinder Engine

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Crank and slotted lever quick return mechanism
Crank and Slotted Lever Mechanism

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