400 parts, 30 cm long, 15 cm high…used for arithmetic operations (Grant Calculating Machine - 1876)

ME 334 – THEORY OF MACHINES

(WEEK 02)
Course Instructor
Dr. Uzair Khaleeq uz Zaman
TOM – Terminology (Extended)
• Machine vs Structure Simple press

Machine Structure
There is relative motion between its There is no relative motion
members
It transforms available energy into It doesn’t convert available energy into
useful work useful work
Members are meant to transmit motion Members are meant to take up loads
and forces only
Ex: Car, Lathe, etc. Ex: Bridge, Frame, Buildings, etc.
TOM – Terminology (Extended)…
• Types of Links
FLUID

RIGID FLEXIBLE
Motion is transmitted
through this link by means
of pressure

Doesn’t undergo any Partly deformed while

deformation while transmitting motion
transmitting motion
TOM – Terminology (Extended)…
• Kinematic Pair
– Two links together which have relative motion
between them
CLASSIFICATION

Type of Type of Type of RELATIVE

CONTACT CONSTRAINT MOTION

Sliding Turning Rolling

Pair Pair Pair
Lower Higher Form Force
Pair Pair closed closed

Screw Spherical
Pair Pair
TOM – Terminology (Extended)…
• Type of Relative Motion
– Sliding Pair → Two links have sliding motion
relative to each other
– Turning Pair → One element revolves around the
other
– Rolling Pair → One element is free to roll
around the other
– Screw Pair → Contacting surfaces have
threads (also known as Helical Pair) →
One element turns about the other by
means of threads only.
TOM – Terminology (Extended)…
• Type of Relative Motion (contd…)
– Spherical Pair → One element is in the form of a
sphere and turns about the fixed element
TOM – Terminology (Extended)…

• Constrained Motions
– Completely Constrained Motion
• In a definite direction
• Ex: Square bar moving in a square hole
– Incompletely Constrained Motion
• Takes place in more than one direction ( ≥ 2 DOF)
– Successfully Constrained Motion
• The motion is completed not by itself but by some
other means
• Ex: Motion of piston in a cylinder by rotation of
crank
TOM – Terminology (Extended)…
• Kinematic Chain
– Combination of kinematic pairs in such a way that the relative
motion between them is COMPLETELY CONSTRAINED /
SUCCESSFULLY CONSTRAINED
– Equations for lower pairs’ kinematic chains
• L = 2P – 4
• L = 2/3 (J + 2)
where L = number of links
P = number of pairs
J = number of joints
• Both equations must be satisfied (Check to determine whether
mechanisms are kinematic chains)
 TOM – Terminology (Extended)…
If AD is given
• Kinematic Chain (contd…) displacement keeping
• L = 2P – 4 AB fixed, resultant
motion of BC and CD is
• L = 2/3 (J + 2) completely definite
C
C 3 C’
D
L = 3, P = 3, J = 3
4 D’ 2
3 2
L = 2(3) – 4 = 2 ≠ 3
L = 2/3 (3 + 2) = 10/3 ≠ 3
A B
A 1 B 1
L = 4, P = 4, J = 4
Not a kinematic chain → no relative
motion is possible (locked chain) L = 2(4) – 4 = 4 = 4
IT IS A STRUCTURE / Rigid Frame L = 2/3 (4+ 2) = 4 = 4
1 DOF
TOM – Terminology (Extended)…
• Kinematic Chain (contd…)
• L = 2P – 4
• L = 2/3 (J + 2)
D
4 3
E
C
5
2 This is unconstrained
chain
A B
1
L = 5, P = 5, J = 5

L = 2(5) – 4 = 6 ≠ 5
L = 2/3 (5 + 2) = 14/3 ≠ 5
TOM – Terminology (Extended)…

• Mechanism (from week 01)

• Mechanical portion of the machine
• Transfers motion and forces from a power source to the
output (to attain DESIRED motion)
• Develops very low forces + Transmits little power
• Composed of rigid parts → Arranged + Connected

• A kinematic chain in which at least one link is grounded,

or attached to the frame of reference which may be in
motion
TOM – Terminology (Extended)…
• Crank →A link that makes a complete revolution and is pivoted
to ground.

• Rocker →A link that has oscillatory (back and forth) rotation

and is pivoted to ground.
TOM – Terminology (Extended)…
• Coupler or connecting rod → A link that has complex motion
and is not pivoted to ground.
TOM – Terminology (Extended)…
Structure
• DOF / Mobility There is no relative motion
It doesn’t convert available energy
– The DOF of an assembly of into useful work
links completely predicts Members are meant to take up loads
only
its character Ex: Bridge, Frame, Buildings, etc.
• If the DOF is positive → mechanism
• If the DOF is zero → structure
• If the DOF is negative → preloaded structure
TOM – Terminology (Extended)…

• DOF / Mobility (contd…)

Assume No slip @ B Assume Slipping @ B
L 3 3
J1 3 2
J2 0 1
M 0 1
Structure Mechanism

Kutzback’s equation: Kutzback’s equation:

M = 3(L – 1) – 2J1 – J2 M = 3(L – 1) – 2J1 – J2
M = 3(3 – 1) – 2(3) – 0 = 0 M = 3(3 – 1) – 2(2) – 1 = 1
Kinematic Diagrams
Kinematic Diagrams (contd…)
Kinematic Diagrams (contd…)
• Example 1
– Shear Press used to cut and trim electronic circuit board
laminates. Draw a kinematic diagram.
Kinematic Diagrams (contd…)
• Example 1 (contd…)
1. Identify the frame
Large base bolted to the table → Motion of all other links
are determined relative to the base
Frame = Link 1

2. Identify all other links

Link 2 = Handle
Link 3 = Cutting Blade
Link 4 = Bar that connects the cutter with the handle
Kinematic Diagrams (contd…)
• Example 1 (contd…)
3. Identify the joints
Pin joints are used to connect these 3
different parts (labeled A through C)
Cutter Slides up and down along the
base (D)

4. Identify any points of Interest

Motion of the end of handle is desired
(X)

5. Draw the kinematic diagram

Kinematic Diagrams (contd…)
• Example 2
– Pair of vise grips. Draw a kinematic diagram.
Kinematic Diagrams (contd…)
• Example 2 (contd…)
1. Identify the frame
No parts are attached to the ground
Selection of frame is arbitrary (random)
Designate Top Handle as the frame =
Link 1

2. Identify all other links

Link 2 = Bottom Handle
Link 3 = Bottom Jaw
Link 4 = Bar that connects the top and bottom handle
Kinematic Diagrams (contd…)
D A
• Example 2 (contd…) C B
3. Identify the joints
Four pin joints are used to connect the different parts (A to
D)

4. Identify any points of Interest

Motion of the end of bottom jaw is
desired (X)
Motion of the end of lower handle is
desired (Y)

5. Draw the kinematic diagram

Number Synthesis
• Determination of the number and order of the links
and joints necessary to produce motion of a particular
DOF.
Link Number of nodes per link → binary, ternary,
Order quaternary, etc.

• Allow the exhaustive determination of all possible

combinations of links that will lead any chosen DOF.
• It gives the designer all possible link combinations to solve
a motion control problem.
Number Synthesis (contd…)
Example: Derive all possible link combinations for 1 DOF

• Hypothesis: If all joints are full joints, an odd number of DOF

requires an even number of links and vice versa.
‘n’ and ‘m’ are any
• Proof: +ve integers
Let even integers be denoted by 2m or 2n ‘J’ must be a +ve
Let odd integers be denoted by 2m-1 or 2n-1 integer
Let M = DOF = 2m (i.e., all even numbers)
3 M
Now rewriting Gruebler’s equation for J M = 3( L − 1) − 2 J  J = ( L − 1) −
2 2

Try M = 2m and L = 2n Try M = 2m-1 and L = 2n-1

3 5
J = 3n − m − J = 3n − m −
2 2

Try M = 2m-1 and L = 2n Try M = 2m and L = 2n-1

J = 3n − m − 2 J = 3n − m − 3
J is a +ve integer if m≥1, n≥2 J is a +ve integer if m≥1, n≥2
Number Synthesis (contd…)
• Hypothesis: If all joints are full joints, an odd number of DOF
requires an even number of link and vice versa (contd…)
• For 1 DOF mechanisms, combination of 2,4,6,8,… links can be
considered

• Let order of links be represented by

B = number of binary links
T = number of ternary links
Q = number of quaternary links
P = number of pentagonal links
H = number of hexagonal links

• The total number of links in a mechanism can be found from

L=B+T+Q+P+H+…
 Number Synthesis (contd…)
• Hypothesis: If all joints are full joints, an odd number of DOF
requires an even number of link and vice versa (contd…)
• Since two link nodes are required to make joint of first order, so

nodes order _ of _ link  no. _ of _ links _ of _ that _ order (2 B + 3T + 4Q + 5P + 6 H + ...)

J= = =
2 2 2 1
L=B+T+Q+P+H+…=B+T+Q+P+H 2

Put equations 1 and 2 in Gruebler’s equation:

( 2 B + 3T + 4Q + 5 P + 6 H )
M = 3( B + T + Q + P + H − 1) − 2
2
= B − Q − 2 P − 3H − 3

Ternary links (T) are missing from this equation → Each T link has 3 nodes → J = 3/2 → must
add or subtract T links in pairs to maintain integer no. of joints
The addition/subtraction of T links in pairs will not affect the DOF of the mechanism
Number Synthesis (contd…)
• Hypothesis: If all joints are full joints, an odd number of DOF
requires an even number of link and vice versa (contd…)
• In order to determine all possible combinations of links for a
particular DOF:
3 M (2 B + 3T + 4Q + 5P + 6 H )
( L − 1) − =
2 2 2
3L − 3 − M = 2 B + 3T + 4Q + 5 P + 6 H 3
L=B+T+Q+P+H+…=B+T+Q+P+H 2

• Combine Equation 2 and 3 to eliminate B

L − 3 − M = T + 2Q + 3P + 4 H
Number Synthesis (contd…)
• Hypothesis: If all joints are full joints, an odd number of DOF
requires an even number of link and vice versa (contd…)
• In order to determine all possible combinations of links for a 1 DOF
mechanism, progressive test each possible value of L
• NOTE → For 1 DOF, L = even

• Case 1 → L = 2 → − 2 = T + 2Q + 3P + 4 H
Requires –ve no. of links → L = 2 is impossible

• Case 2 → L = 4 → 0 = T + 2Q + 3P + 4 H
so → T = Q = P = H = 0
L = B+0→ L = B = 4

Simplest 1 DOF linkage is FOUR binary links → 4-bar linkage

Number Synthesis (contd…)
• Hypothesis: If all joints are full joints, an odd number of DOF
requires an even number of link and vice versa (contd…)
• In order to determine all possible combinations of links for a 1 DOF
mechanism, progressive test each possible value of L (contd…)

• Case 3 → L = 6 → 2 = T + 2Q + 3P + 4 H

Thus P = H = 0
T can only be 0, 1, 2 and Q can only be 0, 1

If Q = 0, then T must be 2
If Q = 1, then T must be 0

Thus, there are two possibilities for a mechanism having L = 6.

• Case 4 → L = 8 → Use Table on the next slide…

Number Synthesis (contd…)
• Hypothesis: If all joints are full joints, an odd number of DOF
requires an even number of link and vice versa (contd…)
PARADOXES
• Gruebler’s condition pays no attention to link sizes or
shapes → can give misleading results

A
A B
L 5 5
J1 6 6
J2 0 0
M 0 0
Structure Mechanism B
Grubler’s equation:
M = 3(L – 1) – 2J1 – J2
M = 3(5 – 1) – 2(6) = 0
PARADOXES (contd…)
• Gruebler’s condition pays no attention to link sizes or
shapes → can give misleading results

C B C
L 3 5
J1 3 6
J2 0 0
M 0 0
Structure Mechanism

Grubler’s equation: This linkage does move →DOF =1

M = 3(L – 1) – 2J1 – J2
M = 3(3 – 1) – 2(3) = 0
ISOMERS
• Chemistry → Each of two or more compounds with the same
formula but a different arrangement of atoms in the molecule

• Linkage isomers are obtained by connecting the links together

using various joints.
• The assembly will have different motion properties.
ISOMERS (contd…)

• Number of valid isomers for 1 DOF

– All binary links are considered equal (as all hydrogen
atoms are equal in the chemical isomer)
ISOMERS (contd…)
• Distribution of DOF → Overall DOF should
uniformly be distributed throughout the linkage and
not concentrated in a sub-chain

M = 3(3-1)-2(3)=0
Invalid isomer
Effective link
Linkage Transformation (Rules)
• Earlier when we were talking about J in the number synthesis
→ they were all revolute joints → relax the constraint →
wide number of mechanisms with greater usefulness
1. Revolute joints in any loop can be replaced by prismatic joint
with no change in DOF of the mechanism, provided that at
least two revolute joint remain in the loop.
Linkage Transformation (contd…)
1. Revolute joints in any loop can be replaced by prismatic joint
with no change in DOF of the mechanism, provided that at
least two revolute joint remain in the loop.
Equivalent to increasing the length
of rocker link 4 until the arc motion
becomes a straight line
Slider block becomes equivalent to
infinitely long rocker link 4,
pivoted at infinity perpendicular to
slider axis

Scotch yoke → Gives exact SHM

of the slider in response to
constant speed input to the crank
Linkage Transformation (contd…)
2. Any full joint can be replaced by a half joint, but this will
increase DOF by 1.

Assume No slip @ B Assume Slipping @ B

L 3 3
J1 3 2
J2 0 1
M 0 1
Structure Mechanism

Kutzback’s equation: Kutzback’s equation:

M = 3(L – 1) – 2J1 – J2 M = 3(L – 1) – 2J1 – J2
M = 3(3 – 1) – 2(3) – 0 = 0 M = 3(3 – 1) – 2(2) – 1 = 1
Linkage Transformation (contd…)
3. Removal of a link
Link 3 removed + half joint substituted
will reduce the for full joint b/w links 2 and 4 → still
DOF by 1 has 1 DOF → 4 bar linkage with
effective link 3 of variable length
4. The combination of
points 2 and 3 will
keep the original
DOF unchanged
Linkage Transformation (contd…)
5. Any ternary or higher order link can be partially shrunk to a
lower-order link by coalescing nodes without any change in the
DOF.
6. Complete shrinkage of a higher-order link is equivalent to its
removal and DOF will be reduced.