lOMoARcPSD|22818370

Samarth Polytechnic, Belhe

Department of Mechanical Engineering

Subject: - Theory Of Machine

(TOM-22438)
Chapter No.- 1
lOMoARcPSD|22818370
 Introduction: mechanism and machines, kinematic links, kinematic pairs, kinematic chains, plane and space
mechanism, kinematic inversion, equivalent linkages, four link planar mechanisms, mobility and range of
movement, straight line mechanisms, steering mechanisms, pantograph, problems.

 Introduction: 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 a 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.
 Classification of Theory of Machines as following four branches:
1. Kinematics: It deals with the relative motion between the various parts of the machines.
2. Dynamics: It deals with the forces and their effects, while acting upon the machine parts in
motion.
3. Kinetics: It deals with the inertia forces which arise from the combined effect of the mass and
motion of the machine parts.
4. Statics: It deals with the forces and their effects while the machine parts are at rest. The mass of
the parts is assumed to be negligible.
 Mechanisms is a combination of rigid or restraining parts or bodies from which the machine is
assembled, this is done by making one of the parts as fixed, and the relative motion of other parts is
determined with respect to the fixed part. Example, Slider-crank mechanism used in internal combustion
engine or reciprocating air compressor, where the rotary movement of the crank is converted through the
connecting rod into the reciprocating motion of the slider, or vice-versa. Fig shows; Link-1 is fixed,
Link-2 is Crank, Link-3 is Connecting rod and Link-4 is piston which slides in a cylinder. However, the
term linkage has been widely used as a synonym for the word mechanism.

 Machine is a combination of the mechanisms which receives energy and transforms it into some useful
work from which we reduce the human efforts. A machine consists of a number of parts or bodies.
 Kinematic Link
Each part of a machine, which moves relative to some other part, is known as a kinematic link. A link
may consist of several parts, which are rigidly fastened together, so that they do not move relative with
another part. For example, in a reciprocating steam engine, piston, piston rod and crosshead constitute
one link; connecting rod with big and small end bearings constitute a second link; crank, crank shaft and
flywheel a third link and the cylinder, engine frame and main bearings a fourth link.

 Types of Links
1. Rigid link: A rigid link is one which does not undergo any deformation while transmitting
motion.
 2. 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.
3. Fluid link: A fluid link is one which is formed by having a fluid in a container and the motion is
transmitted through the fluid by pressure or compression only, as in the case of hydraulic presses,
jacks and brakes.

 Kinematic Pair

The two links of a machine, when in contact with each other, are said to form a pair. If the relative
motion between them is completely or successfully constrained (i.e. in a definite direction), the pair is
known as kinematic pair.

 Classification of Kinematic Pairs

A. According to Nature of Relative Motion

1. Turning Pair / Revolute Pair: When the 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, the pair is known as turning pair. Turning pair has a single
degree of freedom.

2. Sliding Pair / Prismatic Pair: 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 a sliding pair. Sliding pair has a single degree of freedom.

3. Screw Pair: 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. The lead screw of a lathe with nut, and bolt with a nut
are examples of a screw pair. Screw pair has a single degree of freedom.

4. Cylindrical Pair: When the two elements of a pair are connected in such a
way that one element in rotation or translation, parallel to the axis of
rotation to the other element, the pair is known as cylindrical pair.
Cylindrical Pair has a two degree of freedom.

5. Rolling pair: When the two elements of a pair are connected in such a way that one roll over
another fixed link, the pair is known as rolling pair. Ball and roller bearings are examples of rolling
pair.

Samarth Polytechnic Belhe, By More A.G ( Department of Mechanical Engineering) 2

 6. Spherical pair: When the two elements of a pair are connected in such a way that one element
(with spherical shape) turns or pivots about the other fixed element, the pair formed is called a
spherical pair. The ball and socket joint, attachment of a car mirror, pen stand etc., are the examples
of a spherical pair.

7. Planar pair: it has a three degree of freedom. Two coordinates x and y describe the relative
translation in the xy-plane and the third  describe the relative rotation about the z- axis.

B. According to the type of contact between the links:

1. Lower pair: When the two elements of a pair have a surface or area 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. It will be seen that sliding pairs, turning pairs, cylindrical pairs, spherical pairs,
planar pairs and screw pairs form lower pairs.

2. 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. 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.

Samarth Polytechnic Belhe, By More A.G ( Department of Mechanical Engineering) 3

 Kinematic Chain

A kinematic chain is an assembly of links in which the relative motions of the links are possible and the
motion of each relative to the other is definite [Figs (a), (b), and (c)].

In case, the motion of a link results in indefinite motions of

other links, it is a non-kinematic chain [Fig.d)].

However, some authors prefer to call all chains having

relative motions of the links as kinematic chains. A
redundant chain does not allow any motion of a link relative
to the other [Fig. (e)].

A kinematic chain is a series of links connected by kinematic pairs. The chain is said to be closed if
every link is connected to at least two other links shown in fig 1, otherwise it is termed an open
chain shown in fig 2.

fig 1 fig 2

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 A link which is connected to only one other link is known as a singular link. If it is connected to two
other links, it is called a binary link. Similarly, if a link is connected to three other links, it is
referred to as a ternary link, and so on.

 Plane Mechanisms

If all points of a mechanism move in parallel planes, then it is defined as a plane mechanism. A simple
plane mechanism is shown in Fig. where all points move in parallel planes.

 Space Mechanisms

A space mechanism is one in which all points of the mechanism do not move in parallel planes. A very
common example of a space mechanism, known as Hooke's joint, is shown in Fig.

 Kinematic Inversion

This process of fixing different links of the same kinematic chain to produce distinct mechanisms is
called kinematic inversion. In this process, the relative motions of the links of the mechanisms produced
remain unchanged.

Samarth Polytechnic Belhe, By More A.G ( Department of Mechanical Engineering)

5
 A slider-crank chain mechanism has the following kinematic inversions:

1. First Inversion

This inversion is obtained when link 1 is fixed and links 2, 3 and 4 are made the crank, connecting
rod and the slider shown in Fig (a)

Applications: 1. Reciprocating engine, 2. Reciprocating compressor as shown in Fig. (b), if it is a

reciprocating engine, 4 (piston) is the driver and if it is a compressor, 2 (crank) is the driver.

2. Second Inversion:

This inversion is obtained when link 2 is fixed and links 3, 4 and 1 are made the crank, slider and
connecting rod shown in Fig (a)

fig (a) fig (b)

Applications: 1. Whitworth quick-return mechanism shown in Fig (b), 2. Rotary engine

 Whitworth Quick-Return Mechanism:

It is a mechanism used in workshops to cut metals. The forward stroke takes a little longer and cuts the
metal whereas the return stroke is idle and takes a shorter period.

Working: Slider 4 rotates in a circle about A and slides on link 1 fig. (b). C is a point on link 1
extended backwards where link 5 is pivoted. The other end of link 5 is pivoted to the
tool, the forward stroke of which cuts the metal.

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 The axis of motion of slider 6 (tool) passes through O and is perpendicular to OA, the
fixed link.

The crank 3 rotates in the counter-clockwise direction. Initially, let the slider 4 be at B' so
that C be at C'. Cutting tool 6 will be in the extreme left position. With the movement of
the crank, the slider traverses the path B'BB" whereas point C moves through C'CC".
Cutting tool 6 will have the forward stroke.

Finally, slider B assumes the position B" and cutting tool 6 is in the extreme right
position. The time taken for the forward stroke of slider 6 is proportional to the obtuse
angle B" AB' at A. Similarly, slider 4 completes the rest of the circle through path B"B'"
B' and C pass through C"C"'C'.

There is backward stroke of tool 6. The time taken in this is proportional to the acute
angle B"AB' at A.

3. Third Inversion

This inversion is obtained when link 3 is fixed and links 2, 4 and 1 are made the crank, oscillates
and connecting rod shown in Fig (a)

Applications: 1. Oscillating Cylinder Engine, 2. Crank and Slotted-Lever Mechanism

 Oscillating Cylinder Engine:

As shown in fig. (b), link 4 is made in the form of a cylinder and a piston is fixed to the end of link 1.
The piston reciprocates inside the cylinder pivoted to the fixed link 3. The arrangement is known as
oscillating cylinder engine, in which as the piston reciprocates in the oscillating cylinder, the crank
rotates.
Samarth Polytechnic Belhe, By More A.G ( Department of Mechanical Engineering) 8