Chap ter (2):M echanis m s and M achines M EF 491

Chapter (2)

Mechanisms and Machines

1. Introduction (‫ﻘ)دﻣﺔ‬
A m echanis m is a com b ination of rigid p arts or com p onents arranged or connected in a
s p ecific order to p rodu ce a req u ired m otion.Figu re (1 ) s how s a m echanis m w hich is know n
as s lider-crank m echanics .The s lider-crank m echanis m conv erts the recip rocating m otion of
the s lider into a rotary m otion ofthe crank or v ice-v ers a.

Figu re (1 ):Slider-crank M echanis m

1.1 Ele m e ntorK ine m a tic Link(‫ﯾﺔ‬

‫ﻟﺣرﻛ‬
‫ا‬‫ﻠﺔ‬
‫ﻟوﺻ‬
‫ا‬)
Each p art ofa m achine that m ov es relativ e to another p art is know n as a kine m a tic link or
elem ent (or a s im p le link).The link m ay cons is t of s ev eralp arts w hich are rigidly joined
together s o that they do not m ov e relativ e to one another. For ex am p le, the s lider-crank
m echanis m s how n in Figu re (1 ) cons is ts of fou r links : (1 ) fram e, (2) crank s haft, (3 )
connecting rod and (4 ) p is ton or s lider.

Links can b e clas s ified into b inary links ( ‫ﺋﯾﺔ‬

‫ﺎ‬‫ﺛﻧ‬
‫ﻟ‬‫ﻟوﺻﻼتا‬
‫ا‬), ternary link (‫ﺛﯾﺔ‬
‫ﺛﻼ‬‫ﻟ‬
‫ﻟوﺻﻼتا‬
‫ا‬) and
q u aternary links (‫ﯾﺔ‬
‫ﺎﻋ‬‫ﺑ‬
‫ﻟر‬‫ﻟوﺻﻼتا‬
‫ا‬), etc., dep ending u p on their ends on w hich rev olu te or
tu rning p airs can b e p laced.The links illu s trated in Figu re (2) are rig id linksa nd the re isno
re la tive m otion b e tw e e n the jointsw ithin the link.

Figu re (2):Kinem atic links

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Chap ter (2):M echanis m s and M achines M EF 491

1.2 Rig id a nd Re sista ntBod ie s(‫ﻠﺑﺔ‬

‫ﻟﺻ‬‫ا‬
‫ﺎوﻣﺔو‬
‫ﻟﻣﻘ‬
‫ﺎما‬ )
‫اﻷﺟﺳ‬
A link or elem ent needs not to b e a rig id b od y,b u t it m u s t b e a re sista ntb od y.Ab od yissa id
to b e a re sista nt b od y if it is ca pa b le of tra nsm itting the re quire d force s with ne g lig ib le
d e form a tion.T hen the link s hou ld hav e the follow ing tw o characteris tics :
(i) T he link s hou ld hav e relativ e m otion,and
(ii) T he link m u s t b e a res is tant b ody .

1.3 Type sofLinks(‫ﻟوﺻﻼت‬

‫اعا‬
‫ﻧو‬)
‫أ‬

(1 ) Rig id link (‫ﺑﺔ‬

‫ﻠ‬‫ﻟﺻ‬
‫ﻠﺔا‬
‫ﻟوﺻ‬
‫ا‬) d oe snotund e rg o a ny d e form a tionw hile trans m itting m otion.
For ex am p le:crank s haft in s lider-crank m echanis m (as s how n in the figu re).

(2) Fle xib le link(‫ﻟﻣرﻧﺔ‬

‫ا‬‫ﻠﺔ‬
‫ﻟوﺻ‬
‫ا‬)ispa rtly d e form e d in a m a nne rnotto a ffe c tthe tra nsm ission
ofm otion.For ex am p le:b elts , chains and rop es are flex ib le links and trans m it tens ile
forces .

(3 ) Fluid link(‫ﺋل‬
‫ﺎ‬‫ﻟﺳ‬
‫ا‬ ‫ )وﺻ‬is form ed b y hav ing a flu id in a recep tacle and the m otion is
‫ﻠﺔ‬
trans m itted throu gh the flu id b y p res s u re or com p res s ion.For ex am p le: jacks and
b rakes .

1.4 K ine m a tic Pa ir(‫ﯾﺔ‬ ‫)زوجا‬

‫ﻟﺣرﻛ‬
The tw o links or elem ents ofa m achine (w hen in contact w ith each other) are s aid to form a
pa ir.Ifthe relativ e m otion b etw een thes e tw o links is com p letely cons trained, the p air is
know n as a kine m a tic pa ir.For ex am p le,in the s lider-crank m echanis m s how n in Figu re (3 ),
link 2 (crank) rotates relativ e to link 1 (fram e) and then links 1 and 2 is a kinem atics p air.
Sim ilarly link 2 is hav ing relativ e m otion to link 3 and then links 2 and 3 is als o a kinem atics
p air.

Figu re (3 ):Slider-crank m echanis m

10

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Chap ter (2):M echanis m s and M achines M EF 491

1.5 Classifications of Kinematics pairs (‫ﺎت‬

‫ﯾ‬‫ﻟﺣرﻛ‬
‫اجا‬ )
‫ﺗﺻﻧﯾﻔ‬
‫ﺎتأزو‬
Kinem atics p airs can b e clas s ified according to:

1.5.1 Na ture ofc onta c tb e tw e e n links

The kinem atic p airs according to the natu re ofcontact are clas s ified as :
(1 ) Low e rpa ir: A kinem atic p air is know n as low er p air ifthe tw o links has s u rface or
area contacts b etw een them .Als o the contact s u rfaces of the tw o links are s im ilar.
Ex am p les oflow er p airs s how n in Figu re (4 ) are, (i) nu t tu rning on a s crew , and (ii)
s liding p airs .

(i) N u t tu rning on a
s crew

(ii) Sliding p air

Figu re (4 ):Low er kinem atics p airs

(2) H ig he rPa ir:Ifthe tw o links (or a p air) has a p oint or line ofcontact b etw een them ,
then the kinem atic p air is know n as hig he rpa ir.Als o the contact s u rfaces ofthe tw o
links are not s im ilar.Ex am p les for higher p airs are:(i) cam and follow er, (ii) w heel
rolling on a s u rface,and (iii) m es hing gear-teeth.

M es hing s p u r gears
Cam -follow er m echanis m W heelrolling on a s u rface
Figu re (5):H igher p airs

11

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Chap ter (2):M echanis m s and M achines M EF 491

1.5.2 Re la tive m otion b e tw e e n links

The kinem atics p airs (Fig.6) can b e clas s ified according to the follow ing cons iderations :
1. Slid ing pa ir: W hen one link s lides relativ e to another link,it is know n as s liding p air.

2. Turning pa ir: W hen one link tu rns or rev olv es ab ou t fix ed ax is relativ e to another link, it
is know n as tu rning p air

3. Rolling pa ir: W hen one link rolls ov er the other p air,it is know n as rolling p air.

4. Sc re w pa ir: Iftw o p airs hav e tu rning as w ellas rolling m otion b etw een them , it is know n
as s crew p air.

5. Sphe ric a lpa ir: W hen a s p hericallink tu rns ins ide a fix ed link, it is know n as s p herical
p air.

Tu rning p air:Cy cle w heels tu rning

Sliding p air:Pis ton and cy linder ov er their ax les Rolling p air:Ballb earing

Screw p air:Bolt w ith nu t

Sp hericalp air:Car m irror

Figu re (6):Ty p es ofkinem atics p airs

12

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Chap ter (2):M echanis m s and M achines M EF 491

1.5.3 M e c ha nic a lc onstra intb e tw e e n links

Bas ed on the natu re ofm echanicalcons trained,the p airs are clas s ified as :
(1 ) Close d pa irs: W hen the links (or elem ents ) of the p air a re he ld tog e the r
m e c ha nic a lly. All low er kinem atic p airs are clos ed p airs , for ex am p le; s liding
p airs ,s p hericalp airs ,tu rning p airs and s crew p airs .
(2) Unc lose d pa irs:Ifthe tw o links ofthe p air a re nothe ld m e c ha nic a llyb u t are held
in contact b y the action ofex ternalforces .A cam -follow er m echanis m w hich held
in contact du e to s p ring force is an ex am p le for u nclos ed p air.

1 .6 K ine m a tic Cha in(‫ﯾﺔ‬

‫ﻟﺣرﻛ‬
‫ﻠﺔا‬
‫ﻠﺳ‬‫ﻟﺳ‬
‫ا‬)
When the kinematic pairs are coupled in such a way that the last link is joined to the first link to
transmit definite motion (i.e. completely or successfully constrained motion), it is called a
The com b ination of links and p airs w ithou t a fix ed link is not a m echanis m b u t a c ha in.
Figu re (7 ) s how s chains in car engine and b ike.

Figu re (7 ):chains in car engine and b ike.

In order to check w hether the m echanis m of links hav ing low e r pa irs form s a kinem atic
chain or not,the follow ing tw o eq u ations are u s ed:
3
L  2 p  4 ,and J  L  2
2
The ab ov e eq u ations are ap p lied only for kinem atics chains hav ing low e rpa irs b u t ifthes e
eq u ations are ap p lied for the kinem atic chains hav ing hig he rpa irs, then each hig he rpa ir
m u s t b e taken eq u iv alent to tw olow e rpa irsp lu s one a d d itiona llink.

In the ab ov e tw o eq u ations ,
(i) If LH S> RH S then the chain is loc ke d (‫ﻧﺔ‬
‫)ﻣؤﻣ‬-not kinematic chain.
(ii) If LH S = RH S then the chain is c onstra ine d (‫)ﻣﻘﯾدة‬- kinematic chain.

13

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Chap ter (2):M echanis m s and M achines M EF 491

(iii) If LH S< RH S then the chain is unc onstra ine d (‫ )ﻏﯾرﻣﻘﯾدة‬not kinematic chain.

kinematic chain.

J=7 , L=6 , P=5

`From equation (i),
L= 2 p – 4 or 6=2×5–4=6
L.H.S. = R.H.S.
From equation (ii)
J= (3/2 ) L – 2 or 7=3/2*6-2=7
i.e. L.H.S. = R.H.S.

Since the arrangement of six links, as shown in the Figure satisfies the equations (i.e. left hand
side is equal to right hand side), therefore it is a kinematic chain

14

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Chap ter (2):M echanis m s and M achines M EF 491

Example: Determ ine w hether each ofthe follow ing m echanis m s is a kinem aticchain or not
.Check that the m echanis m is locked,cons trained or u ncons trained.

(a) For three-b ar links : L  3 , p  3 , j  3 ,then:

Eq u ation 1 :LHS  3 , RHS  2 p  4  2(3)  4  2 ,T he left hand s ide (LH S) > right hand s ide
(RH S).
3 3
Eq u ation 2: LHS  3 , RHS  L  2  3 2  2.5 , LH S> RH S
2 2
Since the three links m echanis m does not s atis fy the tw o eq u ations ,then,the m echanis m is
not a kinem aticchain,and as LH S> RH S,the m echanis m is locked chain.

(b ) For fou r-b ar links : L  4 , p  4 , j  4 :

Eq u ation 1 : LHS  4 , RHS  2 p  4  2(4)  4  4 , LH S= RH S.
3 3
Eq u ation 2: LHS  4 , RHS  L  2  4 2  4 , LH S= RH S
2 2
Then,b oth eq u ations are s atis fied, thu s the fou r-links m echanis m is a cons trained kinem atic
chain.

1.7 Degrees of Freedom (Mobility)of a Mechanism

The nu m b er ofdegrees offreedom (or m ob ility ) of the m echanis m s is the firs t im p ortant
cons ideration in the des ign or analy s is ofthe m echanis m s .The degrees offreedom (DOF) is
defined as the nu m b er of indep endent trans lationaland rotationalm otions the b ody can
hav e.T he degrees offreedom for s om e m echanis m s are s how n (Fig.8 ) and giv en as :

15

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Chap ter (2):M echanis m s and M achines M EF 491

(1 ) A rigid b ody in s p ace has s ix degrees offreedom ,

(2) A rectangu lar b ar s liding in a rectangu lar hole has one degree offreedom ,and
(3 ) A b all-s ocket joint has three degrees offreedom .

Figu re (8 ):Degrees offreedom for s om e m echanis m s

2.8 Degrees of Freedom for Planar Mechanism

The degrees of freedom for p lanar m echanis m can b e determ ined u s ing the Ku tz b ach
criterion,i.e.,
DF  3L 1 2 j  h

(use d form e c ha nism ha sm ixe d lowe ra nd hig he rpa irs)

w here D F is the degrees offreedom (DOF) ofthe m echanis m ,
L = is the totalnu m b er oflinks in the m echanis m ,
j= is the nu m b er oflow er p airs , and
h= is the nu m b er ofhigher p airs .

Note 1:w hen the joint has L links at a s ingle joint,it m u s t b e cou nted as L 1joints .

N u m b er ofjoints ,j= L-1

N ote 2:

(1 ) If D F  0  the dev ice is a s tru ctu re (i.e.,there is no m ov ab ility ofthe dev ice).

(2) If D F  1  the dev ice is a m echanis m w ith D Fdegrees offreedom .

The nu m b er degrees offreedom (D F) ofa m echanis m in term s ofnu m b er oflinks (L)

and nu m b er ofjoints (J) can b e ob tained b y :
DF  3L 1 2 J

16

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Chap ter (2):M echanis m s and M achines M EF 491

w here L is the nu m b er of links in the m echanis m , J is the nu m b er of s im p le joints ,

(hav ing tw o links ) or low er p airs .

Exa m ple :Find the nu m b er ofdegrees offreedom for the m echanis m s s how n in Figu re
(9).

3
3 2
3
1
4
4 5 2
4

( a) 1 ( b) 1
Figu re (9)
Solution:
(a) Tota l num b e r oflinks L= 5 , nu m b er of low er p airs j= 6, nu m b er of higher p airs h= 0
DF  3L 1 2 j h 35 1 2(6) 0

(b ) Tota l num b e r oflinks L= 4 , nu m b er of low er p airs j= 4 , nu m b er of higher p airs h= 0

DF  3L 1 2 j  h  34 12(4) 1

(c) Tota lnum b e roflinksL= 4 , nu m b er oflow er p airs j= 3 , nu m b er ofhigher p airs h= 1 

DF  3L 1 2 j  h  34 12(3) 1 2

17

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Chap ter (2):M echanis m s and M achines M EF 491

Examples1– Kinematic Chains

Find the ty p e ofchain for the m echanis m s s how n in Figu re (1 ).

(a) L= 5 , p= 5 , J= 5
Eq u ation 1 :L= 2p-4
LH S= 5 , RH S= 2p-4 = 2(5 )-4 = 6, LH S< RH S
Eq u ation 2:J= (3 L/2)-2
LH S= 5 , RH S= (3 x 5 /2)-2= 5 .5 , LH S< RH S
(a)2
Then, the m echanis m is nota kine m a tic c ha in b u t it is an
unc onstra ine d c ha in.

(b )L= 4 , p= 4 , J= 4 ,(fou r low er p airs hav ing s u rface contacts

b etw een links 1 -2 ,2-3 ,3 -4 and 1 -4 ).
Eq n.1 :LH S= 4 ,RH S= 2p-4 = 2(4 )-4 = 4 , LH S= RH S.
(b)
Eq n.2:LH S= 4 ,RH S= (3 L/2)-2= (3 4 /2)-2= 4 , LH S= RH S
Then,the m echanis m is a kine m a tic c ha in.

(c)L= 6, (fou r b inary links 2, 3 , 5 and 6 and tw o ternary links 1

and 4 ).
The nu m b er ofjoints are:
J= 7
Eq n.:LH S= 7 ,RH S= (3 L/2)-2= (3 6/2)-2= 7 , LH S= RH S
(c)
Then,the m echanis m is kine m a tic c ha in.

(d) L= 5 , p= 5 (three low er p airs hav ing s u rface contacts

b etw een links 1 -2, 2-3 and 3 -4 and one hig he rpa ir(rolling
p air) hav ing a line contact b etw een links 1 -4 ).
Eq n.1 :LH S= 5 ,RH S= 2p-4 = 2(5)-4 = 6, LH S< RH S.
(d) Then,the m echanis m is a n unc onstra ine d c ha in.

18

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 Chap ter (2):M echanis m s and M achines M EF 491

Examples 2– Degrees of Freedom for Mechanisms

(a) Totalnu m b er oflinks (L) = nu m b er ofb inary links (n2)+

nu m b er ofternary links (n3 ) = 5 + 2= 7
N u m b er oflow er p airs (J) = 8
D F= 3 (L-1 )-2J= 3 (7 -1 )-2(8 )= 2
Then,the m echanis m s how n has tw o degrees offreedom .
(a)

(b ) The m echanis m has a higher p air (rolling p air).

Totalnu m b er oflinks (L) = 4
N u m b er oflow er p airs (j) = 3
(b)
N u m b er ofhigher p airs (h) = 1
D F= 3 (L-1 )-2 j–h= 3 (4 -1 )-2(3 )-1 = 2
3 4
(c) Totalnu m b er oflinks (L) = 5
N u m b er oflow er p airs (J) = 5
5
2 N u m b er ofhigher p airs (h) = 0
D F= 3 (L-1 )-2 J–h= 3 (5 -1 )-2(5)= 2
(c) 1

C (d) Totalnu m b er oflinks (L) = 6

3 4 Totalnu m b er ofjoints (J)= 7
B D D F= 3 (L-1 )-2J= 3 (6-1 )-2(7 )= 1
2 6 Then,the m echanis m s how n has one degree offreedom .
5

A E
(d) 1

(e) N u m b er ofb inary links (n2) = 4

N u m b er ofternary links (n3 ) = 2
Totalnu m b er oflinks (L)= n2 + n3 = 4 + 2= 6
N u m b er ofjoints J  7
D F= 3 (L-1 )-2J= 3 (6-1 )-2(7 )= 1
Then,the m echanis m has one degree offreedom .
(e)

19

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Chap ter (2):M echanis m s and M achines M EF 491

Assignment (1)
Q1 :Find the degrees offreedom (DF) for the s how n m echanis m s .

Q2:For the giv en linkages ,determ ine the m ob ility (degrees offreedom ) for each linkage.

20

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