Republic of the Philippines

Don Honorio Ventura State University

Villa de Bacolor, Pampanga
College of Engineering and Architecture
Department of Mechanical Engineering

Group #1
Bacani, Mikedylan James
Francisco, Charlotte B.
Guanlao Allain C.
Mascareñas, Krizha V.

MODULE 1
Flow Chart of a Machine
Difference Between Mechanism and Machine

Definition of Structure

Rigid, Non-Rigid, and Resistant Body

Kinematic Pair: Closed Pair and Higher Pair

Inversion of Kinematic Pair

 A KINEMATIC LINK is a fundamental concept in the study of mechanisms and
robotics. It refers to a rigid body that connects two or more components within a mechanical
system, allowing relative motion between them. Understanding kinematic links is crucial for
the design and analysis of various mechanical systems, including engines, robots, and other
machinery.

Definition and Characteristics of Kinematic Links

1. Definition
- A kinematic link is a part of a mechanism that can move relative to other links. It can
be classified based on its function and the type of motion it allows.
2. Types of Kinematic Links:
- Fixed Links: Do not move relative to the ground or another fixed reference.

- Movable Links: Can move relative to the ground or other links.

- Floating Links: Are not fixed to a ground reference and can move freely

3. Degrees of Freedom (DOF):

- Each kinematic link has a specific number of degrees of freedom, which indicates the
number of independent movements it can perform. This is essential for understanding
how the entire system behaves.

Importance in Mechanism

Kinematic links are essential for the operation of various mechanisms, including:
- Levers
- Gears
 - Crank and Slider Systems
- Robotic Arms

Application;

1. Robotics:
- In robotics, kinematic links are used to create articulated joints that allow robots to
perform complex tasks. Each joint acts as a kinematic link, facilitating precise
movements.
2. Automotive Engineering:
- In vehicles, kinematic links are present in various components, such as the suspension
system, where they help to absorb shocks and ensure a smooth ride.
3. Manufacturing:
- Kinematic links are employed in automated machinery, allowing for the precise
movement of parts during assembly processes.

Design Considerations;

When designing mechanisms with kinematic links, engineers must consider:

1. Material Strength: To ensure that links can withstand applied loads without failure.
2. Motion Constraints: To ensure that links move as intended without interference.
3. Simplicity vs. Complexity: Finding the right balance between a simple design and one
that performs the required functions efficiently.

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WHAT IS THE DIFFERENCE BETWEEN MECHANISM AND MACHINE?

Mechanism is an assembly of moving parts performing a complete functional motion,

often part of a large machine. A device that transforms input forces and movement into a desired
set of output forces and movement. However, a Machine is any device that transmits or modifies
energy. A machine may be either the amplification of force or the modification of motion. A
machine's work output equals its work input, with no energy inefficiency. Thus, the perfect
machine's efficiency is always 100%.

Elements of Mechanism
Link – a rigid body that make up a kinematic chain. It can be any form or shape.
Joints – these are the connections between links.
Chain – a group of links connected by joints.
Frame – it is the fixed link.

Example of Machines
1. Inclined Plane - a flat supporting surface sloping at an angle from the vertical direction,
with one end higher than the other, to help lift or lower a load.

2. Lever – it is a body that can rotate around one of its own points.

3. Wedge - a wedge is a shape that tapers to a thin edge.

4. Wheel and Axle - a machine that rotates by means of a smaller axle to which a wheel is
linked. This allows force to be transferred from one component to the other.

5. Pulley - it has a wheel with a flexible rope, cord, cable, chain, or belt attached to its rim.
 6. Screw – it helps to keep everything connected. An object can be pulled or pushed together
by it.

WHAT IS A STRUCTURE?

Structure - it is a cohesive whole built up of distinct parts. The different bodies in the structure
can move relative to one another or they can be fixed relative to one another.

Types of Structure
1. Beams - a structural members whose longitudinal dimensions are appreciably greater than
their lateral dimensions.

2. Trusses - a structural frameworks composed of straight members connected at the joints.

3. Frames - structures composed of vertical and horizontal members.

RIGID, NON-RIGID, AND RESISTANT BODY

Rigid Bodies - an idealized object in physics and engineering that does not undergo deformation
when subjected to external forces or moments. It maintains its shape and dimensions, and the
distances between all pairs of points within the body remain constant. In other words, it does not
experience internal deformation or relative motion between its particles.
*A perfectly rigid object does not exist.

Three Types of Rigid Bodies

• Statics - which means a static rigid body, like a stone with a huge mass, specifically a mass
with a mass of Ø, or only physical elements with collision components.
• Dynamics - which means that a dynamic rigid body can be subjected to forces, how forces
affect the motion of objects.
• Kinematics – a rigid body in motion without regard to the forces that cause the motion.
Rigid body mechanics is used extensively to design power generation and transmission
systems, from jet engines, to the internal combustion engine, to gearboxes.
Examples;
As mentioned, there is no perfectly rigid body, but we can consider some items to be rigid.
Crankshafts – for example, you’re driving the car, of course the wheels rotate, one of the parts that
makes the wheels spin is the crankshaft. It converts the vertical movement of the pistons to
rotational movement to drive the wheels via the gearbox. This action requires a lot of load to
perform, which a rigid body is perfectly capable of taking.
Steel beams
Concrete blocks
Diamonds
Problem:
Determine the reactions A and B on the beam.

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NON-RIGID BODY
A non-rigid body is an object that can undergo deformation or change in shape when
subjected to external forces or moments. It may experience internal relative motion between its
particles or components.
TYPES
Non-rigid bodies do in 3 types of motion. In articulated motion, individual rigid parts of an
object move independently of one another and the motion of the whole object is non-rigid in nature.
Elastic motion is non-rigid motion that conforms to a certain degree of continuity or smoothness.
Fluid motion violates even the continuity assumption and may involve topological variations and
turbulent deformations.
Examples;
Water – water is easily deformable. When you see a drum of water and you tap the surface gently,
you can clearly see disturbances. Even the slightest touch disturbs the structure of the water, which
indicates that the water is deforming.
Rubber Ball
Inflatable Balloon
Modelling Clay

RESISTIVE BODIES
Resistant bodies on the other hand, are undeformable for their purpose, but they may get
deformed when used in other high-stress scenarios.
The concept of resistant bodies is used in building structures for lesser materials, like
trusses.
Examples:
Glass
Bridges
Chairs
Cycle Chains
Judging by definition, we can also associate stress to be related in this topic because it
pertains to the amount of load that a structure can take.
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KINEMATIC PAIR

• A kinematic pair is a joint of two links that permits relative motion.

• When any two links are connected in such a way that their relative motion is completely
or successfully constrained, they form a kinematic pair.
Higher Pair

• If a kinematic pair in motion has a line or point contact between the two links, it is called
a higher
pair.

• The cam and follower arrangement shown in Fig.1.17(a) is an example of higher pair, as
there is a line contact between them.

• Practical examples:
■ Cam and flat faced follower, roller bearings, and most gears (Fig.1.17(b)) have line contact.
■ Cam and knife edge follower, ball bearings, and teeth of skew helical gears have point contact.

Closed (or Self-clòsed)

Pair

• When two links of a

pair are held together
mechanically, they
constitute a closed pair.

• Practical examples:
All lower pairs are self-
closed pairs.
KINEMATIC INVERSION
Every mechanism has moving members which move relative to each other about the
joints connecting them. These relative motions result in the trajectories of the points on members
of the mechanism. In any mechanism one link or member is fixed and acts as the frame. The
trajectories and motion characteristics of mechanism depend on the choice of the reference frame
link.
Every mechanism is formed of a kinematic chain. When one of the links in the kinematic
chain is fixed it becomes a mechanism. To determine the inversions of a mechanism consider the
kinematic chain forming the mechanism and obtain the desired inversions by fixing any one of
the members as the frame link.

Inversions of a Four-Bar Mechanism

A typical four bar mechanism, as the name denotes, is formed of a kinematic chain of four
members connected by revolute joints. This mechanism can have four possible configurations
with a different link fixed as frame each time.
Configuration 1
Link 1 is taken as the base link or frame. In this configuration the shortest link is jointed
to the base link and this joint can fully rotate and hence called as crank. The other link jointed to
the base link oscillates and called as a rocker. This configuration of the four-bar kinematic chain
is called as Crank Rocker mechanism.
Configuration 2
Link 2 is fixed as the base link. In this configuration shortest link is the base and both
joints to the base can rotate completely. It is thus called as Double-Crank or a Drag-Link.
Configuration 3
Link 3 is fixed as the base link. It can be observed that this configuration is same as the
Crank Rocker mechanism.
Configuration 4
Link 4 is fixed as the base link. In this configuration shortest link is the coupler and both
the links connected to the base link cannot rotate fully, both oscillate. In this configuration the
four-bar kinematic chain is called as Double-Rocker mechanism.
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