MECH 343 Theory of

Machines I

Time: _ _ W_ _17:45 – 20:15

Lecture 1
Lecturer contact details

Instructor: Dr. S. Narayanswamy

Office: Engineering and Visual Arts Building
Room: EV 004 -189
Office Hours: _ _ W _ _ 15:00 – 17:00 or by email
e-mail: [email protected]
Web site: Moodle
 Outline of the course
Chapter
Week Date in Text Description

17th Jan Introduction, Classification of Mechanisms, Pairing elements, Classification of

1 1 motions, Mobility criterion, Grashof’s Law
Position, Velocity and Acceleration of a Point; Linear and Angular Velocities and
2 24th Jan Accelerations; Line of Transmission; Angular-Velocity Ratio; Sliding and Rolling
2, 3
Contacts; Different types of Linkages
3 31st Jan Velocities and Accelerations in Mechanisms by Methods of Relative Velocities;
4 7th Feb Velocity and Acceleration image; Coriollis Acceleration; Instant Centers of Velocities;
4, 5, 6, 7
5 14th Feb Kennedy’s Theorem; Velocities by Instant Centers; Velocities by Components;
Kinematic Analysis by Complex Numbers; Centroids; EquivalentLinkages
6 21st Feb
Spur Gear; Fundamental Law of Gearing; Gear Nomenclature; Contact Ratio;
7* 6th Mar Interference and Undercutting; Involute Rack; Methods of Gear Manufacture;
12, 13
Involumetry; Parallel and Cross Helical Gears; Worm Gears; Bevel Gears; Gear
8 13th Mar Trains; Planetary Gear Train

20th Mar Synthesis of Mechanisms; Design for Coupler Position; Block’s Method of Synthesis;
9 14 Freudenstein’s Method; Function Generators
10 27th Mar Static Force Analysis; Dynamic Force Analysis; Inertia and External Force Analysis
by D’Alembert’s Principle; Linkage ForceAnalysis by the Method of Virtual Work;
11 3rd Apr Linkage Force Analysis by Matrix Method; Spur , Helical, Bevel, and Worm Gear
16, 17
12 10th Apr Force Analysis

* 6th March, the Midterm Test will be during lecture hour

 About the course
This course is on Kinematics and Dynamics of machines
◼ Lectures - 3 hours each
◼ 12 Lectures of all - one is an introductory lecture
◼ Midterm test (on the week 7) 6th March 2023
◼ Done during Lecture hours for 70 Minutes
◼ 5 Quizzes (at a determined time)
◼ 6 Assignments (posted on the website with due dates)
◼ Laboratory
◼ Final exam
Class logistics

◼ 3 teaching hours/week Wednesday 17.45

to 20.15 pm @ H-670

◼ 12 lectures + Midterm + Final

◼ Course Web Page - Moodle

Text book and other reference
TEXTBOOK
• Kinematics and Dynamics of Machines, G. H. Martin, Waveland Press
Inc., Second Edition, 2002
REFERENCES
1. J. J. Uicker, Jr., G. R. Pennock and J. E. Shigley, Theory of Machines
and Mechanisms, Third Edition, Oxford University Press, 2003
2. H. H. Mabie and C. F. Reinholtz, Mechanics and Dynamics of
Machinery, Fourth Edition, John Wiley, 1987
3. K. J. Waldron and G. L. Kinzel, Kinematics, Dynamics, and Design of
Machinery, John Wiley, 1999
4. R. L. Norton, Design of Machinery, Third Edition, McGraw Hill, 2004
5. A. G. Erdman, G. N. Sandor and S. Kota, Mechanism Design; Analysis
and Synthesis, Vol 1, Fourth Edition, Prentice Hall, 2001
Note: the reference 1, which is very useful, is available at our Library on a
3 hour loan.
 Midterm test
◼ You will write the midterm test on the 6th of
March

◼ Will be in the lecture hour and the contents for the

exam will be given closer to the time

◼ Duration of the test will be 70 Minutes

◼ Write the midterm test – this is a good

measurement means for your performance
 Final Test
◼ The final exam will have problems similar to the ones in
tutorials and assignments.

◼ Conducted during the university wide exam period

◼ Duration of the test: 3 hours.

◼ Write the final exam with confidence that you will do

very well

◼ It is IMPERATIVE to pass the final to pass the course

 Assignments
◼ There will be 6 assignments provided in the course webpage.

◼ The date and format for submission will be given in due time.

◼ Submit the assignments only to your TA, during the tutorial hour

Quizzes
◼ There will be 5 quizzes in all during the term

◼ The quizzes will be for 10 minutes done online

◼ MCQs or small problems that can be completed in 10 minutes

◼ Surprise Quizzes with no prior announcement

The Tutorial

◼ There will be 1 hour tutorial on Mondays and

Fridays at different rooms for different tutorial
sections (MA and MB)

◼ TAs will provide more details on the problem solving

◼ Attending tutorials will help in preparing you for the exams

◼ To be attended in person
The Laboratory
◼ There will be 2 hour Laboratory every other week

◼ The details will be available in the lab manual.

◼ You will do experiments, collect data, interpret /

analyze the data and provide meaningful conclusions

◼ The details of the lab is available in your student

portal

◼ LAB ATTENDANCE IS CUMPOLSORY

 Grading Scheme
GRADING POLICY
Evaluation Tool Weight
Midterm 20
Final * 45
Lab report 15
Assignments (6 of them) 10
Quiz (5 of them given in a specific time) 10
Total 100
Passing Criteria:
• If your total score before the final exam is less than 40% and you decide to defer
the final exam, you will receive an R grade which prevents you to defer the final
exam.
• In order to pass the class, both your cumulative score and the final examination
must be above 50%
Contents of today's lecture
• Introduction
• Classification of Mechanisms
• Pairing elements
• Classification of motions
• Mobility criterion
• Grashof’s Law
 Introduction
• Theory of machines is the study of kinematics and dynamics of
the machine

• Kinematics deals with relative motion of machine parts,

displacement, velocity and acceleration’

• Dynamics relates to forces on the machine parts and the motions

that relate from these forces
 Introduction
• A machine is a device that
transforms energy
• Has fixed and moving parts
• Connects the source of power and
the work to be done
• In case of motor and generator
electricity is converted to mechanical
movement and vice versa
• In IC engine, connecting rod and
crank shaft transfers energy
 Introduction
• Kinematic Diagram is used to represent the moving and stationary parts in
skeleton form
• This provides the ability to ascertain specific dimensions of links that affect
the motion

• The angular position,

velocity and
acceleration will
depend only on the
lengths of links 2 and
3 and not their
thickness, hence the
lengths become
important in kinematic
analysis
 Introduction
◼ Kinematic Link: Each resistant body in a machine which moves relative to
another resistant body is called Kinematic link or element.

◼ Kinematic links can be divided into three types.

◼ Rigid link- In this type of link there is no deformation while transmitting the
motion. Motion between the piston and crank can be considered as a rigid link.
eg. connecting rod/crankshaft

◼ Flexible link- In this type of link there is

partial deformation while transmitting the
motion. Belt drive is an example of flexible
link.
 Introduction
◼ Flexible link- In this type of link there is partial deformation while transmitting
the motion. Belt drive is an example of flexible link.

◼ However if the belt or chain is always in tension, it can be considered as rigid link
 Introduction
◼ Fluid link- In this type of link
the motion is transmitted with
the help of fluid pressure.
Hydraulic brake is an
example of fluid link.

◼ If the piston areas A1 and A2

are known and the fluid is
incompressible, an equivalent
rigid link can be drawn

◼ The motions of A and B will

be same if A1/A2 = d2/d1
 Classification of Mechanisms
◼ A kinematic chain is the assembly of several links (rigid bodies) joined
together or contacting such that permits movement relative to one
another.

◼ A constrained Kinematic chain is a mechanism as the constraint

implies that a fixed link is present as a frame of reference. e.g base or
foundation. Without there being a fixed link whose position is defined
there can be no frame of reference for the motion of the assembly of
links.

◼ The linkage shown in the figure is a

mechanism
 Classification of Mechanisms
◼ An unconstrained Kinematic chain is when one link is fixed and
movement of other link to a new position will not cause the other links
to move to a predictable position. Without this ability to absolutely
define the motion of each element there is no mechanism.

◼ The linkage shown in the figure is not a mechanism

 Classification of Mechanisms
◼ The bars pinned together below does not constitute a kinematic chain
as there be no relative motion between members.

◼ The linkage shown in the figure is a structure or a truss

 Classification of Mechanisms
◼ A machine is mechanism that transmit forces
like IC engine or an electric motor.

◼ The kinematic diagram of motor is given here

◼ Links 2 and 4 rotate with common central axis

and are connected by link 3
◼ Rotating polarity of coils is equivalent to link 2
which acts as a driver

◼ The field fluctuations as link 3

◼ And armature is the driven disk 4

◼ Though all machines are mechanisms, not all
mechanisms are machines
 Classification of Mechanisms
◼ Snap action mechanisms or toggle and bi-stable mechanism - used
for simple toggle switches to clamps.
◼ Linear Actuators
Stationary Screws with rotating nuts
Stationary Nuts with with rotating screw
◼ Single and double acting hydraulic and pneumatic cylinders
◼ A fine adjusting mechanism is primarily
used for control where small movements
are required resulting from larger
movements of the input. One rotation of
the input shaft will result in a linear motion
of the carriage of 0,5mm.
◼ Clamping Mechanisms – C clamp
◼ Locational devices – self centering chucks
 Classification of Mechanisms
◼ Ratchets and Escapements. Ratchets are used widely
in lifting equipment to prevent reverse rotation.
◼ Escapements - used in clocks with mechanical
motions to control the spring driven clock mechanism
such that it moves in regulated steps controlled by a
pendulum.
◼ Indexing Mechanisms. A typical unit is the
"mutilated gear" some of the teeth removed from
the driver and a partial holding surface has been
added to each gear to prevent slight rotation during
the dwell period. Geneva Motion is also an
indexing mechanism
 Classification of Mechanisms
◼ Swinging/Rocking Mechanism. Also referred as
oscillators. Output rocks less than 360°
◼ Toothed rack mechanism - Rotating arm (a) with a link
fitted with a toothed rack (b) which meshes with a gear
(c) to produce a rocking motion of the gear.
◼ Crank and Rocker Mechanism - a four bar linkage
(the frame provides the first link). Rotation of the
arm (b) produces a rocking motion of arm (d).
◼ Quick return mechanism- The arm (b) rotates and
results in a rocking motion of arm (d) via the slider (c)
◼ Cam and Follower Mechanism - Rotation of the cam
(c) produces a rocking motion of the lever (d) via the
sliding interface (b).
 Classification of Mechanisms
◼ Reciprocating Mechanisms - using pneumatic,
hydraulic, and electric linear actuators. also achieved
using rack and pinion, and cams.
◼ Scotch Yoke Mechanism - reciprocating motion of
yoke (d) as the arm (b) is rotated - harmonic motion
◼ Offset Slider Crank - produces a (working stroke
time/return stroke time) ratio greater than unity based
on the rotation direction and degree of offset
◼ The Shaper Mechanism - universally used for
providing the cutting motion has the advantage of a
quick return cycle
◼ Whitworth Quick Return
Mechanism -
 Classification of Mechanisms
◼ Reversing Mechanisms – directional change
between driver and driven
◼ Rotational Couplings / Connectors - Transmitting
motion between parallel, coaxial, intersecting and
skewed shafts is achieved using mechanical coupling
systems.
◼ Stop and Dwell Mechanisms - Cam
 Inversion
◼ IC Engine
◼ Link 1 is fixed
◼ Radial engine
◼ Link 2 is fixed and crank case and
cylinders rotate
 Inversion
◼ Oscillating cylinder engines-
◼ Link 3 is fixed and cylinder 4 socillates
◼ Hand Pumps –
◼ Link 4 is fixed and link one moves back and forth
to pump water
◼ In all these inversions, relative motion does not
change if 2 rotates a° clockwise wrt 1, 4 moves to
the right by a known value
 Inversion
◼ IC Engine
◼ Link 1 is fixed
◼ Radial engine
◼ Link 2 is fixed and crank case and
cylinders rotate
◼ Oscillating cylinder engines-
◼ Link 3 is fixed and cylinder 4 socillates
◼ Hand Pumps –
◼ Link 4 is fixed and link one moves back
and forth to pump water
◼ In all these inversions, relative motion
does not change if 2 rotates a° clockwise
wrt 1, 4 moves to the right by a known
value
 Classification of Motions
◼ Plane Motion –
◼ Translation
◼ Rectilinear
◼ curvilinear
◼ Rotation
◼ Rotation and Translation
◼ Both rotation and
translation
◼ Helical motion
◼ Rotates at a fixed axis
while moving in
parallel to it as in
screws
 Classification of Motions
◼ Plane Motion –
◼ Translation
◼ Rectilinear
◼ curvilinear
◼ Rotation
◼ Rotation and Translation
◼ Both rotation and translation
◼ Helical motion
◼ Rotates at a fixed axis while
moving in parallel to it as in screws
◼ Spherical Motion
◼ Moves in 3D space while being at
fixed distance to a reference point
 Pairing Elements
◼ Two bodies in contact constitute a pair
◼ Lower kinematic pair: is a joint for which the contact between the two
kinematic elements is along a surface. Piston and Cylinder Wall, Journal and
support bearing
◼ Higher kinematic pair: is a joint for which the contact between the two
kinematic elements is along a line or at a point. Ball bearing where point
contact between ball and race, roller bearing where line contact between roller
and race
◼ Lower pairing between A, B, C and D
◼ If the piston is spherical line contact hence
higher paring
Pairing Elements

◼ There are only six lower pairs (i.e. R, P, H, C, S, E)

others are higher pairs and only two of them (G, Cp)
are given in the above table. General point or line
contact joints with pure rolling (1 dof), pure sliding
(1dof), or rolling-sliding (2-dof) conditions common
in higher pairs
◼ Degree-of-freedom (dof) of a joint: is the number of
independent parameters that is required to determine
the relative position of one rigid body with respect to
the other which is connected by the joint. These
independent parameters are called joint or pair
variables.
Pairing Elements
 Mobility
◼ Mobility criterion is DOF of a mechanism
◼ It is determined by the number input parameters that need to be controlled
individually to bring a part to a particular position
◼ Consider each link in planar mechanism, before connection has 3 DOF
◼ Leaving out the fixed link, n-link planar mechanism will have 3(n-1) DOFs
before any links are connected
◼ If a joint with 1 DOF like a revolute or prismatic is connected provides two
constraints to the link
◼ If a joint has 2 DOF like (rolling +sliding) or cylindrical, it provides 1
constraint to the link
◼ If these constraints are subtracted from the total DOF, resulting mobility can
be found.
Mobility
 Mobility
Kutzbach mobility criterion applications
 Mobility
• Kutzbach mobility criterion applications to structures

How is J1 6 and 8 in the following figures ?

 Mobility
• Kutzbach mobility criterion applications to 2 DOF joints

If slipping is not permitted, it is a single DOF

 Mobility
• Kutzbach mobility criterion applications to 2 DOF joints

If slipping is not permitted, it is a single DOF

Mobility Example

M = 3(n-1) - 2J1 – J2 Number of links n = 5

Number of lower pairs J1 = 5
M = 3(5-1) – 2*5 – 1 Number of higher pairs J2 = 1
M=1
Mobility Example

M = 3(n-1) - 2J1 – J2 Number of links n = 7

Number of lower pairs J1 = 9
M = 3(7-1) – 2*9 – 1 Number of higher pairs J2 = 1
M = -1
Answer is not right, because if you move 2, it will move 7
reason is 3 and 4 are superfluous links if we remove
them, then n = 5 and J1 = 5 and J2 = 1 and M = 1
 Mobility
• Grubler mobility criterion is for joints with only 1DOF
and constrained motion with overall mobility as 1

• If m =1 and J2 = 0 in Kutzbach it is Grubler

 Mobility
• For a spatial mechanism with 6 DOF links
 Grashof’s Law
• The Grashof's law or condition states that "For a four-bar
mechanism, the sum of the shortest and longest link
lengths should not be greater than the sum of two
remaining link lengths".

• For a four-bar linkage, the Grashof Condition is satisfied

if S+L ≤ P+Q where S is the shortest link, L is the
longest, and P and Q are the other links. When the
Grashof condition is satisfied, at least one link will be
completely rotatable.
Grashof’s Law
 Grashof’s Law
• The Grashof's law does not specify the order of links or
which link is fixed.
Grashoff Law - Example

6” Grashoff law
S + L <= P + Q
3 + 6= 9 = 4 + 5
5” Is Satisfied
4”
Since S is fixed, both P and Q can
do full rotation so it is a double
3”
crank (drag link) mechanism