MECHANICS OF MACHINES

Dr. Eng. Riam Nagi Bin Break

Assistant Professor in Mechanical Power Engineering

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MECHANICS OF MACHINES Dr. Eng.
.‫ م‬.‫ميكانيكا اآلالت د‬

Riam Nagi Bin Break

‫ريام ناجي بن بريك‬

Assistant Professor in Mechanical Power Engineering

‫أستاذ مساعد في هندسة القوى الميكانيكية‬

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 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.

Note: A machine is a device which receives energy in some available form and
utilizes it to do some particular type of work.

Sub-divisions of Theory of Machines

The Theory of Machines may be sub-divided into the following four branches:

1. Kinematics. It is that branch of Theory of Machines which deals with the

relative motion between the various parts of the machines.
2. .Dynamics. It is that branch of Theory of Machines which deals with the forces
and their effects, while acting upon the machine parts in motion.
3. Kinetics. It is that branch of Theory of Machines which deals with the inertia
forces which arise from the combined effect of the mass and motion of the
machine parts.
4. Statics. It is that branch of Theory of Machines which deals with the forces and
their effects while the machine parts are at rest.

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INTRODUCTION
‫مقدمة‬

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.
‫ الذي يتعامل مع دراسة‬،‫يمكن تعريف موضوع نظرية اآلالت على أنه ذلك الفرع من العلوم الهندسية‬
.‫ والقوى المؤثرة عليها‬،‫الحركة النسبية بين األجزاء المختلفة لآللة‬

Note: A machine is a device which receives energy in some available form and
utilizes it to do some particular type of work.
‫ اآللة عبارة عن جهاز يتلقى الطاقة في بعض األشكال المتاحة ويستخدمها للقيام بنوع معين‬:‫مالحظة‬
.‫من العمل‬

Sub-divisions of Theory of Machines

‫األقسام الفرعية لنظرية اآلالت‬

The Theory of Machines may be sub-divided into the following four branches:
1.Kinematics.
.‫ علم الحركة‬.1 :‫يمكن تقسيم نظرية اآلالت إلى الفروع األربعة التالية‬

It is that branch of Theory of Machines which deals with the relative motion
between the various parts of the machines.
.‫إنه ذلك الفرع من نظرية اآلالت الذي يتعامل مع الحركة النسبية بين األجزاء المختلفة لآلالت‬

2..Dynamics.
.‫الديناميكيات‬..2

It is that branch of Theory of Machines which deals with the forces and their
effects, while acting upon the machine parts in motion.
‫ أثناء التأثير على أجزاء اآللة‬،‫وهو ذلك الفرع من نظرية اآلالت الذي يتعامل مع القوى وتأثيراتها‬
.‫المتحركة‬

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3.Kinetics.
.‫ الحركية‬.3

It is that branch of Theory of Machines which deals with the inertia forces
which arise from the combined effect of the mass and motion of the machine
parts.
‫إنه ذلك الفرع من نظرية اآلالت الذي يتعامل مع قوى القصور الذاتي التي تنشأ من التأثير المشترك‬
.‫للكتلة وحركة أجزاء اآللة‬

4.Statics.
.‫اإلحصائيات‬.4

It is that branch of Theory of Machines which deals with the forces and their
effects while the machine parts are at rest.
‫وهو ذلك الفرع من نظرية اآلالت الذي يتعامل مع القوى وتأثيراتها عندما تكون أجزاء اآللة في حالة‬
.‫سكون‬

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A machine consists of a number of parts or bodies.

Kinematic Link or Element

1. Each part of a machine, which moves relative to some other part, is known as
a kinematic link (or simply link) or element.
2. A link may consist of several parts, which are rigidly fastened together, so that
they do not move relative to one another. For example, in a reciprocating steam
engine, as shown in Fig. 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.

3. A link or element must be a resistant body. A body is said to be a resistant body

if it is capable of transmitting the required forces with negligible deformation.

A link should have the following two characteristics:

1. It should have relative motion.

2. It must be a resistant body.

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A machine consists of a number of parts or bodies.
.‫تتكون اآللة من عدد من األجزاء أو األجسام‬

Kinematic Link or Element

‫االرتباط الحركي أو العنصر‬

1.Each part of a machine, which moves relative to some other part, is known
as a kinematic link (or simply link) or element.
‫ باالرتباط الحركي (أو ببساطة‬،‫ الذي يتحرك بالنسبة إلى جزء آخر‬،‫ ُيعرف كل جزء من اآللة‬.1
.‫االرتباط) أو العنصر‬

2.A link may consist of several parts, which are rigidly fastened together, so
that they do not move relative to one another.
‫ بحيث ال تتحرك‬،‫ يتم ربطها ببعضها البعض بشكل صارم‬،‫ قد يتكون الوصلة من عدة أجزاء‬.2
.‫بالنسبة لبعضها البعض‬

For example, in a reciprocating steam engine, as shown in Fig.

.‫ كما هو موضح في الشكل‬،‫ في المحرك البخاري الترددي‬،‫على سبيل المثال‬

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.
‫يشكل المكبس وقضيب المكبس والرأس المتقاطع رابًط ا واحًد ا؛ ويشكل قضيب التوصيل ذو المحامل‬
‫الطرفية الكبيرة والصغيرة رابًط ا ثانًيا؛ الكرنك والعمود المرفقي والحدافة هي الوصلة الثالثة‬
.‫واألسطوانة وإطار المحرك والمحامل الرئيسية هي الوصلة الرابعة‬

3.A link or element must be a resistant body.

.‫ يجب أن يكون الرابط أو العنصر عبارة عن جسم مقاوم‬.3

A body is said to be a resistant body if it is capable of transmitting the required

forces with negligible deformation.
.‫يقال عن الجسم أنه جسم مقاوم إذا كان قادًر ا على نقل القوى المطلوبة بتشوه ضئيل‬

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A link should have the following two characteristics: 1.
.1 :‫يجب أن يتمتع الرابط بالخاصيتين التاليتين‬

It should have relative motion.

.‫يجب أن يكون لها حركة نسبية‬

It must be a resistant body.

.‫يجب أن يكون جسًم ا مقاوًم ا‬

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Types of Links

1. Rigid link. A rigid link is one which does not undergo any deformation while
transmitting motion. For example connecting rod, crank etc.
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.
3. A fluid link is one which is formed by having a fluid in a receptacle and the motion
is transmitted through the fluid by pressure or compression only, as in the case of
hydraulic presses, jacks and brakes.

Structure It is an assemblage of a number of resistant bodies (known as members)

having no relative motion between them and meant for carrying loads having
straining action. A railway bridge, a roof truss, machine frames etc., are the examples
of a structure.

. Difference Between a Machine and a Structure

: 1. The parts of a machine move relative to one another, whereas the members of a
structure do not move relative to one another.

2. A machine transforms the available energy into some useful work, whereas in a
structure no energy is transformed into useful work.

3. The links of a machine may transmit both power and motion, while the members
of a structure transmit forces only.

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Types of Links
‫أنواع الروابط‬

1.Rigid link.
.‫ رابط جامد‬.1

A rigid link is one which does not undergo any deformation while transmitting
motion.
.‫الوصلة الصلبة هي التي ال تتعرض ألي تشوه أثناء نقل الحركة‬

For example connecting rod, crank etc.

.‫ كرنك الخ‬،‫على سبيل المثال ربط قضيب‬

2.Flexible link.
.‫ رابط مرن‬.2

A flexible link is one which is partly deformed in a manner not to affect the
transmission of motion.
.‫الوصلة المرنة هي التي تكون مشوهة جزئًيا بطريقة ال تؤثر على نقل الحركة‬

For example, belts, ropes, chains and wires.

.‫ األحزمة والحبال والسالسل واألسالك‬،‫على سبيل المثال‬

3.A fluid link is one which is formed by having a fluid in a receptacle and the
motion is transmitted through the fluid by pressure or compression only, as in
the case of hydraulic presses, jacks and brakes.
‫ وصلة المائع هي التي تتكون من وجود مائع في وعاء وتنتقل الحركة خالل المائع عن طريق‬.3
.‫الضغط أو الضغط فقط كما في حالة المكابس الهيدروليكية والرافعات والمكابح‬

Structure It is an assemblage of a number of resistant bodies (known as

members) having no relative motion between them and meant for carrying
loads having straining action.
‫الهيكل عبارة عن تجمع لعدد من األجسام المقاومة (المعروفة باألعضاء) التي ليس لها حركة نسبية‬
.‫ وهي مخصصة لحمل األحمال ذات عمل اإلجهاد‬،‫فيما بينها‬

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A railway bridge, a roof truss, machine frames etc., are the examples of a
structure.
.‫ هي أمثلة على الهيكل‬،‫ إطارات اآلالت وما إلى ذلك‬،‫ دعامات السقف‬،‫جسر السكك الحديدية‬

Difference Between a Machine and a Structure

‫الفرق بين اآللة والهيكل‬

The parts of a machine move relative to one another, whereas the members of
a structure do not move relative to one another.
‫ في حين أن أعضاء الهيكل ال تتحرك بالنسبة لبعضها‬،‫تتحرك أجزاء اآللة بالنسبة لبعضها البعض‬
.‫البعض‬

A machine transforms the available energy into some useful work, whereas in
a structure no energy is transformed into useful work.
.‫ بينما في البنية ال يتم تحويل أي طاقة إلى عمل مفيد‬،‫تقوم اآللة بتحويل الطاقة المتاحة إلى عمل مفيد‬

The links of a machine may transmit both power and motion, while the
members of a structure transmit forces only.
.‫ بينما ينقل أعضاء الهيكل القوى فقط‬،‫قد تنقل وصالت اآللة كًال من القوة والحركة‬

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Kinematic Pair

The two links or elements 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.

Types of Constrained Motions

1. Completely constrained motion. When the motion between a pair is limited to

a definite direction irrespective of the direction of force applied, then the
motion is said to be a completely constrained motion. For example, the piston
and cylinder, Square bar in a square hole.

2. Incompletely constrained motion. When the motion between a pair can take
place in more than one direction, then the motion is called an incompletely
constrained motion. For example, the circular bar or shaft in a circular hole.

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Kinematic Pair
‫الزوج الحركي‬

The two links or elements of a machine, when in contact with each other, are
said to form a pair.
‫ يشكالن‬،‫ عندما يكونان على اتصال ببعضهما البعض‬،‫يقال إن الوصلتين أو العنصرين في اآللة‬
.‫زوًج ا‬

If the relative motion between them is completely or successfully constrained

(i.e.
.‫إذا كانت الحركة النسبية بينهما مقيدة تماًم ا أو بنجاح (أي‬

in a definite direction), the pair is known as kinematic pair.

.‫ ويعرف الزوج بالزوج الحركي‬،)‫في اتجاه محدد‬

Types of Constrained Motions 1.Completely constrained motion.

.‫ الحركة المقيدة تماما‬.1 ‫أنواع الحركات المقيدة‬

When the motion between a pair is limited to a definite direction irrespective

of the direction of force applied, then the motion is said to be a completely
constrained motion.
‫ يقال إن‬،‫عندما تقتصر الحركة بين الزوجين على اتجاه محدد بغض النظر عن اتجاه القوة المطبقة‬
.‫الحركة مقيدة تماًم ا‬

For example, the piston and cylinder, Square bar in a square hole.
.‫ شريط مربع في حفرة مربعة‬،‫ المكبس واألسطوانة‬،‫على سبيل المثال‬

2.Incompletely constrained motion.

.‫ الحركة المقيدة بشكل غير كامل‬.2

When the motion between a pair can take place in more than one direction,
then the motion is called an incompletely constrained motion.
‫ فإن الحركة تسمى حركة مقيدة غير‬،‫عندما يمكن أن تتم الحركة بين الزوجين في أكثر من اتجاه واحد‬
.‫كاملة‬

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‫‪For example, the circular bar or shaft in a circular hole.‬‬
‫على سبيل المثال‪ ،‬شريط دائري أو رمح في حفرة دائرية‪.‬‬

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 3. Successfully constrained motion. When the motion between the elements,
forming a pair, is such that the constrained motion is not completed by itself,
but by some other means, then the motion is said to be successfully constrained
motion. Consider a shaft in a foot-step bearing as shown in Fig.. The shaft may
rotate in a bearing or it may move upwards. This is a case of incompletely
constrained motion. But if the load is placed on the shaft to prevent axial
upward movement of the shaft, then the motion of the pair is said to be
successfully constrained motion.

Classification of Kinematic Pairs The kinematic

1. According to the type of relative motion between the elements.

(a) Sliding 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.

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3.Successfully constrained motion.
.‫ تقييد الحركة بنجاح‬.3

When the motion between the elements, forming a pair, is such that the
constrained motion is not completed by itself, but by some other means, then
the motion is said to be successfully constrained motion.
،‫ بحيث ال تكتمل الحركة المقيدة من تلقاء نفسها‬،‫ التي تشكل زوًج ا‬،‫عندما تكون الحركة بين العناصر‬
.‫ يقال إن الحركة هي حركة مقيدة بنجاح‬،‫ولكن بوسيلة أخرى‬

Consider a shaft in a foot-step bearing as shown in Fig..

.‫ضع في اعتبارك عموًد ا في محمل خطوة القدم كما هو موضح في الشكل‬

The shaft may rotate in a bearing or it may move upwards.

.‫قد يدور العمود في محمل أو قد يتحرك ألعلى‬

This is a case of incompletely constrained motion.

.‫هذه حالة من الحركة المقيدة بشكل غير كامل‬

But if the load is placed on the shaft to prevent axial upward movement of the
shaft, then the motion of the pair is said to be successfully constrained motion.
‫ ُيقال إن حركة الزوج‬،‫ولكن إذا تم وضع الحمل على العمود لمنع الحركة المحورية لألعلى للعمود‬
.‫مقيدة بنجاح‬

Classification of Kinematic Pairs The kinematic 1.

.1 ‫تصنيف األزواج الحركية‬

According to the type of relative motion between the elements.

. ‫حسب نوع الحركة النسبية بين العناصر‬

(a) Sliding pair.

.‫(أ) زوج منزلق‬

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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.
‫ ُيعرف‬،‫عندما يكون عنصرا الزوج متصلين بطريقة ال يمكن ألحدهما أن ينزلق إال بالنسبة لآلخر‬
.‫الزوج بالزوج المنزلق‬

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(b) Turning 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.

(c) Rolling pair. When the two elements of a pair are connected in such a way that
one rolls over another fixed link, the pair is known as rolling pair.

(d) 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.

(e) Spherical pair. When the two elements of a pair are connected in such a way that
one element (with spherical shape) turns or swivels about the other fixed element,
the pair formed is called a spherical pair.

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(b) Turning pair.
.‫(ب) تحول الزوج‬

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
turningpair.
‫عندما يكون عنصرا الزوج متصلين بطريقة بحيث ال يمكن للمرء إال أن يدور أو يدور حول محور‬
.‫ ُيعرف الزوج باسم زوج الدوران‬،‫ثابت لرابط آخر‬

(c) Rolling pair.

.‫(ج) الزوج المتداول‬

When the two elements of a pair are connected in such a way that one rolls
over another fixed link, the pair is known as rolling pair.
‫ ُيعرف‬،‫عندما يكون عنصرا الزوج متصلين بطريقة بحيث يتدحرج أحدهما فوق رابط ثابت آخر‬
.‫الزوج باسم الزوج المتداول‬

(d) Screw pair.

.‫(د) زوج المسمار‬

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.
‫عندما يتم توصيل عنصري الزوج بطريقة بحيث يمكن ألحد العناصر أن يدور حول اآلخر بواسطة‬
.‫ ُيعرف الزوج بالزوج اللولبي‬،‫خيوط لولبية‬

(e) Spherical pair.

.‫( هـ ) زوج كروي‬

When the two elements of a pair are connected in such a way that one element
(with spherical shape) turns or swivels about the other fixed element, the pair
formed is called a spherical pair.
‫عندما يكون عنصرا الزوج متصلين بطريقة بحيث يدور عنصر واحد (ذو شكل كروي) حول‬
.‫ فإن الزوج المتكون يسمى زوًج ا كروًيا‬،‫العنصر الثابت اآلخر‬

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2. According to the type of contact between the elements.

(a) Lower pair. When the two elements of a pair have a surface 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
and screw pairs form lower pairs.

(b) 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 toothed gearing, cam and
follower are the examples of higher pairs.

3. According to the type of closure.

(a) Self closed pair. When the two elements of a pair are connected together
mechanically in such a way that only required kind of relative motion occurs, it is
then known as self closed pair. The lower pairs are self closed pair.

(b) Force - closed pair. When the two elements of a pair are not connected
mechanically but are kept in contact by the action of external forces, the pair is said
to be a force-closed pair. The cam and follower is an example of force closed pair, as
it is kept in contact by the forces exerted by spring.

2
According to the type of contact between the elements.
. ‫حسب نوع االتصال بين العناصر‬

(a) Lower pair.

.‫(أ) الزوج السفلي‬

When the two elements of a pair have a surface 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.
‫عندما يكون بين عنصري الزوج اتصال سطحي عند حدوث حركة نسبية وينزلق سطح عنصر واحد‬
.‫ ُيعرف الزوج المتكون بالزوج السفلي‬،‫على سطح العنصر اآلخر‬

It will be seen that sliding pairs, turning pairs and screw pairs form lower
pairs.
.‫سيتبين أن األزواج المنزلقة واألزواج الدوارة واألزواج اللولبية تشكل أزواًج ا أقل‬

(b) Higher pair.

.‫(ب) الزوج األعلى‬

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.
‫عندما يكون لعنصري الزوج خط أو نقطة اتصال عندما تحدث حركة نسبية وتكون الحركة بين‬
.‫ فإن الزوج يعرف بالزوج األعلى‬،‫العنصرين تدور جزئًيا وتنزلق جزئًيا‬

A toothed gearing, cam and follower are the examples of higher pairs.
.‫تعتبر التروس المسننة والكاميرا والتابع أمثلة على األزواج األعلى‬

According to the type of closure.

.‫حسب نوع اإلغالق‬

(a) Self closed pair.

.‫(أ) زوج مغلق ذاتيا‬

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When the two elements of a pair are connected together mechanically in such a
way that only required kind of relative motion occurs, it is then known as self
closed pair.
،‫عندما يتم ربط عنصري الزوج مًع ا ميكانيكًيا بطريقة ال تحدث إال النوع المطلوب من الحركة النسبية‬
.‫ُيعرف هذا الزوج باسم الزوج المغلق ذاتًيا‬

The lower pairs are self closed pair.

.‫األزواج السفلية هي أزواج مغلقة ذاتيا‬

(b) Force - closed pair.

.‫ زوج مغلق‬- ‫(ب) القوة‬

When the two elements of a pair are not connected mechanically but are kept
in contact by the action of external forces, the pair is said to be a force-closed
pair.
،‫عندما ال يكون عنصرا الزوج متصلين ميكانيكًيا ولكنهما يظالن على اتصال بفعل القوى الخارجية‬
.‫يقال إن الزوج هو زوج مغلق بالقوة‬

The cam and follower is an example of force closed pair, as it is kept in

contact by the forces exerted by spring.
‫ حيث يظالن على اتصال من خالل القوى التي‬،‫تعد الكامة والمتابع مثااًل على الزوج المغلق بالقوة‬
.‫يمارسها الزنبرك‬

@xFxBot ‫) | ُترجمت بواسطة‬8( ‫صفحة‬

Kinematic Chain

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 kinematic chain.

For example, the crankshaft of an engine forms a kinematic pair with the bearings
which are fixed in a pair, the connecting rod with the crank forms a second kinematic
pair, the piston with the connecting rod forms a third pair and the piston with the
cylinder forms a fourth pair. The total combination of these links is a kinematic chain.
If each link is assumed to form two pairs with two adjacent links, then the relation
between the number of pairs ( p ) forming a kinematic chain and the number of links
( L ) may be expressed in the form of an equation :

(L.H.S) L = 2 p – 4 (R.H.S)

Another relation between the number of links (L) and the number of joints ( j) which
constitute a kinematic chain is given by the expression :

3
(L.H.S) 𝑗 = 𝐿 − 2 (R.H.S)
2

1. L.H.S. > R.H.S. Such type of chain is called locked chain and forms a rigid frame
or structure which is used in bridges and trusses.

2. L.H.S. = R.H.S. Such type of chain is called kinematic chain.

3. L.H.S. < R.H.S. Such a type of chain is called unconstrained chain i.e. the relative
motion is not completely constrained.

2
Kinematic Chain
‫السلسلة الحركية‬

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.
‫عندما تقترن األزواج الحركية بطريقة يتم فيها ربط الرابط األخير بالرابط األول لنقل حركة محددة‬
.‫(أي‬

completely or successfully constrained motion), it is called a kinematic chain.

.‫ وتسمى بالسلسلة الحركية‬،)‫الحركة المقيدة كلًيا أو ناجًح ا‬

For example, the crankshaft of an engine forms a kinematic pair with the
bearings which are fixed in a pair, the connecting rod with the crank forms a
second kinematic pair, the piston with the connecting rod forms a third pair
and the piston with the cylinder forms a fourth pair.
‫ ويشكل‬،‫ يشكل العمود المرفقي للمحرك زوًج ا حركًيا مع محامل مثبتة في زوج‬،‫على سبيل المثال‬
‫ ويشكل المكبس مع قضيب التوصيل زوًج ا ثال اًث‬،‫قضيب التوصيل مع ذراع التدوير زوًج ا حركًيا ثانًيا‬
.‫والمكبس مع األسطوانة يشكل الزوج الرابع‬

The total combination of these links is a kinematic chain.

.‫مجموع هذه الروابط عبارة عن سلسلة حركية‬

If each link is assumed to form two pairs with two adjacent links, then the
relation between the number of pairs ( p ) forming a kinematic chain and the
number of links ( L ) may be expressed in the form of an equation : (L.H.S) L
= 2 p – 4 (R.H.S) Another relation between the number of links (L) and the
number of joints ( j) which constitute a kinematic chain is given by the
expression : (L.H.S) 𝑗 =
)p( ‫ فإن العالقة بين عدد األزواج‬،‫إذا افترض أن كل رابط يشكل زوجين مع حلقتين متجاورتين‬
L = 2 p )L.H.S( :‫) يمكن التعبير عنها على شكل معادلة‬L( ‫المكونة لسلسلة حركية وعدد الروابط‬
‫) التي تشكل سلسلة‬j ( ‫) وعدد الوصالت‬L( ‫ هناك عالقة أخرى بين عدد الوصالت‬- 4 (R.H.S)
= 𝑗 )L.H.S( : ‫حركية تعطى بالتعبير‬

@xFxBot ‫) | ُترجمت بواسطة‬9( ‫صفحة‬

> R.H.S.Such type of chain is called locked chain and forms a rigid frame or
structure which is used in bridges and trusses.
‫ يسمى هذا النوع من السلسلة بالسلسلة المقفلة ويشكل إطاًر ا أو هيكاًل صلًبا يستخدم في‬.R.H.S >
.‫الجسور والجمالونات‬

Such type of chain is called kinematic chain.

.‫يسمى هذا النوع من السلسلة بالسلسلة الحركية‬

Such a type of chain is called unconstrained chain i.e.

.‫يسمى هذا النوع من السلسلة بالسلسلة غير المقيدة أي‬

the relative motion is not completely constrained.

.‫الحركة النسبية ليست مقيدة تماما‬

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Types of Joints in a Chain

1. Binary joint. When two links are joined at the same connection, the joint is known
as binary joint.

2. Ternary joint. When three links are joined at the same connection, the joint is
known as ternary joint. It is equivalent to two binary joints.

2
Types of Joints in a Chain 1.
.1 ‫أنواع المفاصل في السلسلة‬

Binary joint.
.‫مشترك ثنائي‬

When two links are joined at the same connection, the joint is known as binary
joint.
.‫ ُيعرف المفصل باسم المفصل الثنائي‬،‫عندما يتم ضم رابطين في نفس االتصال‬

Ternary joint.
.‫المفصل الثالثي‬

When three links are joined at the same connection, the joint is known as
ternary joint.It is equivalent to two binary joints.
‫ وهو يعادل‬.‫ ُيعرف المفصل باسم المفصل الثالثي‬،‫عندما يتم ضم ثالث روابط في نفس االتصال‬
.‫وصلتين ثنائيتين‬

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3. Quaternary joint. When four links are joined at the same connection, the joint is
called a quaternary joint. It is equivalent to three binary joints. In general, when l
number of links are joined at the same connection, the joint is equivalent to (L – 1)
binary joints.

Mechanism

1. When one of the links of a kinematic chain is fixed, the chain is known as
mechanism.
2. Mechanism may be used for transmitting or transforming motion.
3. A mechanism with four links is known as simple mechanism, and the
mechanism with more than four links is known as compound mechanism.
4. When a mechanism is required to transmit power or to do some particular type
of work, it then becomes a machine.

2
Quaternary joint.
.‫المفصل الرباعي‬

When four links are joined at the same connection, the joint is called a
quaternary joint.
.‫ يسمى المفصل بالمفصل الرباعي‬،‫عندما يتم ربط أربع وصالت في نفس االتصال‬

It is equivalent to three binary joints.

.‫وهو يعادل ثالثة مفاصل ثنائية‬

In general, when l number of links are joined at the same connection, the joint
is equivalent to (L – 1) binary joints.
‫) وصالت‬L – 1( ‫ فإن الوصلة تعادل‬،‫ عند ربط عدد من الوصالت في نفس الوصلة‬،‫بشكل عام‬
.‫ثنائية‬

Mechanism
‫آلية‬

1.When one of the links of a kinematic chain is fixed, the chain is known as
mechanism.
.‫ ُتعرف السلسلة باسم اآللية‬،‫ عندما يتم تثبيت إحدى حلقات السلسلة الحركية‬.1

Mechanism may be used for transmitting or transforming motion.

.‫يمكن استخدام اآللية لنقل أو تحويل الحركة‬

3.A mechanism with four links is known as simple mechanism, and the
mechanism with more than four links is known as compound mechanism.
‫ وُتعرف اآللية التي تحتوي على أكثر‬،‫ ُتعرف اآللية التي تحتوي على أربع روابط باآللية البسيطة‬.3
.‫من أربع روابط باآللية المركبة‬

4.When a mechanism is required to transmit power or to do some particular

type of work, it then becomes a machine.
.‫ فإنها تصبح آلة‬،‫ عندما تكون هناك حاجة إلى آلية لنقل الطاقة أو للقيام بنوع معين من العمل‬.4

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Number of Degrees of Freedom

In the design or analysis of a mechanism, one of the most important concern is the
number of degrees of freedom (also called movability) of the mechanism. It is
defined as the number of input parameters (usually pair variables) which must be
independently controlled in order to bring the mechanism into a useful engineering
purpose.

The number of degrees of freedom of a mechanism is given by

Where; L number of links connected by j number of binary joints or lower pairs and
h number of higher pairs.

It may be noted that

(a) When n = 0, then the mechanism forms a structure and no relative motion
between the links is possible.
(b) When n = 1, then the mechanism can be driven by a single input motion,
(c) When n = 2, then two separate input motions are necessary to produce
constrained motion for the mechanism
(d) When n = – 1 or less, then there are redundant constraints in the chain and it
forms a statically indeterminate structure.

2
Number of Degrees of Freedom
‫عدد درجات الحرية‬

In the design or analysis of a mechanism, one of the most important concern is

the number of degrees of freedom (also called movability) of the mechanism.
‫ أحد أهم االهتمامات هو عدد درجات الحرية (وتسمى أيًض ا قابلية‬،‫في تصميم أو تحليل آلية ما‬
.‫الحركة) لآللية‬

It is defined as the number of input parameters (usually pair variables) which

must be independently controlled in order to bring the mechanism into a useful
engineering purpose.
‫يتم تعريفه على أنه عدد معلمات اإلدخال (عادًة متغيرات زوجية) التي يجب التحكم فيها بشكل مستقل‬
.‫من أجل تحويل اآللية إلى غرض هندسي مفيد‬

The number of degrees of freedom of a mechanism is given by Where; L

number of links connected by j number of binary joints or lower pairs and h
number of higher pairs.
‫ من‬j ‫ من الروابط المتصلة بواسطة عدد‬L ‫يتم تحديد عدد درجات حرية اآللية بواسطة أين؛ عدد‬
.‫ من األزواج األعلى‬h ‫المفاصل الثنائية أو األزواج السفلية وعدد‬

It may be noted that (a) When n = 0, then the mechanism forms a structure and
no relative motion between the links is possible.
‫ فإن اآللية تشكل بنية وال تكون هناك حركة نسبية بين‬،n = 0 ‫تجدر اإلشارة إلى أنه (أ) عندما تكون‬
.‫الوصالت‬

@xFxBot ‫) | ُترجمت بواسطة‬12( ‫صفحة‬

(b) When n = 1, then the mechanism can be driven by a single input motion,
(c) When n = 2, then two separate input motions are necessary to produce
constrained motion for the mechanism (d) When n = – 1 or less, then there are
redundant constraints in the chain and it forms a statically indeterminate
structure.
‫ فمن‬،n = 2 ‫ (ج) عندما تكون‬،‫ يمكن تشغيل اآللية بحركة إدخال واحدة‬،n = 1 ‫(ب) عندما تكون‬
‫ أو‬n = – 1 ‫الضروري إجراء حركتي إدخال منفصلتين إلنتاج حركة مقيدة لآللية (د) عندما تكون‬
.‫ فهناك قيود زائدة في السلسلة وتشكل بنية غير محددة بشكل ثابت‬،‫أقل‬

@xFxBot ‫) | ُترجمت بواسطة‬12( ‫صفحة‬

Types of Kinematic Chains

1. Four bar chain or quadric cyclic chain,

2. Single slider crank chain.

3. Double slider crank chain.

Four Bar Chain or Quadric Cycle Chain

1. It consists of four links, each of them forms a turning pair at A, B, C and D. The
four links may be of different lengths. According to Grashof ’s law for a four bar
mechanism, the sum of the shortest and longest link lengths should not be greater
than the sum of the remaining two link lengths if there is to be continuous relative
motion between the two links.
2. In a four-bar chain, one of the links, in particular the shortest link, will make a
complete revolution relative to the other three links, if it satisfies the Grashof ’s
law. Such a link is known as crank or driver. In Fig. AD (link 4 ) is a crank. The
link BC (link 2) which makes a partial rotation or oscillates is known as lever or
rocker or follower and the link CD (link 3) which connects the crank and lever is
called connecting rod or coupler. The fixed link A B (link 1) is known as frame.
of the mechanism.

2
Types of Kinematic Chains
‫أنواع السالسل الحركية‬

Four bar chain or quadric cyclic chain, 2.

.2 ،‫أربعة سلسلة شريطية أو سلسلة دائرية رباعية‬

Single slider crank chain.

.‫سلسلة كرنك منزلق واحد‬

Double slider crank chain.

.‫سلسلة كرنك منزلق مزدوج‬

Four Bar Chain or Quadric Cycle Chain 1.It consists of four links, each of
them forms a turning pair at A, B, C and D. The four links may be of different
lengths.
‫ يشكل كل منها زوًج ا‬،‫ تتكون من أربع وصالت‬.1 ‫سلسلة ذات أربعة أشرطة أو سلسلة دورة رباعية‬
.‫ وقد تكون الروابط األربعة ذات أطوال مختلفة‬.D‫ و‬C‫ و‬B‫ و‬A ‫دواًر ا عند‬

According to Grashof ’s law for a four bar mechanism, the sum of the shortest
and longest link lengths should not be greater than the sum of the remaining
two link lengths if there is to be continuous relative motion between the two
links.
‫ يجب أال يكون مجموع أطوال الوصلة األقصر واألطول‬،‫وفًقا لقانون غراشوف آللية األربعة أشرطة‬
‫أكبر من مجموع طولي الوصلتين المتبقيتين إذا أردنا أن تكون هناك حركة نسبية مستمرة بين‬
.‫الوصلتين‬

2.In a four-bar chain, one of the links, in particular the shortest link, will make
a complete revolution relative to the other three links, if it satisfies the Grashof
’s law.
‫ ثورة كاملة بالنسبة‬،‫ وخاصة الحلقة األقصر‬،‫ ستحدث إحدى الحلقات‬،‫ في سلسلة من أربعة أشرطة‬.2
.‫ إذا كانت تستوفي قانون غراشوف‬،‫للحلقات الثالثة األخرى‬

@xFxBot ‫) | ُترجمت بواسطة‬13( ‫صفحة‬

Such a link is known as crank or driver.
.‫ُيعرف هذا االرتباط بالكرنك أو السائق‬

In Fig.
.‫في الشكل‬

AD (link 4 ) is a crank.
.‫ ) هو كرنك‬4 ‫م (رابط‬

The link BC (link 2) which makes a partial rotation or oscillates is known as

lever or rocker or follower and the link CD (link 3) which connects the crank
and lever is called connecting rod or coupler.
‫) الذي يقوم بدوران جزئي أو يتأرجح بالرافعة أو الروك أو المتابع‬2 ‫ (الرابط‬BC ‫ُيعرف الرابط‬
‫) الذي يربط الكرنك والرافعة بقضيب التوصيل أو قارنة‬3 ‫ويسمى الرابط المضغوط للوصلة (الرابط‬
.‫التوصيل‬

The fixed link A B (link 1) is known as frame.

.‫) باإلطار‬1 ‫ (الرابط‬AB ‫ُيعرف االرتباط الثابت‬

of the mechanism.
.‫من اآللية‬

@xFxBot ‫) | ُترجمت بواسطة‬13( ‫صفحة‬

Inversions of Four Bar Chain

Beam engine (crank and lever mechanism).

2
‫‪Inversions of Four Bar Chain Beam engine (crank and lever mechanism).‬‬
‫انقالبات محرك شعاع السلسلة ذو األربعة أشرطة (آلية الكرنك والرافعة)‪.‬‬

‫صفحة (‪ُ | )14‬ترجمت بواسطة ‪@xFxBot‬‬

Single Slider Crank Chain

1. It consists of one sliding pair and three turning pairs. It is, usually, found in
reciprocating steam engine mechanism. This type of mechanism converts
rotary motion into reciprocating motion and vice versa.
2. In a single slider crank chain, as shown in Fig. the links 1 and 2, links 2 and 3,
and links 3 and 4 form three turning pairs while the links 4 and 1 form sliding
pair.

Inversions of Single Slider Crank Chain

Pendulum pump or Bull engine.

2
Single Slider Crank Chain 1.It consists of one sliding pair and three turning
pairs.
.‫ تتكون من زوج منزلق واحد وثالثة أزواج دوارة‬.1 ‫سلسلة كرنك منزلق فردي‬

It is, usually, found in reciprocating steam engine mechanism.

.‫وعادة ما يتم العثور عليه في آلية المحرك البخاري الترددي‬

This type of mechanism converts rotary motion into reciprocating motion and
vice versa.
.‫يقوم هذا النوع من اآلليات بتحويل الحركة الدورانية إلى حركة ترددية والعكس صحيح‬

2.In a single slider crank chain, as shown in Fig.

.‫ كما هو موضح في الشكل‬،‫ في سلسلة كرنك منزلق واحد‬.2

the links 1 and 2, links 2 and 3, and links 3 and 4 form three turning pairs
while the links 4 and 1 form sliding pair.
4 ‫ ثالثة أزواج دوارة بينما تشكل الروابط‬4 ‫ و‬3 ‫ والروابط‬،3 ‫ و‬2 ‫ والوصالت‬،2 ‫ و‬1 ‫تشكل الروابط‬
.‫ زوًج ا منزلًقا‬1 ‫و‬

Inversions of Single Slider Crank Chain Pendulum pump or Bull engine.

.‫انقالبات لمضخة البندول ذات سلسلة كرنك منزلق واحد أو محرك الثور‬

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Double Slider Crank Chain

1. A kinematic chain which consists of two turning pairs and two sliding pairs is
known as double slider crank chain, as shown in Fig..
2. We see that the link 2 and link 1 form one turning pair and link 2 and link 3
form the second turning pair. The link 3 and link 4 form one sliding pair and
link 1 and link 4 form the second sliding pair.

Inversions of Double Slider Crank Chain

Elliptical trammels.

2
Double Slider Crank Chain 1.A kinematic chain which consists of two turning
pairs and two sliding pairs is known as double slider crank chain, as shown in
Fig.. 2.We see that the link 2 and link 1 form one turning pair and link 2 and
link 3 form the second turning pair.
‫ ُتعرف السلسلة الحركية التي تتكون من زوجين دوارين وزوجين‬.1 ‫سلسلة كرنك منزلق مزدوج‬
1 ‫ والوصلة‬2 ‫ نرى أن الوصلة‬.2 .‫ كما هو موضح في الشكل‬،‫منزلقين بسلسلة كرنك منزلق مزدوج‬
.‫ يشكالن زوج الدوران الثاني‬3 ‫ والرابط‬2 ‫تشكل زوًج ا دواًر ا واحًد ا ووصلة‬

The link 3 and link 4 form one sliding pair and link 1 and link 4 form the
second sliding pair.
.‫ الزوج المنزلق الثاني‬4 ‫ والرابط‬1 ‫ زوًج ا منزلًقا واحًد ا ويشكل الرابط‬4 ‫ والرابط‬3 ‫يشكل الرابط‬

Inversions of Double Slider Crank Chain

‫انقالبات سلسلة كرنك منزلق مزدوج‬

Elliptical trammels.
.‫ترامل بيضاوي الشكل‬

@xFxBot ‫) | ُترجمت بواسطة‬16( ‫صفحة‬