ME-6401

Kinematics of Machines
REFERENCE BOOKS:

 Rattan, S.S, “Theory of Machines”,

3rd Edition, Tata McGraw-Hill, 2009. - Basic Concept of Kinematics

 Uicker, J.J., Pennock G.R and Shigley, J.E.,

“Theory of Machines and Mechanisms”,
3rd Edition, Oxford University Press, 2009. - Problem Statement

 Sadhu Sigh : Theory of Machines, “Kinematics of Machine”,

Third Edition, Pearson Education,2012 - Problem Statement
 Unit I
Basics of Mechanisms
SYLLABUS:

Classification of mechanism - Basic kinematic concepts and definitions

- degree of freedom, Mobility - Kutzbach criterion, Gruebler’s

criterion - Grashof’s Law-Kinematic inversions of four bar chain and

slider crank chains – Limit positions - Mechanical advantage -

Transmission angle -Description of some common mechanisms - Quick

return mechanisms, Straight line generators, Universal joint - Rocker

mechanisms
Topics to be Discuss:

Basic kinematic concepts and definitions

Degree of freedom

Mobility - Kutzbach criterion, Gruebler’s criterion

Grashof’s Law - Problems

Kinematic inversions of Mechanism

Kinematic inversions of four bar chain Mechanism

Kinematic inversions of slider crank chain Mechanism

 Basic kinematic concepts and definitions :

Kinematics:
This subject deals with the study of relative motion between the various parts
of the machine. Here the various forces involved in the motion, are not considered.

Relative motion: The motion of body in relative to another moved body.

Mechanism:

A Mechanism is a combination of number of bodies (usually rigid bodies) are

assembled in such a way that the motion of one causes constrained and predictable
motion to the others.

A mechanism transmits and modifies a motion.

Examples:
 Crank –Connecting rod mechanism in IC Engine
 Steering Mechanism & Spring toys
Machine:
A Machine is a mechanism or combination of mechanisms which, apart from
imparting definite motions to the parts. Also, it transmits and modifies the available
mechanical energy into desired (or useful) work.
Examples:
 IC Engine
 Reciprocating Pump & Steam Engine.
Rigid and Resistant bodies:
Rigid body:
A rigid body does not suffer any distortion (or the distance between any two
points on it remains constant) under the action of force.

Resistant body or semi-rigid body:

A Resistant body or semi-rigid body are normally flexible under the action of force.
But resistance bodies, under certain loading conditions, act as rigid bodies for the limited
purpose.(E.g.) Belt, Fluids and Spring etc.

A Belt is rigid when subjected to tensile forces. Therefore, the belt-drive acts as a resistant
body.
Similarly, fluids can also act as resistant bodies when compressed as in case of a hydraulic
press. For some purposes, springs are also resistant bodies.
Link:

•A resistant body or a group of resistant bodies with rigid connections preventing their relative
movement is known as a link.

•A link may also be defined as a member or a combination of members of a mechanism,

connecting other members and having motion relative to them. Thus, a link may consist of one or
more resistant bodies.

•A link is also known as kinematic link or element.

•Links can be classified into binary, ternary, quaternary, etc. Depending upon their ends on
which revolute or turning pairs can be placed.

Binary link Ternary link Quaternary link

KINEMATIC PAIR
A kinematic pair is a joint of two links having relative motion between them.
Types of Kinematic Pairs
Kinematic pairs can be classified according to:
• Nature of contact;
• Nature of mechanical constraint;
• Nature of relative motion.
Kinematic Pairs According to Nature of Contact

(a) Lower Pair

A pair of links having surface or area contact between the members is known as a lower pair.
The contact surfaces of the two links are similar.
Examples: Nut turning on a screw, shaft rotating in a bearing, all pairs of a slider-crank
mechanism, universal joint, etc.

(b) Higher Pair

When a pair has a point or line contact between the links, it is known as a higher pair. The
contact surfaces of the two links are dissimilar.
Examples: Wheel rolling on a surface, cam and follower pair, tooth gears, ball and roller
bearings, etc
Kinematic Pairs According to Nature of Mechanical Constraint:

(a) Closed Pair •When the elements of a pair are held together mechanically, it is
known as a closed pair.

•The two elements are geometrically identical; one is solid and full
and the other is hollow or open. The latter not only envelops the
former but also encloses it. The contact between the two can be
broken only by destruction of at least one of the members.

• All the lower pairs and some of the higher pairs are closed pairs.

•A cam and follower pair (higher pair) shown in Figure and a screw
pair (lower pair) belong to the closed pair category.

(b)Unclosed pair

•When two links of a pair are in contact either due to force of gravity
or some spring action they constitute an unclosed pair.

•In this, the links are not held together mechanically, e.g. cam and
follower pair shown in figure
Kinematic Pairs According to Nature of Relative Motion:

(a) Sliding Pair

If two links have a sliding motion relative to each other, they form a
sliding pair.
A rectangular rod in a rectangular hole in a prism is a sliding pair.

(b) Turning Pair

When one link has a turning or revolving motion relative to the other,
they constitute a turning or revolving pair.
In a slider-crank mechanism, all pairs except the slider and guide pair are
turning pairs. A circular shaft revolving inside a bearing is a turning pair.

(c) Rolling Pair

When the links of a pair have a rolling motion relative to each other, they
form a rolling pair, e.g. a rolling wheel on a flat surface, ball and roller
bearings, etc.
In a ball bearing, the ball and the shaft constitute one rolling pair,
whereas the ball and the bearing is the second rolling pair.
(d) Screw Pair (Helical Pair)

If two mating links have a turning as well as sliding motion between

them, they form a screw pair. This is achieved by cutting matching
threads on the two links.
The lead screw and the nut of a lathe is a screw pair.

(e) Spherical pair

When one link in the form of a sphere turns inside a fixed link, it is a
spherical pair.
The ball and socket joint is a spherical pair.
Types of Constrained Motions:
1. Completely constrained motion:
when the motion between two elements of a pair is in a definite direction irrespective of
the direction of the force applied, it is known as completely constrained motion.
(E.g.) The motion of a square bar in a square hole, as shown in Figure

2. Incompletely constrained motion:

when the motion between two elements of a pair is possible in more than one direction and
depends upon the direction of the force applied, it is known as incompletely constrained motion.
3. Successfully constrained motion:
When the motion between two elements of a pair is possible in more than one direction and
but it is made to have only in one direction by using some external means known as successfully
constrained motion.

A shaft in a footstep bearing may have vertical motion apart from rotary motion ( Figure )
But due to load applied on the shaft it is constrained to move in that direction.

The motion of I.C engine valve (these are kept on their seat by a spring) and the piston
reciprocating inside an engine cylinder are also the examples of successfully constrained motion
DEGREES OF FREEDOM :

Degrees of freedom of a pair is defined as the number of independent relative motions,

both translational and rotational, a pair can have.

An unconstrained rigid body moving in space can describe the following independent motions
1. Translational motions along any three mutually perpendicular axes x, y and z,
2. Rotational motions about these axes. Thus, a rigid body possesses six degrees of freedom.
The connection of a link with another imposes certain constraints on their relative motion.

Degrees of freedom = 6 Number of restraints

In general Degree of freedom is defined as the number of independent coordinates

required to specify the position of point in a space uniquely.
CLASSIFICATION OF KINEMATIC PAIRS:
Depending upon the number of restraints imposed on the relative motion of the two links
connected together, a pair can be classified as given in Table which gives the possible form of
each class.
Class No. of Form Degrees of Restraint on Kinematic pair Fig
Restraints freedom = 6 Translator Rotary
- No. of y motion motion
restraints

I 1 1st 5 1 0 Sphere-plane a

II 2 1st 4 2 0 Sphere-cylinder b
2nd 4 1 1 Cylinder plane c

Fig (a) Fig (b) Fig (c)

Class No. For Degrees of Restraint on Kinematic pair Fig
of m freedom = 6 Translator Rotary
Restr - No. of y motion motion
aints restraints

III 3 1st 3 0 3 Spheric d

2nd 3 1 2 Sphere-slotted e
cylinder
3rd 3 2 1 Prism plane f

Fig (d) Fig (e) Fig (f)

Class No. For Degrees of Restraint on Kinematic pair Fig
of m freedom = 6 Translator Rotary
Restr - No. of y motion motion
aints restraints

IV 4 1st 2 3 1 Slotted-spheric g
2nd 2 2 2 Sphere-slotted h
cylinder

Fig (g) Fig (h)

Class No. For Degrees of Restraint on Kinematic pair Fig
of m freedom = 6 Translator Rotary
Restr - No. of y motion motion
aints restraints

V 5 1st 1 3 2 Cylinder (collared) i

2nd 1 2 3 Prismatic j

Fig (i) Fig (j)

Structure:
It is an assemble 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:

The following differences between a machine and a structure are important from the subject point
of view :
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.
Kinematic chain:
A kinematic chain is an assembly of links in which the relative motions of the links is
possible and the motion of each relative to the other is definite.

Non-Kinematic chain:
The motion of a link results in indefinite motions of other links, it is a non kinematic chain.

Redundant chain:
A redundant chain does not allow any motion of a link relative to the other.

Linkage:
A linkage is obtained if one of the links of a kinematic chain is fixed to the ground.

Structure
If one of the links of a redundant chain is fixed, it is known as a structure

Superstructure:
The degree of freedom of a structure with negative degree of freedom is known as a
superstructure.
MOBILITY OF MECHANISMS:
A mechanism may consist of a number of pairs belonging to different classes having different
number of restraints. It is also possible that some of the restraints imposed on the individual
links are common or general to all the links of the mechanism.
Mobility is also known as number of Degrees of freedom of a Mechanism

Degrees of freedom of a mechanism in space can be determined as follows:

N = total number of links in a mechanism;
F = degrees of freedom;
P1 = number of pairs having one degree of freedom;
P2 = number of pair having two degrees of freedom;
P3,P4,P5 = number of pair having three, four and five degrees of freedom respectively.
In a mechanism, one link is fixed.
Therefore,
Number of movable links = N - 1;
Number of degrees of freedom of (N - 1) movable links = 6(N - 1)

Each pair having one degree of freedom imposes 5 restraints on the mechanism reducing
its degrees of freedom by 5P1.
Each pair having two degrees of freedom will impose 4 restraints reducing the degrees of
freedom of the mechanism by 4P2.
Similarly, other pairs having 3, 4 and 5 degrees of freedom reduce the degrees of freedom
of the mechanism.
F = 6 (N - 1) - 5Pl - 4P2 - 3P3 - 2P4 – 1P5
Gruebler's criterion:

Degrees of freedom F = 3 (N - 1) - 2Pl – 1P2

Two-dimensional mechanism such as a four-link or a slider-crank mechanism in which

displacement is possible along two axes (one restraint) and rotation about only one axis (two
restraints). Thus, there are three general restraints.

Each pair with one degree of freedom imposes two further restraints on the mechanisms
thus, reducing its degrees of freedom.
Similarly, each pair with two degrees of freedom reduces the degrees of freedom of the
mechanism at the rate of one restraint each.

Kutzback's criterion:

Degree of freedom F = 3 (N - 1) - 2P1

This is applicable to linkages with single degree of freedom only.

Empirical relations:
The following empirical relations give the degree of freedom of a linkage when the
number of links and number loops in a kinematic chain is known.

Degrees of freedom F = N - (2L + 1)

No. of pair P1= N + (L - 1)

Where L = Number of loops in a linkage.

These relations are valid for linkages with turning pairs,

Conditions:

 F < 1 - Structure ( F = -1 Superstructure)

 F = 1 - Completely Constrained Mechanism
 F > 1 - Incompletely constrained Mechanism
DETERMINATION OF DEGREES OF FREEDOM (D.O.F):

No.of Links N = 3
No.of Pairs with 1 DOF P1= 3
No.of Pairs with 2 DOF P2 = 0
Degrees of freedom F = 3 (N - 1) - 2Pl – 1P2
F = 3 (3 – 1) – (2× 3) – (1× 0)
= 6–6–0
F =0

This is a structure
No.of Links N = 4
No.of Pairs with 1 DOF P1= 4
No.of Pairs with 2 DOF P2 = 0
Degrees of freedom F = 3 (N - 1) - 2Pl – 1P2

F = 3(4 – 1) – (2 × 4) – (1 × 0)
=9–8–0
=1
This is a Completely Constrained Mechanism.
No.of Links N = 5
No.of Pairs with 1 DOF P1= 5
No.of Pairs with 2 DOF P2 = 0
Degrees of freedom F = 3 (N - 1) - 2Pl – 1P2

F = 3(5 – 1) – (2 × 5) – (1× 0)
= 12 – 10 – 0
=2
This is a Incompletely constrained Mechanism.
 No.of Links N = 6
No.of Binary link Nb = 4
No.of Ternary link Nt= 2
No.of Pairs with 1 DOF P1= 7
No.of Pairs with 2 DOF P2 = 0
Degrees of freedom F = 3 (N - 1) - 2Pl – 1P2

F = 3(6 – 1) – (2 × 7) – (1× 0)
12,14,16 = 15 – 14 – 0
23 =1
34,35
This is a Completely constrained Mechanism
56
1. For the kinematic linkages shown in Figure, calculate the following: the number of
binary links (Nb); the number of ternary links (Nt); the number of other (quaternary etc.)
links (No); the number of total links (N); the number of loops (L); the number of joints or
pairs (P1); the number of degrees of freedom (F)

Solution:
(a)Nb = 4; Nt = 4; No = 0; N = 8; L = 4; P1 = 11 by counting (or) P1 = (N + L - 1) = 11

F = 3(N - 1) – 2P1 12,17,14

= 3 (8 - 1) – (2 × 11) 25,23
= -1 56
35,38
F = N - (2L + 1) 67
= 8 - (2 × 4 + 1) 47,48
= -1
The linkage has negative degree of freedom and thus is a superstructure.
(b) Nb = 4; Nt = 4; No = 0; N = 8; L = 3; P1 = 10 (by counting)
or P1 = (N + L - 1) = 10
12,18,17
23,25
F = N - (2L + 1) 38,34
47,46
= 8 – ((2 × 3) + 1) 65
=1

F = 3(N - 1) – 2P1
= 3(8 - 1) – (2 × 10)
=1
i.e. the linkage has a constrained motion when one of the seven moving links is driven by an
external source.
2. Determine the degrees of freedom of the following:

(a) (b)

Solution:

(a) No.of links N = 3

No.of pairs with 1 DOF P1= 2
No.of pairs with 2 DOF P2= 1
Degrees of freedom F =3(N-1)-2P1-1P2
=3(3-1)-2(2)-1
F=1

This is a constrained Mechanism

(b) No.of links N = 4
No.of pairs with 1 DOF P1= 3
No.of pairs with 2 DOF P2= 1
Degrees of freedom F =3(N-1)-2P1-1P2
=3(4-1)-2(3)-1(1)
F=2

This is a Incompletely constrained Mechanism.

 Four bar chain:

• A four-bar chain is the most fundamental of the plane

kinematic chains.

• Basically, it consists of four rigid links which are connected

in the form of a quadrilateral by four pin-joints.

• When one of the links is fixed, it is known as a linkage or

mechanism.

• A link that makes complete revolution is called the crank.

• The link opposite to the fixed link, the coupler.

• The fourth link, a lever or rocker if oscillates (or if another crank, if rotates)

AD – Fixed link (or) Frame

AB- Crank
BC –Coupler
CD- Lever or Rocker (or Crank)
 Grashof’s law:

It states that, “A four-bar mechanism has at least one revolving link if the sum of the
largest and the shortest link - lengths must be less than (or) equal to the sum of the
other two link - lengths”

In this mechanism
Assume,
AB – Link with length a
BC –Link with length b (Longest link)
CD – Link with length c
AD – Link with length d (Shortest link)
Then,
b+d ≤ a+c

• The above condition obtained based on Grashof’s law.

Class- I Mechanism

If the mechanism satisfy Grashof’s law ,then the mechanism and their inversions are belong
to Class- I Mechanism.
(i.e) b+d <a+c

Class- II Mechanism

If the mechanism not satisfy Grashof’s law ,then the mechanism and their inversions are
belong to Class- II Mechanism.
(i.e) b+d >a+c

If some exceptional mechanism also exist when,

b+d = a+c
Kinematic Inversion:
Inversion of Mechanism
Method of obtaining different mechanism by fixing different link in a kinematic chain is
known as Inversion of mechanism.

Name of the Mechanism or Inversion

Class –I Mechanism Class –II Mechanism

Shortest link is fixed. Double-Crank Double-Rocker

[Crank-Crank (or) [Rocker-Rocker]
Drag-link (or)
Rotary-Rotary]

Adjacent link to the Crank-Rocker Mechanism Double-Rocker

Shortest link is fixed. [Crank-Lever (or) [Rocker-Rocker]
Rotary-Oscillating ]

Opposite link to the Double Rocker Double-Rocker

Shortest link is fixed. [Rocker-Rocker Mechanism] [Rocker-Rocker]
3.Figure shows some four-link mechanisms in which the figures indicate the dimensions in
standard units of length. Indicate the type of each mechanism. whether crank-rocker or
double-crank or double-rocker

Solution:

(a) Shortest link length = 5

Longest link length = 9
Since,
Sum of shortest and longest link length =5+9 =14
Sum of other two link length = 6+7 =13
(a)
Sum of length of shortest and longest link > sum of length of other two links.
It does not obey Grashof’ law. Therefore, the mechanism belongs to Class II Mechanism.

Shortest link is fixed. Therefore the given mechanism is Double-Rocker

Shortest link length = 4
Longest link length = 9

Sum of shortest and longest link length =4+9 =13

Sum of other two link length = 7+7 =14

Sum of length of shortest and longest link < sum of length of other two links.
It obeys Grashof’ law. Therefore, the mechanism belongs to Class I Mechanism.

Shortest link is fixed. Therefore the given mechanism is Double-Crank Mechanism

 Shortest link length = 5
Longest link length = 10

Since,
Sum of shortest and longest link length =5+10 =15
Sum of other two link length = 9+7 =16

Sum of length of shortest and longest link < sum of length of other two links.
It obeys Grashof’ law. Therefore, the mechanism belongs to Class I Mechanism.

Link Opposite to the Shortest link is fixed. Therefore the given mechanism is Double-
Rocker Mechanism
Shortest link length = 4
Longest link length = 10

Since,
Sum of shortest and longest link length =4+10 =14
Sum of other two link length = 7+8 =15

Sum of length of shortest and longest link < sum of length of other two links.
It obeys Grashof’ law. Therefore, the mechanism belongs to Class I Mechanism.

Link Adjacent to the Shortest link is fixed. Therefore the given mechanism is Crank-
Rocker Mechanism
4. M1, M2, M3 and M4 are four-bar linkages as shown in figure. The numbers on the figure
indicate the respective link lengths in cm. Identify the nature of the mechanism, i.e. whether
double crank, crank rocker or double rocker. Give reason in brief. (12) (May/June 2012,
R2008)

Dimensions are in cm
Kinematic inversion of four bar chain:

Beam Engine Mechanism:

•A part of the mechanism of a beam engine which

consist of four links, is shown is figure.

•Adjacent link to the Shortest link is fixed.

Therefore, the mechanism also known as Crank-
Lever Mechanism.

•In this mechanism, when the crank rotates about

the fixed centre A, the lever oscillates about a
fixed centre D.

•The end E of the lever CDE is connected to a

piston rod which reciprocates due to the rotation of
the crank.

•In other words, the purpose of this mechanism is

to convert rotary motion into reciprocating motion.
.
Coupling rod of a locomotive:
•The mechanism of a coupling rod of a
locomotive which consist of four link as
shown in figure.

•The mechanism also known as double

crank mechanism.

•In this mechanism, the links AD and BC

having equal length.

•AD and BC are act as crank and connected to the respective wheels.

•The link CD acts as a coupling rod and the link AB is fixed in order to maintain a constant
centre to centre distance between them.

•This mechanism is mean for transmitting rotary motion from one wheel to the other wheel.
Watt’s indicator mechanism:
(Double lever mechanism) •A Watt’s indicator mechanism also known as watt’s
straight line mechanism or double lever mechanism.

•It consists of four links is shown in figure.

•The four links are :

Fixed link A
Link AC
Link CE
Link BFD.

•It may be noted that BF and FD form on link because

these two parts have no relative motion between them.

•The links CE and BFD act as levers. The displacement

of the link BFD is directly proportional to the pressure
of gas or stream which acts on the indicator plunger.

• On any small displacement of the mechanism, the

tracing point E at the end of the link CE trances out
approximately a straight line.
• The initial position of the mechanism is
shown in figure by full lines whereas the dotted
lines show the position of the mechanism when
the gas or stream pressure acts on the indicator
plunger.
SLIDER-CRANK CHAIN:

• A single slider crank chain is a modification of the basic four bar chain. It consist 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.
• In a single slider crank chain, as shown in Figure, 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 a sliding pair.
• The link 1 corresponds to the frame of the engine, which is fixed. The link 2
corresponds to the crank; link 3 corresponds to the connecting rod and link 4 corresponds
to cross-head.
• As the crank rotates, the cross-head reciprocates in the guides and thus the piston
reciprocates in the cylinder
Inversions of Single Slider Crank Chain:

• By fixing different links in a kinematic chain, an inversion is obtained and can obtain as
many mechanisms as the links in a kinematic chain.

• It is thus obvious, that four inversions of a single slider crank chain are possible.

• These inversions are found in the following mechanisms.

(i) Pendulum pump or Bull engine
(ii) Oscillating cylinder engine
(iii) Rotary internal combustion engine or Gnome engine
(iv) Crank and slotted lever quick return motion mechanism.
(v) Whitworth quick return motion mechanism
1. Pendulum pump or Bull engine

• In this mechanism, the inversion is obtained by

fixing the cylinder or link 4 (i.e. sliding pair), as
shown in Figure.

• In this case, when the crank (link 2) rotates, the

connecting rod (link 3) oscillates about a pin pivoted
to the fixed link 4 at A and the piston attached to the
piston rod (link 1) reciprocates.

• The duplex pump which is used to supply feed

water to boilers have two pistons attached to link 1, as
shown in Figure.
2. Oscillating cylinder engine

• The arrangement of oscillating cylinder

engine mechanism, as shown in Figure, is used
to convert reciprocating motion into rotary
motion.

• In this mechanism, the link3 forming the

turning pair is fixed.

• The link 3 corresponds to the connecting rod

of a reciprocating steam engine mechanism.

• When the crank (link 2) rotates, the piston

attached to piston rod (link 1) reciprocates and
the cylinder (link 4) oscillates about a pin
pivoted to the fixed link at A.
Rotary internal combustion engine or Gnome engine:

•Rotary internal combustion engines were used in aviation.

• It consists of seven cylinders in one plane and all revolves about fixed centre D, as shown in
Figure, while the crank (link 2) is fixed.

•In this mechanism, when the connecting rod (link 4) rotates, the piston (link 3) reciprocates
inside the cylinders forming link 1.
Crank and slotted lever quick return motion mechanism
• This mechanism is mostly used in shaping
machines, slotting machines and in rotary
internal combustion engines.

• In this mechanism, the link AC (i.e. link 3)

forming the turning pair is fixed, as shown in
Figure.

• The link 3 corresponds to the connecting rod

of a reciprocating steam engine. The driving
crank CB revolves with uniform angular speed
about the fixed centre C.

• A sliding block attached to the crank pin at B

slides along the slotted bar AP and thus causes
AP to oscillate about the pivoted point A.

• A short link PR transmits the motion from AP

to the ram which carries the tool and
reciprocates along the line of stroke R1R2.

• The line of stroke of the ram (i.e. R1R2) is

perpendicular to AC produced.
 • In the extreme positions, AP1 and AP2 are
tangential to the circle and the cutting tool is
at the end of the stroke.

• The forward or cutting stroke occurs when

the crank rotates from the position CB1 to
CB2 (or through an angle β) in the clockwise
direction.

• The return stroke occurs when the crank

rotates from the position CB2 to CB1 (or
through angle α) in the clockwise direction.

Since the crank has uniform angular speed, Therefore

Time of cutting stroke   360  
  (or )
Time of return stroke  360   
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Whitworth quick return motion mechanism:

•This mechanism is mostly used in shaping and slotting machines.

• In this mechanism, the link CD (link 2) forming the turning pair is fixed, as shown in Figure
The link 2 corresponds to a crank in a reciprocating steam engine.

•The driving crank CA (link 3) rotates at a uniform angular speed.

• The slider (link 4) attached to the crank pin at A slides along the slotted bar PA (link 1)
which oscillates at a pivoted point D.

• The connecting rod PR carries the ram at R to which a cutting tool is fixed.

• The motion of the tool is constrained along the line RD produced, i.e. along a line passing
through D and perpendicular to CD.
• When the driving crank CA moves from the position CA1 to CA2 (or the link DP from the
position DP1 to DP2) through an angle α (in the clockwise direction, the tool moves from the left
hand end of its stroke to the right hand end through a distance 2PD.

• Now when the driving crank moves from the position CA2 to CA1 (or the link DP from DP2
to DP1 ) through an angle β in the clockwise direction, the tool moves back from right hand end
of its stroke to the left hand end.
• Since the crank link CA rotates at uniform angular velocity therefore time taken during the
cutting stroke (or forward stroke) is more than the time taken during the return stroke.

• In other words, the mean speed of the ram during cutting stroke is less than the mean speed
during the return stroke. The ratio between the time taken during the cutting and return strokes
is given by
Time of cutting stroke   360  
  (or )
Time of return stroke  360   

Note: In order to find the length of effective stroke R1R2, mark P1R1 = P2 R2 = PR. The length of
effective stroke is also equal to 2 PD
Double Slider Crank Chain:

• A kinematic chain which consists of two turning pairs and two sliding pairs is known as
double slider crank chain, as shown in Figure.

• The link 3 and link 4 form one turning pair and link 3 and link 2 form the second turning
pair. The link 2 and link 1 form one sliding pair and link 4 and link 1 form the second sliding
pair.
Inversions of Double Slider Crank Chain:
The following three inversions of a double slider crank chain are important from the subject
point of view:

1.Elliptical trammels.
2.Scotch yoke mechanism
3.Oldham’s coupling.
1. Elliptical trammels:
• It is an instrument used for drawing ellipses.
This inversion is obtained by fixing the slotted
plate (link 4), as shown in Figure.

•The fixed plate or link 4 has two straight

grooves cut in it, at right angles to each other.
The link 1 and link 3, are known as sliders and
form sliding pairs with link 4.

•The link AB (link 2) is a bar which forms

turning pair with links 1 and 3.

•When the links 1 and 3 slide along their

respective grooves, any point on the link 2
such as P traces out an ellipse on the surface of
link 4, as shown in Figure.
 or

AP and BP are the semi-major axis and semi-minor axis of the ellipse respectively. This can
be proved as follows
Let us take OX and OY as horizontal and vertical axes and let the link BA is inclined at an
angle with the horizontal, as shown in Figure. Now the co-ordinates of the point P on the link BA
will be
x = PQ = AP cos θ; and
y = PR = BP sin θ
or
squaring on both sides
x y
 cosθ and  sinθ
AP BP
 x2 y2
  cos 2
  sin 2
θ 1
AP 2 BP 2
This is the equation of an ellipse. Hence the path traced by point P is an ellipse whose semi
major axis is AP and semi-minor axis is BP.
Note : If P is the mid-point of link BA, then AP = BP. The above equation can be written as
x2 y2
 1
AP 2 AP 2
x 2  y2  AP2
This is the equation of a circle whose radius is AP. Hence if P is the mid-point of link BA, it will
trace a circle.
2. Scotch yoke mechanism:

• This mechanism is used for converting rotary motion into a reciprocating motion. The
inversion is obtained by fixing either the link 1 or link 3.

• Link 1 is fixed. In this mechanism, when the link 2 (which corresponds to crank) rotates about
B as centre, the link 4 (which corresponds to a frame) reciprocates. The fixed link 1 guides the
frame.
3. Oldham’s coupling:

Fig(a) Fig(b) Fig(c)

• An Oldham’s coupling is used for connecting two parallel shafts whose axes are at a
small distance apart.
• The shafts are coupled in such a way that if one shaft rotates, the other shaft also rotates at
the same speed. This inversion is obtained by fixing the link 2, as shown in Figure.
• The shafts to be connected have two flanges (link 1 and link 3) rigidly fastened at their
ends by forging.
• The link 1 and link 3 form turning pairs with link 2. These flanges have diametrical slots
cut in their inner faces, as shown in Fig. 20 (b). The intermediate piece (link 4) which is a
circular disc, have two tongues (i.e. diametrical projections) T1 and T2 on each face at right
angles to each other, as shown in Fig.20(c).
• The tongues on the link 4 closely fit into the slots in the two flanges (link 1 and link3). The
link 4 can slide or reciprocate in the slots in the flanges.
• When the driving shaft A is rotated, the flange C (link 1) causes the intermediate piece (link
4) to rotate at the same angle through which the flange has rotated, and it further rotates the
flange D (link 3) at the same angle and thus the shaft B rotates.
• Hence links 1, 3 and 4 have the same angular velocity at every instant. A little consideration
will show that there is a sliding motion between the link 4 and each of the other links 1 and 3.
• If the distance between the axes of the shafts is constant, the centre of intermediate piece will
describe a circle of radius equal to the distance between the axes of the two shafts.
• Therefore, the maximum sliding speed of each tongue along its slot is equal to the peripheral
velocity of the centre of the disc along its circular path.
• Let ω= Angular velocity of each shaft in rad/s, and
• r = Distance between the axes of the shafts in metres.
• Maximum sliding speed of each tongue (in m/s), v = ωr
 Transmission angle:
The angle (μ) between the output link and the coupler is known as transmission angle.

For figure shown,

Input link - AB (Force applied in this link)
Output link - DC
Coupler - BC (force transmitting link)
θ – Crank angle (Angle between crank and Fixed link)
γ – Angle between crank and Coupler
μ – Transmission angle (Angle between coupler and
output link)
• For a particular value of force in the coupler
rod, the torque transmitted to the output link
(about point D) is maximum.
• when the transmission angle μ is 90°
maximum force transmission can be achieved.
• If links BC and DC become coincident, the transmission angle is zero and the
mechanism would lock or jam.
• If μ deviates significantly from 90°, the torque on the output link decreases.
• The best mechanisms, therefore, have a transmission angle that does not deviate much
from 900
Applying cosine law to triangles ABD and BCD (Fig),
a 2  d 2  2ad cos   k 2 ----- (1)
b 2  c 2  2bc cos   k 2 ----- (2)

From (i) and (ii),

a 2  d 2  2ad cos   b 2  c 2  2bc cos 

a 2  d 2  b 2  c 2  2ad cos   2bc cos   0

The maximum or minimum values of the transmission

angle can be found by putting dμ/dθ equal to zero.

Differentiating the above equation with respect

to θ,
dμ
ad sinθ  bc sin 0
dθ

dμ ad sin

dθ bc sin
 Four bar chain :

Double Crank Mechanism:

Maximum transmission angle is obtained

when θ is 1800
(a + d) 2 = b2 + c2 -2bc cos μ

Minimum transmission angle is obtained when θ is 00

Thus, (a - d) 2 = b2 + c2 -2bc cos μ

 Four bar chain :

Crank Rocker Mechanism:

Maximum transmission angle is obtained

when θ is 1800
(a + d) 2 = b2 + c2 -2bc cos μ

Minimum transmission angle is obtained when θ is 00

Thus, (d - a) 2 = b2 + c2 -2bc cos μ

 Four bar chain :

Double Rocker Mechanism:

Maximum transmission angle is obtained

when θ is 1800
(a + d) 2 = b2 + c2 -2bc cos μ

Minimum transmission angle is obtained when γ is 1800

Thus,
(d)2 = (a+b)2 + c2 -2(a+b)c cos μ
S. Nature of the Value of μ Condition Figure Formula
No Mechanism
1. Double crank Maximum θ =1800 Fig (a) (a + d)2 = b2 + c2 - 2bc cos μ
Minimum θ = 00 Fig (b) (a - d)2 = b2 + c2 - 2bc cos μ
2. Crank Rocker Maximum θ =1800 Fig (c) (a + d) 2 = b2 + c2 -2bc cos μ
mechanism
Minimum θ = 00 Fig (d) (d - a) 2 = b2 + c2 -2bc cos μ

3. Double Rocker Maximum θ =1800 Fig (e) (a + d)2 = b2 + c2 -2bc cos μ

Minimum ϒ=1800 Fig (f) (d)2 = (a+b)2 + c2 -2(a+b)c cos μ

Fig (c)
Fig (a)
Fig (b)

Fig (d) Fig (e) Fig (f)

4.Find the maximum and minimum transmission angles for the mechanisms shown in
Figure below. The figures indicate the dimensions in standard units of length

Solution:

In this mechanism,
Length of the longest link = 3;
Length of the shortest link = 1;
Length of other links = 3 and 2
Since 3 + 1 < 3 + 2, it belongs to class-I mechanism

In this case as the link adjacent to the shortest link is fixed, it is a crank-rocker mechanism.
Maximum transmission angle:
Maximum transmission angle is obtained when θ is 1800
Thus, (a + d) 2 = b2 + c2 -2bc cos μ

(1+ 3)2 = 32 + 22 – (2 × 3 × 2 cos μ)

16 = 9 + 4 - 12 cosμ
3
cos     0.25
12
μ = 104.50

Minimum transmission angle:

Minimum transmission angle is obtained when θ is 00
Thus, (d - a) 2 = b2 + c2 -2bc cos μ

(3-1)2= 32 + 22 - 2×3×2 cosμ

4 = 9+4-12 cosμ

3
cos    0.25
4
  41.40
(b)
In this mechanism,
Length of the longest link = 10;
Length of the shortest link = 6;
Length of other links = 7 and 8

Since 10+6 > 8+7, it belongs to class-II mechanism

In this case as the link opposite to the shortest

link is fixed, it is a Double rocker mechanism.

Maximum transmission angle:

Maximum transmission angle is when θ is 1800 as shown in figure
Thus (a + d) 2 = b2 + c2 -2bc cos μ
(7+ 8)2 = 62 + 102 – (2 × 6 × 10cos μ)
225= 36 + 100 - 120 cos μ
89
cos     0.742
120

μ = 137.90
Minimum transmission angle:

Minimum transmission angle is when the angle at B is 1800

shown in figure
Thus (d) 2 = (a+b)2 + c2 -2(a+b)c cos μ
(8)2 = (7+6)2 + 102 – [2 (7+6) × 10cos μ]
64 = 169 + 100 - 260 cosμ

205
cos    0.788
260

μ =380
(C)In this mechanism,
Length of the longest link = 7;
Length of the shortest link = 3;
Length of other links = 6 and 7.
Since 7 + 3 < 6 + 6, it belongs to class-I mechanism.
In this case as the shortest link is fixed, it is a double-crank
or drag-link mechanism.
Maximum transmission angle:
Maximum transmission angle is when θ is 1800 as shown in figure
below
Thus, (a + d)2 = b2 + c2 - 2bc cos μ
(6 + 3)2 = 62 + 72 – [2 × 6 × 7 cos μ]
81 = 36 + 49 - 84 cos μ
4
cos  
84

cos μ = 0.476
μ = 87.270
Minimum transmission angle:
Minimum transmission angle is when θ is 00 as
shown in figure
Thus, (a - d)2 = b2 + c2 - 2bc cos μ
(6 - 3)2 = 62 + 72 – [2 × 6 × 7 cos μ]
9 = 36 + 49 - 84 cos μ
76
cos  
84

cos μ = 0.9048
μ = 25.20
Find the maximum and minimum transmission angles for the mechanisms shown in figure.
The figures indicate the dimensions in standard units of length.
(8) (Nov/Dec 2013, R2008/2010)
MECHANICAL ADVANTAGE
The Mechanical Advantage (M.A.) of a mechanism is the ratio of the output force or torque to
the input force or torque at any instant.
For the linkage of Figure below, if friction and inertia forces are ignored and the input torque
T2 is applied to link 2 to drive the output link 4 with a resisting torque T4 then

Power input = Power output

T2 ω2 = T4 ω4

T4  2
Mechanical Advantage M .A  
T2  4

Thus, Mechanical Advantage (M.A) is the reciprocal of the velocity ratio.

 In crank-rocker mechanisms, the velocity (ω4) of the output link DC (rocker) becomes zero
at the extreme positions.

When the input link AB is in line with the coupler BC and angle γ between them is either
zero or 180° which makes the mechanical advantage to be infinite at such positions. Only a small
input torque can overcome a large output torque load.

The extreme positions of the linkage are known as toggle positions.