ME222 MECHANICS OF MACHINES

Objectives:
To understand the mechanics and mechanisms involved in various machine
elements. To learn the application of various machine components.

Course Outline:
Simple mechanism, screw threads and efficiency, friction of pivot, collar and
conical bearing, cone, plate
and centrifugal clutch, belts and rope drives, chains and sprockets, bands and shoe
brakes, governors, effort
and power, sensitivity, controlling force and stability, gyroscope, geometry of
gears, gear trains,
dynamometers. Linkages: synthesis and analysis, position, velocity and
acceleration analysis, turning
moment diagram, flywheels, cam and follower, steering gears, balancing.
 1. FUNDAMENTALS AND TYPES OF MECHANISM
THEORY OF MACHINES: It is the branch of engineering which deals with
the study of relative motion between the various machine parts and the forces
which act on them.

SUB DIVISIONS OF THEORY OF MACHINES:

THEORY OF MACHINES

KINEMATICS (MOTION) KINETICS (MOTION)

STATICS (REST) DYNAMICS (FORCES)

KINEMATICS :
It is the branch of theory of machine which deals with the study of relative
motion between the various parts of the machine.
i.e. It is the study of position ,displacement, speed, velocity, acceleration etc.

DYNAMICS :
It deals with the forces and their effects acting on a machine parts.
Dynamics is further divided into :
a) Statics :
It deals with the forces and their effects when the machine parts are
at rest.
b) Kinetics :
It deals with the inertia forces which occurs from the combined
effect of mass and motion of the machine parts.
KINEMATIC LINK OR ELEMENT :
Each part of the machine which moves relative to some other
part is known as a kinematic link or element.
TYPES OF LINKS :
a) Rigid Link
b) Flexible Link
c) Fluid Link
a) Rigid link :
A link which does not undergo any deformation while transmitting motion.
eg. Connecting rod, crank, piston etc.
b) Flexible Link :
A link which partly deforms but does not affect the transmission of
motion.
Eg. Belts, ropes, chains, wires
c) Fluid Link :
A link which transmits motion through fluid by pressure or
compression only.
eg. Hydraulic presses, brakes, etc.
 KINEMATIC PAIR
If two links or elements of a machine are in contact with each other,
then it is known as pair.
And If the relative motion between them is completely or
successfully constrained (i.e. in definite direction ), the pair is known as
kinematic pair.

Constrained Motion Motion in Definite

Direction

Types of Constrained motion:

1. Completely constrained motion
2. Incompletely constrained motion
3. Successfully constrained motion
 a) Completely Constrained Motion :

When a motion between a pair is limited to a definite direction then

the motion is known as completely constrained motion.

eg: Motion of square bar in hole,

piston and cylinder,
motion of shaft with collars
b) Incompletely Constrained Motion :
When the motion between a pair can take place in more than one
direction, then the motion is called incompletely constrained motion.
eg: A circular bar in circular hole
C) Successfully constrained motion :
When the motion between the pairs is not completely constrained
by itself, but by some other means , then the motion is said to be
successfully constrained motion.
eg: Motion of I.C. Engine
valves
Shaft in footstep bearing
Classification of Kinematic Pair:

I] Classification according the type of Relative motion between

the elements
a) Sliding pair
b) Turning pair
c) Rolling pair
d) Screw pair
e) Spherical pair
II ] Classification according to the type of contact between the
elements
f) Lower pair
g) Higher pair
III ] Classification according to the type of Closure
h) Self closed pair
i) Force closed pair
a) Sliding Pair
In a pair, if one element can only slide relative to other element, the
pair is known as sliding pair.
eg: Piston & cylinder, crosshead & guides, tail stock on lathe bed
b) Turning Pair
In a pair, if one element can turn or revolve about the fixed center of
other, the pair is known as turning pair.
eg: Shaft in bearing, Lathe spindle on Headstock, Cycle wheel on axle
C) Rolling Pair:
In a pair, if one element rolls over another fixed element, the pair is
known as rolling pair.
Eg: Ball & Roller Bearing
d) Screw Pair:
In a pair, if one element can turn about the other by screw threads,
the pair is known as screw pair.
Eg: Nut & bolt, lead screw of lathe with nut
e) Spherical Pair:
In a pair, if one element turns or swivels about the other fixed
element, the pair is known as spherical pair.
Eg: Ball & socket joint, Attachment of vehicle mirrors, Pen stand,
etc.
II] a) Lower Pair:
When the two elements of a pair have a surface contact during their
relative motion and the motion between them is sliding, the pair is known
as lower pair.
Eg: sliding pairs, turning pairs, screw pairs
b) Higher Pairs:
When two elements of a pair have a line or point contact during their
relative motion & the motion between them is partly sliding & partly
turning, the pair is known as higher pairs.
Eg.: cam & follower, toothed gearing, ball & roller bearing.
III] a) Self Closed Pairs:
When two element in a pairs are in contact mechanically
itself, it is known as self closed pairs.
Eg: Lower Pairs
b) Force Closed Pairs :
When two elements in a pair are in contact by applying external
forces, a pair is known as force closed pair.
Eg: cam & follower, I.C. engine valve, etc
KINEMATIC CHAIN:

When the kinematic pairs are coupled together to transmit definite motion
(i.e. completely or successfully constrained ) then it is called a kinematic chain.
In a kinematic chain
Relation between number of pairs (p) & number of links (l) is
given by

l =2p-4 1
Relation between number of joints (j) & number of links (l) is
given by

J=3/2l -2 2

In above eqn 1 & 2

If LHS > RHS Locked chain \ structure
IF LHS = RHS Kinematic chain
IF LHS < Unconstrained chain
RHS
1) l=3, p=3,j=3
l=2p-4 j=3/2l-2
3=2(3)-4 3=3/2*3-2
3>2 3>2.5
LHS>RH LHS>RHS
Above
S chain is locked chain/ Structure

2) l=4, p=4, j=4

L=2p-4 j=3/2l-2
4=2*4-4 4=3/2*4-4
4=4 4=4
LHS=RHS LHS=RHS
Hence above chain is a Kinematic Chain of ONE DEGREE OF FREEDOM.

3) l=5, p=5, j=5

L=2P-4 J=3/2*L-2
5=2*5-4 5=3/2*5-2
5<6 5<5.5
LHS<RHS LHS<RHS
Hence above chain is a Unconstrained chain.
Types of Joints in a Kinematic Chain
a) Binary joint
b) Ternary joint
c) Quaternary joint

d) Binary Joint :
When the two links are joined at the same connection, the joint is
known as binary joint.
b) Ternary joint:
When the three links are joined at the same connection the joint is
known as ternary joint.
c) Quaternary joint:
When the four links are joined at the same connection the joint is
known as quaternary joint.
Types of Kinematic Chain

1) Four bar chain

2) Single slider crank chain
3) Double slider crank chain
 MACHINE
A machine is a device which receives energy in some available form
and utilizes to do useful work.

ENERGY MACHINE WORK

STRUCTURE
It is an assembly of number of resistant bodies (known as members)
having no relative motion between them and used for carrying loads.
eg: A railway bridge, a roof truss, machine frames, etc.
 Difference between Machine and Structure

MACHINE STRUCTURE

1. The parts of the machine s move 1. The members of the structure do not
relative to one another. move relative to one another.
2. A machine transforms available energy 2. In structure no energy is transferred into
into useful work. useful work.
3. The links of the machine may transmit 3. The members of structure transmits
both power and motion. forces only.
4. eg: Lathe machine, Drilling Machine, 4. Truss, Bridge, etc.
etc.
MECHANISM

When one of the link of a kinematic chain is fixed and is used to

transmits motion then the chain is known as mechanism.

Simple & Compound Mechanism:

A mechanism with four links is known as simple mechanism and a
mechanism with more than four links is known as compound mechanism.

When the mechanism is required to transmit power or to do some

particular type of work , then it becomes machine.
 Difference between Machine and Structure
MACHINE STRUCTURE
1.It converts available energy into useful 1. It converts or modify motion.
work.
2. The dimensions and shape are very 2. The dimensions and shapes are not so
important parameter for constructing important while constructing mechanism.
machine.
3. While designing machine strength 3. While designing the mechanism the
requirements are taken into required motions are taken into
considerations. considerations.
4. eg: Steam engine, pump 4. Single slider mechanism
 Difference between Mechanism and Structure
MECHANISM STRUCTURE
1. There is a relative motion between the 1. There is no relative motion between the
links of mechanism. members of the structure.

2. It is used to transmit definite motion. 2. It is used to transmit forces.

3. Both motion and force transmission is 3. Only force transmission is desirable.
desirable.

4. Typewriter, clock, etc. 4. Roof truss, bridge, etc.