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Simple Mechanisms: Theory of Machines by R.S Khurmi

1. A machine consists of multiple parts called links that move relative to each other. One link is fixed while the motion of the other links is determined relative to the fixed link. 2. There are different types of links including rigid links that don't deform during motion transmission, flexible links that transmit tensile forces, and fluid links that transmit motion through pressure or compression of a fluid. 3. Kinematic pairs are formed when two links are in contact and their relative motion is constrained in a definite direction. Common kinematic pairs include sliding pairs, turning pairs, rolling pairs, and screw pairs.

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4K views16 pages

Simple Mechanisms: Theory of Machines by R.S Khurmi

1. A machine consists of multiple parts called links that move relative to each other. One link is fixed while the motion of the other links is determined relative to the fixed link. 2. There are different types of links including rigid links that don't deform during motion transmission, flexible links that transmit tensile forces, and fluid links that transmit motion through pressure or compression of a fluid. 3. Kinematic pairs are formed when two links are in contact and their relative motion is constrained in a definite direction. Common kinematic pairs include sliding pairs, turning pairs, rolling pairs, and screw pairs.

Uploaded by

Farhana Ilyas
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Simple Mechanisms

Chapter 5
Theory of Machines by R.S Khurmi
Introduction
Machine is a device which receives energy and transforms it into some
useful work. A machine consists of a number of parts or bodies.
We shall study the mechanisms of the various parts or bodies from
which the machine is assembled. This is done by making one of the
parts as fixed, and the relative motion of other parts is determined with
respect to the fixed part.
Kinematic Link or Element
• Each part of a machine, which moves relative to some other part, is
known as a kinematic link (or simply link) or element.
Reciprocating Steam Engine
It must have a relative motion and Resistant Body
Types of Links
• Rigid link: A rigid link is one which does not undergo any deformation
while transmitting motion. as the deformation of a connecting rod, crank
etc. of a reciprocating steam engine is not appreciable, they can be
considered as rigid links.
• 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 are flexible links and transmit tensile forces only.
• Fluid link: 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
• The parts of a machine move relative to one another, whereas the members
of a structure do not move relative to one another.
• A machine transforms the available energy into some useful work, whereas in
a structure no energy is transformed into useful work.
• The links of a machine may transmit both power and motion, while the
members of a structure transmit forces only.
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
• Completely constrained motion
When the motion between a pair is limited to a definite direction
irrespective of the direction of force applied
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
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
Classification of Kinematic Pairs
• Relative motion between elements
• Sliding Pair, guides of a reciprocating steam engine, ram and its guides in shaper, tail
stock on the lathe bed
• Turning Pair, lathe spindle supported in head stock, cycle wheels turning over their
axles
• Rolling Pair, Ball and roller bearings
• Screw Pair, lead screw of a lathe with nut, and bolt with a nut
• Spherical Pair, attachment of a car mirror, pen stand
• Contact between element
• Lower Pair (surface contact), sliding pairs, turning pairs and screw pairs
• Higher Pair (Point Contact), ball and roller bearings and cam and follower
• Types of Closure
• Self-Closed Pair (Lower Pair)
• Force-Closed Pair (Cam & Follower)
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
• If any structure does not satisfy the following equations with L.H.S >
R.H.S then this is called locked chain because it has not any relative
motion and structure is rigid and is used in bridges or trusses (3 Links
Structure)
• If any structure satisfies the equations then this is called Kinematic
Chain of one degree of freedom. Also Called Constrained Kinematic
Chain (4 Links)
• If any structure does not satisfy the equations with L.H.S < R.H.S then
this is called unconstrained chain because relative motion is not fully
constrained (5 Links Structure)
• If any structure satisfied the equations then those structures are
called Kinematic Chain
• A chain having more than four links is known as compound kinematic
chain.
Types of Joints in a Chain
• Binary Joint
• Ternary Joint
• QuaTernary Joint
Mechanism
• When one of the links of a kinematic chain is fixed, the chain is known
as mechanism. It may be used for transmitting or transforming
motion e.g. engine indicators, typewriter etc.
• A mechanism with four links is known as simple mechanism, and the
mechanism with more than four links is known as compound
mechanism. When a mechanism is required to transmit power or to
do some particular type of work, it then becomes a machine. In such
cases, the various links or elements have to be designed to withstand
the forces (both static and kinetic) safely.
Number of Degrees of Freedom for Plane
Mechanisms

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