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Kinematics of Machine

The document discusses the key concepts of links, kinematic pairs, and their classification in machine design. It defines a link as a rigid body that connects other parts and transmits motion. Kinematic pairs are the connections between two links, and can be classified by their nature of contact (lower vs higher), relative motion (sliding, turning, rolling, screw), and mechanical constraint (closed vs open). Common examples of different link types and kinematic pairs are also provided.

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168 views21 pages

Kinematics of Machine

The document discusses the key concepts of links, kinematic pairs, and their classification in machine design. It defines a link as a rigid body that connects other parts and transmits motion. Kinematic pairs are the connections between two links, and can be classified by their nature of contact (lower vs higher), relative motion (sliding, turning, rolling, screw), and mechanical constraint (closed vs open). Common examples of different link types and kinematic pairs are also provided.

Uploaded by

ankush
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Theory of

Machines
Element or Link
• Is a rigid body which possesses at
least two nodes which are points for
attachments to other links
• A link(or element or kinematic link) is
a resistant body (or assembly of
resistant bodies) constituting a part
(or parts) of the machine, connecting
other parts, which have motion,
relative to it.
Types of link
• Links can be classified as binary,
ternary or quaternary depending
upon the ends on which revolute or
turning pairs can be placed
• Binary Link: rigid body with two
nodes
• Ternary Link: Rigid body with three
nodes
• Quaternary Link: Rigid Body with
four nodes
Kinematic Links: Three Types
• Rigid Link: Does not undergo any
deformation while transmitting
motion
• Links are generally elastic in nature
• Links are considered rigid if they do
not undergo appreciable deformation
while transmitting motion
• Eg: Connecting rod, Crank, Valve stem
of camshaft
Kinematic Links: Three Types
• Flexible link: which is partly
deformed in a manner not to
affect the transmission of motion.
• Eg: Belts, ropes, springs, etc..
Kinematic Links: Three Types
• Fluid Link: It is deformed by having
fluid in a closed vessel and the
motion is transmitted through the
fluid by pressure
• Eg: Hydraulic Jack, Hydraulic Brake
in automobile, Etc..
Kinematic Joint
• A kinematic joint is the connection
between two links by a pin
• The usual types of joints in a chain are
• Binary joint: Two links are connected
at the same joint by a pin
• Ternary joint: Three links are
connected at the same joint by a pin
• Quaternary joint: Four links are
connected at the same joint by a pin
Note: if n number of links are
connected at a joint, it is equivalent to
(n-1) binary joint
Kinematic Pair
• The two links of a machine, when in
contact with each other, are said to form
pair
• A kinematic pair consists of two links that
have relative motion between them
• The links of a mechanism must be
connected together in such a manner
that these transmit motion from the
driver or input link to the follower or
output link
Kinematic Pair
• Two elements or links which are
connected or joined together in such a
way that their relative motion is
completely constrained forms a kinematic
pair
• 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
• Lower Pair: when the two elements
have surface (or area) contact while
in motion and the relative motion is
purely turning or sliding, they are
called as lower pair
• All sliding pairs, turning pairs and
screw pairs are lower pairs
• Eg: Nut turning on a screw, shaft
rotating in a bearing, all pairs of a
slider-crank mechanism, universal
joint etc
Kinematic pairs according to nature of
contact
Kinematic pairs according to nature of
contact
• Higher Pair: A pair of link having a
point or line contact between the
member is called a higher pair
• The contact surfaces of the two
links are dissimilar
Eg: Contact between cam and
follower, contact between two
mating gears, a wheel rolling on a
rail, ball rolling on a flat surface, ball
and roller bearing
Kinematic pairs according to nature of
contact
Kinematic pairs according to Relative motion
• Sliding Pair: if two links have a
sliding motion relative to each
other, they form a sliding pair
Eg: rectangular rod in a rectangular
hole in a prism, piston and cylinder
of an engine, crosshead and guides
of a steam engine, ram and its
guide in shaper etc
Kinematic pairs according to Relative motion
• Turning (Revolute) Pair: when one
link has a turning or revolving
motion relative to the other, they
constitute a turning or revolving
pair
Eg: Four bar chain, crankshaft
turning in a bearing etc
Kinematic pairs according to Relative motion
• Rolling Pair: when the links of a
pair have a rolling motion relative
to each other, they form a rolling
pair
Eg: Ball and roller bearing, wheel
rolling on flat surface etc
Kinematic pairs according to Relative motion
• Screw Pair(Helical Pair): if two
mating links have a turning as well
as sliding motion between them
Eg: bolt with a nut, lead screw and
nut of a lathe, etc.
• Spherical Pair: when one element
in the form of a sphere turns
about the other fixed element
Eg: Ball and socket joint
Kinematic pairs according to Nature of
Mechanical Constraint
• Closed Pair: when two elements
of a pair are held together
mechanically, it forms a closed
pair
• All the lower pair and some of the
higher pairs are closed pairs
Eg: sliding pairs, turning pairs,
spherical pairs, screw pairs.
Kinematic pairs according to Nature of
Mechanical Constraint
• Open (Unclosed) Pair: when 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 forced-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 and gravity
Machine, Mechanism and kinematic chain
• Machine: A combination of
resistant bodies arranged to
compel the mechanical forces of
nature to do work accompanied
by determinate motions
• Mechanism: A kinematic chain in
which at least one link has bean
grounded or attached to the
frame of reference (which itself
may be in motion)
Machine, Mechanism and kinematic chain
• Kinematic Chain: An assemblage
in which at least one link and
joints, interconnected in a way to
provide a controlled output
motion in response to a supplied
input motion

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