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Lec # 02

The document discusses the concepts of kinematic links, pairs, and their classifications in mechanical systems. It differentiates between machines and structures, explaining that machines involve relative motion and energy transformation, while structures do not. Various types of kinematic pairs are outlined, including sliding, turning, rolling, screw, and spherical pairs, along with their classifications based on motion, contact type, and closure type.

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shahzeb nadeem
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59 views13 pages

Lec # 02

The document discusses the concepts of kinematic links, pairs, and their classifications in mechanical systems. It differentiates between machines and structures, explaining that machines involve relative motion and energy transformation, while structures do not. Various types of kinematic pairs are outlined, including sliding, turning, rolling, screw, and spherical pairs, along with their classifications based on motion, contact type, and closure type.

Uploaded by

shahzeb nadeem
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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LEC # 02

MOTION AND MACHINE PARTS


KINEMATIC LINK
Each part of a machine, which moves relative to
some other part is known as a kinematic link.
A link need not only be a rigid body but also it
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.
Thus a link should have the following two
characteristics:
It should have relative motion.
It must be a resistant body.
TYPES OF LINKS
In order to transmit motion, the following three
types of links may connect the driver and the
follower:

 Rigid link. A rigid link is one, which does not


undergo any deformation while transmitting
motion.

 Flexible link. A flexible link is one, which is


partly deformed without affecting the
transmission of motion. For example, belts,
ropes, chains and wires are flexible links and
transmit tensile forces only.
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 only. A railway bridge, a roof truss,
machine frames etc.. are the examples of a structure.

DIFFERENCE B/W A MACHINE AND A STRUCTURE

 The parts of a machine move relative to one another,


whereas the members of a structure don’t…
 A machine transforms the available energy into some useful
work, whereas structures don’t…
 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 in contact with each
other 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 MOTION

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.
The motion of a square bar in a square hole and the motion of a
shaft with collars at each end in a circular hole are the examples
of completely constrained motion.
TYPES OF CONSTRAINED MOTION

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. The change
in the direction of impressed force may alter the
direction of relative motion b/w the pair. A circular
bar or shaft in a circular hole is an example of an
incompletely constrained motion as it may either
rotate or slide in a hole. These both motions have
no relationship with the other.
CLASSIFICATION OF KINEMATIC PAIR
Kinematic pairs may be classified according to the
following considerations
1- According to the type of relative motion b/w
the elements

(a)(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. Piston and
cylinder, ram and its guides in shaper , tail stock on
the lathe bed etc.. are the examples
of a sliding pair.
A little consideration will show that a sliding pair has
a completely constrained motion.
CLASSIFICATION OF KINEMATIC
PAIR
(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. A shaft
with collars at both ends fitted into a circular hole , lathe
spindle supported in head stock , cycle wheels turning
over their axles etc.. are the examples of a turning pair. A
turning pair also has a completely constrained motion.

(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. Ball and roller bearings are the
examples of rolling pair.
CLASSIFICATION OF KINEMATIC
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. The lead screw of
a lathe with nut and bolt with a nut are examples of a
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. The ball and socket joint,
attachment of a car mirror, pen stand etc.. are the
examples of spherical pair.
CLASSIFICATION OF KINEMATIC
PAIR
2- According to the type of contact b/w 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. All sliding, turning 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 b/w the two
elements is partly turning and partly sliding , then the pair is
known as higher pair.
Toothed gearing, belt and rope drives, ball and roller bearings and
cam and follower are the examples of higher pairs.
CLASSIFICATION OF KINEMATIC
PAIR
 3- According to the type of closure b/w the elements.

(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 pairs.

(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 known as 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 and gravity.
EXEMPLIFICATION
EXEMPLIFICATION
EXEMPLIFICATION

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