Theory of machine

Module 1.

Basic Kinematics Kinematics CHAIN and mechanism Inversion of Chain Special Mechanism

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Theory of machine Important Terminologies and Definition 1. Machine It is device which takes in the available energy and converts it into useful work. When the mechanism is required to transmit the power or to do some particular type of work, it then becomes a Machine. Example: Shaper, Lathe machine

2. Mechanics( Theory of Machine) Branch of engineering which deals with the relative motion and forces between the various machine elements. Kinematics of machine Deals with the relative motion without considering the forces Dynamics of machine Deals with the forces and effect of forces on the machine component when they act on them.

3. Kinetics of machine Deals with the forces, which are formed due to combined action of mass and motion of machine elements.

4. Statics Deals with the forces and its effect on the machine part while the latter is at rest.

5. Resistant body A body is said to be resistant body if it is able to transmit the forces with the least possible deformation. Example: spring, belt oils in hydraulic presses

6. Kinematic Link Links are individual parts of a mechanism. Each parts of a machine which has a relative motion to some other parts is known as Kinematic link.

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Theory of machine 7. Kinematic Chain When the kinematic pairs are coupled in such a way that the last linked is joined the first link to transmit the definite motion it is called a kinematic chain. 8. Kinematic Pair The two links of the machine when in contact with each other are said to form a pair if the relative motion between them is successfully constrained. 9. Inversion The method of obtaining the different mechanism by fixing the different links in a kinematic chain is known as inversion of the mechanism. 10. Structure It is the assemblage of a number of resistant bodies having no relative motion between then and meant for carrying loads having a straining action. Example: a railway bridge.

11. 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. Example: Engine indicator, Typewriter.

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Theory of machine Differentiate between Machine and Structure.

Sr no 1 2

Machine Has relative motion between the members Transforms available energy into possible work. Members are meant to transmit motion and forces. Example Shaper,lathe

Structure Has no relative motion Does not transform.

Members are meant to accept load Example :Bridge.

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Theory of machine

TYPE OF CONSTARINED MOTIONS. 1. Completely constrained motion. 2. Incompletely constrained motion. 3. Successfully constrained motion. 1. Completely constrained motion. When the motion between a pair is limited to definite direction irrespective of the direction of force applied, then the motion is said to be a completely constrained motion. Example: The motion of the square bar in square hole. The motion of shaft with collars at each end in a circular hole.

2. Incompletely constrained motion. When the motion between a pair can take place in more than one direction, then the motion is said to be a completely constrained motion. Example: The motion of the circular bar in circular hole.

3. Successfully constrained motion. When the relative motion between the link is not completely constrained by itself but it is made by some other means is called successfully constrained motion. Example: Shaft in Footstep Bearing The motion IC engine valve and piston in reciprocating inside an engine cylinder.

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Theory of machine

Kinematic Link 1) Links are individual parts of a mechanism. 2) Each parts of a machine which has a relative motion to some other parts is known as Kinematic link. Character tics of Kinematic link 1. Should have relative motion. 2. Must be a resistant body.

Classification of the LINK 1. Depending upon the nature of the resistant bodies a) Rigid link. b) Flexible link. c) Fluid link. 2. Depending upon the points at which the link is attached to mechanism a) Binary link b) Ternary link c) Quaternary link

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Theory of machine

Depending upon the nature of the resistant bodies 1. Rigid link The links which do not undergo appreciable transformation while transmitting the required motion and forces is known as rigid link. Example: Piston ,Connecting Rod of Steam engine. 2. Flexible Link The links which are partly deformed transformation while transmitting the required motion and forces in such a way that they don effect the required transmission of motion is known as Flexible link Example: Chain, Belt and Spring 3. Fluid Link The link which transmit the motion by fluid pressure as compression are called fluid link. Example: Liquid used in Hydraulic presses

Depending upon the points at which the link is attached to mechanism 1. Binary link The link which is attached to two points in the mechanism is called Binary Link. 2. Ternary link The link which is attached to three points in the mechanism is called Ternary Link. 3. Quaternary link The link which is attached to four points in the mechanism is called Quaternary Link.

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Theory of machine 2. Kinematic Pair The two links of the machine when in contact with each other are said to form a pair if the relative motion between them is successfully constrained. Classification of kinematic pair I. According to the relative motion between them II. Sliding pair. Turning pair. Rolling pair. Screw pair. Spherical pair.

According to Nature of the contact Lower pair. Higher pair.

III.

According to type of closure Self closed pair. Force closed pair.

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Theory of machine According to the relative motion between them 1. Sliding pair. A sliding pair is said to be formed by two links such a manner that one link is constrained to have a sliding motion relative to other link. Example: Piston and Cylinder, Cross head and guides of Steam engine.

2. Turning pair A turning pair is said to be formed by two links such a manner that one link is constrained to turn or revolve relative to other link. Example: Shaft with collar in circular hole. 3. Rolling pair. A Rolling pair is said to be formed by two links such a manner that one link is constrained to have a rolling motion over the other link. Example: Ball bearing forms Rolling pair. 4. Screw pair. When the two elements of pairs are connected in such a way that one element can turn about the other by means of screw threads is known as Screw Pair. Example: Bolt and nut is example of Screw Pair. 5. Spherical pair. When the two elements of pairs are connected in such a way that one element turn or swivels about the other fixed element, the pair formed is known as Screw Pair. Example: Ball and socket is example of Spherical Pair.

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Theory of machine

According to Nature of the contact 1. Lower pair. When the two element of a pair have a surface contact when the relative motion takes place and the surface of one element slides over the other, the pair forced is known as lower pair. Example: The motion of piston and cylinder in the engine.

2. Higher pair. When the two element of a pair have a line or point contact when the relative motion takes place and the motion between the two element is partially turning and partly sliding then the pair formed is know as Higher pair. Example: The motion of cam and follower

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Theory of machine Kinematic pairs according to nature of mechanical constraint a. Self Closed pair When the elements of a pair are held together mechanically in such a way that only the required kind of relative motion occurs , all the lower pairs and some of the higher pairs are closed pairs. Example: The lower pair is known as closed pair. b. Force Closed pair or Unclosed pair When two links of a pair are not connected mechanically but kept in contact either due to force of gravity or some spring action, they constitute an unclosed pairs. Example: The motion of cam and follower

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Theory of machine 3. 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. Example: Engine indicator, Typewriter. Types of Mechanism i. Simple mechanism (a mechanism with four links) ii. Compound mechanism (a mechanism with more than four link)

Differentiate between Machine and Mechanism

Sr no 1.

Machine It is like the human body, it transforms energy into useful work. It relates to energy only. It has many link. Ex: lathe, shaper.

Mechanism It is like a frame work and has a definite motion between various links. It relates to motion. It also has many links. Ex. watt indicator,typwriter

2 3 4 5

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Theory of machine Grashof's Law The sum of the length of shortest and longest link must be equal or less than the sum of the length of the other two link length, if there is to be a continuous relative motion between the two links. In a four-bar linkage, we refer to the line segment between hinges on a given link as a bar where: s = length of shortest bar l = length of longest bar p, q = lengths of intermediate bar

Grashof's theorem states that a four-bar mechanism has at least one revolving link if s + l <= p + q (1) and all three mobile links will rock if

s+l>p+q (2) The inequality (1) is Grashof's criteria The Link opposite to the frame is called Coupler Link and the link which are hinged to the frame are called side link. The link which is free to rotate through 3600 with respect to second link will be said to revolve relative to the second link (not necessarily a frame). If it is possible for all four bar to become simultaneously aligned, such a state is called change point. Case 1 2 3 4 5 Criterion s+l < p+q s+l < p+q s+l < p+q s+l = p+q s+l < p+q Shortest link frame slide coupler any any Category double crank crank rocker double rocker change point triple rocker

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Theory of machine From the table we can see that for a mechanism to have a crank, the sum of the length of shortest and longest link must be equal or less than the sum of the length of the other two link. However this condition is necessary but not sufficient. Mechanism satisfying this condition falls into following three categories. 1) When the shortest link is the side link, the mechanism is crank rocker mechanism. The shortest link is the CRANK in the mechanism. 2) When the shortest link is the Frame, the mechanism is double crank mechanism. 3) When the shortest link is the coupler link, the mechanism is Double rocker mechanism.

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Theory of machine

Types of Kinematic chain 1. Four bar chain 2. Single slider crank chain. 3. Double slider crank chain Inversion of the following types 1. Four bar chain a) Beam engine. b) Coupling rod of Locomotives. c) Watts indicator mechanism. d) Pantograph. 2. Single slider crank chain. a) Pendulum pump or Bull engine. b) Oscillating cylinder engine. c) Rotary IC engine. d) Crank and slotted lever quick return mechanism. e) With worth quick return mechanism. 3. Double slider crank chain. a) Elliptical trammel b) Scotch yoke mechanism. c) Oldhams coupling.

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Theory of machine Kinematic inversion of the mechanism The method of obtaining the different mechanism by fixing the different links in a kinematic chain is known as inversion of the mechanism. Inversion of Four bar chain A four bar consist of four turning pair. It is the basic chain and is shown in the figure.

1. BEAM ENGINE

1. Beam engine is also called as Crank and lever mechanism. It consist of four link 2. In this mechanism, when the crank rotated about the fixed centre A, the lever oscillates about the fixed center D. 3. The end E of the lever CDE is connected to piston rod which reciprocates due to the rotation of the crank. 4. Purpose: Convert rotary motion into reciprocating motion.

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Theory of machine

2. Coupling rod of locomotive

1. The coupling rod of the locomotive consists of four links as shown in figure. 2. In this mechanism, the link AB and BC act as crank and are connected to the respective wheel. 3. The link CD act as a coupling rod and the link AB is fixed in order to maintain a constrain motion between them. 4. Purpose: meant for transmitting rotary motion from one wheel to another wheel.

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Theory of machine 3. Watts indicator mechanism A watt indicator mechanism has a four link as shown in figure.

1) The four links are fixed link at A, link AC, link CE, and link BFD. 2) It may be noted that BF and FD forms one link because two parts have no relative motion between them. 3) The link CE and BFD act as lever.

4) The displacement of link BFD is directly proportional to the pressure of gas or steam which acts on the indicator plunger. 5) On any small displacement of the mechanism, the tracing point E at the end of the link CE traces out approximately straight line. 6) The initial position of the mechanism is shown in full line whereas the dotted lines shows the position of mechanism when the gas or steam pressure acts on the indicator plunger.

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Theory of machine

4. Pantograph A pantograph is an instrument used to reproduce an enlarged or reduce scale and as exactly as possible the path described by a given point.

1. It is a based on four based kinematic chain. 2. It consists of jointed parallelogram ABCD. 3. It is made up of bar connected by turning pair. It has a four turning pair.

4. Link BA and BC are extended to O and E respectively such that OA/OE = AD/BE. 5. For all relative position of bars the triangle OAD and OBE are similar and the point O,D,E are in straight line. 6. The point E describes the same path as described by point D.

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Theory of machine

Slider crank chain: This is a kinematic chain having four links. It has one sliding pair and three turning pairs. Link 2 has rotary motion and is called crank. Link 3 has got combined rotary and reciprocating motion and is called connecting rod. Link 4 has reciprocating motion and is called slider. Link 1 is frame (fixed). This mechanism is used to convert rotary motion to reciprocating and vice versa. Double slider crank chain: It is a kinematic chain consisting of two turning pairs and two sliding pairs. Scotch Yoke mechanism. Turning pairs 1&2, 2&3; Sliding pairs 3&4, 4&1. Inversions of double slider crank mechanism: Elliptical trammel. This is a device which is used for generating an elliptical profile. Oldham coupling. This is an inversion of double slider crank mechanism, which is used to connect two parallel shafts, whose axes are offset by a small amount. 5.

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Theory of machine

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