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Theory of Machines
042341
Day and Time:
Mon ~ Wed.
12:30-2:00
Instructor: Dr. Mohammad Tarawneh
Office: E3104 (Engineering Building) Tel.: 5106
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Course Description

and, the static and dynamic forces required for
the proper design of
A study of
linear and angular
Displacements
Velocities Accelerations
of points and bodies
Mechanical linkages,
Cams, and Geared systems.
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Chapter One
Mechanisms and Machine
Basic Concepts


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Mechanics
Statics
Dynamics
Kinematics Kinetics
Mechanics
of materials
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Kinematics
I s the study of bodies (mechanisms) on the basis of
the motion requirements without referenced to the
force that act on the mechanism
Kinematics Diagram
I s the diagram that used to express the complex parts
of machines for easy design process.
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Kinetics
I s the study of the motion in bodies (mechanisms)
under the force and torques that act on the body
(mechanism)
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Mechanism
It is a combination of rigid bodies or
elements ( Linkages)
Formed and connected to transmit motion

The Linkages moved upon each other with definite
relative motion
Mechanism consists of linkages and joints
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Planer and Spatial Mechanisms
In a planar mechanisms, all of the relative
motions of the rigid bodies are in one plane or in
parallel planes
Motion of such mechanism is called Coplanar
If there is any relative motion that is not in the same
plane or in parallel planes, the mechanism is called the
spatial mechanism.
Motion of such mechanism is called spatial motion
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Example of Mechanisms
Can crusher
Simple
press
Rear-window
wiper
Moves packages from an
assembly bench to a conveyor
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Lift platform
Front loader
Device to close the
top flap of boxes
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Four-Bar Linkage
1: Frame (fixed)
2: Crank (input Link)
3: Connecting rod (coupler Link)
4: Output link ( Rocker) or (Follower)
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The Slider-Crank Mechanism
1: Frame (fixed)
2: Crank (input Link)
3: Connecting rod (coupler Link)
4: Output link (Slider)
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Machines are mechanical devices used to accomplish work.
A mechanism is a heart of a machine.
I t is the mechanical portion of the machine that has the function of
transferring motion and forces from a power source to an output.
Machine is mechanism or a collection of mechanisms
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Example of Machines
Internal Combustion Engine
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Types of Motion
(1) Plane Motion ( Planar Motion)
(1-1) Translation:
The motion of a rigid body that the position of each straight
line of the body is parallel to all of its other positions.
(1-1-1) Rectilinear Translation
All points of the body moves in parallel straight line paths
I n this Mechanism the piston moves between 2-
positions
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(1-1-2) Curvilinear Motion (Translation)
The paths of the points are identical curves parallel to a fixed frame
(1-2) Rotation
Each point of a rigid body having plane of motion remains at
a constant distance from a fixed axis perpendicular to the plane
of motion
(1-3) Rotation and Translation

(2) Spatial Motion
When a body moves with rotation
about 3- non-parallel axes and translate
in 3 - independent directions.
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Translation to Translation
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Rotational to Rotational
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Rotation to Translation
D:\Courses\Machinery\lectures\Machinery\An
Example Quick Return Design.htm
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1.4 Terminology and Definitions
Link it is a rigid body (member) with provision at each end for
connection to two (more) other links
When several links are moveable connected to each other by
joints, it is called kinematics chain.
OR
The combination of links and pairs without a fixed link is not a
mechanism but a kinematic chain
I f NOT, the chain is said to be open kinematics chain
I f these links are connected in such a way that no motion
is possible then we have a locked chain ( structure)
I f every link in the chain is connected to two or more links
then
the chain form one or more closed loops
I f the link form a closed loops, it is called
closed kinematic chain
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22
Frame
is the fixed or stationary link in the mechanism
1 1
1 1
1
The engine block is considered as frame
even if the automobile is moving
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Joint I s the connection between links that permit
constrained relative motion
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Pairing Elements
I t occurs when two elements are joined together so that relative motion
between these 2-elements is consistent
Higher pair (H)
When the joint by which
the links are connected
has point or line contact
Lower pair (L)
When the joint by which
the links are connected
has surface contact
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Inversion
In a mechanism, if the link which was originally fixed
(frame) allowed to move and another link becomes fixed,
the mechanism is said to be inverted
Cycle and Period

Cycle is the complete sequence of position of links in a mechanism
( from some initial position back to the same initial position)
Period is the time required to complete one cycle of motion
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1.5 Degrees of freedom (Mobility)
The definition of the degrees of freedom (DOF) of a
mechanism is the number of independent relative
motions among the rigid bodies.
A body that is restricted to move in a plane (Planar) has 3-DOF
Translation in 2-directions
&
Rotation within the same plane
In general
Unconstrained (Spatial) rigid body has 6-DOF
Translation in 3-directions
&
Rotation about 3-coordinate axes
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Constraint due to JOINTS
Each joint has a number
Of degrees of freedom
(connectivity)
The presence of joints in a system reduces
the MOBI LI TY of Spatial Mechanism by
joint t he of it y) (Connect iv freedom of degrees of number t he is :
joint by t he produced s const raint of number t he is :
;
i
c
f
n
Where
i c
f n 6
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Examples
s constrai nt
are Joi nt Revol ute by produced s constrai nt of number the
i ty) (connecti v DOF - 1 has Joi nt Revol ute The
5 1 6 6 = = =

i c
f n
Revolute Joint
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Example
Spherical Joint
s constrai nt
are Joi nt Spheri cal by produced s constrai nt of number the
i ty) (connecti v DOF - 3 has Joi nt Spheri cal The
3 3 6 6 = = =

i c
f n
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Degrees of Freedom (Mobility) for Spatial Motion
(1.1) ) ( DF
spatial c L
n n 1 6
Where;
n
L
: number of links ( including the frame)
n
c
: the total number of constraints
If n
j
: is the number of joints
f
i
: is the number of DOF for joints



Then
(1.2)
=
j
n
i
i j c
f n n
1
6
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Sub. Eq. (1.2) into Eq.(1.1)
(1.3) ) ( DF
) ( DF
spatial
spatial
=
=
+ >
+ >
j
j
n
i
i j L
n
i
i j L
f n n
f n n
1
1
1 6
6 1 6
DF > 1: the mechanism has mobility
DF = 0: the mechanism is statically determinant
structure
DF s -1: the mechanism statically indeterminant
structure
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Example gives RSSR Mechanism
1
1
3
2
4
3 3 - 6
- 6 joi nt - S for s constrai nt of
5 1 - 6
- 6 joi nt - R for s constrai nt of
) ( DF
spatial
= =
=
= =
=
=
+ >

=
i
i
L
n
i
i j L
f . No
f . No
n
f n n
j
4
1 6
1
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Example Continued
DOF 2 6 ) ( DF
s constrai nt 16
) ( DF
] Eq.(1.1) [usi ng
spatial
joints - R for joints - S for
spatial
5) (2 3) (2
= =
= + =
>
=
=
1 1 4 6
1 6
1
1
j
j
n
i
i
n
i
i L
f
f n
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DOF 2

) ( DF
s constrai nt 8
) ( DF
] Eq.(1.3) [usi ng
spatial
joints - R for DOF joints - S for DOF
spatial
1) (1 3) (3
=
+ =
+ =
= + =
+ >
=
=
8 6
8 1 4 4 6
1 6
1
1
j
j
n
i
i
n
i
i j L
f
f n n
Example Continued
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Example RRRR Mechanism
DOF 2 5) 4 ( ) ( DF
) ( DF
s constrai nt 5 1 - 6 - 6 joi nt - R for s constrai nt of .
) ( DF
spatial
spatial
spatial
= = =
>
= = =
=
=
+ >
=
20 18 1 4 6
1 6
4
4
1 6
1
c L
i
j
L
n
i
i L
n n
f No
n
n
f n
j
1
1
3
2
4
Statically indeterminant
structure
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Planar Linkages (Mechanisms)
Its a special case of the general one
(Spatial mechanisms)
The links move in same plane or in parallel planes
The axes of the revolute joints are parallel
D:\Courses\Machinery\lectures\Machinery\An
Example Quick Return Design.htm
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Degrees of Freedoms (Mobility) for PLANAR Mechanism
Each unconstrained rigid link has 3 - DF in plane motion
A fixed link has Zero DF
The presence of joints in a system reduces
the MOBI LI TY of Planar Mechanism by
joint t he of it y) (Connect iv freedom of degrees of number t he is :
joint by t he produced s const raint of number t he is :
;
i
c
f
n
Where
i c
f n 3
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Examples
s constrai nt
are Joi nt Revol ute by produced s constrai nt of number the
i ty) (connecti v DOF - 1 has Joi nt Revol ute The
2 1 3 3 = = =

i c
f n
Revolute Joint
Dr. Hitham Tlilan 39
(1.4) ) ( DF
planar j L
n n
'
= 2 1 3
Where;
n
j
: is the number of joints
f
i
: is the number of DOF (connectivity) of joints
pai rs DF - 1 of number the :
frame) the (i ncl udi ng l i nks of number total the :
Where;
j
L
n
n
'
I f the Planar Mechanism contains only 1-DF pairs or joint
(1.5) ) ( DF
OR;
planar
=
+ =
j
n
i
i j L
f n n
1
1 3
Dr. Hitham Tlilan 40
DF 1
1) 1 1 (1 1) - 4 - 3(4
, ) ( DF ) . .( Eq
DF 1
4) (2 - 1) - 3(4
) ( DF ) . .( Eq
planar
planar
=
+ + + + =
= + =
=
=
'
=
=
'
=
=
4 1 3 5 1
2 1 3 4 1
4
4
1
j
n
i
i j L
j L
j
L
n f n n
n n
n
n
j
Example
Determine the Mobility (DF) for the following link


1
1
2
3
4
41
structure) ant i ndetermi n stati cal l y ( DF 1 -
1) 1 1 1 (1 1) - 5 - 3(4
, ) ( DF ) . .( Eq
DF 1 -
5) (2 - 1) - 3(4
) ( DF ) . .( Eq
planar
planar
=
+ + + + + =
= + =
=
=
'
=
=
'
=

=
5 1 3 5 1
2 1 3 4 1
5
4
1
j
n
i
i j L
j L
j
L
n f n n
n n
n
n
j
Example
Determine the Mobility (DF) for the following link
3

1 1
2 4

1
When the joint connect more than 2-
links the same joint counted by
(Number of connected links-1)
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then; pai rs) DF - (2 and pai rs) DF - (1
contai ns ) (mechanism li nkage pl anar the If
j j
n n
' ' '
(1.6) ) ( DF
planar j j L
n n n
' '

'
= 2 1 3
DOF 0
structure
mechanism
DOF > 0
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joi nt) (Fork joi nt DF - 2 of Number
7 1(sl i der) revol ute) or (pi n joi nt DF - 1 of Number
1
6
7
=
' '
=
= + =
'
=
=
j
j
L
n
n
n
Example
1
1
1
2
3
4
5
6
7
Fork Joint
Slider
Spring
DF 3
1 - 7) (2 - 1) - 3(7
) ( DF
planar
=
=
' '

'
=
j j L
n n n 2 1 3
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contact) (Cam joi nt DF - 2 of Number
revol ute) or (pi n joi nt DF - 1 of Number
1
2
3
=
' '
=
=
'
=
=
j
j
L
n
n
n




Example
DF 1
1 - 2) (2 - 1) - 3(3
) ( DF
planar
=
=
' '

'
=
j j L
n n n 2 1 3
1
1
3
2
Common tangent
Higher pair
(cam contact)
2-DF
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One Degree of Freedom Configurations
Grblers Criterion
1-DF planar mechanism made up of lower pairs (1-DF joints)
must satisfy Grblers Criterion, which is
(1.7) 0 4 3 2
L j
n n
7 0 4 6 3 2 6
4 0 4 4 3 2 4
1
=
'
= +
'
=
=
'
= +
'
=
j j L
j j L
n n n
n n n
) (
) (
wi th mechani sm pl anar a want we i f
joi nt DF - 1 of numder the fi nd ) (
Exampl e
criterion s Grubler' using
criterion s Grubler' using