ME 316 KDOM MECHANISMS

Basic definitions

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Machine

Machine is a device for transferring

and transforming motion and force
(power, torque) from the source to
the load

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Input output

The nature of transformations

in a machine depends on the
type of available input and
the desired output

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Input output

Intermittent

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Kinematics

The subject which deals with only

geometric aspects (constraints)
of motion without any consideration
of forces is known as kinematics

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Mechanism

For the purpose of studying kinematics,

a machine can be referred to as
a mechanism that is a combination of
rigid bodies capable of relative motion

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Mechanisms inside a car
Slider crank (engine) Airbag Screw jack
Steering Air inlet Bonnet cover opening
Clutch Temperature control Bonnet cover restraining
Brake Seat (horizontal) Trunk cover restraining
Accelerator Seat (inclination) Handbrake
Gearbox Seat belt Side rearview mirrors
Differential Sun visor Door activated cabin lights
Wiper Cabin mirror Gear shifting mechanism
Door Petrol tank cover Mobile stand
Door lock Trunk cover opening High beam flasher
Window glass Cooling fan drive Windshield cleaner
Choke Glove compartment Belt drive (engine-gearbox)
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Link A rigid machine part or a component of a
mechanism
Connections or joints between
Kinematic pair the links
Each rigid body contributing elements to
form a kinematic pair is referred to as a link

Kinematic chain Series of links connected by

kinematic pairs
Every link is connected to
Closed chain at least two other links
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Kinematic Pair

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Kinematic Pair

Degree-of-freedom
Pair variables
Classification: Lower, Higher, Wrapping
Form closed, Force closed
Schematic representation, physical construction

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Degree-of-freedom

The degree-of-freedom of a mechanism are given

by the number of independent variables needed
to completely define the relative movements
between all its links

Rigid body in space has 3 translation and 3 rotation degrees of freedom

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Kinematic Pair Common axis of rotation

Revolute pair Shaft

Bearing

Only rotation is possible Pair variable

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Kinematic Pair
Prismatic pair

Body 1 can only move in the

vertical direction
S pair variable

Piston moving inside a cylinder forms a prismatic pair

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Kinematic Pair
Screw pair

s
=
2 L

s
L: lead of the screw
Single degree s depends on

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Kinematic Pair
Cylindrical pair

Two degree of freedom: s and are independent

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Kinematic Pair
Planar pair
z

y
Sy S 2 x
x

Planar pair

Three degree of freedom: Sx and Sy and

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Kinematic Pair
Force closed spherical pair

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Kinematic Pair
Spherical pair
z A

2 y

1 x

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Types of mechanisms
Hookes joint

cross shaft
cross

shaft yoke yoke

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Kinematic Pair

Type Symbol DOF Pair variable

Revolute R (hinge) 1
Prismatic P (sliding) 1 s
Screw H 1 or s =
s
(Helix) 2 L

Cylindrical C 2 and s
Spherical G 3 , and
Planar E 3 Sx and Sy and

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Kinematic Pair
Higher pair The line or point contact (gears and cams)

1
Sx

Two degree of freedom

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Types of mechanisms

Planar (all the points in

the parallel plane)
Spherical
Spatial

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Types of mechanisms
Planar linkages
Input
Output

All points of the mechanism move in parallel planes

They can be projected on to a single plane: plane of motion
The axes of the revolute pairs are parallel to each other
and perpendicular to the plane of motion

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Kinematic analysis

Kinematic analysis consists of

determining all possible relative
motions of a mechanism

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Kinematic Synthesis

Kinematic synthesis consists

of designing a mechanism that
can generate the prescribed relative
motion characteristics

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Plane motion of a rigid body
Y

A D sy

B C
sX

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Kinematic pairs for planar mechanisms

Type Symbol DOF Planar

Revolute R (hinge) 1 Yes
Prismatic P (sliding) 1 Yes
Screw H 1 No
(Helix)
Cylindrical C 2 No
Spherical G 3 No
Planar E 3 Yes

Higher pair 2 Yes

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DOF and number of inputs

If the degrees of freedom and the number of inputs

are the same, then it is known as a constant
mechanism

Example: four bar linkage, dumper truck, etc.

Exception: differential of an automobile

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Mechanism
A closed kinematic chain with one link fixed

Linkage
Mechanism consisting of only lower pairs

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Singular link Connected to only one other link

Binary link Connected to two other links

Ternary link Connected to three other links

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Fixed link

1
Representation of a frame

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2

2
Revolute pairs 3
R
Link 2 and 3 of similar size
3

Link 2 much larger than 3 2

2

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Prismatic pair
2

3
2

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Quaternary link

1 2 2
1

3 4 3
4

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Slider crank mechanism

3R-1P
Input Output

1-2 R
Crank 2-3 R
2 3 Connecting rod
3-4 R
4-1 P
4 piston

1 1

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Eccentric punching press

2 3
A
4
O2

1 Motor shaft

A
Crank
2 3 Connecting rod

4 piston
O2 1

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Curved slider Equivalent four bar
linkage
B 4
B

A
3 1 3 4
A
2 1
1-2 R 2
O2 2-3 R 1-2 R
3-4 R 1 2-3 R
1
4-1 ? 3-4 R
4-1 R
: radius of curvature

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Equivalence of mechanisms

Four bar linkage Slider crank mechanism

A A
2 3
B B
O2 4
O2
1

To infinity

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Kinematic inversion
The process of fixing different links of the same
kinematic chain to produce distinct mechanisms

The relative motion between various links

remains unchanged under a kinematic inversion

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Kinematic inversion
Inversion 1 Inversion 2
Kinematic chain
3
3 3 2
4 4
2 2 4

1 1
1
Inversion 3 Inversion 4

3 3 4
4
2 2
1 1

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Mechanism
A closed kinematic chain with one link fixed

Linkage
Mechanism consisting of only lower pairs

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2 3

1
structure

For a three link kinematic chain,

fixing one of the links results
in a structure: zero DOF

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Four link mechanism 4R mechanism
1-2 R Moving hinge
2-3 R A
3-4 R 3 coupler Kinematic dimensions
4-1 R B O2O4 =1
Moving hinge
2 O2A=2
4 Follower Crank
AB=3
O2 O4B=4
O4

1 1
Fixed pivot Fixed pivot

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3R-1P mechanism Offset slider crank mechanism

A
3
Kinematic dimensions
B
4
O2A=2
1 1
2 AB=3
e=offset
e
O2

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3R-1P Mechanism
1-4 R
3 4-3 P
O2 2 2-3 R
A
1-2 R
1

O2O4 =1
O4
1 O2A=2

e=offset

3 is the piston that slides on 4 and hinged to 2 e=0: quick return

mechanism

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Oscillating cylinder mechanism
Inversion of 3R-1P Mechanism

R
A
3

2
P
R O4
O2 R 4
1-2 R Used in foot pump
2-3 R 1
1 3-4 P
4-1 R

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Hand pump mechanism
3
4
3
Input
2
2

1-2 R
4 1
2-3 R
3-4 R
4-1 P

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2R-2P Chains
R R P P

Two revolute pairs of the

four bar linkage converted into
prismatic pairs
R P R P

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R-R-P-P chain 1
R R
3
P
4
2
P
P
3 R
2
900 4
1 R
P

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R R P
1 2 3 4
P
P
3 R R-R-P-P mechanism
2 Link 1 fixed
900 4
1 R
P

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Scotch-Yoke Mechanism R-R-P-P chain
R R P
1 2 3 4
1-2 R
2-3 R P
3-4 P
4-1 P 3
2 A
4
O2
1 fixed link
2 crank 1
1
3 Piston
4 slider
Piston 3 slides vertically inside 4 and 4 slides horizontally in 2
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Elliptic trammel: Link 4 fixed
R-R-P-P R R P
1 2 3 4
3
P
B
2
C

A 900
1
4

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R-R-P-P y
Elliptic trammel
Link 4 fixed

3
x

4 2
1

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Oldhams coupling: Link 2 fixed
R R P
1 2 3 4
P

2 3
4
1 1

2
3 4
2
2
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Davis steering mechanism RPRP

1 2 3 4 3 2 1
R P R R P R
P
1

1 3
R 4 4 R
3
P
2 P P 2
R R

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