Kinematics of Machines

mechanical engineerand a lecturer of theBerlin

Franz Reuleaux Royal Technical Academy, later appointed as the
President of the Academy. He was often called the
father ofkinematics. He was a leader in his
profession, contributing to many important
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domains of science and knowledge.
INTRODUCTION:

Definitions Link or element, kinematic pairs, Degrees of freedom, Grubler's criterion

(without derivation), Kinematic chain, Mechanism, Structure, Mobility of
Mechanism, Inversion, Machine

KINEMATIC CHAINS AND INVERSIONS:

Inversions of Four bar chain, Single slider crank chain and Double slider crank
chain.

MECHANISMS:
Quick return motion mechanisms-
Drag link mechanism,
Whitworth mechanism and Crank and slotted lever Mechanism.
Straight line motion mechanisms
Peaucellier's mechanism and Robert's mechanism.
Intermittent Motion mechanisms
Geneva wheel mechanism and Ratchet and Pawl mechanism.
, Toggle mechanism
Pantograph, Ackerman steering gear mechanism.

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THE BRANCH OF SCIENTIFIC ANALYSIS THAT DEALS WITH MOTION
TIME AND FORCES

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 Franz Reulea

*Resistant Bodies: are Those Which Are Rigid For The Purpose They
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Have To Serve
It is neither a source of energy nor a producer of work but helps in
proper utilization of the same
The motive power has to be derived from the external source
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 Difference

MACHINE MECHANISM
1. IT TRNASFERS MOTION
BETWEEN VARIOUS LINKS
1. IT TRANSFORMS ENRGY 2. IT IS THE ASSEMBLAGE OF
INTO USEFUL WORK LINKS IN WHICH ONE OF THE
2. IT IS THE ASSEMBLAGE LINK IS FIXED.
OF MECHANISM 3. IT IS CONCERNED WITH
3. IT IS CONCEREND WITH TRNASFER OF MOTION
TRANSFER OF ENERGY

Eg: LATHE, PUMP ETC Eg: STEERING MECHANISEM,

GENVEA WHEEL , RATCHET
AND PAWL MECHANSIM

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INTRODUCTION: Definitions Link or element,
kinematic pairs, Degrees of freedom, Grubler's criterion
(without derivation), Kinematic chain, Mechanism,
Structure, Mobility of Mechanism, Inversion, Machine

KINEMATIC CHAINS AND INVERSIONS: Inversions of

Four bar chain; Single slider crank chain and Double
slider crank chain.

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TERMINOLOGY

Kinematic Link Or Element:

A link (or element or kinematic link) is a resistant body (or assembly of

resistant bodies) constituting a part (or parts) of the machine which has a
motion relative to it

2(CRANK)
3(CONNECTING ROD)

4(SLIDER)

1 (FRAME)

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Classification Of Links

Depending Upon The Ends On Which Revolute Or

Turning Pairs Can Be Placed

Binary link - one with two nodes.

Ternary link - one with three nodes.
Quaternary link - one with four nodes

Depending Upon physical nature

Rigid Link
Flexible link
Fluid Link
Floating Link AVINASH BABU
 Binary link Ternary link
one with two nodes one with three nodes

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TYPICAL FORM KINEMATIC REPRESENTATION

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RIGID LINK
A rigid link does not undergo any deformation while transmitting motion.
links in general are elastic in nature. they are considered
rigid if they do not undergo appreciable deformation while
transmitting motion.
Eg: connecting rod, tie rod etc

flexible LINK
A flexible link is one which while transmitting motion is partly deformed in a
manner not to affect the transmission of motion.

Eg: chain , belts ropes spring etc

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Fluid LINK
A fluid link is deformed by having fluid in a closed vessel and the motion
is transmitted through the fluid by pressure.
Eg: hydraulic press , hydraulic jack, hydraulic brake etc

Floating LINK
It is te link which is not connected to the frame.
Eg:

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Kinematic pair

A kinematic pair or simply a pair is a joint of two

links having relative motion between them .

In the slider crank mechanism demonstrated above, link2 rotates relative

to link 1 and constitutes revolute or turning pair
Similarly , links 2,3 and 3,4 constitutes turning pair. Link 4 (slider)
reciprocates relative to the link 1 and is a sliding pair

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Classification of kinematic pair

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Lower pair
Nut&screw

higher pair
cam and follower

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DEGREE OF FREEDOM
it is defined as number of independent co ordinate system required to
specify the position of any system.

F= 3(N-1)-2P1-1P2
WHERE
F = degree of freedom
N = total number of links in a mechanism
P1 = number of links with 1 DOF( lower pair)
P2 = number of links having 2 DOF
if F 1, the device is a mechanism with F degree of freedom
If F=0 , th edevice is a statically determinate structure
If F=-1 (negative value) , the device is a statically indeterminate
structure. Super structure
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For a constrained motion, F=1 (linkages with turning pairs only)
and P2 =0
F= 3(N-1)-2P1-1P2
1 =3(N-1)-2P1

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Always while
numbering the links
the grounded link is
given number 1

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 Link 7,4, 10
Link 6,4,5 makes a double pair
so while counting P1 we add additional 1 to the
p1 depending upon number of additional link at
that node

When there are more than 2 links

connected at a node they are
called double pair, and hence
while counting the pairs they
should be counted as number of
links at that node -1

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At this node link 4(slider) slides on link 1(grounded) sliding pair
Also link 3 ,4 and 5 are connected at a node , thus making it a double pair
(two turning pair)
therefore no of pairs with 1 DOF = P1 = 10

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 Numerical 1.1
total number of links N= 8

Number of binary links Nb = 4 (link

5,6,8&7)

Number of ternary links Nt = 4 (link

1,2,3,4)

number of pairs with 1DoF = P1 = 11

(all the joints are I DOF revolute pin

joint. Here link7,4&6 similarly link
3,5,6 are hinged to one node, they are
called double pairs and while
calculating no of P1 series pairs they
Double
will be counted
pairs as (no of links joint at
that point -1)
F= 3(N-1)-2P1-1P2
= 3(8-1)-2*11-1*0
=3*7-22-0
=-1
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the linkage has a negative DOF
hence its a structure
Link 3 represents a cam and movement of link 6 on link 3 can be pure
rolling , or combined with sliding thus its a pair with 2 DOF system and
P1= 8 P2=1 in this linkage

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PAIR VARIABLE DO RELATIVE JOINT/ PAIR
F MOTION
Turning(rotary) 1 Circular Pin joint
Sliding(translati s 1 Linear Sliding joint
ng)
Screw (helical) or s 1 Helical Screw pair

Cylindrical and s 2 Cylindrical Cylindrical

pair
Spherical , 3 Spherical Spherical pair

planar X,Y, 3 planar Planar pair

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GRASHOFFS LAW OF MOBILITY OF FOUR BAR CHAIN

In a four bar chain , the sum of the lengths of the longest and
shortest link should not be greater than the sum of the lengths of
the other two links to have a continuous relative motion

LONGEST LINK (l) - AD

SHORTEST LINK (s) AB
OTHER TWO LINKS (p & q) - BC & CD

THEN FROM GRASHOFFS LAW , WE HAVE

s+l p+q
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 CASE 01:
LET S=10cm, l=25cm, p=18cm,q=20cm
then s+l= 10+25 = 35cm
P+q= 18+20 =38cm
s+l < p+q
Link AB can have continuous motion with
respect to link AD

CASE 02:
LET S=10cm, l=25cm, p=19cm,q=16cm
then s+l= 10+25 = 35cm
P+q= 19+16 =35cm
s+l = p+q
Link AB can have continuous rotary motion with
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 CASE 03:
LET S=10cm, l=25cm, p=18cm,q=15cm
then s+l= 10+25 = 35cm
P+q= 18+15 =33cm
s+l > p+q
Link AB cannot have rotary motion about A

Inversion
a kinematics chain becomes a mechanism when one of
the links is fixed. Different mechanisms formed by fixing
different links of the same kinematic chain as known as
inversions of each other.

the relative motion between the various links is not altered as a result of
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inversion, but their absolute motion with respect to the fixed link may alter
the following three types of kinematic chains with four lower
pairs are important form the subject point of view
I. FOUR BAR CHAIN OR QUADRIC CYCLIC CHAIN
II. SINGLE SLIDER CRANK CHAIN
III. DOUBLE SLIDER CRANK CHAIN

FOUR BAR CHAIN OR QUADRIC CYCLIC

INVERISONS
1) BEAM ENGINE
2) CONNECTING ROD OF A LOCOMOTIVE
3) WATTS INDICATOR

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SINGLE SLIDER CRANK CHAIN
INVERISONS
1) PENDULUM PUMP or BELL ENGINE
2) OSCILATING CYLINDRICAL ENGINE
3) ROTORY INTERNAL COMBUSTION ENGINE OR
GNOME ENGINE
4) CRANK AND SLOTTED LEVER QUICK RETURN
MECHANISM
5) WHITWORTH QUICK RETURN MECHANISM
DOUBLE SLIDER CRANK CHAIN
INVERISONS
1) ELLIPTICAL TRAMMELS
2) SCOTCH YOKE MECHANISM
3) OLDHAMS COUPLING

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FIGUR
E

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 STRAIGHT LINE MOTION
MECHANISMS
I.Peaucellier's mechanism
II.Robert's mechanism.
Peaucellier linkage can convert an
inputcircularmotion to
theexactstraight line motion. The
construction of this mechanism is such
that the point which is connected to the
crank moves in acircularpath and the
point traversing the straight line is
selected as the output point. The linkage
has a rhombic loop formed of the equal
length members, 5, 6, 7 and 8. Two equal
length links are connected to the opposite
corners of the rhombus at one end and to
a common fixed point at the other ends.
The point A of the rhombus is connect to
fixed point O2 through thelink 2. The
length of thelink 2is equal to the distance
between points O2 and O4. By the
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constraints of the geometry point A moves
Robert's mechanism.
This mechanism designed by Richard
Robert has the proportions of lengths of
members of thelinkageas, a = 1, b = 1.2,
c = 2 and d = 1.09. This approximate
straight line mechanism is generally used
for linear guidance of the tracing point. The
point required to traverse on straight line is
constrained to the end point of the
couplerextension. Robert's straight line
mechanism is normally used in
thecouplerdriven mode, that is, the
mechanism is not driven by either of the
cranks or rockers instead
thecouplerextension is used to just guide
the requisite point along an approximate
straight line.

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 INTERMITTENT MOTION
MECHANISMS
I.Geneva wheel mechanism
The II.Ratchet
figure showsand
a Pawl mechanism.
Geneva wheel
mechanism consist of a driving wheel1.
it rotates continuously , and g carries a
pin P that engages in a slot in the driven
member 2. the follower or driven member
2 in turned 1/4th of a revolution for each
revolution of plate 1. is half of the angle
turned through by member 2 during the
indexing period. Locking plate serves to
lock the member 2 when it is not being
indexed. The clearance arc in the locking
plate will be equal to twice the angle

for the motion to be free from shock ,

the slot should be tangential to the path of
the pin upon engagement. This means
angle O1PO2 must be right angle

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I. Ratchet and Pawl
mechanism.

this mechanism is used to produce

intermittent circular motion from an
oscillating or reciprocating member.

wheel 4 is given intermittent circular

motion by means of arm 2 and driving
pawl 3. a second pawl 5 prevents 4
from rotating backward when 2 is
rotated clockwise in preparation for
another stroke. The line ofAVINASH
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PN of
the driving pawl and tooth must pass
 To be continued.
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