CHAPTER 1 INTRODUCTION

Pankaj Chhabra

Theory Of Machine

Theory of Machine: Branch of Engineering Science, studies the relative motion between various parts of machine, and forces acting upon them . Need :Designing various parts of machine

Pankaj Chhabra

Theory Of Machine

Machine Vs. Structure

Machine parts have relative motion between various parts, structure does not have such motions  Machine Transforms energy into work whereas structure does not do transform energy into work Machine transfers motion and power while structure transfers forces only
Pankaj Chhabra Theory Of Machine

Types of Motions

Completely Constrained motion

Incompletely Constrained motion

Successfully Constrained
Pankaj Chhabra Theory Of Machine

Kinematic Link Should have Relative motion Should be a resistant body

1. Rigid link 2. Flexible Link 3.Fluid Link

Pankaj Chhabra Theory Of Machine

Kinematic Pair The Two link or elements contact in each other to transmit a relative motion which completely or successfully Constrained forms a Kinematic Pair Classification 1. According to type of relative motion between them 2. According to type of contact between elements 3. According to Type of closure
Pankaj Chhabra Theory Of Machine

1. According to type of relative motion between them

1.Sliding Pair 2. Turning Pair 3. Rolling Pair 4. Screw pair 5. Spherical pair

Pankaj Chhabra

Theory Of Machine

According to type of Contact between Elements or links (i) Lower Pair

(ii) Higher Pair

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Theory Of Machine

According to type of Closure (i) Self Closed pair

(ii) Force Closed pair

Pankaj Chhabra

Theory Of Machine

Types of Joint Binary Joint

Ternary Joint

Quaternary Joint

Pankaj Chhabra

Theory Of Machine

Total No. of Joints = No. of Binary joints + 2( no. of ternary joints + 3 ( no. of quatnery joints )

Pankaj Chhabra

Theory Of Machine

Kinematic Chain
L= 2P-4

3 J ! L2 2

L.H.S > R.H.S chain is locked i.e. Structure L.H.S = R..H.S the chain is constrained L.H.S< R.H.S the chain is unconstrained
Pankaj Chhabra Theory Of Machine

Mechanism

Pankaj Chhabra

Theory Of Machine

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Theory Of Machine

Degree of freedom

N=3(L-1)-2j-h
Pankaj Chhabra Theory Of Machine

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Theory Of Machine

Grublers Criterion for Plain mechanism n=1 and h=0 1=3(L-1) -2j 3L-2j -4=0

L=4 and J=4

Pankaj Chhabra

Theory Of Machine

Types of Kinematic Chains 1) Four Bar Chain or Quadric Cycle chain 2) Single Slider Crank Chain 3) Double Slider Crank Chain

Inversions of Mechanism

Pankaj Chhabra

Theory Of Machine

Four Bar Chain or Quadric Cycle chain

Grashoff 4-bar linkage:

A linkage that contains one or more links capable of undergoing a full rotation. A linkage is Grashoff if: S + L < P + Q (Where: S = shortest link length, L = longest, P, Q = intermediate length links).

Pankaj Chhabra

Theory Of Machine

b. Coupling rod of locomotive (double crank mechanism)

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Theory Of Machine

Inversions of Four Bar Chain or Quadric Cycle chain a. Beam Engine( crank and lever mechanism)

Pankaj Chhabra

Theory Of Machine

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Theory Of Machine

c. Watts Indicator mechanism (double Lever mechanism)

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Theory Of Machine

Single Slider crank chain

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Theory Of Machine

Inversions of Single Slider crank chain a. Pendulum or Bull engine

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Theory Of Machine

b. Oscillating Cylinder Engine

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Theory Of Machine

C. Rotary Internal combustion Engine or Gnome engine

Piston(3) Connecting rod(4)

Crank(2)

Cylinder (1)

Pankaj Chhabra

Theory Of Machine

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Theory Of Machine

Crank and Slotted Quick Return Mechanism

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Theory Of Machine

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Theory Of Machine

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Theory Of Machine

With worth Quick Return Mechanism

Pankaj Chhabra

Theory Of Machine

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Theory Of Machine

3. Double Slider Crank Chain a. Elliptical Trammels

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Theory Of Machine

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Theory Of Machine

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Theory Of Machine

b. Scotch Yoke Mechanism

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Theory Of Machine

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Theory Of Machine

c. Oldhams Coupling

Pankaj Chhabra

Theory Of Machine

Pankaj Chhabra

Theory Of Machine