KINEMATICS OF MACHINES

STATICS:

Branch of Theory of machines which deals with the forces and their effects while the machine parts are at rest. The mass is assumed to be negligible. DYNAMICS: Branch of Theory of machines which deals with the forces and their effects while the machine parts in motion. KINEMATICS: Branch of Theory of machines which deals with relative motion between the various parts of the machine. KINETICS:
Branch of Theory of machines which deals with the inertial forces which arise from the combined effect of the mass and motion of the machine parts.

Machine:

A machine is a device which receives energy and transform it into some useful work. It consists of a number of parts. Structure: It is assemblage of a number of resistant bodies (members) having no relative motion between them and meant for carrying loads having straining action.

Difference between a Machine and a Structure.

The parts of the machine move relative to one another. It transforms the available energy into some useful work. The members of a structure do not move relative to one another. In a structure no energy is transformed into useful work.

The links of a machine may transit both power and motion.

The members of a structure transmit forces only.

KINEMATIC LINK OR ELEMENT

Each part of a machine which moves relative to some other part. Rigid link-It is one which does not undergo any deformation while transmitting motion. eg. Connecting rod, crank etc. Flexible link-It is one which is partly deformed in a manner not to affect the transmission of motion. eg. Belts, ropes, chains and belts. Fluid link-It is one which is formed by having a fluid in a receptacle and the motion is transmitted through the fluid by pressure or compression only. Eg hydraulic presses , jacks, and brakes.

Types of constrained motion

(a) Completely constrained motion: When the motion between the pair is limited to a definite direction irrespective of the direction of the force applied, then the motion is said to a completely constrained motion.

(b) Incompletely constrained motion: When the motion between the pair can take place on more than one direction, then the motion is said to a incompletely constrained motion.

(c) Successfully constrained motion: When the motion between the pair is such that the constrained motion is not completed by itself, but by some other means, then the motion is said to a successfully constrained motion.

Kinematic pair and its classification

(1) Based on relative motion between pairing elements:

(a) Siding pair [DOF = 1]

(b) Turning pair (revolute pair) [DOF = 1]

(c) Rolling pair [DOF = 1]

(d) Screw pair [DOF = 1]

(e) Spherical pair [DOF = 3]

Eg. Ball and socket joint

(2)Based on nature of contact between elements: (a) Lower pair : The joint by which two members are connected has surface contact.

(b) Higher pair: The contact between the pairing elements takes place at a point or along a line.

Based on the nature of mechanical constraint (a) Closed pair

(b) Unclosed or force closed pair

KINEMATIC CHAIN
When the kinematics pairs are coupled in such a way that the last link is joined to the first link to transmit definite motion (completely or successfully constrained motion), it is known as Kinematic chain. (i) The relation between the number of pairs (p) forming a Kinematic chain and the number of links (l) may be expressed in the form of an

equation:
(ii)

l=2p-4

Another relation between the number of joints (j) forming a Kinematic chain and the number of links (l) may be expressed in the form of an equation:

j=3/2 l-2

l=3,p=3,j=3

(i) l = 2p-3 (ii) j = 3/2 l-2 3 = 2*3-4 =2 3 = 3/2 *3 -2 = 2.5 L.H.S>R.H.S L.H.S>R.H.S Since L.H.S>R.H.S , it is not a Kinematic chain and hence no relative motion is possible, such a chain is known as Locked Chain.

l=4,p=4,j=4

(i) l = 2p-3 (ii) j = 3/2 l-2 4 = 2*4-4 =4 4 = 3/2 *4 -2 = 4 L.H.S=R.H.S L.H.S=R.H.S Since L.H.S=R.H.S ,it is a Kinematic chain and hence relative motion is completely constrained ,such a chain is known as

Constrained Kinematic Chain.

(i) l = 2p-3 (ii) j = 3/2 l-2 5 = 2*5-4 =6 5 = 3/2 *5 -2 = 6 L.H.S<R.H.S L.H.S<R.H.S Since L.H.S<R.H.S ,it is not a Kinematic chain and hence relative motion is not completely constrained ,such a chain is known as l=5,p=5,j=5

Unconstrained Kinematic Chain.

Number of degree of freedom for a plane mechanisms:

It is the number of inputs (number of independent coordinates) required to describe the configuration or position of all the links of the mechanism, with respect to the fixed link at any given instant.

Kutzbach Criterion to plane mechanisms and its Application

Number of degrees of freedom of a mechanism is given by n = 3(l-1)-2j-h. Where, n = Degrees of freedom l = Number of links in the mechanism. j = Number of lower pairs, which is obtained by counting the number of joints. If more than two links are joined together at any point, then, one additional lower pair is to be considered for every additional link. h = Number of higher pairs

If n>0, then the mechanism has n degrees of freedom. If n=0, then the motion is impossible and the mechanism forms a structure. If n<0, then there are redundant constrained in the chain and it forms a statically indeterminate structure. Examples:

(a)

n = 3(l-1)-2j-h Here, l = 3, j = 3 & h = 0. n = 3(3-1)-2(3) = 0 I.e., Since n=0, it forms a structure.

(b)

n = 3(l-1)-2j-h
Here, l = 4, j = 4 & h = 0. n = 3(4-1)-2(4) = 1 I.e., one input to any one link will result in definite motion of all the links.

(c)

n = 3(l-1)-2j-h Here, l = 5, j = 5 & h = 0. n = 3(5-1)-2(5) = 2 I.e., two inputs to any two links are required to yield definite motions in all the links.

(d)

n = 3(l-1)-2j-h
Here, l = 5, j = 6 & h = 0. n = 3(5-1)-2(6) = 0 I.e., this forms a structure.

(e)

n = 3(l-1)-2j-h Here, l = 6, j = 8 & h = 0. n = 3(6-1)-2(8) = -1 I.e., Since n= -1it forms a statically indeterminate structure.

(f)

n = 3(l-1)-2j-h Here, l = 3, j = 2 & h = 1. n = 3(3-1)-2(2)-1 = 1 I.e., one input to any one link will result in definite motion of all the links.

(g)

n = 3(l-1)-2j-h Here, l = 4, j = 3 & h = 1. n = 3(4-1)-2(3)-1 = 2 I.e., two inputs to any two links are required to yield definite motions in all the links.

Grashofs law
According to Grashof's law for a four bar mechanism, the sum of the shortest and longest link lengths should not be greater than the sum of the remaining two link lengths if there is to be continuous relative motion between the two links.

Mechanism
When one of the links of a Kinematic chain is fixed, the chain is known as mechanism. A mechanism with four links is known as simple mechanism. Mechanism with more than four links is known as compound mechanism. When a mechanism is used to transmit power or to do some particular type of work, it then become machine.

Example for Mechanism

INVERSIONS OF MECHANISM
A mechanism is one in which one of the links of a kinematic chain is fixed. Different mechanisms can be obtained by fixing different links of the same kinematic chain. These are called as inversions of the mechanism.

TYPES OF KINEMATIC CHAINS

FOUR BAR CHAIN OR QUADRIC CYCLE CHAIN, SINGLE SLIDER CRANK CHAIN, AND DOUBLE SLIDER CRANK CHAIN.

FOUR BAR CHAIN:

(link 1) frame (link 2) crank (link 3) coupler (link 4) rocker

INVERSIONS OF FOUR BAR CHAIN

1. Crank-rocker mechanism 2. Drag link mechanism 3. Double rocker mechanism

CRANK-ROCKER MECHANISM

DOUBLE CRANK MECHANISM