MECHANISM OF MACHINERY

Chapter one

Introduction to mechanisms

By Daniel H.
 1)INTRODUCTION
1.1)define machine and mechanism
1.2)Terminology of mechanisms
1.3)What is inversion
1.4)Degree of freedom
 1.1)MACHINE AND MECHANISM

WHAT IS MACHINE AND MECHANISM ?

1.1.1MECHANISM
 IS ACOMBINATION OF RIGID BODIES (LINKS) SO FORMED AND
CONNECTED BY JOINTS THAT THEY MAY MOVE ON EACH OTHER WITH
DEFINITE RELATIVE MOTION.
 A mechanism is the heart of a machine .It is the mechanical portion of machine that
has the function of transferring motion and forces from a power source to an output.
 it is obtained by fixing one of the links of a kinematic chain to the ground or frame.
 When a mechanism is required to transmit power or to do some particular type of
work it then becomes a machine.
1.1.2 MACHINES
 A machine is a mechanism or a collection of mechanisms which
transmits force from the source of power to the resistance to be
overcome.
 The name usually applied to a complete product.
 They are devices used to alter, transmit, and direct forces
to accomplish a specific objective.
CONT’D….

The term machine is usually applied to a complete product. A car is a machine, as is a tractor, a combine, an
earthmoving machine, etc. At the same time, each of these machines may have some devices performing
specific functions, like a windshield wiper in a car, which are called mechanisms.
Example 1

Proposed windshield wiper movements in car Windshield wiper mechanism

EXAMPLE 2

The adjustable height platform is driven by

hydraulic cylinders. Although the entire device
could be called a machine, the parts that take
the power from the cylinders and drive the
raising and lowering of the platform are
mechanisms.

#1 question

Under what we categorize Ic engine,

Is that a machine or a mechanism? Why?
 1.2MECHANISM TERMINOLOGY
1.2.1) Links
Links are the individual parts of the mechanism which are rigid body having two or
more pairing elements by means of which it may be connected to other bodies for
the purpose of transmitting force or motion.
 Elastic parts, such as springs, are not rigid and, therefore, are not considered
links.
 Links have at least two nodes which are points for attachment to other links.
It classified as:-
 Binary link - one with two nodes.(IT ALLOWS TO CONNECT 2 LINKS)
 Ternary link - one with three nodes.( IT ALLOWS TO CONNECT 3 LINKS)
 Quaternary link - one with four nodes. (IT ALLOWS TO CONNECT 4 LINKS)
LINKS CONT’D……..

Note that, binary links are also called simple link and links which has more than two
pairing elements(nodes) are also called compound links.
Different names given to links refer v1
Ground frame: any link or links that are fixed, nonmoving with
respect to the reference frame

Crank: pivoted to ground, makes complete revolutions

Rocker: pivoted to ground, has oscillatory motion
Coupler: link has complex motion, not attached to ground

0 Ground (Casing, Frame ) 1: Rocker 2: Coupler 3: Crank

Frame
 For any mechanism One part is designated as frame because it serves as the frame of reference for the
motion of all other parts.
 It is typically a part that exhibits no motion.

#2 QUESTION (REFER V4)

IDENTIFY THE TYPE OF LINKS ASSOCIATED WITH THIS DUMP TRACK MECHANISM
1.1.2) JOINT

 JOINT is a movable connection between links and allows relative motion between the
links.
 The two primary joints, also called full joints, are the revolute and sliding joints.
 The revolute joint is also called a pin or hinge joint. It allows pure rotation between the
two links that it connects.
 The sliding joint is also called a piston or prismatic joint. It allows linear sliding between
the links that it connects.
 A cam joint is It allows for both rotation and sliding between the two links that it
connects. Because of the complex motion permitted, the cam connection is called a
higher-order joint, also called half joint.
 A gear connection also allows rotation and sliding between two gears as their teeth
mesh.
DIFFERENT JOINT TYPES WITH GRAPHICAL
REPRESENTATION( REFER V1 AND V3)
1.2.3 KINEMATIC PAIR

 it is a pair of elements or rigid bodies, permanently kept in contact, so that there exists a
relative movement between these elements.
 they are simple formed when two links are joined by pairing elements which allow the
relative motion.
They can be classified in several ways,
i) by type of motion
ii) By the type of contact between the elements(Reuleaux crateria)
iii) by type of mechanical constraint
KINEMATIC PAIR CONT’D….
i)by type of motion (refer v 2)
a)Turning pair: one can only turn or revolve about a fixed axis of another link.

b)Sliding pair: one can only slide relative to another

example:-piston and cylinder , and tail stock in lath bed
CONT’D…
c)Rolling pair: one roll over another fixed link.
e.g Ball and roller bearing

d)Screw pair: one link can turn about another by screw tread.
example :-Lead screw of lath with nut and bolt and nut

e)Spherical pair: one element (with spherical shape) turn

or swivels about the another fixed element.
example:-ball and socket joint, and attachment of car mirror
 KP CONTINUED……
ii) By the type of contact between the elements(Reuleaux crateria)
 Reuleaux [1] named two terms
A)LOWER PAIR to describe joints with surface contact (as with a pin surrounded by a hole).
 such as Revolute joint (Pin joint) and hinges Prismatic pair such as sliders.
SIX TYPES OF LOWER PAIRS
B)HIGHER PAIR to describe joints with point or line contact.

e.g gear teeth, cam and follower, friction disks

• However, if there is any clearance between pin and hole (as there must be for motion),
so-called surface contact in the pin joint actually becomes line contact, as the pin
contacts only one "side" of the hole.
III) BY TYPE OF MECHANICAL CONSTRAINT
Closed pair and unclosed pair (refer v5)
a)Self Closed pair
when the two elements of a pair are connected together mechanically
in such way that only required kind of relative motion is occurs.
Example all lower pairs and some higher pair arrangements.

b)Force closed(unclosed) pair

when the two element of pair are not connected mechanically
but kept in contact by the action of external forces .
Example, cam and follower ,they are kept in contact by
the forces exerted by spring and gravity.

Ball and roller bearing

SYMBOLS USED KINEMATIC DIAGRAM
#3 QUESTION

For the a shear press that is used to cut and trim electronic circuit
board laminates shown above
a)Identify the Frame
b)Draw the Kinematic Diagram
c)Identify All Other Links
D)Identify the type of Joints
 #4 QUESTION VISE GRIPS

For Vise grips shown above

a)Identify the Frame
b)Draw the Kinematic Diagram
c)Identify All Other Links
D)Identify the type of Joints
1.3)INVERSION
If, in a mechanism, the link which was originally fixed is allowed to move and another link
becomes fixed, the mechanism is said to be inverted. It is created by grounding a different link
in the kinematic chain. The number of possible kinematic inversions is equal to the number of
links in a mechanism.

Reading assignment:- types of motion, transmission of motion, coordinate system ,cycle

,phase ,period.
 1.4)DEGREE OF FREEDOM(MOBLITY)
 The mobility of a mechanism is its number of degrees of freedom.
 The minimum number of coordinates required to fully describe the configuration of mechanism is
called the number of degrees of freedom.
 Degrees of freedom for planar linkages joined with common joints can be calculated through
Gruebeler equation:

m=3(n-1)-2𝑗1 -𝑗2
Where,
m=total degree of freedom of mechanism
n= total number of link(including the frame)
𝑗1 =total number of lower pair( kinematic pair with one degree of freedom)
𝑗2 =total number of higher pair( kinematic pair with two degree of freedom)
#5 Determine the Dof the mechanism shown below
#5 Determine the Dof the mechanism shown below
#6 FOR toggle clamp shown below.

a)Identify the Frame

b)Draw the Kinematic Diagram
c)Identify All Other Links
D)Identify the type of Joints
E) calculate mobility
VIDEOS 1
JOINTS
VIDEOS 3

Describe the joints

DUMP TRACK V4
V 5 CAM