Theory of Machines 1

THEORY OF MACHINES 1
COURSE OUTLINE
Simple mechanisms and their analysis; vector diagrams; simple harmonic motions;
Newton’s laws of motion; force analysis of mechanisms; friction effect analysis and
applications; theory of structures, dynamics of linear systems, balancing; gear
systems and gear trains; rigid body; introduction to tribology
SIMPLE MECHANISMS AND THEIR ANALYSIS

Theory of machines as a subject can be defined as the branch of
engineering/science that deals with the study of relative motion between the
various parts of a machine and the forces acting on them. This knowledge is needed
in designing the various parts of a machine.
A machine is a device which receives energy and transforms it into some useful
work. It is made up of various parts which are assembled to make a whole.
Kinematics is a branch of theory of machines that deals with the relative motion
between the various parts of the machine.
Kinetics is a branch of theory of machines that deals with the inertia forces which
arise from the combined effect of the mass and the motion of the machine parts.
Dynamics is a branch of theory of machines that deals with the forces and their
effects, while acting upon machine parts in motion.
Statics is a branch of theory of machines that deals with the forces and their effects
while the machine parts are at rest.
KINEMATIC LINK OR ELEMENTS
A machine consists of a number of parts, the mechanisms of these various parts are
determined by making one of the parts fixed, and the relative motion of other parts
is studied with respect to the fixed part. Each part of a machine that moves
relatively to some other part, is known as a link (kinematic link or element). A link
may consist of several parts that are rigidly fastened together so that they don’t
move relative to one another. Give example of a link in the form of a well explained
diagram.
In reciprocating steam engine, shown in the diagram below: connecting rod with big
and small end bearings constitute a link; crank, crank shaft and flywheel is another
link; cylinder, engine frame and main bearings also constitute a link.
A link must be a resistant body in that it must be able to transmit the required
forces without deformation or with negligible deformation and it should have a
relative motion.
TYPES OF LINKS
In order to transmit motion, the driver and the following three types of links:
Rigid link a link which does not undergo any form of deformation while transmitting
motion. They do not exist but the deformation of connecting rod, crank etc. of a
reciprocating steam engine is negligible and can be considered as rigid links.
Flexible link a link which is partly deformed but the transmission of motion is not
affect. e.g. belts, ropes, chains and wires and flexible links that transmit tensile
forces only.
Fluid link formed by having a fluid in a receptacle and motion is transmitted through
the fluid by pressure or compression only. E.g. hydraulic press, jacks and brakes.
STRUCTURES
A structure consists of a number of resistant bodies known as members that do not
have any relative motion between them. Structures are meant for carrying loads,
having straining action. A railway bridge, a roof truss, machine frames are all
examples of a structure.
DIFFERENCES BETWEEN A MACHINE AND STRUCTURE
Machines structures
Machine parts move relative to one another members of a structure do not move
relative to one another
A machine transforms the available energy intono energy is transformed into useful work
useful work
Machine links transmit both power and energy Members a structure transmit forces only
KINEMATIC PAIR
Two links or elements are of a machine, when in contact with each other forms a
pair. If the relative motion between them is completely or successfully constrained
(in a definite direction), the pair is called a kinematic pair.
TYPES OF CONSTRAINED MOTION
1. Completely Constrained Motion: a motion between a pair that is limited to a
definite direction irrespective of the direction of the force applied. Example is the
piston and cylinder of a steam engine.
2. Incompletely Constrained Motion: a motion between a pair that takes place in
more than one direction.
3. Successfully Constrained Motion: a constrained motion that is being controlled by
other means.
Classification of kinematic pairs
1. According to type of relative motion between elements: sliding, turning, rolling,
screw and spherical pairs
2. According to type of contact between the elements: lower and higher pair
3. According to type of closure: self-closed pair and force-closed pair
KINEMATIC CHAIN
When the kinematic pairs are connected 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 a kinematic chain. NOTE THAT EACH LINK FORMS A PART OF
TWO PAIRS IN A KINEMATIC CHAIN. A good example: The crank shaft of an engine
forms a kinematic pair with the bearings, the connecting rod with the crank forms a
second kinematic pair, the piston with the connecting rod forms a third pair and the
piston with the cylinder forms a fourth pair. The total combination of these links
forms a kinematic chain.
PROBLEM SOLVING:
L = 2p – 4 ……………………………………………………………………..1
J = 3L/2 -2 …………………………………………………………………….2
Equation (1) is a relation between number links and pairs while equation (2) is a
relation between number of joints and links.
Equations (1) and (2) are applicable to kinematic chains in which lower pairs are
used. They may also be applicable to kinematic chains in which higher pairs are
used, where each higher pair will be taken as two lower pairs with additional link or
element.
A chain in which a single link is sufficient to define the position of all other links is
called a kinematic chain of one degree of freedom.
The relative motion of a four-bar chain is completely constrained and is referred to
as a constrained kinematic chain. This is the basis of all machines.
TYPES OF JOINTS
1. Binary joint: two links joined at the same connection.
To determine the nature of the chain:
J + h/2 = 3L/2 – 2 …………………………………………..(3)
Where:
J = number of binary joints
H = number of higher pairs
L = number links
Equation (3) maybe written as j = 3L/2 – 2
2. Ternary joint: three links joined at the same connection. It is equivalent to two
binary joints i.e.
One ternary joint = two binary joints
3. Quaternary joint: four links joined at the same connection. It is equivalent to
three binary joints.
One quaternary joint = three binary joints
MECHANISM: a kinematic chain in which one of the links is fixed. It may be used for
transforming or transmitting motion.
A SIMPLE MECHANISM IS A MECHANISM WITH FOUR LINKS. A mechanism with
more than four links is called compound mechanism. A mechanism required to
transmit power or to do some particular type of useful work is called a MACHINE
NUMBER OF DEGREE OF FREEDOM FOR PLANE MECHANISM

Lower Pair has one degree of freedom while higher pair has two degrees of
freedom.
Degree of freedom of a mechanism is the number of input parameters which must
be independently controlled in order to bring the mechanism into a useful
engineering purpose.
Kutzbach Criterion can be used to determine the movability of a mechanism which is
written as:
DOF = 3(L - 1) – 2j – h
Where:
L = number of links
J = number of binary joints
H = number of higher pairs
If DOF = 0; the device is a statically determinate structure
If DOF = 1; the device is a mechanism having a constrained motion
If DOF = -1; the device is statically indeterminate structure
TYPES OF KINEMATIC CHAINS

1. Four bar or quadric cyclic chain
2. Single slider crank chain
3. Double slider crank chain
Important Relations:
.
.
.
PROBLEM SOLVING
1. A crank and slotted lever mechanism used in a shaper has a centre distance of
300mm between the centre of oscillation of the slotted lever and the centre of
retation of the crank. The radius of the crank is 120mm. Find the ratio of the time of
cutting to the time of return stroke.
2. In a crank and slotted lever quick return motion mechanism, the distance
between the fixed centre is 240mm and the length of the driving crank is 120mm.
find the inclination of the slotted bar with the vertical in the extreme position and
the time ratio of cutting stroke to the return stroke.
3. in a crank and slotted lever quick return mechanism, the distance between the
fixed centres is 150mm and the driving crank is 75mm long. Determine the ratio of
the time taken on the cutting and return strokes.
4. Determine the mobility (degrees of freedom) of the mechanisms below using
Kutzbach criterion and classify them

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THEORY OF MACHINES 1

SIMPLE MECHANISMS AND THEIR ANALYSIS

NUMBER OF DEGREE OF FREEDOM FOR PLANE MECHANISM

TYPES OF KINEMATIC CHAINS

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