Introduction

Kinematics of Machines
Dept of Mechatronics Engineering
UNIT 1:
Introduction:
Definitions Link or element, kinematic pairs, Degrees
of freedom, Grublers 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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Kinematic Link or Element
Each part of a machine, which moves relative to some other part, is
known as a kinematic link (or simply link) or element.
A link may consist of several parts, which are rigidly fastened
together, so that they do not move relative to one another.
For example, in a reciprocating steam engine, as shown in Fig. 1,
piston, piston rod and crosshead constitute one link ; connecting rod
with big and small end bearings constitute a second link ; crank, crank
shaft and flywheel a third link and the cylinder, engine frame and
main bearings a fourth link.

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Types of Links
In order to transmit motion, the driver and the follower may be connected
by the following three types of links :
1. Rigid link.
A rigid link is one which does not undergo any deformation while
transmitting motion. Strictly speaking, rigid links do not exist. However, as
the deformation of a connecting rod, crank etc. of a reciprocating steam
engine is not appreciable, they can be considered as rigid links.
2. Flexible link.
A flexible link is one which is partly deformed in a manner not to affect the
transmission of motion. For example, belts, ropes, chains and wires are
flexible links and transmit tensile forces only.
3. Fluid link.
A fluid link 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, as
in the case of hydraulic presses, jacks and brakes.

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Link or element:
It is the name given to any body which has motion relative to
another. All materials have some elasticity. A rigid link is one, whose
deformations are so small that they can be neglected in determining
the motion parameters of the link.
Binary link: Link which is connected to other links at two points.
(Fig.a)
Ternary link: Link which is connected to other links at three points.
(Fig.b)
Quaternary link: Link which is connected to other links at four points.
(Fig. c)

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Structure
It is an assemblage of a number of resistant bodies (known as
members) having no relative motion between them and meant for
carrying loads having straining action. A railway bridge, a roof truss,
machine frames etc., are the examples of a structure.
Difference Between a Machine and a Structure
The following differences between a machine and a structure are
important from the subject point of view :
1. The parts of a machine move relative to one another, whereas the
members of a structure do not move relative to one another.
2. A machine transforms the available energy into some useful work,
whereas in a structure no energy is transformed into useful work.
3. The links of a machine may transmit both power and motion, while
the members of a structure transmit forces only.

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Kinematic Pair
The two links or elements of a machine, when in contact with each other, are said
to form a pair. If the relative motion between them is completely or successfully
constrained (i.e. in a definite direction), the pair is known as kinematic pair.
Types of Constrained Motions
Following are the three types of constrained motions :
1. Completely constrained motion.
When the motion between a pair is limited to a definite direction irrespective of
the direction of force applied, then the motion is said to be a completely
constrained motion.
For example, the piston and cylinder (in a steam engine) form a pair and the
motion of the piston is limited to a definite direction (i.e. it will only reciprocate)
relative to the cylinder irrespective of the direction of motion of the crank.
The motion of a square bar in a square hole, as shown in Fig. 2, and the motion of a
shaft with collars at each end in a circular hole, as shown in Fig. 3, are also
examples of completely constrained motion.

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2. Incompletely constrained motion.
When the motion between a pair can take place in more than one
direction, then the motion is called an incompletely constrained
motion.
The change in the direction of impressed force may alter the
direction of relative motion between the pair.
A circular bar or shaft in a circular hole, as shown in Fig. 4, is an
example of an incompletely constrained motion as it may either
rotate or slide in a hole. These both motions have no relationship
with the other.

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3. Successfully constrained motion
When the motion between the elements, forming a pair, is such that
the constrained motion is not completed by itself, but by some other
means, then the motion is said to be successfully constrained motion.
Consider a shaft in a foot-step bearing as shown in Fig. 5. The shaft
may rotate in a bearing or it may move upwards. This is a case of
incompletely constrained motion. But if the load is placed on the
shaft to prevent axial upward movement of the shaft, then the
motion of the pair is said to be successfully constrained motion.
The motion of an I.C. engine valve and the piston reciprocating inside
an engine cylinder are also the examples of successfully constrained
motion.

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Link or element:
It is the name given to any body which has motion relative to
another. All materials have some elasticity. A rigid link is one, whose
deformations are so small that they can be neglected in determining
the motion parameters of the link.
Binary link: Link which is connected to other links at two points.
(Fig.a)
Ternary link: Link which is connected to other links at three points.
(Fig.b)
Quaternary link: Link which is connected to other links at four points.
(Fig. c)

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Degrees of freedom (DOF):
It is the number of independent coordinates required to describe the
position of a body in space.
A free body in space (fig 1.5) can have six degrees of freedom. I.e.,
linear positions along x, y and z axes and rotational/angular positions
with respect to x, y and z axes.
In a kinematic pair, depending on the constraints imposed on the
motion, the links may loose some of the six degrees of freedom.

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 Classification of Kinematic Pairs
1. According to the type of relative motion between the elements.
(a) Sliding pair.
When the two elements of a pair are connected in such a way that
one can only slide relative to the other, the pair is known as a sliding
pair.
The piston and cylinder, cross-head and guides of a reciprocating
steam engine, ram and its guides in shaper, tail stock on the lathe bed
etc. are the examples of a sliding pair. A little consideration will show,
that a sliding pair has a completely constrained motion.

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(b) Turning pair.
When the two elements of a pair are
connected in such a way that one can only
turn or revolve about a fixed axis of
another link, the pair is known as turning
pair.
(c) Spherical pair.
When the two elements of a pair are
connected in such a way that one element
(with spherical shape) turns or swivels
about the other fixed element, the pair
formed is called a spherical pair. The ball
and socket joint, attachment of a car
mirror, pen stand etc., are the examples of
a spherical pair.

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(d) Rolling pair.
When the two elements of a pair are
connected in such a way that one rolls over
another fixed link, the pair is known as
rolling pair. Ball and roller bearings are
examples of rolling pair.

(e) Screw pair.

When the two elements of a pair are
connected in such a way that one element
can turn about the other by screw threads,
the pair is known as screw pair. The lead
screw of a lathe with nut, and bolt with a
nut are examples of a screw pair.

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2. According to the type of contact between the elements.
(a) Lower pair.
When the two elements of a pair have a surface contact when
relative motion takes place and the surface of one element slides
over the surface of the other, the pair formed is known as lower
pair. It will be seen that sliding pairs, turning pairs and screw pairs
form lower pairs.

(b) Higher pair.

When the two elements of a pair have a line or point contact when
relative motion takes place and the motion between the two
elements is partly turning and partly sliding, then the pair is known as
higher pair. A pair of friction discs, toothed gearing, belt and rope
drives, ball and roller bearings and cam and follower are the
examples of higher pairs.

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3. According to the type of closure.
(a) Self closed pair.
When the two elements of a pair are connected together
mechanically in such a way that only required kind of
relative motion occurs, it is then known as self closed pair.
The lower pairs are self closed pair.
(b) Force - closed pair.
When the two elements of a pair are not connected
mechanically but are kept in contact by the action of
external forces, the pair is said to be a force-closed pair.
The cam and follower is an example of force closed pair, as
it is kept in contact by the forces exerted by spring and
gravity.
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Kinematic Chain
When the kinematic pairs are coupled in such a way that the last link
is joined to the first link to transmit definite motion (i.e. completely or
successfully constrained motion), it is called a kinematic chain.
In other words, a kinematic chain may be defined as a combination of
kinematic pairs, joined in such a way that each link forms a part of
two pairs and the relative motion between the links or elements is
completely or successfully constrained.

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 If each link is assumed to form two pairs with two adjacent links, then
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 :

Since in a kinematic chain each link forms a part of two pairs,

therefore there will be as many links as the number of pairs.
Another relation between the number of links (l) and the number of
joints ( j ) which constitute a kinematic chain is given by the
expression :

The equations (i) and (ii) are applicable only to kinematic chains, in
which lower pairs are used.

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Mechanism
When one of the links of a kinematic chain is fixed, the chain is
known as mechanism.
It may be used for transmitting or transforming motion
A mechanism with four links is known as simple mechanism, and the
mechanism with more than four links is known as compound
mechanism.
When a mechanism is required to transmit power or to do some
particular type of work, it then becomes a machine.
In such cases, the various links or elements have to be designed to
withstand the forces (both static and kinetic) safely.
A little consideration will show that a mechanism may be regarded as
a machine in which each part is reduced to the simplest form to
transmit the required motion.

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Mechanisms and Simple Machines
Mechanism: the fundamental physical or chemical processes involved in or
responsible for an action, reaction or other natural phenomenon.
Machine: an assemblage of parts that transmit forces, motion and energy in
a predetermined manner.
The term mechanism is applied to the combination of geometrical bodies
which constitute a machine or part of a machine.
A mechanism may therefore be defined as a combination of rigid or
resistant bodies, formed and connected so that they move with definite
relative motions with respect to one another .
The similarity between machines and mechanisms is that
they are both combinations of rigid bodies
the relative motion among the rigid bodies are definite.
The difference between machine and mechanism is that machines
transform energy to do work, while mechanisms do not necessarily perform
this function.
All machines are mechanisms. But all mechanisms are not machines.
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 Planar mechanisms: When all the links of a mechanism have plane
motion, it is called as a planar mechanism. All the links in a planar
mechanism move in planes parallel to the reference plane.
Degrees of freedom/mobility of a mechanism: 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.
Grublers equation: Number of degrees of freedom of a mechanism
is given by

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Types of Kinematic Chains
The most important kinematic chains are those which
consist of four lower pairs, each pair being a sliding pair
or a turning pair.
The following three types of kinematic chains with four
lower pairs are important from the subject point of
view :
1. Four bar chain or quadric cyclic chain,
2. Single slider crank chain, and
3. Double slider crank chain.

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Four Bar Chain or Quadric Cycle Chain
We have already discussed that the kinematic chain is a combination of four or more
kinematic pairs, such that the relative motion between the links or elements is completely
constrained.
The simplest and the basic kinematic chain is a four bar chain or quadric cycle chain, as
shown in Fig.
It consists of four links, each of them forms a turning pair at A, B, C and D. The four links may
be of different lengths.
A very important consideration in designing a mechanism is to ensure that the input crank
makes a complete revolution relative to the other links. The mechanism in which no link
makes a complete revolution will not be useful.
In a four bar chain, one of the links, in particular the shortest link, will make a complete
revolution relative to the other three links. Such a link is known as crank or driver.

In Fig. AD (link 4 ) is a crank. The link BC (link 2) which makes a

partial rotation or oscillates is known as lever or rocker or follower
and the link CD (link 3) which connects the crank and lever is called
connecting rod or coupler. The fixed link AB (link 1) is known as
frame of the mechanism.

When the crank (link 4) is the driver, the mechanism is transforming

rotary motion into oscillating motion.
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 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.
By changing the fixed link, the number of mechanisms
which can be obtained is equal to the number of links.
Except the original mechanism, all other mechanisms
will be known as inversions of original mechanism.
The inversion of a mechanism does not change the
motion of its links relative to each other.

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Inversions of four bar chain:

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Inversions of Four Bar Chain
1. Beam engine (crank and lever mechanism).
A part of the mechanism of a beam engine (also known as crank and
lever mechanism) which consists of four links, is shown in Fig.
In this mechanism, when the crank rotates about the fixed centre A,
the lever oscillates about a fixed centre D.
The end E of the lever CDE is
connected to a piston rod which
reciprocates due to the rotation of the
crank.
In other words, the purpose of this
mechanism is to convert rotary motion
into reciprocating motion.

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2. Coupling rod of a locomotive (Double crank mechanism).
The mechanism of a coupling rod of a locomotive (also known
as double crank mechanism) which consists of four links, is
shown in Fig.
In this mechanism, the links AD and BC (having equal length)
act as cranks and are connected to the respective wheels.
The link CD acts as a coupling rod and the link AB is fixed in
order to maintain a constant centre to centre distance
between them.
This mechanism is meant for transmitting rotary motion from
one wheel to the other wheel.

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3. Watts indicator mechanism (Double lever mechanism).
A Watts indicator mechanism (also known as Watt's straight line
mechanism or double lever mechanism) which consists of four links, is
shown in Fig.
The four links are : fixed link at A, link AC, link CE and link BFD. It may be
noted that BF and FD form one link because these two parts have no
relative motion between them. The links CE and BFD act as levers.
The displacement of the link BFD is directly proportional to the pressure of
gas or steam which acts on the indicator plunger.
On any small displacement of the
mechanism, the tracing point E at the end
of the link CE traces out approximately a
straight line.
The initial position of the mechanism is
shown in Fig. by full lines whereas the
dotted lines show the position of the
mechanism when the gas or steam
pressure acts on the indicator plunger.

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 Single Slider Crank Chain
A single slider crank chain is a modification of the basic four bar chain.
It consist of one sliding pair and three turning pairs. It is, usually, found in reciprocating
steam engine mechanism.
This type of mechanism converts rotary motion into reciprocating motion and vice versa.
In a single slider crank chain, as shown in Fig., the links 1 and 2, links 2 and 3, and links 3
and 4 form three turning pairs while the links 4 and 1 form a sliding pair.
The link 1 corresponds to the frame of the engine, which is fixed. The link 2 corresponds
to the crank ; link 3 corresponds to the connecting rod and link 4 corresponds to cross-
head.
As the crank rotates, the cross-head reciprocates in the guides and thus the piston
reciprocates in the cylinder.

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 Inversions of Single Slider Crank Chain
Four inversions of a single slider crank chain are possible.
These inversions are found in the following mechanisms.
1. Pendulum pump or Bull engine.
2. Oscillating cylinder engine
3. Rotary internal combustion engine
4. Crank and slotted lever quick return motion mechanism.
5. Whitworth quick return motion mechanism.

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 Pendulum pump or Bull engine.
In this mechanism, the inversion is obtained by fixing the cylinder or link 4 (i.e.
sliding pair), as shown in Fig.
In this case, when the crank (link 2) rotates, the connecting rod (link 3) oscillates
about a pin pivoted to the fixed link 4 at A and the piston attached to the piston
rod (link 1) reciprocates.
The duplex pump which is used to supply feed water to boilers have two pistons
attached to link 1, as shown in Fig.

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 Oscillating cylinder engine
The arrangement of oscillating cylinder engine mechanism, as
shown in Fig., is used to convert reciprocating motion into rotary
motion.
In this mechanism, the link 3 forming the turning pair is fixed. The
link 3 corresponds to the connecting rod of a reciprocating steam
engine mechanism.
When the crank (link 2) rotates, the piston attached to piston rod
(link 1) reciprocates and the cylinder (link 4) oscillates about a pin
pivoted to the fixed link at A.

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 Rotary internal combustion engine
Sometimes back, rotary internal combustion engines were used in
aviation. But now-a-days gas turbines are used in its place.
It consists of seven cylinders in one plane and all revolves about
fixed centre D, as shown in Fig., while the crank (link 2) is fixed.
In this mechanism, when the connecting rod (link 4) rotates, the
piston (link 3) reciprocates inside the cylinders forming link 1.

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 Inversions of double slider crank
mechanism
Elliptical trammels
Scotch yoke mechanism
Oldhams coupling

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1. Elliptical trammels.
It is an instrument used for drawing ellipses. This inversion is obtained by fixing the
slotted plate (link 4), as shown in Fig.
The fixed plate or link 4 has two straight grooves cut in it, at right angles to each
other.
The link 1 and link 3, are known as sliders and form sliding pairs with link 4. The link
AB (link 2) is a bar which forms turning pair with links 1 and 3.
When the links 1 and 3 slide along their respective grooves, any point on the link 2
such as P traces out an ellipse on the surface of link 4, as shown in Fig. A little
consideration will show that AP and BP are the semi-major axis and semi-minor axis
of the ellipse respectively.

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2. Scotch yoke mechanism.
The Scotch yoke is a mechanism for converting the linear motion of a slider into
rotational motion or vice-versa. The piston or other reciprocating part is directly
coupled to a sliding yoke with a slot that engages a pin on the rotating part.
This mechanism is used for converting rotary motion into a reciprocating motion.
The inversion is obtained by fixing either the link 1 or link 3. In Fig. link 1 is fixed.
In this mechanism, when the link 2 (which corresponds to crank) rotates about B
as centre, the link 4 (which corresponds to a frame) reciprocates.
The fixed link 1 guides the frame.

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3. Oldhams coupling.
An oldham's coupling is used for connecting two parallel shafts whose axes are at a
small distance apart. The shafts are coupled in such a way that if one shaft rotates,
the other shaft also rotates at the same speed.
This inversion is obtained by fixing the link 2, as shown in Fig (a).
The shafts to be connected have two flanges (link 1 and link 3) rigidly fastened at
their ends by forging.
The link 1 and link 3 form turning pairs with link 2.
These flanges have diametrical slots cut in their inner faces, as shown in Fig.(b).
The intermediate piece (link 4) which is a circular disc, have two tongues (i.e.
diametrical projections) T1 and T2 on each face at right angles to each other, as
shown in Fig. 5.36 (c).
The tongues on the link 4 closely fit into the slots in the two flanges (link 1 and link
3). The link 4 can slide or reciprocate in the slots in the flanges.

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