ME - 303 - KDM - Unit - 1

23-Aug-19
Suggested Books Theory of Machine
1. A. Ghosh, A. K. Mallik, Theory of Mechanisms and Machines, East West Press Pvt. ➢ The Machine receives energy in
Theory of Machine
some available form and uses it to
Ltd. do some particular type of work
2. S.S. Rattan, Theory of Machines (2nd edition), Tata McGraw Hill, New Delhi,
2005. Kinematics Dynamics
3. R.S. Khurmi, J.K. Gupta, Theory of Machines
4. B. Paul, Kinematics and Dynamics of Planar Mechanisms, Prentice Hall, 1979.
5. J.J. Uicker, G.R. Pennock, and J.E. Shigley, Theory of Machines and Mechanisms Kinetics Statics
(3rd edition), Oxford University Press, New York, 2005.
6. R.L. Norton, Design of Machinery (3rd edition), Tata McGraw Hill, New Delhi, ➢ Kinematics:- It is branch of science which deals with motion of various points and
2005. there relationship without giving any importance to the force that of responsible
for this machine. Various kinematic quantity are Displacement, Velocity,
7. F.S. Tse, I.E. Morse, and R.T. Hinkle, Mechanical Vibrations, CBS Publishers and Acceleration or jerk
Distributors, 1983. ➢ Kinetics:- It is the study of inertia force which arries due to combined effect
8. J.S. Rao, and K. Gupta, Introductory Course on Vibrations, Wiley Eastern, 1984. ➢ Statics:- It deals with the study the forces acting on machine in rest.
9. J.P. Den Hartog, Mechanical Vibrations, McGraw Hill, 1956. ➢ Dynamics:- It deals with the study the forces acting on various parts of a machine
Kinematics and Dynamics of Machines ME (303) Applied & Kinematics and Dynamics of Machines ME (303) Applied &
2
Theoretical Mechanics (ATOM) Lab, IIT Indore Theoretical Mechanics (ATOM) Lab, IIT Indore
Difference Between a Machine and a Structure
➢ Machine:-It is mechanism or combination of mechanism which can transmit The following differences between a machine and a structure are important from the
energy from the source of power to the load and there by perform a useful work. subject
➢ If the primary objective is only to transmit transform the motion then it is called
mechanism. 1. The parts of a machine move relative to one another, whereas the members of a
➢ It is primary objective is to transfer the energy and there by do some useful work structure do not move relative to one another.
then it is called a machine. 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
➢ Mechanism:- It is a Combination of rigid body which are so shaped and
connected they move upon each other with a definite relative motion. of a structure transmit forces only
➢ Structure:- It is defined as the combination of rigid or resistance bodies

assembled they having no relative motion in between them and transmit only
forces.
Theoretical Mechanics (ATOM) Lab, IIT Indore 3 4
Theoretical Mechanics (ATOM) Lab, IIT Indore
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Kinematic link or link:-
It is the rigid body which is forming a part of mechanism and has a motion relative to
There are three types of links available in order to transmit motion. They are as follows:
other connected parts in terms of as link.
➢ Rigid link:- A rigid link is one which does not undergo any deformation while
transmitting motion. Practically rigid link does not exists.
. Ex. : crank shaft, piston etc
➢ Flexible link:- A flexible link is one which undergoes partial deformation without
affecting the transfer motion.
Ex. : ropes, belts, chains, springs etc.,
➢ Binary link-: One link with two nodes
➢ Ternary link -: One link with three nodes
➢ Fluid link:- A fluid link is a link which has fluid inside the container and motion
➢ Quaternary link -: One link with four nodes is transmitted through the fluid by pressure or compression.
Ex. : fluids used in hydraulic press, hydraulic jack, hydraulic crane etc.,
5 6
Degree of freedom:- Types of Constrained Motions
➢ The number of independent parameter required to define a system completely is Following are the three types of constrained motions :
called degree of freedom.
1. Completely constrained motion
➢ It is member of independent there relative motion completely. When the motion between a pair is limited to a definite direction irrespective of the
➢ The DOF of lower kinematic pair is always equal to ‘One’ direction of force applied, then the motion is said to be a completely constrained
motion.
DOF = 6 – no. of restraints or Degree of Constraints ➢ For example-: The piston and cylinder (in a steam engine) form a pair and the motion of
Number of restraints can never be zero (joint disconnected) 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, as shown in Figure
Number of restrains can never be 6 (joint become rigid)
7 Theoretical Mechanics (ATOM) Lab, IIT Indore 8
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2. Incompletely constrained motion 3. Successfully constrained motion.
When the motion between a pair can take place in more than one direction, then When the motion between the elements, forming a pair, is such that the constrained
the motion is called an incompletely constrained motion. motion is not completed by itself, but by some other means, then the motion is said
to be successfully constrained motion.
➢ For example-: A circular bar or shaft in a circular hole, as shown in Figure is an
example of an incompletely constrained motion as it may either rotate or slide in Consider a shaft in a foot-step bearing as shown in figure.
a hole. These both motions have no relationship with the other. 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.
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Kinematic pair:- Kinematics Pairs according to nature of contact -:
➢ Kinematic pair or simply a pair is a joint of two links having relative motion ➢ Higher pair-: it is those pair where point or line contact.
between them.
Examples-: 1. A pair of gear teeth
➢ It is joint between two link
2. Cam & follower
Types of kinematic pair 1. Nature of relative motion between the links. 3. Ball bearing
2. Nature of contact between the links. 4. Roller bearing
3. Nature of mechanical arrangement. 5. Belt & pulley
➢ Lower pair-: it is those pair where surface contact pair

Kinematic Pair 1. Turning or revolute pair
Examples-:
2. Sliding or prismatic pair
3. Screw or helical pair
4. Cylindrical pair
Lower Pair Higher Pair 5. Spherical pair
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Types of lower pair:-
(1) Rolling pair:- When the two elements of a pair are connected in such a way that (3) Screw or helical pair-: When the two elements of a pair are connected in such a
one rolls over another fixed link, the pair is known as rolling pair. way that one element can turn about the other by screw threads, the pair is known as
Ex. : Ball and roller bearings are examples of rolling pair. screw pair
➢ DOF = 1, DOC = 5 ➢ DOF = 1, DOC = 5
(4) 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,
(2) Sliding pair-: When the two elements of a pair are connected in such a way that the pair formed is called a spherical pair.
one can only slide relative to the other, the pair is known as a sliding pair.
Ex-: piston & cylinder Example-: The ball and socket joint, attachment of a car
mirror, pen stand etc.
➢ DOF = 1,DOC = 5
➢ DOF = 3, DOC = 3
Kinematics Pairs according to nature of mechanical Constraints -:
(5) Turning pair or Revolute pair-: (1) Close 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 • When the element of pair held mechanically, it is known as pair.
pair. • The contact between the two can be broken by only distraction of at least one of
the members.
Example-: A shaft with collars at both ends fitted into a circular hole, the • All lower pairs are members.
crankshaft in a journal bearing in an engine, lathe spindle supported in head
stock, cycle wheels turning over their axles etc.
(2) Open or unclosed pair-:
➢ A turning pair also has a completely constrained motion. • When two links of a pair are in contact either due to force of gravity or some
spring action.
Example -: cam follower
➢ DOF = 3, DOC = 3
Kinematics and Dynamics of Machines ME (303) Applied &

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Kinematic chain-:
When all the links are connected in such a way that first link is joined with the last ➢ Redundant chain -: It does not allow any motion of a link relative to others
link, then the structure formed is known as closed chain. The closed chain will be
kinematic chain when the relative motion between the link is either completely
➢ Frame or structure -: If one of the link of redundant chain is fixed. It is known as
constrained or successfully constrained.
structure or a locked structure.
➢ Kinematic chain -: A closed linkage having constraints motion is called Imp-:

kinematic chain. ➢ No. relative motion
L = (2p - 4) ➢ Capable of transmitting force only.
(Valid for chain consisting of binary links.)
➢ Power energy can not be transmitted
2
L=3 𝑗+2 (Valid for all chain) ➢ Degree of freedom of structure is zero
➢ Degree of freedom of super structure is less than zero.(-ve)
Where, L = number of links
p = number of pairs
j = number of joints ➢ If LHS = RHS
Kinematic chain (constrained chain)
➢ If LHS > RHS
➢ If LHS < RHS
(locked chain or frame or structure)
Unconstrained chain (incomplete constraints)
17 18
Grubler’s Criterion for Plane Mechanisms Types of kinematics chain
There are three different simple mechanism

The Grubler’s criterion applies to mechanisms with only single degree of freedom
joints where the overall movability of the mechanism is unity. Substituting n = 1 and (1) Four bar mechanism -: or four bar chain
h = 0 in Kutzbach equation, we have It consist of four link & four turning pair
(2) Slider crank mechanism-:

1 = 3 (l – 1) – 2 j or 3l – 2j – 4 = 0 Four bar chain
It consist of four link & three turning pair and one sliding pair.
This equation is known as the Grubler's criterion for plane mechanisms with (3) Double slider crank mechanism -:
constrained motion.
It consist of four links, two turning pair & two sliding pair.
Kinematic Chain
Slides crank mechanism-
Double crank
Four bar chain Slider crank chain
chain

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Four bar mechanism -: or four bar chain 1. Beam engine (crank and lever mechanism).
Inversions of Four ➢ A part of the mechanism of a beam engine (also known as crank and lever or
Bar Chain rocker mechanism) which consists of four links, is shown in Figure.
➢ In this mechanism, when the crank rotates about the fixed center A, the lever
oscillates about a fixed center D. The end E of the lever CDE is connected to a
piston rod which reciprocates due to the rotation of the crank.
Coupled Watt’s ➢ In other words, the purpose of this mechanism is to convert rotary motion into
Locomotive Indicator Beam Engine Pantograph reciprocating motion.
Wheels Mechanism
Inversions of Four Bar Chain

First
Beam Engine
inversion
Second Coupled
inversion Locomotive Wheels
Watt’s
Indicator Mechanism
Third
inversion
Pantograph
Beam engine
2. Coupling rod of a locomotive (Double crank mechanism) 3. Watt’s indicator mechanism (Double lever mechanism)
➢ The mechanism of a coupling rod of a locomotive (also known as double crank ➢ A Watt’s indicator mechanism (also known as Watt's
mechanism) which consists of four links, as shown in Figure. straight line mechanism or double lever mechanism)
which consists of four links, as shown in Figure.
➢ In this mechanism, the links AD and BC (having equal length) act as cranks and
➢ The four links are : fixed link at A, link AC, link CE
are connected to the respective wheels. and link BFD. It may be noted that
➢ The link CD acts as a coupling rod and the link AB is fixed in order to maintain a ➢ BF and FD form one link because these two parts have
constant center to center distance between them. no relative motion between them.
➢ This mechanism is meant for transmitting rotary motion from one wheel to the ➢ The links CE and BFD act as levers. The displacement
other wheel. 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 -> full lines
➢ when the gas or steam pressure acts on the indicator
Watt’s indicator mechanism
plunger -> dotted lines
Use: Watt's linkage mechanism is used in the rear
axle of some car suspensions as an improvement over
the Panhard rod. This mechanism is used to prevent
Coupling rod of a locomotive. relative sideways motion between the axle and body
of the car
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Single Slider Crank Chain Inversions of Single Slider Crank Chain
➢ A single slider crank chain is a modification of the basic four bar chain. Reciprocating engine
➢ 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 Crank and slotted lever mechanism
motion into reciprocating motion and vice versa. Whitworth quick return mechanism
➢ The links 1 and 2, links 2 and 3, and links 3 and 4 form three turning pairs while Inversions of Single
the links 4 and 1 form a sliding pair. Slider Crank Chain Oscillating cylinder engine
➢ The link 1 corresponds to the frame of the engine, which is fixed. The link 2
Rotary or Gnome engine
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 Bull engine
guides and thus the piston reciprocates in the cylinder.
Crank and
First Reciprocating slotted lever
inversion engine mechanism
Third
inversion
Whitworth Oscillating
quick return cylinder engine
Second mechanism
inversion
Rotary or Fourth
Bull engine
Gnome engine inversion
1. Pendulum pump or Bull engine. 2. Oscillating cylinder engine

➢ In this mechanism, the inversion is obtained by fixing the cylinder or link 4 (i.e. ➢ The arrangement of oscillating cylinder engine mechanism, as shown in Figure, is
sliding pair), as shown in Figure used to convert reciprocating motion into rotary motion.
➢ In this case, when the crank (link 2) rotates, the connecting rod (link 3) ➢ In this mechanism, the link 3 forming the turning pair is fixed. The link 3
oscillates about a pin pivoted to the fixed link 4 at A and the piston attached to corresponds to the connecting rod of a reciprocating steam engine mechanism.
the piston rod (link 1) reciprocates. ➢ When the crank (link 2) rotates, the piston attached to piston rod (link 1)
➢ The duplex pump which is used to supply feed water to boilers have two pistons reciprocates and the cylinder (link 4) oscillates about a pin pivoted to the fixed
attached to link 1, as shown in Figure. link at A.
Bull engine Oscillating cylinder engine
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3. Rotary internal combustion engine or Gnome engine 4. Crank and slotted lever quick return motion mechanism.
➢ Sometimes back, rotary internal combustion engines were used in aviation. But ➢ This mechanism is mostly used in shaping machines, slotting machines and in
now-a-days gas turbines are used in its place. rotary internal combustion engines.
➢ It consists of seven cylinders in one plane and all revolves about fixed centre D, ➢ In this mechanism, the link AC (i.e. link 3) forming the turning pair is fixed, as
as shown in Fig., while the crank (link 2) is fixed. shown in Figure.
➢ In this mechanism, when the connecting rod (link 4) rotates, the piston (link 3) ➢ The link 3 corresponds to the connecting rod of a reciprocating steam engine. The
reciprocates inside the cylinders forming link 1. driving crank CB revolves with uniform angular speed about the fixed centre C.
➢ A sliding block attached to the crank pin at B slides along the slotted bar AP and
thus causes AP to oscillate about the pivoted point A.
➢ A short link PR transmits the motion from AP to the ram which carries the tool
and reciprocates along the line of stroke R1R2. The line of stroke of the ram (i.e.
R1R2) is perpendicular to AC produced.
➢ In the extreme positions, AP1 and AP2 are tangential to the circle and the cutting
tool is at the end of the stroke.
➢ The forward or cutting stroke occurs when the crank rotates from the position CB1
to CB2 (or through an angle ) in the clockwise direction.
➢ The return stroke occurs when the crank rotates from the position CB2 to CB1 (or
through angle ) in the clockwise direction. Since the crank has uniform angular
Rotary internal combustion engine speed, therefore,
Time of cutting stroke 𝛽

=
Time of return stroke 𝛼
𝛽 𝛽 360𝑜 − 𝛼
= =
𝛼 360𝑜 − 𝛽 𝛼
Since the tool travels a distance of R1 R2
during cutting and return stroke, therefore
travel of the tool or length of stroke
R1R2 = P1P2 = 2P1Q = 2AP1 sin∠P1 AQ

(∵ AP1 = AP)
𝛼 𝛼
2AP1 sin(90- ) = 2AP1 cos
2 2
𝐶𝐵1
2AP× ∵ (𝐶𝑜𝑠
𝛼
=
𝐶𝐵1
)
𝐴𝐶 2 𝐴𝐶
𝐶𝐵
2AP× ∵ 𝐶B1 = CB)
𝐴𝐶
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5. Whitworth quick return motion mechanism Double Slider Crank Chain

➢ This mechanism is mostly used in shaping and slotting machines. In this ➢ A kinematic chain which consists of two turning pairs and two sliding pairs is
mechanism, the link CD (link 2) forming the turning pair is fixed, as shown in known as double slider crank chain, as shown in Figure.
Figure. ➢ The link 2 and link 1 form one turning pair and link 2 and link 3 form the second
➢ The link 2 corresponds to a crank in a reciprocating steam engine. The driving turning pair. The link 3 and link 4 form one sliding pair and link 1 and link 4 form
crank CA (link 3) rotates at a uniform angular speed. The slider (link 4) attached to the second sliding pair
the crank pin at A slides along the slotted bar PA (link 1) which oscillates at a
pivoted point D.
➢ The connecting rod PR carries the ram at R to which a cutting tool is fixed. The Inversions of Double Slider Crank Chain
motion of the tool is constrained along the line RD produced, i.e. along a line
passing through D and perpendicular to CD.
Double Slider
Crank Chain
Elliptical Scotch Yoke Oldham

Trammel Mechanism Coupling
33 34
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 Figure Let us take OX and OY as horizontal and vertical axes and let the link BA is inclined
➢ The fixed plate or link 4 has two straight grooves cut in it, at right angles to each at an angle with the horizontal, as shown in Figure(b). Now the co-ordinates of the
other. The link 1 and link 3, are known as sliders and form sliding pairs with link 4. point P on the link BA will be
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 x = PQ = AP cosθ; and y = PR = BP sin θ
such as P traces out an ellipse on the surface of link 4, as shown in Figure (a).
➢ A little consideration will show that AP and BP are the semi-major axis and semi- 𝑥 𝑥
= cos 𝜃 = s𝑖𝑛 𝜃
minor axis of the ellipse respectively. 𝐴𝑃 𝐵𝑃
Squaring and adding,
𝑥2 𝑥2
+ = 𝑐𝑜𝑠 2 θ + 𝑠𝑖𝑛2 θ = 1
𝐴𝑃2 𝐵𝑃 2
This is the equation of an ellipse. Hence the path traced by point P is an ellipse whose
semimajor axis is AP and semi-minor axis is BP.
Elliptical trammels
35 36
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2. Scotch yoke mechanism 3. Oldham’s coupling

➢ This mechanism is used for converting rotary motion into a reciprocating motion. ➢ An oldham's coupling is used for connecting two parallel shafts whose axes are at
The inversion is obtained by fixing either the link 1 or link 3. In Figure. a small distance apart.
➢ link 1 is fixed. In this mechanism, when the link 2 (which corresponds to crank) ➢ The shafts are coupled in such a way that if one shaft rotates, the other shaft also
rotates about B as centre, the link 4 (which corresponds to a frame) reciprocates. rotates at the same speed. This inversion is obtained by fixing the link 2, as shown
The fixed link 1 guides the frame. in Figure.
➢ The shafts to be connected have two flanges (link 1 and link 3) rigidly fastened at
their ends by forging.
Scotch yoke mechanism

Oldham’s coupling
37 38
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ME - 303 - KDM - Unit - 1

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23-Aug-19

Suggested Books Theory of Machine

Difference Between a Machine and a Structure

➢ Structure:- It is defined as the combination of rigid or resistance bodies

Kinematic link or link:-

Degree of freedom:- Types of Constrained Motions

2. Incompletely constrained motion 3. Successfully constrained motion.

Kinematic pair:- Kinematics Pairs according to nature of contact -:

➢ Lower pair-: it is those pair where surface contact pair

Types of lower pair:-

➢ DOF = 1, DOC = 5 ➢ DOF = 1, DOC = 5

Kinematics Pairs according to nature of mechanical Constraints -:

(5) Turning pair or Revolute pair-: (1) Close pair -:

Kinematics and Dynamics of Machines ME (303) Applied &

➢ Kinematic chain -: A closed linkage having constraints motion is called Imp-:

Grubler’s Criterion for Plane Mechanisms Types of kinematics chain

There are three different simple mechanism

(2) Slider crank mechanism-:

Kinematics and Dynamics of Machines ME (303) Applied &

Inversions of Four Bar Chain

Single Slider Crank Chain Inversions of Single Slider Crank Chain

1. Pendulum pump or Bull engine. 2. Oscillating cylinder engine

Bull engine Oscillating cylinder engine

Time of cutting stroke 𝛽

R1R2 = P1P2 = 2P1Q = 2AP1 sin∠P1 AQ

5. Whitworth quick return motion mechanism Double Slider Crank Chain

Elliptical Scotch Yoke Oldham

Squaring and adding,

2. Scotch yoke mechanism 3. Oldham’s coupling

Scotch yoke mechanism

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