Mechanisms of Machinery

Chapter 1:
Introduction

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 Content
• Basic definitions
• Motions
• Degree of freedom

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 Basic Definitions
• A machine is a device which receives energy in
some available form and utilizes it to do some
particular type of work.
• A mechanism is a heart of a machine. It is the
mechanical portion of the machine that has the
function of transferring motion and forces from a
power source to an output.
• Mechanism is a system of rigid elements
(linkages) arranged and connected to transmit
motion in a predetermined fashion.
• Mechanism consists of linkages and joints.

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 Mechanism (Multibody system):
 A combination of resistant bodies (rigid bodies, or links),
so formed and connected that they may move upon each
other.
 is an assemblage of resistant bodies, connected by
movable joints, with one link fixed and having the
purpose of transforming motion.
 The resistant bodies are connected by movable joints or pairing
elements.
 A mechanism is obtained by fixing one of the links of a
kinematic chain to the ground or frame.

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 Example of Mechanism

Can crusher
Simple press

Rear-window wiper

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 Example of Mechanisms

Moves packages from an assembly

bench to a conveyor

Lift platform
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 Example of Mechanisms

Lift platform

Front loader

Device to close the

top flap of boxes

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 Kinematic Link or Element
 A link: is a 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.
 A simple link has two pairing elements whereas a
compound link has more than two pairing elements.

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 Kinematic Link or Element
 A link, as shown is an (assumed) rigid body which possesses
at least two nodes which are points for attachment to other
links.
 Binary link - one with two nodes.
 Ternary link - one with three nodes.
 Quaternary link - one with four nodes.

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 Kinematic Link or Element
 A link should have the following two characteristics:
1. It should have relative motion, and
2. It must be a resistant body.
 A body is said to be a resistant body if it is capable of
transmitting the required forces with negligible
deformation.

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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 :
 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.
 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.
 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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 Kinematic chain:
 Kinematic chain the arrangement of links in a chain
fashion which permits relative motion between the
links. Kinematic chains are classified into two:
 i) open-loop kinematic chains in which the links are
composed without closed branches, and
 ii) closed-loop kinematic chains in which the links form
closed loops.

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 Kinematic chain:
 A mechanism is obtained by fixing one of the links
of a kinematic chain to the ground or frame.
 For example, in the slider-crank mechanism shown
in Fig. below, link 1 is the ground or frame which is
stationary, link 2 is the crank, link 3 the connecting
rod and link 4 the slider. The slider crank mechanism
is commonly used in internal combustion engines.

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 Kinematic Pair:
 A kinematic pair is a pair of elements or rigid bodies, permanently
kept in contact, so that there exists a relative movement between these
elements.
 Kinematic pairs are joined by pairing elements which allow the
relative motion.

 In the slider-crank mechanism shown above, links 1 and 2, 2 and 3, 3

and 4, are kinematic pairs joined by pin joints; links 4 and 1 also form
a kinematic pair joined by the sliding element.

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 Motions
 Motion can be thought of as a time series of displacements between
successive positions of a point or a particle. The position of a point is
defined as the vector from the origin of a specified reference coordinate
system to the point.
Types of motion
 Plane motion: When the motion of a body is
confined to one plane only, the motion is said
to be plane motion. Plane motion can be either
rectilinear or curvilinear.
 When a body moves along a curved path, it is
said to have curvilinear motion. Plane motion
can also be translatory, rotary or a
combination of both to give general plane
motion.
 Rectilinear motion: When a body moves
along a straight line· and does not rotate, it is
said to undergo rectilinear motion.
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 Types of Motions
 Helical motion: when a body moves so that each point of the
body has motion of rotation about a fixed axis and at the
same time has translation parallel to the axis, the body is
said to undergo helical motion.

 Spherical motion: When a body moves so that each point on

the body has motion about a fixed' point and remains at a
constant distance from the fixed point, the motion is said to be
spherical motion.

 Spatial motion: When the motion of a body is not confined

to a plane, the body is said to have spatial motion. Helical
and spherical motion are special cases of space motion.

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 Transmission of Motion
 Motion is transmitted from one member to another in three ways:
a) by direct contact between two members;
b) through an intermediate link or a connecting rod;
c) by a flexible connector such as belt or chain.
 In the transmission of motion one element of the mechanism must
be a driver and another element must be a driven element or a
follower.

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 Motion
 Cycle: when parts of a mechanism have passed through
all positions according to prescribed laws and have
assumed their original positions, they are said to have
completed a cycle of motion.
 Period: is the time required to complete a cycle of
motion.
 Phase: is the relative instantaneous position of
mechanism at a given instant during a cycle.

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 Degree of Freedom (Mobility)
 Mobility is one of the most fundamental concepts to the
study of kinematics.
 By definition, the mobility of a mechanism is the number of
degrees of freedom it possesses. An equivalent definition of
mobility is the minimum number of dependent parameters
required to specify the location of every link within a
mechanism.
 The minimum number of coordinates required to fully
describe the configuration of mechanism is called the
number of degree of freedom.

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 Degree of Freedom
 The concept of degree of freedom (DOF) is fundamental
to analysis of mechanisms.
 Degree of freedom (also called the mobility M) of a
system can be defined as:
 the number of inputs which need to be provided in order to
create a predictable output; also:
 the number of independent coordinates required to define its
position.
 To determine the overall DOF of any mechanism, we must
account for the number of links and joints, and for the
interactions among them.
 The DOF of any assembly of links can be predicted from
an investigation of the Gruebler condition.
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 Degree of Freedom
 Any link in a plane bas 3 DOF. Therefore, a system of L
unconnected links in the same plane will have 3L DOF, as
shown in Figure below where the two unconnected links have
a total of six DOF.

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 Degree of Freedom
 If the two links are pinned together at a point by means
of a revolute joint, the two-link system will posses
only four degrees of freedom.

 Combination of two links by a full joint removes two

DOF, leaving four DOF
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 Degree of Freedom
 The half joint removes only one DOF from the system
(because a half joint has two DOF), leaving the system of two
links connected by a half joint with a total of five DOF.

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 Degree of Freedom
 When any link is grounded or attached to the reference
frame, all three of its DOF will be removed.
 Gruebler's equation:

M=3L-2J-3G

 where: M = degree of freedom or mobility

L = number of links
J = number of joints
G = number of grounded links

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 Degree of Freedom
 Note that in any real mechanism, even if more than one
link of the kinematic chain is grounded, the net effect will
be to create one larger, higher-order ground link, as there
can be only one ground plane. Thus G is always one, and
Gruebler's equation becomes:

M=3(L-1)-2J
 The value of J in the above equations must reflect the value
of all joints in the mechanism. That is, half joints count as
½ because they remove one DOF. It is less confusing if we
use Kutzbach’s modification of Gruebler’s equation in this
form
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 Degree of Freedom
M=3(L-1)-2J1 – J2

 where: M = degree of freedom or mobility

 L = number of links
 Jl = number of 1DOF (full) joints
 J2 = number of 2 DOF (half) joints

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 Types of Joints

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 Degree of Freedom

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 Degree of Freedom

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 Degree of Freedom

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 Thank You

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