Contents

1.1 Concepts of Kinematics and Dynamics .......................................................................................... 1.2

1.2 Kinematic Links ................................................................................................................................. 1.2
1.3 Types of Constrained Motions ......................................................................................................... 1.4
1.4 Kinematic Pair ................................................................................................................................... 1.5
1.5 Kinematic Chain .............................................................................................................................. 1.10
1.6 Degrees of freedom/mobility of a mechanism ............................................................................. 1.10
1.7 Inversion of Mechanism ................................................................................................................. 1.12
1.8 Four Bar Chain or Quadric Cycle Chain .......................................................................................... 1.12
1.9 Single Slider Crank Chain ................................................................................................................ 1.14
1.10 Double Slider Crank Chain .............................................................................................................. 1.17
1.11 Straight Line Mechanisms .............................................................................................................. 1.19
1.12 Problems .......................................................................................................................................... 1.24
1.1 Concepts of Kinematics and Dynamics
Kinematics: It is that branch of Theory of Machines which deals with the relative motion between the
various parts of the machines without forces applying to it.
Dynamics: It is that branch of Theory of Machines which deals with the forces and their effects while acting
upon the machine parts in motion.
Kinetics: It is that branch of Theory of Machines which deals with the inertia forces which arise from the
combined effect of the mass and motion of the machine parts.
Statics: It is that branch of Theory of Machines which deals with the forces and their effects while the
machine parts are at rest. The mass of the parts is assumed to be negligible.
Mechanism: If a number of bodies are assembled in such a way that the motion of one causes constrained
and predictable motion to the others, it is known as a mechanism.
Machine: A machine is a mechanism or a combination of mechanisms which, apart from imparting definite
motions to the parts, also transmits and modifies the available mechanical energy into some kind of
desired work.
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.

Table 1.1 - Difference Between a Machine and a Structure

Machine Structure

Parts of a machine move relative to one another Members of a structure do not move relative to
one another

The machine transforms the available energy In a structure, no energy is transformed into useful
into some useful work work

Links of a machine may transmit both power and Members of a structure transmit forces only
motion

1.2 Kinematic Links

Each part of a machine, which moves relative to some other part, is known as a kinematic link (or simply
link). A link may consist of several parts, which are rigidly fastened together so that they do not move
relative to one another.
A link or element need not be a rigid body, but 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.

1.2.1 Types of Kinematic Links

a) 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.

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1.2 Kinematics and Theory of Machines (3131906) |
Unit-1 Introduction of Mechanisms and Machines
 Fig.1.1 - Connecting Rod

b) 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.

Fig.1.2 - Chain Drive

c) Fluid Link
A fluid link is one which is formed by having 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.

Fig.1.3 - Hydraulic jack

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1.3 Types of Constrained Motions
a) 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.

Fig.1.4 - The motion of a square bar in a square hole

Fig.1.5 - The motion of a shaft with collars at each end in a circular hole

b) 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 the impressed force may alter the
direction of relative motion between the pair.

Fig.1.6 - A circular bar or shaft in a circular hole

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c) 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.

Fig.1.7 - Shaft in a foot-step bearing

1.4 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.
Classification of Kinematic Pairs:

1.4.1 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.
 Example: Piston and Cylinder

Fig.1.8 - Piston and Cylinder

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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. A shaft with collars at both ends fitted into a
circular hole, the crankshaft in a journal bearing in an engine, lathe spindle supported in head stock, cycle
wheels turning over their axles etc. are the examples of a turning pair. A turning pair also has a completely
constrained motion.
 Example: Circular shaft revolving inside a bearing

Fig.1.9 Circular shaft revolving inside a bearing

c) 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.
 Example: Ball bearing

Fig.1.10 - Ball bearing

d) 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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1.6 Kinematics and Theory of Machines (3131906) |
Unit-1 Introduction of Mechanisms and Machines
  Example: Bolt with a nut

Fig.1.11 - Bolt with a nut

e) Spherical pair
When the two elements of a pair are connected in such a way that one element (with the 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.
 Example: Ball and socket joint

Fig.1.12 - Ball and socket joint

1.4.2 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.
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  Example: A square bar in a square hole

Fig.1.13 - Types of lower pair

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.
 Example: Cam and Follower

Fig.1.14 - Cam and Follower

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1.8 Kinematics and Theory of Machines (3131906) |
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1.4.3 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 are self-closed pair.
 Example: Bolt with a nut

Fig.1.15 - Bolt with a nut

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.
 Example: Cam and follower with spring

Fig.1.16 - Cam and follower with spring

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Kinematics and Theory of Machines (3131906) | 1.9
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1.5 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.
For example, the crankshaft of an engine forms a kinematic pair with the bearings which are fixed in a pair,
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 the fourth pair. The total combination of these links is a
kinematic chain.

Table 1.2 - Difference Between Kinematic Pair and Kinematic Chain

Kinematic Pair Kinematic Chain

Two elements connected together Four or more than four elements connected
together

Have constrained relative motion with respect to The motion of any point on the link with respect to
each other any other point follows a definite direction

Each pair has two links The chain has minimum four links. The first link
and last link are connected to form a closed chain

Kinematic pair is a part of the chain. Kinematic Chain is not a part of the Kinematic pair.

Examples: Examples:
1. Cylinder and Piston 1. Four bar chain
2. Crank and connecting rod 2. Slider crank chain
3. Piston and connecting rod 3. Double crank chain

 When one of the links of a kinematic chain is fixed, the chain is known as a mechanism. It may be
used for transmitting or transforming motion e.g. engine indicators, typewriter etc.
 A mechanism with four links is known as a simple mechanism.

 A mechanism with more than four links is known as a 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.

1.6 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.

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1.10 Kinematics and Theory of Machines (3131906) |
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1.6.1 Kutzbach Criterion to Plane Mechanisms
Kutzbach criterion is used for determining the number of degrees of freedom or movability (n) of a plane
mechanism.
𝑛 = 3 (𝑙 – 1) – 2 𝑗 – ℎ Eq. (1.1)

where,
n = Number of degrees of freedom;
j = Number of binary joints;
h = Number of higher pairs;
l = Number of links

Fig.1.17 - Plane mechanisms

1. The mechanism, as shown in (a), has three links and three binary joints, i.e. l = 3 and j = 3.
n = 3 (3 – 1) – 2 × 3 = 0
2. The mechanism, as shown in (b), has four links and four binary joints, i.e. l = 4 and j = 4.
n = 3 (4 – 1) – 2 × 4 = 1
3. The mechanism, as shown in (c), has five links and five binary joints, i.e. l = 5, and j = 5.
n = 3 (5 – 1) – 2 × 5 = 2

1.6.2 Grubler’s Criterion for Plane Mechanisms

The Grubler’s criterion applies to mechanisms with an only single degree of freedom joints where the
overall movability of the mechanism is unity. Substituting n = 1 and h = 0 in Kutzbach equation, we have
1 = 3 (l – 1) – 2 j
 3l – 2j – 4 = 0
This equation is known as the Grubler's criterion for plane mechanisms with constrained motion.
A little consideration will show that a plane mechanism with a movability of 1 and only a single degree of
freedom joints can’t have odd number of links. The simplest possible mechanisms of this type are a four-
bar mechanism and a slider-crank mechanism in which l = 4 and j = 4.

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Kinematics and Theory of Machines (3131906) | 1.11
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1.7 Inversion of Mechanism
When one of the links is fixed in a kinematic chain, it is called a mechanism. So we can obtain as many
mechanisms as the number of links in a kinematic chain by fixing, in turn, different links in a kinematic
chain. This method of obtaining different mechanisms by fixing different links in a kinematic chain is
known as inversion of the mechanism.
It may be noted that the relative motions between the various links are not changed in any manner through
the process of inversion, but their absolute motions (those measured with respect to the fixed link) may
be changed drastically.

1.7.1 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:
1. Four bar chain or quadric cyclic chain
2. Single slider crank chain
3. Double slider crank chain

1.8 Four Bar Chain or Quadric Cycle Chain

The simplest and the basic kinematic chain is a four-bar chain or quadric cycle chain. 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.
According to Grashof ’s law for a four-bar mechanism, the sum of the shortest and longest link lengths
should not be greater than the sum of the remaining two link lengths if there is to be continuous relative
motion between the two links.

Fig.1.18 - Four Bar Chain

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, if it satisfies the Grashof ’s law. Such a link is known as crank or driver.
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 the frame of the mechanism.

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1.12 Kinematics and Theory of Machines (3131906) |
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1.8.1 Inversions of Four Bar Chain
Though there are many inversions of the four-bar chain, yet the following are important:

1.8.1.1 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.
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.

Fig.1.19 - Beam engine

1.8.1.2 Coupling rod of a locomotive (Double crank mechanism)

The mechanism of a coupling rod of a locomotive (also known as a double crank mechanism) which
consists of four links.
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.

Fig.1.20 - Coupling rod of a locomotive

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1.8.1.3 Watt’s indicator mechanism (Double lever mechanism)
A Watt’s indicator mechanism (also known as Watt's straight-line mechanism or double lever mechanism)
which consists of four links.
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.

Fig.1.21 - Watt's straight-line mechanism

1.9 Single Slider Crank Chain

A single slider crank chain is a modification of the basic four-bar chain. It consists 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, 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.

Fig.1.22 - Single slider crank chain

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1.14 Kinematics and Theory of Machines (3131906) |
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1.9.1 Inversions of Single Slider Crank Chain
Following are the Inversions of Single Slider Crank Chain:

1.9.1.1 Pendulum pump or Bull engine

In this mechanism, the inversion is obtained by fixing the cylinder or link 4 (i.e. sliding pair).
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.
 Application: The duplex pump which is used to supply feed water to boilers have two pistons
attached to link 1.

Fig.1.23 - Pendulum pump

1.9.1.2 Oscillating cylinder engine

The arrangement of the oscillating cylinder engine mechanism is used to convert reciprocating motion
into rotary motion. In this mechanism, the link 3 forming the turning pair is fixed.
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.

Fig.1.24 - Oscillating cylinder engine

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Kinematics and Theory of Machines (3131906) | 1.15
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1.9.1.3 Rotary internal combustion engine or Gnome engine
It consists of seven cylinders in one plane and all revolves about fixed centre D, 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.
 Application: Sometimes back, rotary internal combustion engines were used in aviation. But
nowadays gas turbines are used in its place.

Fig.1.25 - Rotary internal combustion engine

1.9.1.4 Crank and slotted lever quick return motion mechanism

In this mechanism, the link AC (i.e. link 3) forming the turning pair is fixed. Link 3 corresponds to the
connecting rod of a reciprocating steam engine.
The 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 R1 R2. The line of stroke of the ram (i.e. R1 R2) is perpendicular to AC produced.
 Application: This mechanism is mostly used in shaping machines

Fig.1.26 - Crank and slotted lever quick return motion mechanism

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1.16 Kinematics and Theory of Machines (3131906) |
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1.9.1.5 Whitworth quick return motion mechanism
In this mechanism, the link CD (link 2) forming the turning pair is fixed. Link 2 corresponds to a crank in a
reciprocating steam engine.
The driving crank CA (link 3) rotates at a uniform angular speed. The slider (link 4) attached to 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 motion of the tool is constrained along the line
RD produced, i.e. along a line passing through D and perpendicular to CD.
 Application: This mechanism is mostly used in and slotting machines

Fig.1.27 - Whitworth quick return motion mechanism

Table 1.3 - Inversions of single slider crank chain and their application

Mechanism Application

Pendulum pump or Bull engine Duplex pump - supply feed water to boilers

Oscillating cylinder engine Reciprocating steam engine

Rotary internal combustion engine or Gnome engine Used in aviation

Crank and slotted lever quick return motion mechanism Mostly used in shaping machines

Whitworth quick return motion mechanism Mostly used in slotting machines

1.10 Double Slider Crank Chain

A kinematic chain which consists of two turning pairs and two sliding pairs is known as a double slider
crank chain.

1.10.1 Inversions of Double Slider Crank Chain

Following are the Inversions of Double Slider Crank Chain:

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1.10.1.1 Elliptical trammels
This inversion is obtained by fixing the slotted plate (link 4).
The fixed plate or link 4 has two straight grooves cut in it, at right angles to each other. 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 slides along
their respective grooves, any point on link 2 such as P traces out an ellipse on the surface of link 4.
 Application: It is an instrument used for drawing ellipses

Fig.1.28 - Elliptical trammels

1.10.1.2 Scotch yoke mechanism

The inversion is obtained by fixing either the link 1 or link 3. 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.
 Application: This mechanism is used for converting rotary motion into a reciprocating motion

Fig.1.29 - Scotch yoke mechanism

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1.18 Kinematics and Theory of Machines (3131906) |
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1.10.1.3 Oldham’s coupling
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. The shafts to be connected have two flanges (link 1
and link 3) rigidly fastened at their ends by forging.
 Application: It is used for connecting two parallel shafts whose axes are at a small distance apart

Fig.1.30 - Oldham’s coupling

1.11 Straight Line Mechanisms

One of the most common forms of the constraint mechanisms is that it permits only the relative motion
of an oscillatory nature along a straight line. The mechanisms used for this purpose are called straight-
line mechanisms. These mechanisms are of the following two types:
1. in which only turning pairs are used, and
2. in which one sliding pair is used.
These two types of mechanisms may produce exact straight-line motion or approximate straight-line
motion.
The principle adopted for a mathematically correct or exact straight-line motion is described in following
figure. Let O be a point on the circumference of a circle of diameter OP.
Let OA be any chord and B is a point on OA produced, such that OA × OB = constant. Then the locus of a
point B will be a straight line perpendicular to the diameter OP.

Fig.1.31 - Exact straight line motion mechanism

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Kinematics and Theory of Machines (3131906) | 1.19
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1.11.1 Exact Straight Line Motion Mechanisms
Following are some important Exact Straight Line Motion Mechanisms:

1.11.1.1 Peaucellier mechanism

It consists of a fixed link OO1 and the other straight links O1A, OC, OD, AD, DB, BC and CA are connected
by turning pairs at their intersections. The pin at A is constrained to move along the circumference of a
circle with the fixed diameter OP, by means of the link O 1A.
AC = CB = BD = DA; OC = OD; and OO 1 = O1A

Fig.1.32 - Peaucellier mechanism

1.11.1.2 Hart’s mechanism

This mechanism requires only six links as compared with the eight links required by the Peaucellier
mechanism.
It consists of a fixed link OO1 and other straight links O1A, FC, CD, DE and EF are connected by turning pairs
at their points of intersection.
FC = DE; CD = EF;
The points O, A and B divide the links FC, CD and EF in the same ratio. A little consideration will show that
BOCE is a trapezium and OA and OB are respectively parallel to FD and CE. Hence OAB is a straight line.

Fig.1.33 - Hart’s mechanism

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1.20 Kinematics and Theory of Machines (3131906) |
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1.11.1.3 Scott Russell’s Mechanism
It consists of a fixed member and moving member P of a sliding pair. The straight link PAQ is connected
by turning pairs to the link OA and the link P. The link OA rotates about O.
A little consideration will show that the mechanism OAP is the same as that of the reciprocating engine
mechanism in which OA is the crank and PA is the connecting rod.
In this mechanism, the straight-line motion is not generated but it is merely copied.

Fig.1.34 - Scott Russell’s Mechanism

1.11.2 Approximate Straight Line Motion Mechanisms

The approximate straight-line motion mechanisms are the modifications of the four-bar chain
mechanisms. Following are the important mechanisms to give approximate straight-line motion.

1.11.2.1 Watt’s mechanism

It is a crossed four-bar chain mechanism and was used by Watt for his early steam engines to guide the
piston rod in a cylinder to have an approximately straight-line motion.
OBAO1 is a crossed four-bar chain in which O and O1 are fixed. In the mean position of the mechanism,
links OB and O1A are parallel and the coupling rod AB is perpendicular to O1A and OB.
The tracing point P traces out an approximately straight line over certain positions of its movement, if
PB/PA= O1A/OB

Fig.1.35 - Watt’s mechanism

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Kinematics and Theory of Machines (3131906) | 1.21
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1.11.2.2 Modified Scott-Russel mechanism
This mechanism is similar to Scott-Russel mechanism, but in this case, AP is not equal to AQ and the
points P and Q are constrained to move in the horizontal and vertical directions.
A little consideration will show that it forms an elliptical trammel so that any point A on PQ traces an ellipse
with semi-major axis AQ and semi-minor axis AP.
If the point A moves in a circle, then for point Q to move along an approximate straight line, the length OA
must be equal (AP)2 / AQ

Fig.1.36 - Modified Scott-Russel mechanism

1.11.2.3 Grasshopper mechanism

This mechanism is a modification of modified Scott-Russel’s mechanism with the difference that the point
P does not slide along a straight line but moves in a circular arc with centre O. It is a four-bar mechanism
and all the pairs are turning pairs
In this mechanism, the centres O and O1 are fixed. The link OA oscillates about O through an angle AOA 1
which causes the pin P to move along a circular arc with O 1 as centre and O1P as radius.
The Grasshopper mechanism was used in early days as an engine mechanism which gave long stroke
with a very short crank.

Fig.1.37 - Grasshopper mechanism

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1.22 Kinematics and Theory of Machines (3131906) |
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1.11.2.4 Tchebicheff’s mechanism
It is a four-bar mechanism in which the crossed links OA and O 1B are of equal length. The point P, which
is the mid-point of AB traces out an approximately straight line parallel to OO 1.
The proportions of the links are, usually, such that point P is exactly above O or O 1 in the extreme positions
of the mechanism i.e. when BA lies along OA or when BA lies along BO1.
It may be noted that the point P will lie on a straight line parallel to OO 1, in the two extreme positions and
in the mid position, if the lengths of the links are in proportions AB: OO1: OA = 1: 2: 2.5.

Fig.1.38 - Tchebicheff’s mechanism

1.11.2.5 Roberts mechanism

It is also a four-bar chain mechanism, which, in its mean position, has the form of a trapezium. The links
OA and O1B are of equal length and OO1 is fixed.
A bar PQ is rigidly attached to the link AB at its middle point P. A little consideration will show that if the
mechanism is displaced as shown by the dotted lines, the point Q will trace out an approximately straight
line.

Fig.1.39 - Roberts mechanism

Prof. Sunil G. Janiyani, Department of Mechanical Engineering

Kinematics and Theory of Machines (3131906) | 1.23
Unit-1 Introduction of Mechanisms and Machines
1.12 Problems
Ex. 1.1 [GTU; June-2016; 7 Marks] [GTU; Jan.-2016; 4 Marks]
A crank and slotted lever mechanism used in a shaper has a centre distance of 300 mm
between the centre of oscillation of the slotted lever and the centre of rotation of the crank.
The radius of the crank is 120 mm. Find the ratio of the time of cutting to the time of return
stroke.
Solution: Given Data: To be Calculated:
𝐴𝐶 = 300 𝑚𝑚 The ratio of time of
cutting to time of return
𝐶𝐵1 = 120 mm
stroke

 The extreme positions of the crank are shown in Figure. We know that,
𝛼 𝐶𝐵1 120
𝑆𝑖𝑛 ∠𝐶𝐴𝐵1 = 𝑆𝑖𝑛 (90° − )= = = 0.4
2 𝐴𝐶 300
𝛼
∴ ∠𝐶𝐴𝐵1 = (90° − ) = sin−1 (0.4) = 23.6°
2
𝛼
∴ = (90° − 23.6°) = 66.4°
2
∴ 𝛼 = 2 × 66.4° = 132.8°
𝑻𝒊𝒎𝒆 𝒐𝒇 𝒄𝒖𝒕𝒕𝒊𝒏𝒈 𝒔𝒕𝒓𝒐𝒌𝒆 360°− 𝛼 360°−132.8°
 = = = 1.72
𝐓𝐢𝐦𝐞 𝐨𝐟 𝐫𝐞𝐭𝐮𝐫𝐧 𝐬𝐭𝐫𝐨𝐤𝐞 𝛼 132.8°

Ex. 1.2 In a crank and slotted lever quick return motion mechanism, the distance between the fixed
centres is 240 mm and the length of the driving crank is 120 mm. Find the time ratio of
cutting stroke to the return stroke. If the length of the slotted bar is 450 mm, find the length
of the stroke if the line of stroke passes through the extreme positions of the free end of the
lever.
Solution: Given Data:
𝐴𝐶 = 240 𝑚𝑚
𝐶𝐵1 = 120 mm
𝐴𝑃1 = 450 mm
To be Calculated:
a) The ratio of time of
cutting stroke to
time of return stroke
b) Length of stroke

Prof. Sunil G. Janiyani, Department of Mechanical Engineering

1.24 Kinematics and Theory of Machines (3131906) |
Unit-1 Introduction of Mechanisms and Machines
  The extreme positions of the crank are shown in Figure. We know that,
𝛼 𝐶𝐵1 120
𝑆𝑖𝑛 ∠𝐶𝐴𝐵1 = 𝑆𝑖𝑛 (90° − )= = = 0.5
2 𝐴𝐶 240
𝛼
∴ ∠𝐶𝐴𝐵1 = (90° − ) = sin−1(0.5) = 30°
2
𝛼
∴ = (90° − 30°) = 60°
2
∴ 𝛼 = 2 × 60° = 120°
𝑻𝒊𝒎𝒆 𝒐𝒇 𝒄𝒖𝒕𝒕𝒊𝒏𝒈 𝒔𝒕𝒓𝒐𝒌𝒆 360°− 𝛼 360°−120°
 = = =2
𝐓𝐢𝐦𝐞 𝐨𝐟 𝐫𝐞𝐭𝐮𝐫𝐧 𝐬𝐭𝐫𝐨𝐤𝐞 𝛼 120°
 Length of the stroke,
𝛼
𝑅1 𝑅2 = 𝑃1 𝑃2 = 2𝑃1 𝑄 = 2 × 𝐴𝑃1 × 𝑆𝑖𝑛 (90° − )
2
∴ 𝐋𝐞𝐧𝐠𝐭𝐡 𝐨𝐟 𝐒𝐭𝐫𝐨𝐤𝐞 = 2 × 450 × 𝑆𝑖𝑛 (90° − 60°) = 900 × 0.5 = 𝟒𝟓𝟎 𝒎𝒎

References:
1. Theory of Machines, Rattan S S, Tata McGraw-Hill
2. Theory of Machines and Mechanisms, Uicker J J Jr., Pennock G R, Shigley J E, Oxford Press
3. Theory of Machines, Khurmi R. S., Gupta J. K., S. Chand Publication

Prof. Sunil G. Janiyani, Department of Mechanical Engineering

Kinematics and Theory of Machines (3131906) | 1.25
Unit-1 Introduction of Mechanisms and Machines