400 parts, 30 cm long, 15 cm high…used for arithmetic operations (Grant Calculating Machine - 1876)

ME 334 – THEORY OF MACHINES

(WEEK 01)
Course Instructor
Dr. Uzair Khaleeq uz Zaman
Course Description
• Course Code: ME 334
• Credit Hours: 2-0
• Text Book
“Design of Machinery: An Introduction
to the Synthesis and Analysis of Mechanisms
and Machines”, by Robert L. Norton, 3rd
International Edition, McGraw Hill, 2004
Course Description (contd…)

• Prerequisite
ME-233: Engineering Dynamics

• My prerequisites:
You should know how to
✓ Perform basic differentiation and integration
✓ Draw a Free Body Diagram
Course Description (contd…)
• Reference Books
– Theory of Machines and Mechanisms, 3rd Edition by John
Joseph Uicker, G. R. Pennock, Joseph Edward Shigley,
Published by Oxford University Press, 2003, ISBN
019515598X, 9780195155983
– Mechanics of Machines, Elementary Theory and
Examples, 4th Edition, revised by John Hannah, R. C..
STEPHENS, Published by Edward Arnold, 2000, ISBN
0713134712, 9780713134711
– Mechanics of Machines, by W. L. Cleghorn, Published by
Oxford University Press, 2005, ISBN 0195154525,
9780195154528
Stuff you need to succeed !!!
• Textbook
• Geometrical Set +
Tracing Paper (when
asked)
• Knowledge from
engineering drawing
course (manual drawing)

• Sustain interest in course

by relating with real life
applications
Course Objectives & Learning
Outcomes
1. Identify mechanisms and predict their motion
2. Calculate the degrees of freedom of mechanisms
3. Design mechanisms to fulfill motion generation and quick
return requirements
4. Determine the positions, velocities and accelerations of links
and points on mechanisms
5. Derive SVAJ functions to fulfill cam design specifications
6. Calculate dynamic joint forces of mechanisms
7. Balance simple rotating objects and pin-jointed four-bar
linkages
8. Work in a team to analyze and modify existing mechanisms
9. Present completed work in oral and written form
10. Use related computer programs to design, model and analyze
mechanisms
Grading Policy (subject to change)
• Sessionals: 20%
• Assignments: 10%
• Quizzes: 10%
• Project: 15%
• Final: 45%
Introduction Receives energy in some
available form and utilizes it to
do some particular type of work

• What is Theory of Machines?

Branch of engineering science, which deals with the study of
relative motion between the various parts of machine, and forces
which act on them.

Dictate the required

strength of
• Synthesis vs. Analysis of Mechanisms components

• Synthesis: To design to achieve a specific purpose

• Analysis: To determine rigid-body dynamic behavior (position,
velocity and acceleration forces)
Introduction (contd…)
Sub-divisions of Theory of Machines?
1. Kinematics
• Deals with relative motion between various parts of
machines (without regard to forces)
2. Dynamics
• Deals with the forces and their effects, while acting upon the
machine parts in MOTION
3. Kinetics
• Deals with the inertia forces which arise from the combined
effect of the MASS and MOTION of the machine parts
4. Statics
• Deals with the forces and their effects while the machine
parts are at REST (mass of the part ≈ negligible).
Introduction (contd…)
Kinematics and Kinetics
• Logical to first work on kinematics and then on
kinetics
• Ex: F = ma → Acceleration is computed first in order
to find force
• Objective of Kinematics (In order is BEST)
1. Create (design) the desired motions of subject
mechanical parts
2. Mathematically compute positions, velocities and
accelerations that those motions will create on the part
Introduction (contd…)
Application of Kinematics
Introduction (contd…)
Machines and Mechanisms
• Machines
– Alter, transmit, and direct forces
• Mechanism
– Mechanical portion of
the machine
– Transfers motion and forces from a power source to
the output (to attain DESIRED motion)
– Develops very low forces + Transmits little power
– Composed of rigid parts → Arranged + Connected
– Ex: Pencil sharpener, adjustable desk lamp
Introduction (contd…)

Machines and Mechanisms

• Mechanisms (contd…)

Windshield wiper mechanism Quick-return shaper mechanism

Mechanisms (contd…)

Can crusher
Simple press

Moves packages from an assembly

bench to a conveyor
Mechanisms (contd…)

Front loader
Lift platform

Device to close the

top flap of boxes

Lift platform
Mechanisms (contd…)

Rowing type exercise machine

Conceptual design for an

exercise machine
Machines (contd…)

Food Blender

Automatic
Transmission
Machines (contd…)

Bulldozer Spider Robot

Amusement
Park Ride
Introduction (contd…)

2 linear + 1 angular = 3 DOF

Degrees of Freedom (DOF)
• Any mechanical system’s Mobility can be classified according
to the number of degrees of freedom (DOF) which it
possesses.
• Number of independent parameters that are needed to uniquely
define its position in space at any instant of time
• DOF is defined w.r.t. a selected frame of reference.
• In 3D, six parameters are required to define its six DOF.
– Three length parameters (x,y,z)
– Three angular parameters (θ,Ф,ρ)
Types of Motion
Pure Rotation:
The body possesses one point (center of rotation) which has no motion with
respect to the "stationary" frame of reference. All other points on the body
describe arcs about that center. A reference line drawn on the body through the
center changes only its angular orientation.
Pure Translation:
All points on the body describe parallel (curvilinear or
rectilinear) paths. A reference line drawn on the body changes
its linear position but does not change its angular orientation.

Complex Motion :
A simultaneous combination of rotation and translation. Any
reference line drawn on the body will change both its linear
position and its angular orientation.
Introduction (contd…)
Mechanism Terminology
1. Linkage
– All parts are connected together to
form a closed chain
2. Frame
– Point /Area of reference for the motion of all other parts
– Usually exhibits no motion
3. Links
– Individual parts of a mechanism
– Rigid bodies interconnected to transmit motion + forces
– TRUE RIGID BODY DOESN’T CHANGE SHAPE
DURING MOTION → not possible practically →
designed to deform minimally and considered RIGID
Introduction (contd…)
Mechanism Terminology
3. Links (contd…)
– Springs (elastic) → NOT rigid → NOT links → usually
ignored during kinematic analysis BUT should be included
during the dynamic force portion of analysis (as they
supply forces)
– Have at least 2 nodes which are point of attachment to
other links
Introduction (contd…)
Mechanism Terminology
4. Joint
– Moveable connection between links (at their nodes) and
allows relative motion between links
– Joints (also called kinematic pairs) can be classified in
several ways:
1. By the type of contact between the elements, line, point, or
surface
2. By the number of degrees of freedom allowed at the joint
3. By the type of physical closure of the joint: either force or
form closed
4. By the number of links joined (order of the joint)
Introduction (contd…)
Mechanism Terminology
4. Joint (contd…)
– Lower pair → Joints with surface contact (as with pin
surrounded by hole)
• Trap lubricant between their enveloping surfaces
– Higher pair → Joints with point or line contact (maintain
contact with a curve or surface in the fixed body)

Lower Pair Ball

Joint
Introduction (contd…)

Mechanism Terminology
4. Joint (contd…) → Lower Pair
Examples:
A door joint to a frame with hinges
[Revolute (R) pair]
A sash window [Prismatic (P) pair]

NOTE → (A pin surrounded by a hole)

If there is a clearance between a pin and a hole (to allow for
motion), the so-called surface contact becomes line contact.
Mechanism Terminology
4. Joint (contd…) → Lower Pair

In PLANAR mechanisms
→ All of the relative
motions of rigid bodies
are in one plane or
parallel planes
Also called FULL joints = 1
DOF

Combination of
R and P joints →
used in 3D
mechanisms
Introduction (contd…)

Mechanism Terminology
4. Joint (contd…) → Lower Pair
Examples:

The Pin joint allows one rotational degrees of freedom between

the joint links.

The Slider joint allows one translational degrees of freedom

between the joint links
Introduction (contd…)

Mechanism Terminology
4. Joint (contd…) → Lower Pair
Examples → Special Cases

The pin joint is a special case of screw and nut joint. If the helix
angle is zero, the nut rotates without advancing.

The slider joint is a special case of screw and nut joint. If the
helix angle is 90 degrees, the nut translates along the axis of
screw.
Introduction (contd…)

Mechanism Terminology
4. Joint (contd…) → Higher Pair
Examples
Gear teeth, cam and follower, two curved surfaces

Two-degrees of freedom joints (higher pairs) allow two simultaneous

independent relative motions, translation and rotation, between the joined
links.
The 2 DOF joint is also referred to half joint (with its 2 placed in the
denominator) or roll-slide joint (allows both rolling and sliding)
Introduction (contd…)
Mechanism Terminology
4. Joint (contd…)

Type of Closure
1. A force-closed joint requires some external force to keep it together (a
slider on a surface)

2. A form-closed joint is kept together or closed by its geometry (a pin in a

hole or a slider in a two-sided slide)
Introduction (contd…)
Number of Links
Note: It takes 2 links to form 1 (single) joint

Joint order = Number of links joined - 1

Introduction (contd…)
Determining Degrees of Freedom (DOF) / Mobility
1. The number of inputs which need to be provided in order to
create a predictable output
2. The number of independent coordinates required to define its
position.

Kinematic chains or mechanisms may be either open or closed.

Figure shows both open and closed mechanisms.

An open mechanism of
more than one link →
more than 1 DOF
Requires as many
actuators (motors) as
DOF
Introduction (contd…)
Dyad:
An open kinematic chain of two binary links and one joint is called a
dyad.
To determine overall DOF of any mechanism, we must account for the
number of links and joints, and for the interactions among them.

Gruebler Condition:
Any link in a plane has 3 DOF. Therefore, a system of L unconnected
links in the same plane will have 3L DOF, as shown in Figure where the
two unconnected links have a total of six DOF.
Gruebler Condition (contd…)
When joined at nodes by full joint, the DOF changes to 4.

M = 3L – 2J -3G
M = degree of freedom or mobility
L = number of links
J = number of joints
G = number of grounded links
Kutzbach’s modification of Grubler’s
equation
NOTE
In real mechanism, even if more than one link of kinematic chain is grounded,
the net effect will be to create one larger, higher order ground link, as there can
be one ground plane only.

M = 3L – 2J -3G
With G = 1, it becomes:
M = 3(L-1) -2J

The modification is in terms of lower and higher pair joints

M = 3(L-1) - 2J1 - J2

J1= number of 1 DOF (full) joints

J2 = number of 2 DOF (half) joints
Example 1
Example 2
Example