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Mechanisms of machinery
Chapter one
By: Shumuye T.
INTRODUCTION
The subject Mechanisms of Machinery deals with the study of motion and forces
in machinery devices that provide a wide variety of functions.
Basic Definition
• Mechanism is a set of machine elements (links) arranged in a specific order to
produce specified motion.Video\Animation movie of Dale C. Maley power
hacksaw.wmv.mp4……..Video\Pneumatic Operated Double Hacksaw Mini
Mechanical project.mp4
• Links
A link or element is that part of machine which has motion relative to some other
parts (links).
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.
Machine is combination different mechanism and mechanism is made by
kinematic chain and kinematic chain is made by kinematic links. So that
kinematic link is basic element of a machine or basic part of machine. Examples
of links are connecting rod use in internal combustion engine, belts, chain, rope,
hydraulic oil and many others. There are different types of kinematic links and
these are as follows.
What are types of kinematic link?
Rigid links
The link which does not undergo any deformation while transmitting motion is
called as rigid link. There is no change in shape and size of link. Link is not
elongate while transmitting motion.
There are different types of rigid links
Binary link: The link which is attached at two different points in mechanism is
called as binary link. Example of binary link is connecting rod use in internal
combustion engine.
Ternary link: The link which is attached at three points in mechanism is called as
ternary link.
Quaternary link: The link which is attached at four points in mechanism is called
as quaternary link.
Binary link
Ternary link Quaternary
Flexible link
The links which are partly deform (change in shape and size) while transmitting
motion or force but it does not affect to transmission of motion or force. Examples
of flexible links are belt, chain, rope and spring.
Flexible link
Fluid link
The link in which fluid is used to transmit motion is called as fluid link. In which
fluid is stored in a specific hollow shape container and by compression this fluid
at one point it transfer motion to another point. In this way fluid links are work.
Examples of fluid links used in machines are fluid link used in hydraulic press,
lift, jacks and brakes use in automobile.
What is kinematic pair?
Kinematic pair is form by kinematic links. When two kinematic links are
connected and the motion between links is in a definite direction then, these two
links are known as kinematic pair. Kinematic pair has different types and these
are as follow.
According to the nature of relative motion between links
In this category kinematic pairs are classified by relative motion between
kinematic pairs. Types of this category pairs are as follows.
1. Sliding pair
In this type motion between two kinematic links in definite direction is sliding
and known as sliding pair. Example:-A block with square or rectangular hole and
bar of rectangular or square inserted into block hole then relative motion between
two links (block and bar) is sliding only.
Sliding pair
2. Turning pair
When two kinematic links are connected in such way that the relative motion
between links is definite and turning or revolving is known as turning pair.
Turning pair
3. Screw or helical pair
When in two kinematic links, one link is turn about other link by screw thread
is known as screw or helical pair. Example of screw pair is movement of bolt
in fixed nut.
Screw or Helical pair

4. Rolling pair
When two kinematic links are connected in such way that, one link is rolling
over other link is known as rolling pair. Good example of rolling pair is ball
bearing. In which ball has rolling contact with shaft and outer surface of
bearing.
Rolling pair
5. Spherical pair
When in two kinematic links, one link is in form of spherical shape and turn
inside a fixed element is known as spherical pair.
Spherical pair
According to nature of contact between links
In this category pairs are classified by the nature of contact between two links.
The nature of contact may be surface contact, line contact and point contact.
Types of this category pairs are as follows.
• Lower pair
When the nature of contact between two kinematic links is surface contact or area
contact are known as lower pair. Examples of lower pair are sliding pairs and
revolving or turning pairs.
• Higher pair
When the nature of contact between two kinematic links is point contact or line
contact then this pairs are known as higher pair. Example of higher pair is the
contact between road surface and wheel of vehicle is point contact means higher
pair.
Kinematic chain: the arrangement of links in a chain fashion which permits relative
motion between the links.
– Open-loop kinematic chain - they receive no feedback
– Closed-loop kinematic chain - feedback information
Example:-In the Slider-crank mechanism link 1 and 2, link 2 and 3 , link 3 and 4 are
kinematic pairs joined by pin joints ; link 4 and link 1 also kinematic pairs joined by the
sliding element.
Slider – Crank mechanism

A machine: is a mechanism or a collection of mechanisms which transmits force
from the source of power to the resistance to be overcome.
Example: - IC- Engine there are a number of mechanisms Video\Cam shaft
work.mp4…Video\Piston Crankshaft Animation.mp4
Slider-crank mechanism, CAM- shaft mechanism and flywheel.
Inversion mechanism: if, in a mechanism, the link which was originally fixed is
allowed to move and another link becomes fixed, the mechanism is said to be
inverted.
Inversion is created by grounding (fixing) a different link in a kinematic chain.
Degree Of Freedom
• The minimum number of coordinates required to fully describe the
configuration of mechanism is called the number of degree of freedom.
• The degree of freedom of a linkage in a plane is determined using the mobility
criterion proposed by Gruebeler:
n  3L  1  2 j  h
• Where
n = number of degree of freedom of the linkage;
L = number of links;
j = number of kinematic pairs having one degree of freedom;
h = number of kinematic pairs having two degree of freedom.
Example 1.1
Find the degree of freedom of the mechanism given below.
Solution:
Number of links (L) = 6
Number of Pairs = 7
j =7 (six turning pairs and one sliding pair)
h=0
n  3L  1  2 j  h
n=3(6-1)-2×7=1
Example 1.2
Find the mobility or degree of freedom of the following mechanism.
Solution:
Number of links (L) = 7
Number of Pairs = 8
j = 7 (six turning pairs and one sliding pair)
h = 1 (Fork joint is two DOF joint)
n=3(7-1)-2×7-1=3
Example 1.3
Motion
Motion can be thought of as time series of displacements b/n successive positions of
a point or a particle.
Types of motion
A. Rectilinear motion: when a body moves along a straight line and does not
rotate.
B. Plane motion: is motion of a body which is confined to one plane only.
• It can be rectilinear or curvilinear motions.
• It can also be translatory, rotary or general plane motion.
C. Helical motion: is motion when each point of the body has motion of rotation
about a fixed axis and at the same time has translation parallel to the axis.
D. Spherical motion: is motion when each point on the body has motion about a
fixed point and remains at a constant distance from the fixed point.
E. Space motion: when the motion of a body is not confined to a plane.
• Helical and spherical motions are special cases of space motion.
Transmission of Motion
Motion is transmitted from one member to another in three ways:
• by direct contact b/n two members;
• through an intermediate link or a connecting rod;
• By a flexible connector such as belt or chain.
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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Mechanisms of machinery

Screw or Helical pair

Slider – Crank mechanism

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