Kinematics of Machinery (AU 402)

Types of Kinematic Chain with four lower pairs

(I) Four bar chain (II) Single slider crank chain (III) Double Slider crank chain

(I )Four bar Chain:

The chain has four links and it looks like a cycle frame and hence it is also called quadric
cycle chain. It is shown in the figure. In this type of chain all four pairs will be turning pairs.

Kinematic Inversion:
The process of fixing different links in the same chain to get distinct mechanism is called
‘Kinematic Inversion’.
Inversions of four bar chain mechanism:
1) Beam Engine or Crank and lever mechanism. 2) Coupled locomotive Wheel or double
crank mechanism. 3) Watt’s straight line mechanism or double lever mechanism 4)
Pantograph 5) Ackerman steering gear mechanism.

1. Beam Engine:
This is the first inversion of the four bar chain. This mechanism is obtained when link 1 of
the four br chain is fixed. the following diagram shows the beam engine mechanism. When
the crank AB rotates about A, the link CE pivoted at P makes vertical reciprocating motion at
end E. This is used to convert rotary motion to reciprocating motion and vice versa. It is also
known as Crank and lever mechanism.
2. Coupled locomotive Wheel :
This mechanism is obtained when link 2 of the four bar chain is fixed. In this
mechanism the length of link AD = length of link BC. Also length of link AB = length of link
CD. When AB rotates about A, the crank DC rotates about D. this mechanism is used for
coupling locomotive wheels. Since links AB and CD work as cranks, this mechanism is also
known as double crank mechanism.

3. Watt’s straight line mechanism or Double lever mechanism:

This mechanism is obtained when link 4 of the four bar chain is fixed. In this
mechanism, the links AB & DE act as levers at the ends A & E of these levers are pivoted.
The links AB & DE are parallel in the mean position of the mechanism and coupling rod BD
is perpendicular to the levers AB & DE. On any small displacement of the mechanism, the
tracing point ‘C’ traces the shape of number ‘8’, a portion of which will be approximately
straight. Hence this is also an example for the approximate straight line mechanism. This
mechanism is shown below.

(II) Single slider crank chain:

It is a chain having one sliding pair and three turning pairs. It is shown in the figure
below. The purpose of this mechanism is to convert rotary motion to reciprocating motion and
vice versa.

Inversions of a Slider crank chain:

There are four inversions in a single slider chain mechanism. They are:
st
1) Reciprocating engine mechanism (1 inversion)
nd
2) Oscillating cylinder engine mechanism (2 inversion)
nd
3) Crank and slotted lever mechanism (2 inversion)
 rd
4) Whitworth quick return motion mechanism (3 inversion)
rd
5) Rotary engine mechanism (3 inversion)
th
6) Pendulum pump or Hand Pump (4 inversion)

1. Reciprocating engine mechanism :

In the first inversion, the link 1 i.e., the cylinder and the frame is kept fixed. The fig below
shows a reciprocating engine.

A slotted link 1 is fixed. When the crank 2 rotates about O, the sliding piston 4 reciprocates in
the slotted link 1. This mechanism is used in steam engine, pumps, compressors, I.C. engines,
etc.
2. Oscillating cylinder engine mechanism
It is an application of second inversion. The Oscillating cylinder engine mechanism is
shown in figure below. In this mechanism link 3(connecting rod) is fixed in the basic chain.
The rotary the crank is converted into oscillating mechanism of cylinder.

3. Crank and slotted lever mechanism:

It is an application of second inversion. The crank and slotted lever mechanism is shown
in figure below.
 In this mechanism link 3 is fixed. The slider (link 1) reciprocates in oscillating slotted
lever (link 4) and crank (link 2) rotates. Link 5 connects link 4 to the ram (link 6). The ram
with the cutting tool reciprocates perpendicular to the fixed link 3. The ram with the tool
reverses its direction of motion when link 2 is perpendicular to link 4. Thus the cutting stroke
is executed during the rotation of the crank through angle α and the return stroke is executed
when the crank rotates through angle β or 360 – α. Therefore, when the crank rotates
uniformly, we get,
Time to cutting = α = α
Time of return β 360 – α
This mechanism is used in shaping machines, slotting machines and in rotary engines.

4. Whitworth quick return motion mechanism:

Third inversion is obtained by fixing the crank i.e. link 2in the basic chain . Whitworth quick
return mechanism is an application of third inversion. This mechanism is shown in the
belowfigure. The crank o4o2 is fixed and O2B rotates about O2. The slider slides in the slotted
link and generates a circle of radius O4B. Link 5 connects the extension O4B provided on the
opposite side of the link 4 to the ram (link 6). The rotary motion of B is taken to the ram D
which reciprocates.The cutting stroke is executed during the rotation of the crank through
angle α and the return stroke is executed when the crank rotates through angle β or 360 – α.
 Therefore, when the crank rotates uniformly, we get,
Time to cutting = α = α
Time of return β 360 – α
This quick return motion mechanism is used in shapers and slotting machines.

4. Rotary engine mechanism or Gnome Engine:

Rotary engine mechanism or gnome engine is another application of third inversion. It is a
rotary cylinder V – type internal combustion engine used as an aero – engine. But now
Gnome engine has been replaced by Gas turbines. The Gnome engine has generally five
or seven cylinders in one plane. The crank OA is fixed and all the connecting rods from
the pistons are connected to A. In this mechanism when the pistons reciprocate in the
cylinders, the whole assembly of cylinders, pistons and connecting rods rotate about the
axis O, where the entire mechanical power developed, is obtained in the form of rotation
of the crank shaft. This mechanism is shown in the figure below.
 5. Pendulum pump

This mechanism is obtained by fixing the slider in the basic chain. In this mechanism, the
oscillatory motion of the lever is converted into reciprocating motion of the cylinder. The
mechanism is being used to lift the water in tube wells as well are also used to pump water
for boilers.

( III) Double Slider Crank Chain:

A chain having two turning and two sliding pairs such that two pairs of the same kind are
in adjacent is known as double slider crank chain.
Inversions of Double slider Crank chain:
It consists of two sliding pairs and two turning pairs. They are three important inversions
of double slider crank chain. 1) Elliptical trammel. 2) Scotch yoke mechanism. 3) Oldham’s
Coupling.

1. Elliptical Trammel:
This is an instrument for drawing ellipses. In this mechanism, the slotted link is fixed. The
sliding block P and Q in vertical and horizontal slots respectively. The end R generates an
ellipse with the displacement of sliders P and Q.

The co-ordinates of the point R are x and y. From the fig. cos θ = x/ PR
and Sin θ = y/QR
Squaring and adding (i) and (ii) we get x2 + y2 = cos2 θ + sin2 θ
 2 2
(PR) (QR)
x2 + y2 = 1
2 2
(PR) (QR)
The equation is that of an ellipse, hence, the instrument traces an ellipse. Path traced by mid-
2 2 2 2
point of PQ is always a circle. In this case, PR = PQ and so x +y =1 (PR) (QR)
It is an equation of circle with PR = QR = radius of a circle.

2. Scotch yoke mechanism

In this mechanism, the slider 1 is fixed and when crank rotates about pivot, the slotter
reciprocates in the frame (slider 1). The mechanism is used to convert rotary to reciprocating
mechanism.

3. Oldham’s coupling
An application of the third inversion of the double slider crank mechanism is
Oldham’s coupling shown in the figure.

This coupling is used for connecting two parallel shafts when the distance between the
shafts is small. The two shafts to be connected have flanges at their ends, secured by forging.
Slots are cut in the flanges. These flanges form 2 and 4. An intermediate disc having tongues
at right angles and opposite sides is fitted in between the flanges. The intermediate piece
forms the link 3 which slides or reciprocates in flanges 2& 4. The link 1 is fixed as shown.
When flange 2 turns, the intermediate disc 3 must turn through the same angle and whatever
angle 3 turns, the flange 4 must turn through the same angle. Hence 2, 3 & 4 must have the
same angular velocity at every instant. If the distance between the axis of the shaft is x, it will
be the diameter if the circle traced by the centre of the intermediate piece. The maximum
sliding speed of each tongue along its slot is given by
v=xω where, ω = angular velocity of each shaft in rad/sec v = linear velocity in m/sec
Description of some common mechanisms:

Quick Return Motion Mechanisms:

Many a times mechanisms are designed to perform repetitive operations. During these
operations for a certain period the mechanisms will be under load known as working stroke
and the remaining period is known as the return stroke, the mechanism returns to repeat the
operation without load. The ratio of time of working stroke to that of the return stroke is
known a time ratio. Quick return mechanisms (QRM) are used in machine tools to give a slow
cutting stroke and a quick return stroke. The various quick return mechanisms commonly
used are
i) Whitworth QRM ii) Crank and slotted lever QRM iii) Drag link QRM.

2. Drag link Quick return mechanism.

This is four bar mechanism with double crank in which the shortest link is fixed. If the
crank AB rotates at a uniform speed, the crank CD rotate at a non-uniform speed. This
rotation of link CD is transformed to quick return reciprocatory motion of the ram E by the
link CE as shown in figure. When the crank AB rotates through an angle α in Counter
clockwise direction during working stroke, the link CD rotates through 180. We can observe
that α >β. Hence time of working stroke is α /β times more or the return stroke is α /β times
quicker. Shortest link is always stationary link. Sum of the shortest and the longest links of
the four links 1, 2, 3 and 4 are less than the sum of the other two. It is the necessary condition
for the drag link quick return mechanism.

3. Toggle Mechanism:
 In slider crank mechanism, as the crank approaches one of its dead centre position, the
slider approaches zero. The ratio of the crank movement to the slider movement approaching
infinity is proportional to the mechanical advantage. This is the principle used in toggle
mechanism. A toggle mechanism is used when large forces act through a short distance is
required. The figure below shows a toggle mechanism. Links CD and CE are of same length.
Resolving the forces at C vertically F Sin α =P Cos α 2
Therefore, F = P . (because Sin α/Cos α = Tan α) 2 tan α Thus for the given value of P, as the
links CD and CE approaches collinear position (αO), the force F rises rapidly.

4. Hooke’s joint:

Hooke’s joint used to connect two parallel intersecting shafts as shown in figure. This can
also be used for shaft with angular misalignment where flexible coupling does not serve the
purpose. Therefore, Hooke’s joint is a means of connecting two rotating shafts whose axes lie
in the same plane and their directions making a small angle with each other. It is commonly
known as Universal joint. In Europe it is called as Cardan joint.

Intermittent motion mechanism:

1. Ratchet and Pawl mechanism:

This mechanism is used in producing intermittent rotary motion. A ratchet and Pawl
mechanism consists of a ratchet wheel 2 and a pawl 3 as shown in the figure. When the lever
4 carrying pawl is raised, the ratchet wheel rotates in the counter clock wise direction (driven
by pawl). As the pawl lever is lowered the pawl slides over the ratchet teeth. One more pawl 5
is used to prevent the ratchet from reversing. Ratchets are used in feed mechanisms, lifting
jacks, clocks, watches and counting devices.
2. Geneva mechanism:
Geneva mechanism is an intermittent motion mechanism. It consists of a driving
wheel D carrying a pin P which engages in a slot of follower F as shown in figure. During one
quarter revolution of the driving plate, the Pin and follower remain in contact and hence the
follower is turned by one quarter of a turn. During the remaining time of one revolution of the
driver, the follower remains in rest/ locked in position by the circular arc.

4. Pantograph:
Pantograph is used to copy the diagrams in reduced or enlarged scales. Hence, this
mechanism finds its use in copying devices such as engraving or profiling machines. This is a
simple figure of a Pantograph. The links are pin jointed at A, B, C and D. AB is parallel to
DC and AD is parallel to BC. Link BA is extended to fixed pin O. Q is a point on the link
AD. If the motion of Q is to be enlarged then the link BC is extended to P such that O, Q and
P are in a straight line. Then it can be shown that the points P and Q always move parallel and
similar to each other over any path straight or curved.
 Their motions will be proportional to their distance from the fixed point. Let ABCD
be the initial position. Suppose if point Q moves to Q1 , then all the links and the joints will
move to the new positions (such as A moves to A1 , B moves to Q1, C moves to Q1 , D
moves to D1 and P to P1 ) and the new configuration of the mechanism is shown by dotted
lines. The movement of Q (Q Q1) will be enlarged to PP1 in a definite ratio.

5. Ackermann steering gear mechanism:

This mechanism is made of only turning pairs. The cross link KL connects two short
axles AC and BD of the front wheels through the short links AK and BL which forms bell
crank levers CAK and DBL respectively as shown in fig, the longer links AB and KL are
parallel and the shorter links AK and BL are inclined at an angle α. When the vehicles steer to
the right as shown in the figure, the short link BL is turned so as to increase α, where as the
link LK causes the other short link AK to turn so as to reduce α. The fundamental equation for
correct steering is, CotΦ–Cosθ = c / b , where c distance between pivot point and b is the
wheel base.
In the above arrangement it is clear that the angle Φ through which AK turns is less than the
angle θ through which the BL turns and therefore the left front axle turns through a smaller
angle than the right front axle. For different angle of turn θ, the corresponding value of Φ and
(Cot Φ – Cos θ) are noted. This is done by actually drawing the mechanism to a scale or by
calculations. Therefore for different value of the corresponding value of and are tabulated.
Approximate value of b/l for correct steering should be between 0.4 and 0.5. In an Ackermann
steering gear mechanism, the instantaneous centre I does not always lie on the axis of the rear
axle but on a line parallel to the rear axle axis at an approximate distance of 0.3l above it.