CA1:MECHANISMS AND MACHINES

Name: ARNAB HAZRA

Roll No.- 34900721009

Department- Mechanical Engineering

Year- 3rd (5th semester)

Subject- Kinematics and Theory of Machines(PC-ME503)

 Introduction:
The theory of machines is an applied science which is used to understand the
relationships between the geometry and relative motions of the parts of a machine or
mechanism and the forces which produce these motions. It comprises the study of
relative motion between the various parts of a machine and the study of the forces
that act on those parts.

The major objectives of the subject theory of mechanisms and machines are to provide
the engineers the necessary tools to systematically synthesize a system which means
scientifically arriving at the critical shapes and dimensions of the bodies constituting
the system.
 Kinematic link/Link/Element/Member:

Every part of the machine which is having some relative motion with respect to some other part will be
known as Kinematic link/Link/Element/Member. It is necessary for the link to be a resistant body so that, it is
capable of transmitting forces or torque or power or motion from one element to the other element.
• Resistant Body: Body which are capable to resist the deformation after certain limits and further having
capability to transmit the forces/torque/power/motion from one body to another.
• If body is working like a resistant body then it is a link otherwise (i.e. if the body is working like a non
resistant body) it is not a link.

• Whenever a body is working like a resistant body it depends upon, Body itself and It’s surrounding.
 Types of link:

• Binary Link: Rigid body with two nodes.

• Ternary Link: Rigid body with three nodes.
• Quaternary Link: Rigid body with four nodes.
• Rigid Link: It does not undergo any deformation while transmitting motion. Links in general are
elastic in nature. For example- connecting rod, crank, bones, valve of camshaft etc.
• Flexible Link: It is one which is partly deformed in a manner not to affect the transmission of
motion. For example- belt drive, rope drive, springs etc.
• Fluid Link: It is deformed by having the fluid in a closed vessel and the motion is transmitted
through the fluid by pressure. For example- hydraulic jack, hydraulic brake in automobile, hydraulic
press etc.
 Types of relative motions:
For a relative motion system will be having only two links. Only those two links will be the part of system
in between relative motion is observed.
• Completely constrained motion: Here the motion is getting constrained by system itself. For example-
Square shaft in square hole, etc.
• Successfully constrained motion: Here the motion is getting constrained with the help of surrounding
link. For example- motion of piston inside the cylinder of IC engine, syringe etc.
• Incompletely constrained motion: Here the motion is constrained, i.e. more than one independent outputs
are there. For example- circular shaft in circular hole without collars.

Unconstrained motions are non demanded motion(undesired), therefore, very rarely used, if demanded at
some place. Mostly the used motions are constrained motions.
 Kinematic Pair/Joint:

Any connection between the two links is always known as a joint or pair or kinematic pair. These
pair/joint may be constrained pair or may be unconstrained pair.
• Constrained pair: When the relative motion between the links at that joint is constrained motion.
• Unconstrained pair: When the relative motion between links at that joint is unconstrained motion.
The two links of a machine, when in contact with each other, are said to form a pair. A kinematic pair
consists of two links that have relative motion between them. The links of a mechanism must be
connected together in such a manner that these transmit motion from the driver or input link to the
follower or output link. Two elements or links which are connected or joined together in such a way that
their relative motion is completely constrained forms a kinematic pair.
 Classification of kinematic pair/Joint:
• Turning pair: Here the relative motion is pure turning. This is a constrained pair. Example- Crank pin,
gudgeon pin etc.
• Sliding pair: Relative motion is pure sliding. This is a constrained pair. Example- key-keyway joint.
• Rolling pair: When the relative motion is rolling motion. Example- Wheels and road.
• Screw pair: Relative motion is over the threads. Example- Nut-Bolt. Here independent motion is only
rotation. i.e. constrained pair.
• Spherical pair(ball in socket joint): Here the relative motion is 3-D rotation(spherical motion). Example-
joy-stick, shoulder-hip joint etc. This is a constrained pair.
• Cylindrical pairs: Here the relative motion is between two co-axial cylinders in contact. Here,
independent motions are two(translation and rotation), i.e. unconstrained pair.
 Classification of kinematic pair(contd.):
• Flat pair: Here the relative motion is between the two flat surfaces in contact. Independent motions are
three, i.e. unconstrained motion. Example- Computer mouse-table.
• Lower pair: Here contact is surface contact(area contact). Example- Turning pair, sliding pair, spherical
pair, flat pair, cylindrical pair.
• Higher pair: Here contact is point or line contact(zero area contact). Example- Rolling pair, pair between
cam and follower.
• Wrapping pair: Here one pair is wrapped over other link. This pair will only exists when out of the two
links one link is flexible. Example- Belt-pulley, Rope-pulley, etc.
In wrapping pair multiple contact point exists. Therefore this pair is very close to higher pair.
• Binary Joint: Here two links are attached.
• Ternary Joint: Here three links are attached.
• Quaternary Joint: Here four links are attached.
 Degrees of Freedom (DOF):
• DOF (also known as mobility) of a rigid body is defined as the number of independent movements that at
the body has. To determine DOF of a rigid body, we must consider how many distinct ways it can be
moved. DOF is needed to uniquely define position of a system in space at any instant of time.
• A mechanism can also have several DOFs.
• The DOF of a mechanism is decided by the DOF of the links constituting that mechanism.
• Kutzbach’s (also referred as Grubler’s Criterion in some literature) is widely used to determine DOF of
mechanisms.
• For a planar mechanism, each link has 3 DOF before any of the joints are connected. Not connecting the
fixed link, a L link planar mechanism has
m = 3 (L – 1) – 2j1 – j2.
• The above equation is the Kutzbach criterion applicable to any planar mechanism.
THANK YOU!