ME310-Theory of Machines

Assistant Professor
Department of Mechanical Engineering
National University of Science and Technology
College of E M E

Contact: naveeddin@[Link]
 Introduction

Introduction to Theory of Machines

Theory of machines deals with the study
of masses, motions and forces in
machines.

But what is machine?

A machine is a combination of rigid
bodies, so farmed and connected that
they move upon each other with relative
motions and transmit force from source
of power to the resistance to be
overcome.
OR

A device which transforms energy

available in one form to another to do
desired work.
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 Introduction

In short:
This course deals with kinematics, kinetic and dynamics of machinery in
respect to the synthesis of mechanisms in order to accomplish desired
motions or tasks, and also the analysis of mechanisms in order to determine
their rigid-body dynamic behaviour.

Kinematics
Describes the motion of bodies, neglecting the
forces producing the motion. i.e.
displacement, velocity, acceleration
Dynamics
Kinetic combination of kinematics
Describes the relationship between force and and kinetics.
motion. Or The study of forces on systems in
motion. (F=ma)
Mechanism
A Mechanism is a combination of rigid or resistant bodies joined together to
provide a specific absolute motion
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 Introduction

This course has been divided into

Kinematics of Mechanism: Motion of machine parts without considering

the manner in which the influencing factors (force and mass) affect the motion.
It deals with displacement, velocity, acceleration.
Dynamics of Machinery: Divided into two subdivisions static and kinetics
of machinery, treat of machine parts that are acted upon by both balance and
unbalanced forces, taking into account the masses and accelerations of the parts
as well as the external forces.

Machine Design
In designing any machine the first task is to determine the kinematic
configurations needed to provide desired motions. Force and stress analysis can’t
be done until the kinematic issues have been resolved. Any machine or device that
moves contains one or more kinematic elements such as linkages, cams, gears,
belts and chains.

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 Introduction
Kinematics applications
A car cantinas many examples of kinematic devices, its wheel
suspension, steering system, piston engine all contain linkages, engine
valves are opened by cams. Even windscreen whippers are linkage
driven

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 Introduction

A simple bicycle an example of a kinematics system that contains a

chain drive to Provide torque multiplication and simple cable operated
linkages of breaks.
 Kinematics Fundamentals

Kinematics Fundamentals
Plane Motion (2D): The motion of a machine member is usually such that all its
points move in parallel planes. This type of motion is called plane motion.
Translation of a machine member
occurs when any line drawn on the
member remains parallel to its self
during the motion. Changes linear
position but does not change angular
orientation.

Rotation is present when such a line

does not remain parallel to itself and
member possesses one centre of
rotation.
Combination of translation and
rotation. Any reference line drawn on
the body will change both its liner
position and angular orientation.
 Kinematics Fundamentals

Degrees of Freedom
One of the most important concept in the analysis and design of a mechanical
system is its mobility (M) or its degrees-of freedom (DOF). A mechanical system’s
DOF is equal to the number of independent co-ordinates required to define its
position in space at any given time.

How many degree of freedom?

Three parameters are required to completely

describe the position of the pencil on the
paper. Two linear coordinate (x, y) and one
angular coordinate, θ. Therefore this system of
the pencil on the paper has 3 DOF.

What if we hold this pencil in our hand and move it about.

How many parameters are required to define its position?
Its 6DOF system and requires six parameters to define its
configuration. (x, y, z) and (θ, Φ, ρ).
 Kinematics Fundamentals

Constituents of Mechanism
Before embarking onto kinematics of mechanism one need to get familiarise
with basic concepts and constituents of a mechanism which are
Link or element
A machine part or a component of a mechanism is called a kinematic link or simply a
link which possess at least two nodes which are points for attachment to other links.
A link is assumed to be completely rigid, or under the action of forces it does not
suffer any deformation, signifying that the distance between any two points on it
remains constant. Although all real machine parts are flexible to some degree, it is
common practice to assume that deflections are negligible and parts are rigid when
analysing a machine’s kinematic performance.
Types of Links
Binary link: Link which is connected to other links at two points.
Ternary link: Link which is connected to other links at three points.
Quaternary link: Link which is connected to other links at four points.
 Kinematics Fundamentals

Kinematic pair or Joint

when two or more links or elements of a mechanism, when in contact, are said to
form a pair. This connection between link allows some motion or potential
motion between the connected links.

Classification of kinematic pair

The kinematic pairs may be classified according to the following considerations :
BY the type of contact between the pairing elements
Lower pair: A pair of links having surface or area
contact between the members is known as a lower
pair. e.g. Nut and screw, shaft rotating in bearing,
slider crank mechanism, etc.

Higher pair: When a pair has a point or line contact

between the links, it is known as a higher pair. E.g.
Wheel rolling on a surface, cam and follower pair,
tooth gears, ball and roller bearings.
 Kinematic pairs according to nature of relative motion

Prismatic or Sliding pair: Sliding pair is constituted by

two elements so connected that one is constrained to
have a sliding motion relative to the other. DOF = 1

Rolling pair: In a rolling pair, one element undergoes rolling motion with
respect to the other. e.g. Wheel rolling on a flat surface, belt and pulley.
DOF = 1

Revolute or Turning pair: When connections of the two

elements are such that only a constrained motion of rotation
of one element with respect to the other is possible, the pair
constitutes a revolute pair. e.g. is a shaft with collars in a
circular hole.
 Cylindrical pair: If the relative motion between the pairing
elements is the combination of turning and sliding, then it is
called as cylindrical pair. E.g. a solid cylindrical bar inside a
hollow shaft

Spherical pair: A spherical link turns inside a

fixed link and will have surface contact and three
degrees of freedom. Eg. Ball and socket joint.

Helical or screw pair: When the nature of contact between

the elements of a pair is such that one element can turn
about the other by screw threads. E.g. Nut and bolt.

Planar pair: Two coordinates x and y describe the relative

translation in the xy-plane and the third 'theta' describes the
relative rotation about the z-axis.
 Based on the nature of mechanical constraint (or mechanical Contact)

Form closed pair: When the elements of a pair are held together mechanically, it
is known as a closed pair. The contact between the two can be broken only by
destruction of at least one of the member. These pairs are also called self-closed
pairs.e.g. all lower paris

Forced closed pair : When two links of a pair are in contact either due to force
of gravity or some spring action, they constitute a Forced closed. E.g. cam
follower, belt running on pulley
 Based on number of DOF allowed at the joint

The pin joint or revolute (R) and the translating

(prismatic) slider joint (P) are 1 DOF joints
because they allow only one degree of freedom
Revolute (R) joint Prismatic (P) joint
between the joint links. These are also referred 1 DOF 1 DOF
to as full joints (i.e., full = 1 DOF) and are lower
pairs.
The (R) and (P) joints are both contained within (and each
is a limiting case of) the helical (H) joint. The helical joint
Helical (H) joint
is achieved by a screw and nut arrangement. 1 DOF

These joint are sometimes referred to as a “half

joint.” Example of these joints are the cylindric
(C) lower pair joint, and the pin in slot and the Cylindrical (C) joint
cam roll-slide higher pair joints. 2 DOF
 Joints Reduce System DOF
In planar linkages, motion is
restricted to the XY plane. The
mobility is hence reduced from six
to three for each link.

Pairs Attaching these 2 links

together with a full single DOF
pair, such as a turning or sliding
pair, then its mobility is further
reduced from three to two for
each link.

Attaching these links with a half rolling

and sliding 2DOF pair, such as a rolling
and sliding pair, then the total number
of mobility is reduced by one from six
to five.
 Degrees of Freedom (M) of Planar (2D) Mechanisms
A rigid body confined to a plane can move in:
• Translation along x-axis
• Translation along y-axis
• Rotation about z-axis

Total independent motions = 3 DOF

Let L be total number of links. One link is fixed (ground). Each remaining link has 3
DOF.
Total possible motion before joints: 3(L − 1)

Role of Joints in 2D Mechanisms

• Joints connect links and restrict relative motion.
• Joints do NOT create motion.
• They remove motion (constraints) If we attach this link to the ground
with a single DOF pair, such as a
Examples: revolute, prismatic joints turning pair, then its DOF is reduced
Allowed DOF = 1 from three to one
Restricted DOF = 2
 Question could arise, Why Lower Pairs Impose 2 Constraints

Free planar motion = 3 DOF Constraints imposed = 3 − 1 = 2

Lower pair allows 1 DOF

Higher Pairs in 2D Allowed DOF = 2 Constraints imposed = 3 − 2 = 1

Restricted DOF = 1
cam-follower, gear contact

Let:
J₁ = number of lower pairs
Total constraints = 2J₁ + J₂
J₂ = number of higher pairs

Degree of Freedom (DOF):

DOF = Total possible motion − Total constraints

M or DOF = 3(L −1) − 2J1 − 1J2

Kutzbach’s Equation for Mobility

 Degrees of Freedom (M) of Spatial (3D) Mechanisms

A link free in space has six DOF since it is free to

translate in each of the X, Y, and Z directions and to
rotate about each of the axes.
x, y, z translations (3)
• DOF of single link when not connected = 6(L-1) x, y, z rotations (3)
Total = 6 independent
• Joints connect links and restrict relative motion motions (6 DOF)
If a joint allows f DOF,
• It must restrict the remaining motions
• Constraints imposed by one joint: 6 − f

Example for Spherical joint:

• Allows 3 rotations → f = 3 Total constraints = 3 = (6 − 3)
• Prevents all translations

Each joint contributes constraints independently.

Summation of
Total constraints in a mechanism: Σ(6 − fᵢ)
Constraints
DOF = Total possible motion − Total constraints

DOF = 6(L − 1) − Σ(6 − fᵢ)

fi​ = DOF of the i-th joint

M = 6(L −1) − 5J1 − 4J2 − 3J3 − 2J4 − 1J5

M = degree of freedom or mobility

L = number of links
J1 = having 1 DOF joints or pair (Revolute)
J2 = having 2 DOF joints (Cylindrical)
J3 = having 3 DOF joints (Spherical)
J4 = having 4 DOF joints (Spherical + sliding)
J5 = having 5 DOF joints (Point or line contact)
5, 4, 3, 2 &1 Restricted motions
 M or DOF=?

L=8
J1=10
J2=0
M=DOF=1