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Mechanisms and Kinematic Pairs Explained

This document defines basic concepts and classifications related to mechanisms, links, joints, and kinematic pairs. It discusses the degree of freedom in planar, spherical, and 3D spaces. Key classifications include binary, ternary, and quaternary links as well as revolute, prismatic, cylindrical, and spherical joints. A kinematic chain is formed from links connected by kinematic pairs, and mechanisms are derived from kinematic chains through inversions.

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7 views10 pages

Mechanisms and Kinematic Pairs Explained

This document defines basic concepts and classifications related to mechanisms, links, joints, and kinematic pairs. It discusses the degree of freedom in planar, spherical, and 3D spaces. Key classifications include binary, ternary, and quaternary links as well as revolute, prismatic, cylindrical, and spherical joints. A kinematic chain is formed from links connected by kinematic pairs, and mechanisms are derived from kinematic chains through inversions.

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We take content rights seriously. If you suspect this is your content, claim it here.
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ME 301 THEORY OF MACHINES I

Basic Concepts and Definitions


Mechanisms:

Link:

Kinematic Element:

Kinematic Pair (Joint):

Classifications of Mechanisms, Links and Joints


Mechanisms:

Links:
Binary Link

Ternary Link

Quarternary Link

Kinematic Pairs:

[Link]
Degree of Freedom of Space
Space:

D.O.F of Space:

a. 2-D Space (Planar)

y2
L

y1

x1 x2 x
b. 3-D Space

B
L
A ϕ

zA zB

xA y
xB
yB
yA

x
c. Spherical Space

DOF of Kinematic Pair


Other Kinematic Pairs

Screw Pair:

Slider in a Circular Slot:

Cam Pair:

Rolling Contact:

No slip
Degree of Kinematic Pair (Joint)

Shape, Construction Details, Number of Supports etc. are not important:


Kinematic Chain:

Kinematic Chain:

Mechanism:

Kinematic Inversion:

2 3

4
1

Kinematic Chain
2 3 2 3

4 4
1

Slider-Crank Mechanism

4
4

3
1 2
3

Inverted Slider Crank Mechanism

4
3
4

2
2 3
1

Swinging Block Mechanism


2 3 2 3

4
1 4

Inverted Slider Crank

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