ME 301
Theory of Machines I
Dr. Ergin TÖNÜK
Department of Mechanical Engineering
Graduate Program of Biomedical Engineering
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tonuk@[Link]
1. Introduction and Basic Concepts
Introduction and Application Examples
Definitions
Degree of Freedom
Kutzbach Formula
General Equation
Exceptions
Grübler’s Equation
Kinematic Inversion
Enumeration
ME 301 Theory of Machines I
Basic Definitions
Machine: A self contained assembly of
components that transmits / modifies energy
to perform or assist a specific task.
▪ It has an energy source (input / prime
mover / motor)
▪ It accomplishes a well defined task (output
/ work)
(Mechanical) Machine: Mechanical forces of
nature, accompanied by motion, are
compelled to do the work (task).
Theory of Machines: An applied science
used to understand / generate motions of
parts of the machine and the forces that
produce / accompany these motions.
ME 301 Theory of Machines I
Various Phases of Machine Design
• Satisfying motion transmission requirements
• Calculation of driving force(s) and ME 301
accompanying reactions (internal forces)
• Satisfying dynamic requirements (smooth
ME 302
operation, control of vibration, noise)
• Satisfying strength and rigidity requirements ME 307-8
• Satisfying economic, ergonomic, esthetic,
ME 407
safety requirements
ME 301 Theory of Machines I
Mechanics
concerned with the behavior of bodies/matter under the action of forces
Solid Mechanics Fluid Mechanics
Mechanics of Mechanics of Rigid
Deformable Bodies Bodies
(Strength of
Materials)
Matter is assumed to be
a continuous
Statics Dynamics
distribution of infinitely
many infinitesimal
particles (continuum
Kinematics Kinetics approximation)!
ME 301 Theory of Machines I
Definitions
Kinematics of machinery deals with the motion
transmission characteristics in isolation from
forces. Also named as Mechanisms.
Mechanism is a group of rigid bodies (links)
connected to each other by rigid joints (kinematic
pairs) having the purpose of motion transmission.
Link: A rigid body (a body that does not change its
shape and size under the action forces (an
idealization!) that has rigid kinematic elements.
Kinematic Pair / Joint: Two or more kinematic
elements joining two or more links permitting
certain relative motion between the links, (unlike
the ‘joint’ in ME 307 Machine Elements!)
ME 301 Theory of Machines I
Mechanism
• It is a group of rigid bodies (links) connected to each
other by rigid kinematic pairs (joints) to transmit force
and motion.
• It is a kinematic chain where one of the links is fixed.
• A mechanical machine is defined as a combination of
resistant bodies so arranged that by their means the
mechanical forces of nature can be compelled to do work
accompanied by certain determinate motion1.
Mechanisms are the basic building blocks of mechanical
machines. A machine is designed for a specific task using
appropriate mechanisms.
1 Reulaeaux, Kinematics of Machinery, 1876
ME 301 Theory of Machines I
Examples
Reciprocating Two-Stroke Internal
Air Compressor Combustion Engine
ME 301 Theory of Machines I
Examples
Slider-crank mechanism Kinematic Diagram
ME 301 Theory of Machines I
Examples
Windshield Wiper
ME 301 Theory of Machines I
Examples
Crank-Rocker Four Bar Mechanism
ME 301 Theory of Machines I
Examples
Physical Examples of Instructor
Six short asynchronous lectures.
Examples in the textbook pp. 5-9
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Similar to above but in Turkish
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Slides 15-21, 24-28, 43
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ME 301 Theory of Machines I