MMC
Assignment
Submitted to:
Sir Rehmat Bashir
Submitted By:
Fardeen Khan
2023-ME-03
Section A
1.1. Machine
A machine is a mechanism or collection of mechanisms which transmit force from the
source of power to the resistance to be overcome. An example is the internal-
combustion engine. [1]
1.2. Mechanics of Machines
The theory of machines and mechanisms is an applied science that allows us to understand
the relationships between the geometry and motions of the parts of a machine, or
mechanism, and the forces that produce these motions. [2]
1.3. Pairing elements
The geometrical forms by which two members of a mechanism are joined together so that
the relative motion between these two members is consistent are known as
pairing elements. [1]
1.4. Link
A link is a rigid body having two or more pairing elements by means of which it may be
connected to other bodies for purposes of transmitting force or motion.
A well-known example of a link with three connections is the bell crank, which can be
arranged as shown in Fig 1 [1]
Fig 1 link [1]
1.4.1. Types of Links (on basis of number of joints) [2]
[Link]. Binary links
Links containing only two joint elements are called binary links.
Shown in fig 2 (b)
[Link]. Ternary links
Links containing three joint elements are called ternary links. Shown
in fig 2 (c)
[Link]. Quaternary links
Links containing four joint elements are called quaternary links.
Shown in fig 2 (a)
(a) (b) (c)
Fig 2 [3]
1.4.2. Types of links [4]
[Link]. Rigid link
A rigid link is one which does not undergo any deformation while
transmitting motion. As the deformation of a connecting rod, crank etc
of a reciprocating steam engine is not appreciable, they can be
considered as rigid links. Shown in fig 3
[Link]. Flexible link
A flexible link is one which is partly deformed in a manner not to
affect the transmission of motion. For example, belts, ropes, chains
and wires are flexible links and transmit tensile forces only. Shown in
fig 3
Fig 3
[Link]. Fluid link
A fluid link is one which is formed by having a fluid in a receptacle
and the motion is transmitted through the fluid by pressure or
compression only, as in the case of hydraulic presses, jacks and brakes.
Shown in fig 4
Fig 4 [5]
1.5. Kinematic Pair
The links of a mechanism must be connected in some manner in order to transmit motion
from the driver or input link to the driven or output link. The connections or the joints
between the links are called kinematic pair. [2]
1.5.1. Types of Pair (on basis of contact)
[Link]. Lower Pair
If the joint by which two members are connected has surface contact
such as a pin joint, the connection is known as a lower pair. [1] Shown
in fig 5
Fig 5 [4]
[Link]. Higher Pair
If the connection takes place at a point or along a line such as in a ball
bearing or between two gear teeth in contact, it is known as a higher
pair. [1] Shown in fig 6
Fig 6 [4]
1.5.2. Types of pair (on basis of Motion) [2]
[Link] Turning pair
The revolute or turning pair, R permits only relative rotation and is
often referred to as a pin joint. This joint has one degree of freedom.
Shown in fig 7 (a)
[Link] Sliding Pair
The sliding or prismatic pair, P permits only relative sliding motion
and therefore is often called a sliding joint. This joint also has one
degree of freedom. Shown in fig 7 (b)
[Link] Screw Pair
The screw or helical pair, H permits both rotation and sliding motion.
However, it only has one degree of freedom, since the rotation and
sliding motions are related by the helix angle of the thread. Shown in
fig 7 (c)
[Link] Cylinder Pair
The cylinder or cylindric pair, C permits both a rotation and an
independent sliding motion. Thus, the cylindric pair has two degrees of
freedom. Shown in fig 7 (d)
[Link] Sphere Pair
The sphere or globular pair, S is a ball-and-socket joint. It has three
degrees of freedom, sometimes taken as rotations about each of the
coordinate axes. Shown in fig 7 (e)
[Link] Flat pair
The flat or planar pair, sometimes called an ebene pair (German), F
is seldom found in mechanisms in its undisguised form, except at a
support point. It has three degrees of freedom, that is, two translations
and a rotation. Shown in fig 7 (f)
Fig 7
1.6. Kinematic Chain
When a number of links is connected by means of pairs, the resulting system is a
kinematic chain. [1]
1.6.1. Types of Kinematic Chain [1]
[Link]. Locked Kinematic Chain
If these links are connected in such a way that no motion is possible, a
locked chain (structure) result. Shown in fig 8.
Fig 8 Simple locked kinematic chain [6]
[Link]. Constrained Kinematic Chain
A constrained chain is obtained when the links are so connected that, no
matter how many motion cycles are passed through, the relative motion
will always be the same between the links. As shown in fig 9.
Fig 9 four bar chain mechanism [1]
[Link]. Unconstrained Kinematic Chain
It is also possible to connect links so that an unconstrained chain results,
which means that the motion pattern will vary from time to time
depending on the amount of friction present in the joints. Shown in fig
10.
Fig 10 Unconstrained kinematic chain [7]
1.7. Mechanism
If one of the links of a constrained chain is made a fixed link, the
result is a mechanism. [1]
Fig 11 [4]
1.7.1. Types of Mechanism (on basis of motion) [2]
[Link]. Planar Mechanism
A planar mechanism is one in which all particles describe planar
curves in space, and all these curves lie in parallel planes.
Shown in fig 12.
Fig 12 four bar chain mechanism [1]
[Link]. Spheric mechanism
A spheric mechanism is one in which each moving link has a point
that remains stationary as the mechanism moves.
Fig 13 [2]
[Link]. Spatial Mechanism
Spatial mechanisms include no restrictions on the relative motions of
the links. For example, a mechanism that contains a screw joint, As
shown in fig 14.
Fig 14 [2]
1.7.2. Types of Mechanism (on basis of kinematic links) [6]
[Link]. Simple Mechanism
A mechanism with up to four kinematic links is called simple
mechanism. As shown in fig 15 (a)
[Link]. Compound Mechanism
A mechanism with more than four kinematic links is called simple
mechanism. As shown in fig 15 (b)
Fig 15 [6]
1.8. Reference
[1] Mechanics And Dynamics of Machinery 4 th Edition H. H. Mabie & C.
F. Reinholtz
[2] Theory of Machines and Mechanisms 6th Edition J. J. Uicker Jr., G. R.
Pennock & J. E. Shigley
[3] [Link]
[Link]
[4] [Link]
[Link]
[5] [Link]
[6] [Link]
10/[Link]
[7] [Link]
[Link]/2014/03/[Link]