MECHANICS
Science dealing with motion
DIVISIONS OF MECHANICS
Statics – Deals with systems which
are not changing with time.
Dynamics – Deals with systems which
are changing with time.
DIVISIONS OF DYNAMICS
KINEMATICS – Deals with Motion and Time
(Kinema – Greek Word – Motion)
KINETICS – Deals with Motion, Time and
Forces.
Statics Kinematics Kinetics
STRUCTURE MECHANISM MACHINE
Definitions
Machine – device to transfer or transform energy
to do useful work.
A mechanism or a combination of mechanisms
which apart from importing definite motions to
the parts also transmits and modifies the available
mechanical energy into some kind of desired
work.
Mechanism – device to transfer or transform
given input motion to specified output motion
Structure – a single body with no motion /
combination of bodies with no relative motion
LINK / ELEMENT
KINEMATIC PAIR / JOINT
KINEMATIC CHAIN
MECHANISM
MACHINE
COMPONENTS OF MECHANISMS
Link / element
Kinematic pairs / joints
Kinematic chain
LINK : All rigid bodies forming the
network of a machine – move relative to
some other part – need not be a rigid but
resistant – capable of transmitting the
required forces with negligible
deformation.
Member or a combination of members of
a mechanism connecting other members
and having motion relative to them.
Types of Link / Element
1. Rigid - does not undergo any appreciable deformation
while transmitting motion : Connecting rod, crank
2. Flexible - Partly deformed not affecting the
transmission of motion : belts, ropes, chains, wires
3. Liquid – fluid in a receptacle and motion transmitted
through the fluid by pressure or compression – jacks,
brakes, hydraulic presses
Rigid Flexible Liquid
• Link with one Node : Unary Link
• Link with two Nodes : Binary Link (a)
• Link with three Nodes : Ternary Link (b)
• Link with four Nodes : Quaternary Link (c)
The degrees of freedom (dof) of a system are
the number of independent coordinates which are
required to uniquely define its position. For
example, if each of the above links are restricted to
move in a plane (as part of a planar mechanism),
then they would each have 3 dof (translation in x
and y, and rotation ).
Kinematic Joint / Pair
A connection between two or more links (at
their nodes) which allows some motion or
potential motion (completely or successfully
constrained) between the connected links
Combination of two links kept in permanent
contact permitting particular kind(s) of relative
motion(s) between them
Constrained motion of a kinematic pair
1. Completely constrained motion
When the motion between a pair is limited to a
definite direction irrespective of the direction of
force applied, then the motion said to be a
completely constrained motion
2: Incompletely constrained
motion: When the motion
between a pair can take
place in more than one
direction, then the motion
called an incompletely
constrained motion
3. Successfully constrained
motion : When the motion
between the elements,
forming a pair, is such that
constrained motion is not
completely by itself, but by
some other means
Classification of Pairs
Type of contact between elements, line, point or
surface
By the number of degree of freedom allowed at
the joint
Type of physical closure of the joint either free
or form closed
Number of links joined (order of the joint)
Classification of Pairs
BASED ON NATURE OF CONTACT BETWEEN LINKS:
1. Lower Pairs -- Surface Contact :When the connection
•between
BASEDtwo
ON elements
NATURE through the areaBETWEEN
OF CONTACT of contactLINKS:
- Ex:
Revolute pair, prismatic, screw, cylindrical, spherical, and planar
pairs 1. Lower Pairs -- Surface Contact
2. Higher
2. Higher PairsPairs – Point
– Point or Line
or Line Contact
Contact –Ex.: Gear, Cam
and Follower, Belt & Rope drive, Ball & roller Bearing
3. Wrapping or special pair
Examples: Belt, Chain, etc.
Lower pairs
Higher pairs
Gear drive
Cam and Follower 15
Based on type of relative
motion between
pairing elements
(a) Siding pair [DOF = 1]
Two links have a sliding
motion relative to each other
(b) Turning pair (revolute pair)
[DOF = 1]
One has a relative turning or
revolving motion
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Based on relative motion between pairing elements
(c) Cylindrical pair [DOF = 2]
Both turning and sliding with no relationship with each
(d) Rolling pair
[DOF = 1] a rolling motion relative to other.
Rolling wheel on
flat surface, Ball
& Roller bearing
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Based on relative motion between pairing
elements
(e) Spherical pair [DOF = 3]: one in the form of sphere
turns inside a fixed link:
(f) Helical pair or screw pair [DOF = 1]: tow have both
turning and sliding
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Based on the nature of mechanical
constraint
(a) Closed pair : elements
(geometrically identical) held
together mechanically - one Solid
and full & other hollow or open
enveloping and enclosing. Contact
will be broken by destroying any
one.
All lower pair and some of higher pair
(b) Unclosed or force closed or
Open pair
Contact either due to force of gravity or
some spring action – not held
together mechanically – Cam and
follower pair
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BASED ON THE POSSIBLE MOTIONS (Few
Important Types only)
Name of Pair Letter Symbol D.O.F
1. Revolute / Turning Pair R 1
2. Prismatic / Sliding Pair P 1
3. Helical / Screw Pair H 1
4. Cylindrical Pair C 2
5. Spherical / Globular Pair S (or) G 3
6. Flat / Planar Pair E 3
7. Cylindric Plane Pair CP 4
8. Spheric Plane Pair SP 5
BASED ON THE NATURE OF CONSTRAINT
1. (Completely) Constrained Pair - 1 D.O.F
2. Unconstrained Pair – More than 1 D.O.F
3. Successfully Constrained pair – Unconstrained
pair converted as Constrained pair by some
means.
Kinematic Chain
Assembly of links and pairs to produce required
/ specified output motion(s) for given input
motion(s)
Linkage –one of the links of a kinematic chain is
fixed to the ground
Mechanism : A kinematic chain with one link
fixed / stationary – If motion of any of the
movable links results in definite motion of
others
Structure or Locked system : Dof is zero
Superstructure : structure with negative Dof
Mobility / D.O.F of Mechanism
No. of inputs required to get a constrained
mechanism (or) no. of position variables needed
to sketch the mechanism with all link lengths
known.
KUTZBACH CRITERION FOR PLANAR
MECHANISM
F = 3(n-1)-2P1-1P2
F – D.O.F n – No. of links
P1 – No. of kinematic pairs with 1 D.O.F.
P2 – No. of kinematic pairs with 2 D.O.F.
Number synthesis
Expressing no. of DOF of a linkage in terms of
the no. of links and the no. of pair connections
of different types
Let
N = total no. of links in a mechanism
F = DOF
P1 = No. of pairs having one DOF
P2 = No. of pairs having two DOF
AB fixed Link; CD – Movable
Position of Point P completely specified by 3 variables :
x, y & θ
Each link has 3 DOF before it is connected to any other
link .
When CD is connected to AB by a turning pair at T,
position of Cd is determined by a single variable θ and
has one DOF.
When a link is connected toa fixed link by aturning pair
2 DOF destroyed.
F=9 F=7 F=5 F=3 F=1
Spatial
Spatial D.O.F.
D.O.F. Planar D.O.F.
Planar D.O.F.
R – Pair P – Pair C - Pair
R – Pair P – Pair C - Pair
In a mechanism one link is fixed
No. of movable link = N – 1
DOF of (N – 1) movable links = 6 (N – 1)
Each pair having one DOF imposing 5 restraints on
the mechanism, hence DOF = 5 P1
Each pair having two DOF imposing 4 restraints on
the mechanism, hence DOF = 4 P2
similarly other pairs having 3, 4 and 5 DOF reduce
the DOF of the mechanism,
F = 6 (n -1) – 5 P1 – 4P2 – 3P3 – 2P4 – P5
Restricting six DOF Not practical
Most of the mechanism are two
dimensional such as slider – crank and
four-link & displacement along two axes
and rotation about only one axis – 3
restraint
Hence for plane mechanism,
F = 3(N – 1) – 2 P1 – P2 - Grubler’s
criterion for DOF of plane mechanism in
which each movable link possesses 3
DOF – Kutzback Criterion
For linkages with a single DOF only, P2 = 0
F = 3(N – 1) – 2 P1
As most of the linkages are expected to
have one DOF one input to any of the links,
a constrained motion of the others
obtained.
1 = 3(N – 1) – 2 P1
2 P1= 3N - 4
As P1 and N are whole nos. 2 P1= 3N – 4 met only
if N is even – binary links
N=4 P1 = 4 No excess turning pair
N=6 P1 = 7 One excess turning pair
N=8 P1 = 10
Increse in no. of links increases the no. of excess
turning pairs.
Excess or additional pairs or joints can be obtained
only from links having more than two joining
points – ternary or quarternary links, etc
Not six-link
chain - 4
Link chain as
Stephennson’s
links 1, 2 and
six-bar chain
Watts six-bar chain - 3 are one link
ternary link
ternary links connected only with no
not connected
relative
motion
2 Excess turning pairs required for 8 link chain by using
4 ternary links as (a) and (b)
2 quaternary links as in (c)
one quanternay and 2 ternary links as in (d)
No. of links = 8
P1 = 9 + 1 = 10
F = 3(8 -1 ) – 2 x 10 = 1
F = N – (2L +1)
P1 = N + (L -1)
Where
N = total no. of links in a mechanism
F = DOF
L = No. of Loops in a linkage
L F P1
1 N-3 N
2 N-5 N+1
3 N-7 N+2
4 N-9 N+3
5 N-11 N+4
Ex: if 4 loops and 11 links, its DOF = 2 and No. of joints = 14.
Sometimes, all relations discussed may not give correct
results.
No. of Links = 5, P1 = N + (L – 1)
No. of turning pair = 6 6 = 5 + (2 -1)
No. of Loops = 2 6 =6
F = 5 – (2 x 2 +1) = 0 - Structure
No. of Links = 4, P1 = N + (L – 1)
No. of turning pair = 4 4 = 4 + (1-1) = 4
No. of Loops = 1
F = 4 - (2x 1 +1) = 1
F = 3(N – 1) – 2 P1 = 3(5 – 1) -2 x 5 = 12-10 = 2
= 3(4-1) – 2x4 = 9-8 = 1
Examples - DOF
F = 3(n-1)-2l-h
Here, n = 4, l = 4 & h
= 0.
F = 3(4-1)-2(4) = 1
I.e., one input to any
one link will result in
definite motion of all
the links.
Examples - DOF
F = 3(n-1)-2l-h
Here, n = 5, l = 5 and h = 0.
F = 3(5-1)-2(5) = 2
I.e., two inputs to any two
links are required to yield
definite motions in all the
links.
Examples - DOF
F = 3(n-1)-2l-h
Here, n = 6, l = 7 and h = 0.
F = 3(6-1)-2(7) = 1
I.e., one input to any one link
will result in definite motion
of all the links.
Examples - DOF
F = 3(n-1)-2l-h
Here, n = 6, l = 7 (at
the intersection of 2, 3
and 4, two lower pairs
are to be considered)
and h = 0.
F = 3(6-1)-2(7) = 1
Examples - DOF
F = 3(n-1)-2l-h
Here, n = 11, l = 15 (two
lower pairs at the
intersection of 3, 4, 6; 2,
4, 5; 5, 7, 8; 8, 10, 11) and
h = 0.
F = 3(11-1)-2(15) = 0
Examples - DOF
(a) (b) (c)
F = 3(n-1)-2l-h F = 3(n-1)-2l-h F = 3(n-1)-2l-h
Here, n = 4, l = 5 and Here, n = 3, l = 2 and Here, n = 3, l = 2 and
h = 0. h = 1. h = 1.
F = 3(4-1)-2(5) = -1 F = 3(3-1)-2(2)-1 = 1 F = 3(3-1)-2(2)-1 = 1
I.e., it is a super
structure
F = N – (2L +1)
P1 = N + (L -1)
Where
N = total no. of links in a mechanism
F = DOF
L = No. of Loops in a linkage
L F P1
1 N-3 N
2 N-5 N+1
3 N-7 N+2
4 N-9 N+3
5 N-11 N+4
Ex: if 4 loops and 11 links, its DOF = 2 and No. of joints = 14