Kinematics & Dynamics of Machines

Course Code: BMEE207L

School of Mechanical Engineering

Vellore Institute of Technology, Chennai - 600127
 TEXT BOOKS

 Theory of Machines, Rattan S.S, Tata McGraw-Hill Publishing Company.

 Theory of Machines, Sadhu Singh
 Theory of Machines, by R S Khurmi

REFERENCE BOOKS:

 “Theory of Machines & Mechanisms", J.J. Uicker, , G.R. Pennock, J.E. Shigley. OXFORD 3rd Ed.

Further Reference:
 National Programme on Technology Enhanced Learning (NPTEL)
[Link]
 Course Outcomes
Course Objectives

1. To enable students to understand the fundamental concepts of mechanisms.

2. To facilitate students to understand the functions of cams, gears, and flywheel.
3. To impart knowledge on design of mechanisms and dynamic loads acting on the mechanism.
4. To give an insight on the concepts of balancing, vibration and speed governing devices.

Course Outcome

At the end of the course, the student will be able to

1. Examine the kinematic behaviour of various planar mechanisms.
2. Construct velocity and acceleration diagrams for various planar mechanisms.
3. Analyse kinematics of cam and gear-train mechanisms.
4. Investigate the dynamic forces acting on planar mechanisms.
5. Analyse the balancing of masses and vibrations of mechanical systems.
6. Assess the characteristics of governors and gyroscopic effects
Module:1 Mechanisms and kinematics
Introduction, mechanisms and machines, terminology, planar
mechanism - Kinematic diagram and inversion, Mobility,
Coincident joints, Grubbler and Grashoff’s law, Four bar, single
and double slider mechanisms and their inversions.
 Engineering Mechanics

STATICS DYNAMICS
Study of Body in Rest Study of Body in Motion

KINEMATICS KINETICS
Forces are not to be Forces are to be
considered considered
 Terminologies
Machine

• Device for transferring and/or transforming motion and force (power) from source
(Input) to the load (output).
or

• A machine is a device which receives energy in some available form and utilizes
to do some work.
 Basic Definitions

Kinematic Kinematic
Link/Element Mechanism Machine
Pair/Joint Chain
 Basic Definitions Kinematic Chains and Inversions

• Link or element • Inversions of Four bar chain

• Kinematic pair • Single slider crank chain and
• Kinematic chain
• Double slider crank chain
• Mechanism, Machine & Structure

• Degrees of freedom (DOF)

• Grubler’s criterion

• Inversion
 Kinematic Link or Element

Each part of a machine, which moves relative to some other part, is known as a
kinematic link (or simply link) or element.
 Types of Links

• Rigid link : Link which does not undergo any deformation while transmitting motion.

• Flexible link: Link which is partly deformed in a manner not to affect the
transmission of motion.
e.g.: belts, ropes, chains and wires

• Fluid link: A link formed by having a fluid in a receptacle and the motion is
transmitted through the fluid by pressure.

e.g.: hydraulic presses, jacks and brakes.

 Structure

An assembly of a number of resistant bodies (members) having no relative

motion between them and meant for carrying loads having straining action.

Examples: A railway bridge, a roof truss, machine frames. etc.

 Difference Between a Machine and a Structure

• The parts of a machine move relative to one another, whereas the members of a
structure do not move relative to one another

• A machine transforms the available energy into some useful work, whereas in a
structure no energy is transformed into useful work

• The links of a machine may transmit both power and motion, while the members
of a structure transmit forces only (load bearing member).
 Kinematic Pair

The two links or elements of a machine, when in contact with each other, are said to
form a pair, If the relative motion between them is completely or successfully
constrained (i.e. in a definite direction)

Completely constrained
Successfully constrained
Constrained Motions
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 is said to be a completely
constrained motion.
Example:
The motion of a square bar in a square hole

The motion of a shaft with collars at each end in a circular hole

2. Incompletely constrained motion

When the motion between a pair can take place in more than one direction,
then it can be an incompletely constrained motion.

E.g.: A circular bar or shaft in a circular hole

It may either rotate or slide in a hole. These both motions have no relationship
with the other (automobile wheel).
3. Successfully constrained motion

When the motion between the elements, forming a pair, is such that the
constrained motion is not completed by itself, but by some other means

E.g.: Shaft in a foot-step bearing, I C engine valve, Piston inside an cylinder.

 Degrees of freedom (DOF)

In a kinematic pair, depending on the constraints imposed on the motion, the links
may loose some of the six degrees of freedom.
 Degrees of Freedom (DOF) / Mobility of a Mechanism

Number of independent coordinates, required to describe / specify the configuration

or position of all the links of the mechanism, with respect to the fixed link at any

given instant.
 Classification of Kinematic Pairs

According to the type of relative motion between the elements

1. Sliding pair / Prismatic pair (P)

When the two elements of a pair are connected in

such a way that one can only slide relative to the
other, has a completely constrained motion.

E.g.: The piston and cylinder, Cross-head and guides of a

DOF = 1
reciprocating steam engine, ram and its guides in shaper, tail
stock on the lathe bed
 2. Turning Pair / Revolute Pair (R)

When the two elements of a pair are connected in such a way that one can only
turn or revolve about a fixed axis of another link.

Examples Lathe spindle supported in head stock.

cycle wheels turning over their axles.

DOF = 1
3. Spherical pair (S)

When the two elements of a pair are connected in such a way that one element
turns or swivels about the other fixed element.

Eg: The ball and socket joint.

Attachment of a car mirror.

Pen stand.

DOF = 3
 4. Screw pair

When the two elements of a pair are connected in such a way that one element can
turn about the other by screw threads.

Examples:

• The lead screw of a lathe with nut

• Bolt with a nut

DOF = 1
5. Cylindrical pair

If the relative motion between the pairing elements is the combination of turning
and sliding, then it is called as cylindrical pair.

DOF = 2
6. Rolling Pair

When the two elements of a pair are connected in such a way that one rolls over
another fixed link.

E.g.: Ball and roller bearings, railway wheel rolling over a fixed rail

Belt and pulley

DOF = 1
 Classification of Kinematic Pairs

According to the type / nature of contact between the elements / links.

1. Lower pair

When the two elements of a pair have a surface contact, and the surface of one
element slides or rolls over the surface of the other.
E.g. sliding pairs, turning pairs and screw pairs form lower pairs.
 Classification of Kinematic Pairs

According to the type / nature of contact between the elements / links.

2. Higher pair

When the two elements of a pair have a line or point contact, and the motion
between the two elements is partly turning and partly sliding.

E.g.: toothed gearing, belt and rope drives, ball and roller bearings and cam and
follower.
 Kinematic Chain

When the kinematic pairs are coupled in such a way that the last link is joined to
the first link to transmit definite motion (i.e. completely or successfully constrained
motion), it is called a kinematic chain.
Or
Assembly of links (Kinematic link / element) and Kinematic pairs to transmit
required / specified output motion(s) for given input motion(s)
 Mechanism

• When one of the links of a kinematic chain is fixed, the chain is known as
mechanism.
• It may be used for transmitting or transforming motion

e.g. printing machine, windshield wiper, robot arms

• A mechanism may be regarded as a machine in which each part is reduced

to the simplest form to transmit the required motion.
 Grubler’s Criterion / Equation

Grubler’s mobility equation

M = 3(n-1) – 2l – h

M = Total no. of DOF

n = Total no. of links in a mechanism
l = No. of binary joints
h = No. of higher pairs

If, M > 0, It gives mechanism with M DOF

M = 0, it gives a statically determinate structure
M < 0, it gives statically indeterminate structure
Find the Degrees of Freedom

DOF, M = 3(n-1) – 2l – h

Number of Links, n = 8
Number of Binary joints, l = 10
Number of Higher Pairs, h = 0

DOF, M = 1
Find the Degrees of Freedom

DOF, M = 3(n-1) – 2l – h

Number of Links, n = 8
Number of Binary joints, l = 10
Number of Higher Pairs, h = 0

DOF, M = 1
Find the Degrees of Freedom

DOF, M = 3(n-1) – 2l – h

Number of Links, n = 7
Number of Binary joints, l = 8
Number of Higher Pairs, h = 0

DOF, M = 2
Find the Degrees of Freedom

DOF, M = 3(n-1) – 2l – h

Number of Links, n = 6
Number of Binary joints, l = 7
Number of Higher Pairs, h = 0

DOF, M = 1
Find the Degrees of Freedom (Practice)

DOF, M = 3(n-1) – 2l – h
Find the Degrees of Freedom (Practice)

DOF, M = 3(n-1) – 2l – h
Find the Degrees of Freedom (Practice)

DOF, M = 3(n-1) – 2l – h
 Inversion of Mechanism

• A mechanism is one in which one of the links of a kinematic chain is fixed.

• Different mechanisms can be obtained by fixing different links of the same

kinematic chain.
 Types of Kinematic Chains

1. Four bar chain or quadric cyclic chain

2. Single slider crank chain

3. Double slider crank chain

1. Four bar chain or quadric chain

• Four bar chain (mechanism) is the simplest and the

basic kinematic chain and consists of four rigid links
• Each of them forms a turning pair at A, B, C and D.

The link that makes a complete revolution is called a crank

• The four links may be of different lengths.

• According to Grashof’s law for a four bar mechanism, “the sum of the
shortest and longest link lengths should not be greater than the sum of the
remaining two link lengths” if there is to be continuous relative motion between
the two links.
 1. Four bar chain or quadric chain

• The shortest link, will make a complete revolution relative to the other three links crank or driver.
In Fig., AD (link 4 ) is a crank.

• link BC (link 2) which makes a partial rotation or oscillates is known as lever or rocker or follower

• link CD (link 3) which connects the crank and lever is called connecting rod or coupler.

• The fixed link AB (link 1) is known as frame of the mechanism.

The mechanism transforms rotary motion into oscillating motion.

• In this mechanism, the links AD and BC (having equal length) act as cranks and are connected

to the respective wheels.

• The link CD acts as a coupling rod.

• The link AB is fixed in order to maintain a constant centre to centre distance between them.

Purpose: Transmitting rotary motion from one wheel to the other wheel.
 When the crank AB rotates about the fixed point A.
 The lever oscillates about another fixed point D.
 The end E of lever is connected to a piston rod which reciprocates in a cylinder.

Purpose of this mechanism is to convert rotary motion into reciprocating motion.

The four links are : fixed link at A, link AC, link CE and link BFD. Links CE and BFD act as levers.

On displacement of the mechanism, the tracing point E at

the end of the link CE traces out approximately a straight
line.
Single Slider Crank Chain & Inversion
2. Single Slider Crank Chain
 Pendulum Pump or Bull Engine

When the crank (link 2) is given a rotary motion, the connecting rod (link 3) oscillates
about a pin pivoted to the fixed link 4 at A. The piston attached to the piston rod (link
1) reciprocates.
 A

Link 3 forming the turning pair is fixed and it corresponds to the connecting rod of a
reciprocating steam engine mechanism.

When the crank (link 2) rotates, the piston attached to piston rod (link 1)
reciprocates and the cylinder (link 4) oscillates about a pin pivoted to the fixed link
at A
It consists of seven cylinders in one plane all revolve about fixed centre D.
Cylinders form link 1, Crank (link 2) is fixed. When the connecting rod (link4) rotates,
the piston (link 3) reciprocates inside the cylinder.
Radial Engine
A mechanism used in shaping and slotting
machines, where the metal is cut intermittently.

• Link AC (i.e. link 3) is fixed.

• Crank CB revolves with uniform angular speed
about the fixed center C.

• Sliding block attached to the crank pin at B slides

along the slotted bar AP, thus causing AP to
oscillate about the pivoted point A.
• Short link PR transmits the motion from AP to the
ram which carries the tool and reciprocates along
the line of stroke R1R2
• The forward or cutting stroke occurs when the

crank rotates from the position CB1 to CB2 (or

through an angle β) in the clockwise direction.

• The return stroke occurs when the crank rotates

from the position CB2 to CB1 (or through angle α)

in the clockwise direction.

AC = Fixed Link Length
CB1 = Crank Length
AP1 = Slotted Lever Length
β = Angle of Cutting Stroke
α = Angle of Return Stroke

R1R2 = P1P2 = Length of Stroke

B1CA = α/2; B1AC = (90- α/2)
From AQP1,
R1R2 = P1P2 = Length of Stroke = 2QP1
QP1 = AP1sin(90- α/2) = AP1cos α/2
Hence;
Length of Stroke = 2QP1 = 2AP1cos α/2
From AB1C,
Length of Stroke = 2AP1
cos α/2 =
Problem
In a crank and slotted lever quick return motion mechanism, the driving crank
length in 75 mm. The distance between the fixed centers is 200 mm and length of
the slotted bar is 500 mm. Find the ratio of the time taken on the cutting stroke to
the idle stroke. Also determine the effective stroke length.
Given:
AC = Fixed Link Length = 200 mm
CB1 = Crank Length = 75 mm
AP1 = Slotted Lever Length = 500 mm

Length of Stroke = 2AP1 = 375 mm

cos α/2 = => α/2 = 68°

α = 136°
β = 360-136°
β = 224°

1.65
Double Slider Crank Chain
• This inversion is obtained by fixing the slotted plate (link 4).
• fixed plate or link 4 has two straight grooves cut in it, at right angles to each other.
• link 1 and link 3, are known as sliders and form sliding pairs with link 4.
• link AB (link 2) is a bar which forms turning pair with links 1 and 3.

• When the links 1 and 3 slide along their respective grooves, any point on the link 2 such as P
traces out an ellipse on the surface of link 4
• This mechanism is used for converting rotary motion into a reciprocating motion.
• The inversion is obtained by fixing either the link 1 or link 3. link 1 is fixed.
• In this mechanism, when the link 2 (crank) rotates about B as centre, the link 4
(frame) reciprocates.

• The fixed link 1 guides the frame.

End of Module