Kinematics Assignment

Kinematics of Machinery:
Assignment 1
Name: Aravind Sinniah

ID: 1000007
Course Name: Kinematics of Machinery
Course Code: EMB 3313
Lecturer: Mr.Krishnan
Date of Submission: 9th November 2016
Question 1
(a) Machine
A machine that applies force, changes the route of a force, or modifies
the strength of a force, in order to perform a task, generally involving
work accomplished on a load. Machines are regularly designed to yield a
high mechanical advantage to decrease the effort needed to do that work.
A simple machine is a wheel, a lever, or an inclined plane. All other
machines can be constructed by using the combination of these simple
machines. For example, a drill uses a combination of gears (wheels) to
drive helical inclined planes (the drill-bit) to cut up a fabric and carve a
gap in it.
(b) Mechanism
The fundamental physical or chemical processes involved in or
responsible for an action, reaction or other natural phenomenon. In
kinematics, a mechanism is a means of transmitting, controlling, or
constraining relative movement. Movements which are electrically,
magnetically, pneumatically operated are excluded from the concept of
mechanism. The central theme for mechanisms is rigid bodies connected
together by joints. The term mechanism is applied to the combination of
geometrical bodies which constitute a machine or part of a machine. A
mechanism may therefore be defined as a combination of rigid or
resistant bodies, formed and connected so that they move with definite
relative motions with respect to one another
(c) Mobility of Mechanism

The mobility of a mechanism can be defined as the minimum number of
independent parameters required to specify the location of every link
within a mechanism. Mobility equals the total number of degrees of
freedom (DOF). There are 6 degrees of freedom:1. Moving up and down (elevating/heaving);
2. Moving left and right (strafing/swaying);
3. Moving forward and backward (walking/surging);
4. Swivels left and right (yawing) ;
5. Tilts forward and backward (pitching);
6. Pivots side to side (rolling).
For a single particle in a plane two coordinates define its location so it
has two degrees of freedom. A single particle in space requires three
coordinates so it has three degrees of freedom. Two particles in space
have a combined six degrees of freedom.
Question 2
(a) Lower pair
When the two elements of a pair have a surface contact when relative
motion takes place and the surface of one element slides over the surface
of the other, the pair formed is known as lower pair. Lower pairs are
ideal joints. Cases for are as follows.
A revolute pair, or hinged joint, requires a line in the moving body to
remain co-linear with a line in the fixed body, and a plane perpendicular
to this line in the moving body maintain contact with a similar
perpendicular plane in the fixed body. This imposes five constraints on
the relative movement of the links, which therefore has one degree of
freedom.
A prismatic joint, or slider, requires that a line in the moving body
remain co-linear with a line in the fixed body, and a plane parallel to this
line in the moving body maintain contact with a similar parallel plane in
the fixed body. This imposes five constraints on the relative movement
of the links, which therefore has one degree of freedom.
A screw pair requires cut threads in two links,so that there is a turning as
well as sliding motion between them.This joint has one degree of
freedom.
A cylindrical joint requires that a line in the moving body remain colinear with a line in the fixed body. It is a combination of a revolute joint
and a sliding joint. This joint has two degrees of freedom.
A ball or spherical joint requires that a point in the moving body
maintain contact with a point in the fixed body. This joint has three
degrees of freedom.
A planar joint requires that a plane in the moving body maintain contact
with a plane in fixed body. This joint has three degrees of freedom. The
moving plane can slide in two dimensions along the fixed plane, and it
can rotate on an axis normal to the fixed plane.
(b) Higher pair

A higher pair is defined as one in which the connection between two
elements has only a point or line of contact. A cylinder and a hole of
equal radius and with axis parallel make contact along a surface. Two
cylinders with unequal radius and with axis parallel make contact along
a line. A point contact takes place when spheres rest on plane or curved
surfaces (ball bearings) or between teeth of a skew-helical gears. in
roller bearings, between teeth of most of the gears and in cam-follower
motion. The degree of freedom of a kinetic pair is given by the number
independent coordinates required to completely specify the relative
movement.
(c) Inversion
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. These are called as inversions of the
mechanism. By changing the fixed link, the number of mechanisms
which can be obtained is equal to the number of links. Excepting the
original mechanism, all other mechanisms will be known as inversions
of original mechanism. The inversion of a mechanism does not change
the motion of its links relative to each other. Examples of inversion :-
Four Bar Chain
Inversion of Four Bar Chain

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Kinematics of Machinery:

Name: Aravind Sinniah

(c) Mobility of Mechanism

(b) Higher pair

Four Bar Chain

Inversion of Four Bar Chain

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