Theory of Machines Module-1 Introduction

Introduction

Module -1

Theory of Machines Module-1 Introduction

 Theory of Machines Module-1 Introduction

Content of Module -1

Theory of Machines Module-1 Introduction

 Theory of Machines Module-1 Introduction

Theory of Machines Module-1 Introduction

Sub Divisions of Theory of Machines

 Theory of Machines Module-1 Introduction

Theory of Machines Module-1 Introduction

Kinematic Link or Element

 Theory of Machines Module-1 Introduction

Theory of Machines Module-1 Introduction

Machine Structure
The parts of a machine move relative to The members of a structure do not move
one another. relative to one another.
A machine transforms the available A structure no energy is transformed into
energy into some useful work. useful work.
The links of a machine may transmit both The members of a structure transmit
power and motion. forces only.
 Theory of Machines Module-1 Introduction

Types of Constrained Motions

Following are the three types of constrained motions :
3. Successfully constrained motion.

Theory of Machines Module-1 Introduction

 Theory of Machines Module-1 Introduction

Theory of Machines Module-1 Introduction

Classification of Kinematic Pairs

Theory of Machines Module-1 Introduction

Theory of Machines Module-1 Introduction

Theory of Machines Module-1 Introduction

Theory of Machines Module-1 Introduction

Theory of Machines Module-1 Introduction

Theory of Machines Module-1 Introduction

Locked chain Constrained chain

 Theory of Machines Module-1 Introduction

Unconstrained chain Constrained chain

Theory of Machines Module-1 Introduction

Compound kinematic chain.

A chain having more than four links is known as compound kinematic chain.
Simple kinematic chain.

A chain having four links is known as simple kinematic chain.

Types of Joints in a Chain

The following types of joints are usually found in a chain :

1. Binary joint

2. Ternary joint.

3. Quaternary joint.
 Theory of Machines Module-1 Introduction

The following relation between the number of 1. Binary joint

links and the number of binary joints, as given by
A.W. Klein, may be used When two links are joined at the same
connection, the joint is known as binary joint.

Constrained chain

Theory of Machines Module-1 Introduction

2. Ternary joint.
Since one ternary joint is equivalent to two
When three links are joined at binary joints,
the same connection, the joint
is known as ternary joint. Therefore, equivalent binary joints in a chain,
as shown in Fig.

It has three binary joints at A, B and D

and two ternary joints at C and E.
Constrained chain
 Theory of Machines Module-1 Introduction

2. Quaternary joint Since one quaternary joint is equivalent to

three binary joints.
When four links are joined at the
same connection, the joint is Therefore, equivalent binary joints in a chain,
called a quaternary joint. as shown in Fig.

The joint is equivalent

to (l 1) binary joints.

It has one binary joint at D, four ternary joints at A,

B, E and F, and two quaternary joints at C and G.
Locked chain

Theory of Machines Module-1 Introduction

How to convert Locked chain to Kinematic Chain

Case 1

Constrained chain

Case 2

Locked chain (Structure)

Case 3

Un-constrained chain
 Theory of Machines Module-1 Introduction

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. engine
indicators, typewriter etc.
Simple Mechanism, and Compound Mechanism
A mechanism with four links is known as simple mechanism, and the mechanism with
more than four links is known as compound mechanism.
Machine When a mechanism is required to transmit power or to do some particular type of
work, it then becomes a machine.
Number of Degrees of Freedom for Plane Mechanisms
In the design or analysis of a mechanism, the number of degrees of freedom (also called
movability) of the mechanism.
It is defined as the number of input parameters (usually pair variables) which must be
independently controlled in order to bring the mechanism into a useful engineering purpose.

Theory of Machines Module-1 Introduction

It is possible to determine the number of degrees of freedom of a mechanism directly

from the number of links and the number and types of joints which it includes.

Consider a four bar chain, as shown in Fig. (a). A little

consideration will show that only one variable such as is
needed to define the relative positions of all the links. In other
words, we say that the number of degrees of freedom of a four
bar chain is one.

let us consider a five bar chain, as shown in Fig. (b). In this

case two variables such as 1 and 2 are needed to define
completely the relative positions of all the links. Thus, we
say that the number of degrees of freedom is two.
 Theory of Machines Module-1 Introduction

Kutzbach criterion for the movability of a mechanism

Now let us consider a plane mechanism with number of links. Since, in a mechanism,
one of the links is to be fixed, therefore the number of movable links will be ( ) and
thus the total number of degrees of freedom will be before they are connected
to any other link.

In general, a mechanism with number of links connected by number of binary joints

or lower pairs (i.e. single degree of freedom pairs) and number of higher pairs (i.e. two
degree of freedom pairs), then the number of degrees of freedom of a mechanism is
given by

If there are no two degree of freedom pairs (i.e. higher pairs), then . Substituting
in equation (i), we have

Theory of Machines Module-1 Introduction

Application of Kutzbach Criterion to Plane Mechanisms

 Theory of Machines Module-1 Introduction

It may be noted that

1. When n = 0, then the mechanism
forms a structure and no relative
motion between the links is possible,
as shown in Fig. (a) and (d).
2. When n = 1, then the mechanism can
be driven by a single input motion,
as shown in Fig. (b).
3. When n = 2, then two separate input
motions are necessary to produce
constrained motion for the
mechanism, as shown in Fig. (c).
4. When n = 1 or less, then there are
redundant constraints in the chain
and it forms a statically
indeterminate structure, as shown
in Fig. (e).

Theory of Machines Module-1 Introduction

Application of criterion applied to mechanisms with a higher pair or two

degree of freedom joints
In Fig. (b), there are four
links, three binary joints and
one higher pair,
i.e. , and

In Fig. (a), there are three links,

two binary joints and one higher
pair, i.e. , and Here, it has been assumed that the slipping is
possible between the links (i.e. between the
wheel and the fixed link).
However if the friction at the contact is high enough
to prevent slipping, the joint will be counted as one
degree of freedom pair, because only one relative
motion will be possible between the links.
 Theory of Machines Module-1 Introduction

Criterion for Plane Mechanisms

The criterion applies to mechanisms with only single degree of freedom joints
where the overall movability of the mechanism is unity.
Substituting n = 1 and h = 0 in Kutzbach equation, we have

This equation is known as the Grubler's criterion for plane mechanisms with constrained motion.

A little consideration will show that a plane mechanism with a movability of 1 and only single
degree of freedom joints can not have odd number of links. The simplest possible mechanisms
of this type are a four bar mechanism and a slider-crank mechanism in which and

Theory of Machines Module-1 Introduction

Inversion of Mechanism
When one of links is fixed in a kinematic chain, it is called a mechanism. So we can
obtain as many mechanisms as the number of links in a kinematic chain by fixing, in turn,
different links in a kinematic chain. This method of obtaining different mechanisms by
fixing different links in a kinematic chain, is known as inversion of the mechanism.
It may be noted that the relative motions between the various links is not changed in any
manner through the process of inversion, but their absolute motions (those measured with
respect to the fixed link) may be changed drastically.
Types of Kinematic Chains
The most important kinematic chains are those which consist of four lower pairs, each
pair being a sliding pair or a turning pair. The following three types of kinematic chains
with four lower pairs are important from the subject point of view :
1. Four bar chain or quadric cyclic chain,
2. Single slider crank chain, and
3. Double slider crank chain.
 Theory of Machines Module-1 Introduction

Four Bar Chain or Quadric Cycle Chain

The kinematic chain is a combination of four or more kinematic
pairs, such that the relative motion between the links or elements
is completely constrained.

The simplest and the basic kinematic chain is a four bar chain or
quadric cycle chain, as shown in Fig. It consists of four links,
each of them forms a turning pair at A, B, C and D. The four links
may be of different lengths.

According to Grashof law for a four bar mechanism,

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 .

Theory of Machines Module-1 Introduction

The shortest link, will make a complete revolution relative to

the other three links, if it satisfies the Grashof law. Such a
link is known as crank or driver.
The link BC (link 2) which makes a partial rotation or
oscillates is known as lever or rocker or follower and the 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.

When the crank (link 4) is the driver, the mechanism is

transforming rotary motion into oscillating motion.
 Theory of Machines Module-1 Introduction

Inversions of Four Bar Chain

Though there are many inversions of the four bar chain, yet the following are important
from the subject point of view :

1. Beam engine (crank and lever mechanism)

2. Coupling rod of a locomotive (Double crank mechanism)

3. Watt s indicator mechanism (Double lever mechanism).

Theory of Machines Module-1 Introduction

Beam engine (crank and lever mechanism).

A beam engine (also known as crank and lever mechanism)

which consists of four links, is Fig. In this mechanism, when
the crank rotates about the fixed centre A, the lever oscillates
about a fixed centre D. The end E of the lever CDE is
connected to a piston rod which reciprocates due to the rotation
of the crank. In other words, the purpose of this mechanism is
to convert rotary motion into reciprocating motion.
 Theory of Machines Module-1 Introduction

Coupling rod of a locomotive (Double crank mechanism).

It is also known as double crank mechanism which

consists of four links, is shown in Fig. 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
and the link AB is fixed in order to maintain a
constant centre to centre distance between them. This
mechanism is meant for transmitting rotary motion
from one wheel to the other wheel.

Theory of Machines Module-1 Introduction

3. Watt s indicator mechanism (Double lever mechanism).

It also known as Watt's straight line mechanism or
double lever mechanism which consists of four links,
is shown in Fig.
The four links are : fixed link at A, link AC, link CE
and link BFD. It may be noted that BF and FD form
one link because these two parts have no relative
motion between them. The links CE and BFD act as
levers. The displacement of the link BFD is directly
proportional to the pressure of gas or steam which
acts on the indicator plunger.

On any small displacement of the mechanism, the tracing point E at the end of the link CE
traces out approximately a straight line. The initial position of the mechanism is shown in
Fig. by full lines whereas the dotted lines show the position of the mechanism when the gas
or steam pressure acts on the indicator plunger.
 Theory of Machines Module-1 Introduction

Single Slider Crank Chain

A single slider crank chain is a modification
of the basic four bar chain. It consist of one
sliding pair and three turning pairs. It is
usually, found in reciprocating steam engine
mechanism.
This type of mechanism converts rotary
motion into reciprocating motion and vice
versa.
In a single slider crank chain, as shown in Fig, the links 1 and 2, links 2 and 3, and links 3 and
4 form three turning pairs while the links 4 and 1 form a sliding pair.
The link 1 corresponds to the frame of the engine, which is fixed. The link 2 corresponds to
the crank ; link 3 corresponds to the connecting rod and link 4 corresponds to cross-head. As
the crank rotates, the cross-head reciprocates in the guides and thus the piston reciprocates in
the cylinder

Theory of Machines Module-1 Introduction

Inversions of Single Slider Crank Chain

We know that by fixing, in turn, different links in a kinematic chain, an inversion is obtained
and we can obtain as many mechanisms as the links in a kinematic chain. It is thus obvious,
that four inversions of a single slider crank chain are possible. These inversions are found in
the following mechanisms
Pendulum pump or Bull engine.

In this mechanism, the inversion is obtained by

fixing the cylinder or link 4 (i.e. sliding pair), as
shown in Fig. In this case, when the crank (link 2)
rotates, the connecting rod (link 3) oscillates about a
pin pivoted to the fixed link 4 at A and the piston
attached to the piston rod (link 1) reciprocates.
The duplex pump which is used to supply feed water
to boilers have two pistons attached to link 1, as
shown in Fig.
 Theory of Machines Module-1 Introduction

Oscillating cylinder engine.

The arrangement of oscillating cylinder engine
mechanism, as shown in Fig., is used to convert
reciprocating motion into rotary motion. In this
mechanism, the link 3 forming the turning pair is fixed.
The link 3 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.
Rotary internal combustion engine or Gnome engine.
It consists of seven cylinders in one plane and all revolves
about fixed centre D, as shown in Fig, while the crank (link
2) is fixed. In this mechanism, when the connecting rod
(link 4) rotates, the piston (link 3) reciprocates inside the
cylinders forming link 1.

Theory of Machines Module-1 Introduction

Crank and slotted lever quick return motion mechanism.

This mechanism is mostly used in shaping
machines, slotting machines and in rotary
internal combustion engines.
In this mechanism, the link AC (i.e. link 3)
forming the turning pair is fixed, as shown in
Fig. The link 3 corresponds to the connecting rod
of a reciprocating steam engine. The driving
crank CB revolves with uniform angular speed
about the fixed centre C. A sliding block attached
to the crank pin at B slides along the slotted bar
AP and thus causes AP to oscillate about the
pivoted point A. A short link PR transmits the
motion from AP to the ram which carries the tool
and reciprocates along the line of stroke R1R2.
 Theory of Machines Module-1 Introduction

The line of stroke of the ram (i.e. R1R2) is perpendicular to AC produced.

The forward or cutting stroke occurs when the crank rotates from the position CB1 to CB2
(or through an angle in the clockwise direction. The return stroke occurs when the crank
rotates from the position CB2 to CB1 (or through angle in the clockwise direction. Since
the crank has uniform angular speed, therefore,

we see that the angle made by the forward or cutting stroke is greater than the angle
described by the return stroke. Since the crank rotates with uniform angular speed, therefore
the return stroke is completed within shorter time. Thus it is called quick return motion
mechanism.

Theory of Machines Module-1 Introduction

Whitworth quick return motion mechanism.

This mechanism is mostly used in
shaping and slotting machines. In this
mechanism, the link CD (link 2)
forming the turning pair is fixed, as in
Fig. The link 2 corresponds to a crank
in a reciprocating steam engine.

The driving crank CA (link 3) rotates at a uniform angular speed. The slider (link 4) attached
to the crank pin at A slides along the slotted bar PA (link 1) which oscillates at a pivoted point
D. The connecting rod PR carries the ram at R to which a cutting tool is fixed. The motion of
the tool is constrained along the line RD produced, i.e. along a line passing through D and
perpendicular to CD.
The crank link CA rotates at uniform angular velocity therefore time taken during the cutting
stroke (or forward stroke) is more than the time taken during the return stroke. In other words,
the mean speed of the ram during cutting stroke is less than the mean speed during the return
stroke.
 Theory of Machines Module-1 Introduction

Inversions of Double Slider Crank Chain

The following three inversions of a double slider crank chain are important from the subject
point of view :
Elliptical trammels. Scotch yoke mechanism. Oldham s coupling.

Theory of Machines Module-1 Introduction

Assignment Questions
1. Explain the term kinematic link. Give the classification of kinematic link.
2. What is a machine ? Giving example, differentiate between a machine and a structure.
3. Write notes on complete and incomplete constraints in lower and higher pairs, illustrating your answer
with neat sketches.
4. Explain different kinds of kinematic pairs giving example for each one of them
5. Explain the terms : 1. Lower pair, 2. Higher pair, 3. Kinematic chain, and 4. Inversion.
6. In what way a mechanism differ from a machine ?
7. What is the significance of degrees of freedom of a kinematic chain when it functions as a mechanism?
Give examples.
 Theory of Machines Module-1 Introduction

Critical Thinking

Theory of Machines Module-1 Introduction

Thank you