Kinematics of Machines

1. Subject-Kinematics Of Machine
Chapter-1-Basic Concept of Mechanism
Prepared by :Mr. B. B. Sangame
Assistant Professor Department of Mechanical Engineering
Sharad Institute of Technology College of
Engineering Ichalkaranji

2. Basic Concept of Mechanism
• Machine
Theory of machines
Kinematics Dynamics Kinetics Statics

3. • Types of Links
• Structure
• Difference Between a Machine and a Structure
Links
Rigid
link
Flexible
link
Fluid
link

4. • Link or Kinematic Link or Element

5. • Kinematic pair
Classification of Kinematic Pairs
1. According to the type of relative
motion between the elements
2. According to the type of contact
between the elements.
3. According to the type of closure.

6. 1. According to the type of relative
motion between the elements
(a) Sliding pair
(b) Turning pair.
(c) Rolling pair.
(d) Screw pair.
(e) Spherical pair.

7. 2. According to the type of contact
between the elements.
(a) Lower pair
(b) Higher pair.
3. According to the type of closure.
(a) Self closed pair
(b) Forced closed pair.

8. Types of Constrained Motions
1. Completely Constrained Motion
2. Incompletely Constrained Motion
3. Successfully Constrained Motion

9. • Kinematic chain

10. Types of Joints in a Chain 2. Ternary joint.
1. Binary joint.
3. Quaternary joint

11. • Mechanism
• Number of Degrees of Freedom for Plane Mechanisms

12. n= Degrees of freedom
l= Number of links
J=number of joints
h= Number of higher pairs

13. • Application of Kutzbach Criterion to Plane Mechanisms

14. • Grubler’s Criterion for Plane Mechanisms
• Inversion of Mechanism
• Types of Kinematic Chains
1. Four bar chain or quadric cyclic chain,
2. Single slider crank chain, and
3. Double slider crank chain.

15. 1. Four bar chain or quadric cyclic chain

16. 1. Beam engine
(crank and lever mechanism).
2. Coupling rod of a locomotive
(Double crank mechanism).
Inversions of Four Bar Chain

17. 3. Watt’s indicator mechanism
(Double lever mechanism).
• Single Slider Crank Chain

18. • Inversions of Single Slider Crank Chain
1. Pendulum pump
or Bull engine.
2. Oscillating cylinder engine

19. 3. Rotary internal combustion engine or Gnome engine

20. 4. Crank and slotted lever quick return motion mechanism.

21. 5. Whitworth quick return motion mechanism.

22. • Double Slider Crank Chain
Inversions of Double Slider Crank Chain
1. Elliptical trammels

23. 2. Scotch yoke mechanism.

24. 3. Oldham’s coupling

25. Geneva Mechanism

26. Ackerman Steering Gear

27. Condition of Correct Steering
cot- cot = c/b

28. Davis Steering Gear

29. Universal or Hooke’s Joint

30. Ratio of the Shafts Velocities

31. Ratio of the Shafts Velocities