This document provides an overview of kinematics of machines. It defines key terms like kinematics, mechanism, degrees of freedom, and discusses different types of joints and links that make up mechanisms. Common mechanisms are described along with methods to analyze mechanisms like the loop method. Concepts like mobility, Grashof condition, and mechanical advantage are also introduced. The document aims to introduce fundamental concepts in the study of motion in machines without consideration of forces.
Mechanics of machines: Linkage MechanismsRohit Singla
Components of Mechanisms
• Link / element
• Kinematic pairs / joints
• Kinematic chain
• Mechanism (Output w.r.t Input)
• Machine (Desired Output)
Link / Element
A single resistant body / combination of resistant
bodies having relative motion with another resistant
body / combination of resistant bodies.
Rigid Body Flexible Body Liquid
This document defines and classifies the components of mechanisms. It discusses links, kinematic pairs, kinematic chains, mechanisms, and machines. Links can be unary, binary, ternary or quaternary based on the number of nodes. Kinematic pairs combine two links and allow specific relative motions. Pairs are classified by contact type, constraint, and possible motions such as revolute, prismatic, or spherical. A kinematic chain transmits defined motion by coupling pairs. A mechanism is a kinematic chain with one fixed link. Mobility is determined using Gruebler's criterion involving links, pairs, and degrees of freedom. Kinematic inversion obtains different mechanisms from the same chain by fixing different links.
The document provides an overview of the topics covered in a course on kinematics of machines. It includes:
- An introduction to kinematic links, types of motion, kinematic pairs, kinematic chains, and degrees of freedom.
- A breakdown of the syllabus covering various machine components like mechanisms, velocity analysis, acceleration analysis, gears, gear trains, cams and followers.
- Detailed explanations of concepts like rigid links, types of kinematic pairs based on nature of motion and contact, structure of machines vs mechanisms, and calculating degrees of freedom for planar vs spatial mechanisms.
This document discusses kinematics of machines. It defines kinematics as the study of motion without considering forces. Kinematics includes the motions of linkages, cams, and gears within machines. The document classifies mechanisms based on factors like the nature of their motion (uniform or non-uniform), their degrees of freedom (constrained or unconstrained), their position in space (planar, spherical, or spatial), and how their output member is connected (open or closed). It also discusses components of mechanisms like links, joints, and kinematic chains, and provides examples of common mechanisms.
Unit 1 – Basics of Mechanics
Topics to be covered – unit1
Basic kinematic concepts and definitions
Degree of freedom & Mobility
Kutzbach criterion & Gruebler’s criterion
Grashof’s Law
Kinematic inversions of four-bar-chain and slider crank chains – Limit positions
Mechanical advantage – Transmission Angle
Classification of mechanisms
Description of some common mechanisms
Mechanics of machines: Linkage MechanismsRohit Singla
Components of Mechanisms
• Link / element
• Kinematic pairs / joints
• Kinematic chain
• Mechanism (Output w.r.t Input)
• Machine (Desired Output)
Link / Element
A single resistant body / combination of resistant
bodies having relative motion with another resistant
body / combination of resistant bodies.
Rigid Body Flexible Body Liquid
This document defines and classifies the components of mechanisms. It discusses links, kinematic pairs, kinematic chains, mechanisms, and machines. Links can be unary, binary, ternary or quaternary based on the number of nodes. Kinematic pairs combine two links and allow specific relative motions. Pairs are classified by contact type, constraint, and possible motions such as revolute, prismatic, or spherical. A kinematic chain transmits defined motion by coupling pairs. A mechanism is a kinematic chain with one fixed link. Mobility is determined using Gruebler's criterion involving links, pairs, and degrees of freedom. Kinematic inversion obtains different mechanisms from the same chain by fixing different links.
The document provides an overview of the topics covered in a course on kinematics of machines. It includes:
- An introduction to kinematic links, types of motion, kinematic pairs, kinematic chains, and degrees of freedom.
- A breakdown of the syllabus covering various machine components like mechanisms, velocity analysis, acceleration analysis, gears, gear trains, cams and followers.
- Detailed explanations of concepts like rigid links, types of kinematic pairs based on nature of motion and contact, structure of machines vs mechanisms, and calculating degrees of freedom for planar vs spatial mechanisms.
This document discusses kinematics of machines. It defines kinematics as the study of motion without considering forces. Kinematics includes the motions of linkages, cams, and gears within machines. The document classifies mechanisms based on factors like the nature of their motion (uniform or non-uniform), their degrees of freedom (constrained or unconstrained), their position in space (planar, spherical, or spatial), and how their output member is connected (open or closed). It also discusses components of mechanisms like links, joints, and kinematic chains, and provides examples of common mechanisms.
Unit 1 – Basics of Mechanics
Topics to be covered – unit1
Basic kinematic concepts and definitions
Degree of freedom & Mobility
Kutzbach criterion & Gruebler’s criterion
Grashof’s Law
Kinematic inversions of four-bar-chain and slider crank chains – Limit positions
Mechanical advantage – Transmission Angle
Classification of mechanisms
Description of some common mechanisms
This document provides an introduction to kinematics of machines. It defines kinematics as dealing with the geometric aspects of motion without consideration of forces. It also defines and classifies different types of kinematic pairs and mechanisms. The key points covered are:
1) Kinematics analyzes the relative motions between parts of a machine without regard to forces or power requirements.
2) Kinematic pairs can be classified based on the type of contact (lower vs higher pairs) and geometry (closed, forced closed, etc).
3) Mechanisms are analyzed to determine degrees of freedom and relative motions between links using methods like Kutzbach criterion and Grubler's criterion for plane mechanisms.
4) Kinematic
The document contains definitions and concepts related to kinematics and machine elements. It defines terms like kinematic link, structure, higher pair, kinematic chain, kinematic pair, mechanism, inversion, and types of kinematic chains. It also discusses concepts related to velocity and acceleration analysis, gears, belts, clutches, brakes, bearings, cams, vibration, and balancing of rotating masses.
A kinematic diagram is a simplified drawing that shows the essential components needed for kinematic analysis. It numbers all links and labels all joints. Kutzbach's equation calculates the degrees of freedom (DOF) of a mechanism as DOF = 3(L-1) - 2J1 - J2, where L is the number of links, J1 is the number of single DOF joints, and J2 is the number of two DOF joints. The document provides examples of applying this equation to determine the DOF of different mechanisms.
1.fundamentals of kinematics and mechanisms (1)Ganesh Fodase
This document provides an overview of kinematics and mechanisms. It defines mechanisms as combinations of links that transmit and modify motion. Mechanisms are classified based on the number and type of links. Kinematic pairs, which connect links, are also classified. The document introduces concepts like degrees of freedom, mobility, and Grubler's and Kutzbach's criteria for calculating the degrees of freedom of planar and spatial mechanisms respectively. It provides examples of common mechanisms like four-bar linkages and discusses their mobility based on the length of links.
Module 1 introduction to kinematics of machinerytaruian
This document provides information about the Kinematics of Machines course offered by the Department of Mechanical Engineering at JSS Academy of Technical Education in Bangalore, India. It lists the course code, textbooks, reference books, course outcomes, and chapter topics that will be covered. The topics include basic definitions related to kinematic elements, pairs, chains, and mechanisms. It describes types of kinematic pairs and chains, including four-bar chains, single slider-crank chains, and double slider-crank chains. It also covers degrees of freedom, Grubler's criterion, and inversions of mechanisms.
This document discusses kinematics of machinery and mechanisms. It defines a machine as a collection of mechanisms that transmit force from a power source to overcome resistance. Mechanisms are made up of links connected by kinematic pairs, which allow relative motion between elements. There are lower and higher pairs based on the nature of contact between elements. The document also discusses degrees of freedom, Grubler's criterion for calculating degrees of freedom, and examples of kinematic chains including constrained, unlocked, and unconstrained chains.
This document discusses links and kinematic pairs in mechanical mechanisms. It defines a link as a single resistant body or combination of bodies with inflexible connections that moves relative to other parts. Links are classified by the number of ends they connect to other links. Kinematic pairs connect links and allow relative motion between them. Pairs are classified by their type of contact, relative motion, and constraint between links. Common pairs include turning, sliding, rolling, and screw pairs. The document provides examples of links and pairs in slider-crank mechanisms.
This document provides an overview of kinematics fundamentals, including degrees of freedom, types of motion, links, joints, kinematic chains, and mechanisms. Some key points:
- A rigid body has 6 degrees of freedom in 3D space or 3 degrees of freedom in planar motion.
- Joints can be classified by type of contact (lower vs. higher pairs), degrees of freedom allowed (1, 2, or 3), physical closure (closed vs. unclosed), and number of links joined. Common lower pairs are revolute, prismatic, screw, cylindrical, spherical, and flat joints.
- Gruebler's equation and Kutzbach's modification can be used to determine the degrees
This document discusses mechanisms and kinematic pairs. It defines the different types of links and kinematic pairs, including sliding, turning, rolling, screw and spherical pairs. It also describes degrees of freedom, Grubler's criterion, and Kutzbach's criterion for determining degrees of freedom in planar mechanisms. Common mechanisms are discussed like the four bar linkage, slider crank mechanism, and inversions of mechanisms.
Branches of TOM, Machine & Structure, Kinematic LinksAkash Patel
The document discusses the branches and sub-divisions of the theory of machines, including kinematics, dynamics, kinetics, and statics. It defines kinematics as dealing with relative motion without forces, and dynamics as dealing with forces and their effects. The document also discusses kinematic links, mechanisms, structures, and the mobility of mechanisms. It defines a kinematic link as a machine part that undergoes relative motion, and describes types of links as rigid, flexible, or fluid.
1. The document discusses kinematics of machines and basics of mechanisms. It defines kinematics, kinetics, dynamics, and statics in relation to machine motion.
2. Kinematic pairs are classified based on the nature of contact, type of relative motion, and type of constraint. Lower and higher pairs are described based on contact.
3. Degrees of freedom and mobility of mechanisms are defined using Gruebler's criteria and Kutzbach criterion which relate the number of links and joints.
4. Inversions of mechanisms like four bar chains and single/double slider crank chains are explained along with examples of their applications.
The document discusses kinematics of machines and mechanisms. It covers topics such as kinematics, types of links, kinematic pairs, classification of kinematic pairs based on contact and motion, degrees of freedom, kinematic chains, joints, inversion of mechanisms, and straight line generators. Examples of mechanisms are provided to illustrate concepts like the 4-bar linkage, Scott-Russell straight line mechanism, Peaucellier straight line mechanism, and mechanical advantage.
This document provides an introduction to mechanisms and kinematics. It defines mechanisms as assemblies of rigid bodies connected by joints that allow specified motions. Kinematics is the study of relative motion between parts without considering forces. There are different types of kinematic joints (binary, ternary) and pairs (sliding, turning, rolling) that connect links and constrain their motion. The degrees of freedom of a mechanism can be calculated using Kutzbach's criterion which considers the number of links, joints and higher pairs. Simple and compound machines are formed from combinations of mechanisms.
1) A mechanism is an assembly of rigid bodies connected by joints that allow constrained motion. A machine is a mechanism that transmits and modifies energy to perform useful work.
2) The document discusses the slider crank mechanism as an example and provides diagrams to illustrate it.
3) It defines the terms rigid body, resistant body, link, and the different types of links based on the number of joints connecting them.
This document discusses basics of kinematic mechanisms including definitions of key terms like kinematic links, pairs, chains, and degrees of freedom. It describes different types of kinematic pairs such as sliding, turning, and rolling pairs. It also discusses kinematic chains and how they are formed by coupling kinematic pairs so that motion is transmitted through the links in a constrained way. Examples of different types of links, pairs, and chains are provided.
Inversion of four bar chain explained detailed graphic, used for better understanding as well as for teaching purose
For video:
Locomotive chain
https://www.youtube.com/watch?v=oTcC_xXfdrA
Four bar chain:
https://www.youtube.com/watch?v=KBFFwgCCP0U
This document provides notes on kinematic mechanisms from a mechanical engineering course. It includes definitions of key terms like kinematic pairs, degrees of freedom, and Grubler's criterion. It discusses different types of kinematic chains including four bar chains, single slider crank chains, and double slider crank chains. It also summarizes inversions of these chains used in common mechanisms like the beam engine, locomotive coupling rod, and reciprocating engine. Examples of mechanisms derived from different inversions are provided like the rotary engine from the single slider crank chain.
- The document discusses degrees of freedom (DOF) and Gruebler's criterion for calculating DOF. It then explains Grashof's four-bar mechanism and the conditions for it to have full rotation.
- Kinematic inversions are introduced as the process of obtaining different mechanisms from the same kinematic chain by fixing different links. The four possible inversions of a four-bar chain are described.
- Examples of inversions include the beam engine (crank and lever), the coupling rod of a locomotive (double crank), and Watt's indicator mechanism (double lever).
Kinematics of Machines deals with the relative motions of machine parts without considering forces. It studies displacements, velocities, and accelerations from a geometric perspective. There are two approaches: analysis of existing machines and synthesis in designing new machines. Key concepts include links, kinematic pairs, chains, degrees of freedom, and mobility. Common kinematic pairs constrain motion to turning, sliding, rolling, screwing, or spherical motion. Mechanisms are chains with one fixed link used to transmit motion. Gruebler's and Kutzbach's criteria determine a mechanism's degrees of freedom based on the number of links and types of pairs. A four-bar linkage has one degree of freedom and can have three inversions depending on which
The basic of KOM is include “Mechanisms” and “Machines”. The word Mechanism has many meanings. In kinematics, a mechanism is a means of transmitting, controlling, or constraining relative movement .
This document provides an introduction to kinematics of machines. It defines kinematics as dealing with the geometric aspects of motion without consideration of forces. It also defines and classifies different types of kinematic pairs and mechanisms. The key points covered are:
1) Kinematics analyzes the relative motions between parts of a machine without regard to forces or power requirements.
2) Kinematic pairs can be classified based on the type of contact (lower vs higher pairs) and geometry (closed, forced closed, etc).
3) Mechanisms are analyzed to determine degrees of freedom and relative motions between links using methods like Kutzbach criterion and Grubler's criterion for plane mechanisms.
4) Kinematic
The document contains definitions and concepts related to kinematics and machine elements. It defines terms like kinematic link, structure, higher pair, kinematic chain, kinematic pair, mechanism, inversion, and types of kinematic chains. It also discusses concepts related to velocity and acceleration analysis, gears, belts, clutches, brakes, bearings, cams, vibration, and balancing of rotating masses.
A kinematic diagram is a simplified drawing that shows the essential components needed for kinematic analysis. It numbers all links and labels all joints. Kutzbach's equation calculates the degrees of freedom (DOF) of a mechanism as DOF = 3(L-1) - 2J1 - J2, where L is the number of links, J1 is the number of single DOF joints, and J2 is the number of two DOF joints. The document provides examples of applying this equation to determine the DOF of different mechanisms.
1.fundamentals of kinematics and mechanisms (1)Ganesh Fodase
This document provides an overview of kinematics and mechanisms. It defines mechanisms as combinations of links that transmit and modify motion. Mechanisms are classified based on the number and type of links. Kinematic pairs, which connect links, are also classified. The document introduces concepts like degrees of freedom, mobility, and Grubler's and Kutzbach's criteria for calculating the degrees of freedom of planar and spatial mechanisms respectively. It provides examples of common mechanisms like four-bar linkages and discusses their mobility based on the length of links.
Module 1 introduction to kinematics of machinerytaruian
This document provides information about the Kinematics of Machines course offered by the Department of Mechanical Engineering at JSS Academy of Technical Education in Bangalore, India. It lists the course code, textbooks, reference books, course outcomes, and chapter topics that will be covered. The topics include basic definitions related to kinematic elements, pairs, chains, and mechanisms. It describes types of kinematic pairs and chains, including four-bar chains, single slider-crank chains, and double slider-crank chains. It also covers degrees of freedom, Grubler's criterion, and inversions of mechanisms.
This document discusses kinematics of machinery and mechanisms. It defines a machine as a collection of mechanisms that transmit force from a power source to overcome resistance. Mechanisms are made up of links connected by kinematic pairs, which allow relative motion between elements. There are lower and higher pairs based on the nature of contact between elements. The document also discusses degrees of freedom, Grubler's criterion for calculating degrees of freedom, and examples of kinematic chains including constrained, unlocked, and unconstrained chains.
This document discusses links and kinematic pairs in mechanical mechanisms. It defines a link as a single resistant body or combination of bodies with inflexible connections that moves relative to other parts. Links are classified by the number of ends they connect to other links. Kinematic pairs connect links and allow relative motion between them. Pairs are classified by their type of contact, relative motion, and constraint between links. Common pairs include turning, sliding, rolling, and screw pairs. The document provides examples of links and pairs in slider-crank mechanisms.
This document provides an overview of kinematics fundamentals, including degrees of freedom, types of motion, links, joints, kinematic chains, and mechanisms. Some key points:
- A rigid body has 6 degrees of freedom in 3D space or 3 degrees of freedom in planar motion.
- Joints can be classified by type of contact (lower vs. higher pairs), degrees of freedom allowed (1, 2, or 3), physical closure (closed vs. unclosed), and number of links joined. Common lower pairs are revolute, prismatic, screw, cylindrical, spherical, and flat joints.
- Gruebler's equation and Kutzbach's modification can be used to determine the degrees
This document discusses mechanisms and kinematic pairs. It defines the different types of links and kinematic pairs, including sliding, turning, rolling, screw and spherical pairs. It also describes degrees of freedom, Grubler's criterion, and Kutzbach's criterion for determining degrees of freedom in planar mechanisms. Common mechanisms are discussed like the four bar linkage, slider crank mechanism, and inversions of mechanisms.
Branches of TOM, Machine & Structure, Kinematic LinksAkash Patel
The document discusses the branches and sub-divisions of the theory of machines, including kinematics, dynamics, kinetics, and statics. It defines kinematics as dealing with relative motion without forces, and dynamics as dealing with forces and their effects. The document also discusses kinematic links, mechanisms, structures, and the mobility of mechanisms. It defines a kinematic link as a machine part that undergoes relative motion, and describes types of links as rigid, flexible, or fluid.
1. The document discusses kinematics of machines and basics of mechanisms. It defines kinematics, kinetics, dynamics, and statics in relation to machine motion.
2. Kinematic pairs are classified based on the nature of contact, type of relative motion, and type of constraint. Lower and higher pairs are described based on contact.
3. Degrees of freedom and mobility of mechanisms are defined using Gruebler's criteria and Kutzbach criterion which relate the number of links and joints.
4. Inversions of mechanisms like four bar chains and single/double slider crank chains are explained along with examples of their applications.
The document discusses kinematics of machines and mechanisms. It covers topics such as kinematics, types of links, kinematic pairs, classification of kinematic pairs based on contact and motion, degrees of freedom, kinematic chains, joints, inversion of mechanisms, and straight line generators. Examples of mechanisms are provided to illustrate concepts like the 4-bar linkage, Scott-Russell straight line mechanism, Peaucellier straight line mechanism, and mechanical advantage.
This document provides an introduction to mechanisms and kinematics. It defines mechanisms as assemblies of rigid bodies connected by joints that allow specified motions. Kinematics is the study of relative motion between parts without considering forces. There are different types of kinematic joints (binary, ternary) and pairs (sliding, turning, rolling) that connect links and constrain their motion. The degrees of freedom of a mechanism can be calculated using Kutzbach's criterion which considers the number of links, joints and higher pairs. Simple and compound machines are formed from combinations of mechanisms.
1) A mechanism is an assembly of rigid bodies connected by joints that allow constrained motion. A machine is a mechanism that transmits and modifies energy to perform useful work.
2) The document discusses the slider crank mechanism as an example and provides diagrams to illustrate it.
3) It defines the terms rigid body, resistant body, link, and the different types of links based on the number of joints connecting them.
This document discusses basics of kinematic mechanisms including definitions of key terms like kinematic links, pairs, chains, and degrees of freedom. It describes different types of kinematic pairs such as sliding, turning, and rolling pairs. It also discusses kinematic chains and how they are formed by coupling kinematic pairs so that motion is transmitted through the links in a constrained way. Examples of different types of links, pairs, and chains are provided.
Inversion of four bar chain explained detailed graphic, used for better understanding as well as for teaching purose
For video:
Locomotive chain
https://www.youtube.com/watch?v=oTcC_xXfdrA
Four bar chain:
https://www.youtube.com/watch?v=KBFFwgCCP0U
This document provides notes on kinematic mechanisms from a mechanical engineering course. It includes definitions of key terms like kinematic pairs, degrees of freedom, and Grubler's criterion. It discusses different types of kinematic chains including four bar chains, single slider crank chains, and double slider crank chains. It also summarizes inversions of these chains used in common mechanisms like the beam engine, locomotive coupling rod, and reciprocating engine. Examples of mechanisms derived from different inversions are provided like the rotary engine from the single slider crank chain.
- The document discusses degrees of freedom (DOF) and Gruebler's criterion for calculating DOF. It then explains Grashof's four-bar mechanism and the conditions for it to have full rotation.
- Kinematic inversions are introduced as the process of obtaining different mechanisms from the same kinematic chain by fixing different links. The four possible inversions of a four-bar chain are described.
- Examples of inversions include the beam engine (crank and lever), the coupling rod of a locomotive (double crank), and Watt's indicator mechanism (double lever).
Kinematics of Machines deals with the relative motions of machine parts without considering forces. It studies displacements, velocities, and accelerations from a geometric perspective. There are two approaches: analysis of existing machines and synthesis in designing new machines. Key concepts include links, kinematic pairs, chains, degrees of freedom, and mobility. Common kinematic pairs constrain motion to turning, sliding, rolling, screwing, or spherical motion. Mechanisms are chains with one fixed link used to transmit motion. Gruebler's and Kutzbach's criteria determine a mechanism's degrees of freedom based on the number of links and types of pairs. A four-bar linkage has one degree of freedom and can have three inversions depending on which
The basic of KOM is include “Mechanisms” and “Machines”. The word Mechanism has many meanings. In kinematics, a mechanism is a means of transmitting, controlling, or constraining relative movement .
This document provides information about the Kinematics of Machines course offered by the Department of Mechanical Engineering at JSS Academy of Technical Education in Bangalore, India. It lists the course code, textbooks, reference books, course outcomes, and chapter topics that will be covered. The topics include basic definitions related to kinematic elements, pairs, chains, and mechanisms. It also describes common kinematic chains like four-bar linkages, single slider-crank mechanisms, and double slider-crank mechanisms. Specific examples and applications of each type are provided.
This document provides an overview of kinematics of machinery and mechanisms. It discusses:
1) The basics of mechanisms, including their function to transfer motion and forces. Kinematics deals with relative motion between machine parts, while dynamics deals with forces acting on moving parts.
2) Common kinematic pairs like sliding, turning, rolling, and spherical pairs that constrain relative motion between links. Lower pairs have surface contact while higher pairs have line or point contact.
3) Methods for analyzing the motion of mechanisms like velocity and acceleration diagrams, instantaneous centers of velocity, and criteria for determining degrees of freedom.
4) Applications of kinematic analysis to specific mechanisms like slider-crank, four-bar link
This document discusses kinematic elements and pairs that are components of machines. It defines a kinematic link as any part that moves relative to another, and types of links include rigid, flexible, and fluid. Kinematic pairs constrain the relative motion between two links, and types of pairs are classified by the motion (sliding, turning, rolling, etc.) and contact (lower or higher). A kinematic chain combines multiple pairs so each link belongs to two pairs. When one link is fixed, it forms a mechanism that can transmit or transform motion. Common mechanisms are discussed like four-bar linkages and inversions obtained by fixing different links.
This document provides information about the Kinematics of Machines course offered by the Department of Mechanical Engineering at JSS Academy of Technical Education in Bangalore, India. It lists the textbook and reference books for the course, as well as the course outcomes which include being able to describe machine concepts and mechanisms, identify mechanism motions, analyze planar mechanisms analytically and graphically, analyze motion transmission elements like gears and cams, and utilize kinematic aspects for machine design. The document also provides an overview of the topics to be covered in the course, including basic definitions, kinematic chains, inversions, and types of kinematic pairs and linkages.
The document discusses the basics of mechanics of machinery. It defines kinematics as the study of relative motions of parts without considering forces, while kinetics studies forces acting on moving parts. A mechanism is an assembly of links that transmit and modify motions between each other. A machine is a mechanism that transmits mechanical energy to perform work. Common mechanisms include four-bar linkages and gears. Key concepts covered are kinematic pairs, degrees of freedom, Grashof's criterion for planar linkages, and the mobility formula for calculating degrees of freedom.
The document discusses inversions of mechanisms. It begins by defining mechanisms and their kinematic analysis. Key mechanisms discussed include the four-bar linkage, single slider-crank chain, and double slider-crank chain. Important inversions of the four-bar linkage are analyzed, such as the beam engine, locomotive coupling rods, and Watt's indicator mechanism. The single slider-crank chain inversion includes the oscillating cylinder engine. Analyzing mechanisms and their inversions is important for machine design applications involving motion and force transmission.
1) A machine is an assemblage of rigid bodies that transmits or transforms forces, motion and energy in a predetermined manner to do work. Kinematics is the study of motion without considering forces, while dynamics involves studying forces and resulting motions.
2) Links are parts of a machine that move relative to other parts and are resistant bodies. Kinematic pairs connect two links and allow relative motion between them. Pairs can be classified by type of contact, relative motion, or mechanical constraint.
3) A kinematic chain is a combination of kinematic pairs where the relative motion between links is constrained. If one link is fixed, it is a mechanism, and if used to transmit power or do work, it is
Kinematic link, Types of links, Kinematic pair, Types of constrained motions, Types of Kinematic pairs, Kinematic chain, Types of joints, Mechanism, Machine, Degree of freedom, Mobility of Mechanism, Inversion, Grashoff’s law, Four-Bar Chain and its Inversions, Slider crank Chain and its Inversions, Double slider crank Chain and its Conversions, Mechanisms with Higher pairs, Equivalent Linkages and its Cases - Sliding Pairs in Place of Turning Pairs, Spring in Place of Turning Pairs, Cam Pair in Place of Turning Pairs
1. The document discusses the fundamentals and types of mechanisms in machine theory. It covers kinematics, dynamics, types of links, kinematic pairs, and classifications of kinematic pairs.
2. A kinematic chain is formed when kinematic pairs are coupled together to transmit motion. The relationships between the number of links, pairs, and joints in a kinematic chain are explained.
3. Common kinematic chains including four-bar chains, single slider-crank chains, and double slider-crank chains are described. Inversions of mechanisms by fixing different links are used to obtain different mechanisms.
This document provides an overview of the course ME3491 – Theory of Machines taught by Mr. M. Dhanenthiran. It discusses the following key topics:
1. The course covers kinematics of mechanisms including terminology, kinematic inversions of 4-bar and slide crank chains, velocity/acceleration polygons, analytical and computer methods, and cam classifications.
2. Theory of machines is the applied science used to understand relative motion and forces between machine parts. It involves kinematic and kinetic analysis as well as mechanism synthesis.
3. Mechanisms are combinations of rigid bodies that transmit and modify motion. Examples covered include slider crank, inversions of single/double slider crank chains
Kinematics: The study of motion (position, velocity, acceleration). A major goal of understanding kinematics is to develop the ability to design a system that will satisfy specified motion requirements. This will be the emphasis of this class.
• Kinetics: The effect of forces on moving bodies. Good kinematic design should produce good kinetics.
• Mechanism: A system design to transmit motion. (low forces)
• Machine: A system designed to transmit motion and energy. (forces involved
kinematics of machines presentation slideshello171
This document discusses kinematics of machines and mechanisms. It defines kinematics as the study of motion without considering forces. It also defines key terms like mechanisms, machines, links, joints, and mobility. It then covers various classifications of mechanisms such as based on motion type (uniform or non-uniform), degree of freedom (constrained or unconstrained), position in space (planar, spherical, or spatial), and connection of output member (open or closed). The remainder of the document discusses components of mechanisms like links, joints, and kinematic chains. It also provides examples and formulas for determining the degree of freedom of mechanisms.
This document discusses kinematics of machines and mechanisms. It defines kinematics as the study of motion without considering forces. It also defines key terms like mechanisms, machines, links, joints, and mobility. It then covers various classifications of mechanisms such as based on motion type (uniform or non-uniform), degree of freedom (constrained or unconstrained), position in space (planar, spherical, or spatial), and connection of output member (open or closed). The remainder of the document discusses components of mechanisms like links, joints, and kinematic chains. It also provides examples and analyses of common mechanisms like four-bar linkages.
kinematics.ppt kdm tom kinematics of machinesYogeswaran41
This document provides an overview of kinematics of machines. It defines kinematics as the study of motion without considering forces. Kinematics is a division of dynamics, along with kinetics which considers forces. Mechanisms are classified based on the nature of their motion (uniform or non-uniform), mobility/degrees of freedom, position in space (planar, spherical, spatial), and the connection of output members (open or closed). Key components of mechanisms include links, kinematic pairs/joints, and kinematic chains. Four-bar mechanisms have four inversions depending on which link is fixed.
This document provides an introduction to kinematics of machines. It defines key terms like link, kinematic chain, mechanism, degrees of freedom, and mobility. It describes different types of links, kinematic pairs, and classifications of links and kinematic pairs. Important concepts like inversion and Grubler's criterion for calculating the degrees of freedom of a mechanism are explained. Examples are provided to illustrate how to apply Grubler's criterion to determine the mobility of different mechanisms.
This document provides an overview of machine learning concepts for diploma and polytechnic students. It covers topics such as simple mechanisms, kinematic pairs, kinematic chains, and inversions. Specifically, it discusses four bar link mechanisms, the single slider crank chain, and their various inversions including beam engines, the coupling rod of locomotives, and Watt's indicator mechanism. It also provides examples of kinematic pairs like lower and higher pairs and defines terms like links, mechanisms, and machines. Diagrams are included to illustrate key concepts.
Discover the latest insights on Data Driven Maintenance with our comprehensive webinar presentation. Learn about traditional maintenance challenges, the right approach to utilizing data, and the benefits of adopting a Data Driven Maintenance strategy. Explore real-world examples, industry best practices, and innovative solutions like FMECA and the D3M model. This presentation, led by expert Jules Oudmans, is essential for asset owners looking to optimize their maintenance processes and leverage digital technologies for improved efficiency and performance. Download now to stay ahead in the evolving maintenance landscape.
Comparative analysis between traditional aquaponics and reconstructed aquapon...bijceesjournal
The aquaponic system of planting is a method that does not require soil usage. It is a method that only needs water, fish, lava rocks (a substitute for soil), and plants. Aquaponic systems are sustainable and environmentally friendly. Its use not only helps to plant in small spaces but also helps reduce artificial chemical use and minimizes excess water use, as aquaponics consumes 90% less water than soil-based gardening. The study applied a descriptive and experimental design to assess and compare conventional and reconstructed aquaponic methods for reproducing tomatoes. The researchers created an observation checklist to determine the significant factors of the study. The study aims to determine the significant difference between traditional aquaponics and reconstructed aquaponics systems propagating tomatoes in terms of height, weight, girth, and number of fruits. The reconstructed aquaponics system’s higher growth yield results in a much more nourished crop than the traditional aquaponics system. It is superior in its number of fruits, height, weight, and girth measurement. Moreover, the reconstructed aquaponics system is proven to eliminate all the hindrances present in the traditional aquaponics system, which are overcrowding of fish, algae growth, pest problems, contaminated water, and dead fish.
Rainfall intensity duration frequency curve statistical analysis and modeling...bijceesjournal
Using data from 41 years in Patna’ India’ the study’s goal is to analyze the trends of how often it rains on a weekly, seasonal, and annual basis (1981−2020). First, utilizing the intensity-duration-frequency (IDF) curve and the relationship by statistically analyzing rainfall’ the historical rainfall data set for Patna’ India’ during a 41 year period (1981−2020), was evaluated for its quality. Changes in the hydrologic cycle as a result of increased greenhouse gas emissions are expected to induce variations in the intensity, length, and frequency of precipitation events. One strategy to lessen vulnerability is to quantify probable changes and adapt to them. Techniques such as log-normal, normal, and Gumbel are used (EV-I). Distributions were created with durations of 1, 2, 3, 6, and 24 h and return times of 2, 5, 10, 25, and 100 years. There were also mathematical correlations discovered between rainfall and recurrence interval.
Findings: Based on findings, the Gumbel approach produced the highest intensity values, whereas the other approaches produced values that were close to each other. The data indicates that 461.9 mm of rain fell during the monsoon season’s 301st week. However, it was found that the 29th week had the greatest average rainfall, 92.6 mm. With 952.6 mm on average, the monsoon season saw the highest rainfall. Calculations revealed that the yearly rainfall averaged 1171.1 mm. Using Weibull’s method, the study was subsequently expanded to examine rainfall distribution at different recurrence intervals of 2, 5, 10, and 25 years. Rainfall and recurrence interval mathematical correlations were also developed. Further regression analysis revealed that short wave irrigation, wind direction, wind speed, pressure, relative humidity, and temperature all had a substantial influence on rainfall.
Originality and value: The results of the rainfall IDF curves can provide useful information to policymakers in making appropriate decisions in managing and minimizing floods in the study area.
Introduction- e - waste – definition - sources of e-waste– hazardous substances in e-waste - effects of e-waste on environment and human health- need for e-waste management– e-waste handling rules - waste minimization techniques for managing e-waste – recycling of e-waste - disposal treatment methods of e- waste – mechanism of extraction of precious metal from leaching solution-global Scenario of E-waste – E-waste in India- case studies.
Redefining brain tumor segmentation: a cutting-edge convolutional neural netw...IJECEIAES
Medical image analysis has witnessed significant advancements with deep learning techniques. In the domain of brain tumor segmentation, the ability to
precisely delineate tumor boundaries from magnetic resonance imaging (MRI)
scans holds profound implications for diagnosis. This study presents an ensemble convolutional neural network (CNN) with transfer learning, integrating
the state-of-the-art Deeplabv3+ architecture with the ResNet18 backbone. The
model is rigorously trained and evaluated, exhibiting remarkable performance
metrics, including an impressive global accuracy of 99.286%, a high-class accuracy of 82.191%, a mean intersection over union (IoU) of 79.900%, a weighted
IoU of 98.620%, and a Boundary F1 (BF) score of 83.303%. Notably, a detailed comparative analysis with existing methods showcases the superiority of
our proposed model. These findings underscore the model’s competence in precise brain tumor localization, underscoring its potential to revolutionize medical
image analysis and enhance healthcare outcomes. This research paves the way
for future exploration and optimization of advanced CNN models in medical
imaging, emphasizing addressing false positives and resource efficiency.
Design and optimization of ion propulsion dronebjmsejournal
Electric propulsion technology is widely used in many kinds of vehicles in recent years, and aircrafts are no exception. Technically, UAVs are electrically propelled but tend to produce a significant amount of noise and vibrations. Ion propulsion technology for drones is a potential solution to this problem. Ion propulsion technology is proven to be feasible in the earth’s atmosphere. The study presented in this article shows the design of EHD thrusters and power supply for ion propulsion drones along with performance optimization of high-voltage power supply for endurance in earth’s atmosphere.
artificial intelligence and data science contents.pptxGauravCar
What is artificial intelligence? Artificial intelligence is the ability of a computer or computer-controlled robot to perform tasks that are commonly associated with the intellectual processes characteristic of humans, such as the ability to reason.
› ...
Artificial intelligence (AI) | Definitio
3. KINEMATICS OF MACHINES
• KINEMATICS: deals with only geometric aspects of motion without
any consideration of forces.
• MACHINE: A device for transferring and transforming motion & force
(power) from the source to the load(output).(eg. Shaper, screw jack)
• MECHANISM: Function of a mechanism is to transmit and modify a
motion.(eg. Clock, type writer)
• NOTE: Force is not greater than necessary to overcome friction b/w
moving parts in mechanism.
• For the study of kinematics, a machine may be referred to as a
mechanism, which is a combination of interconnected rigid bodies
capable of relative motion.
4. • Constrained Motion is defined as a mechanical pair which is having
definite motion with respect to another element.
• TYPES OF CONSTRAINED MOTION:
Irrespective of the force applied. Motion is possible in more than one
Direction & depends upon the direction
of the force applied.
Motion in one direction is stopped
by using some external means.
5. RIGID & RESISTANT BODIES
• RIGID BODY:
Under the action of forces, it does not suffer from any distortion.
• RESISTANT BODY:
Those bodies which are rigid for the purposes they have to serve & capable
of transmitting the required forces with negligible deformation.
• A link or an element need not be a rigid body, but it must be a resistant
body. (semi rigid – belt is rigid in tension)
• Thus a link should have the following two characteristics:
1. It should have relative motion.
2. It must be a resistant body.
At this stage we will assume, the kinematic bodies are rigid & massless for
purposes of initial kinematic synthesis & analysis.
6. • KINEMATIC LINK/ELEMENT:
Resistant body or an assembly of resistant bodies which
go to make parts of a machine.
• KINEMATIC PAIR:
A pair is a joint of two links that permits relative motion.
• TYPES: (1. Nature of relative motion)
1 DOF
1 DOF
1 DOF
3 DOF
2 DOF
1 DOF
They should form one unit with no relative motion of parts with respect
to each other
7. • 2. Nature of contact
(a) Lower pair: A pair of links having surface or area contact b/w the
members.(sliding pairs, turning pairs & screw pairs)
(b) Higher pair: pair having a point or line contact b/w the links.
Nut & Screw Shaft rotating in a bearing Universal joint All pairs of mechanism
Cam & follower Roller bearings Gears
Low friction
High friction
8. • 3. Nature of mechanical constraint:
(a) when the elements of a pair are held together mechanically, it is
known as a closed pair. The contact b/w the two can be broken only by
destruction or damage of at least one part.
• All the lower pairs and some of the higher
pairs are closed pairs.
(b) When two links of a pair are in contact either due to
force of gravity or some spring action, they constitute an
unclosed/open pair.
9. TYPES OF JOINTS
• Binary joint: Two links are joined at the same connection.
• Ternary joint: Three links are joined at a connection.
1 Ternary joint equivalent to 2 Binary joints.
• Quaternary joint: Four links are joined at a connection.
1 Quaternary joint equivalent to 3 Binary joints.
• In general, if n number of links are connected
at a joint, it is equivalent to (n-1) binary joints.
10. DEGREES OF FREEDOM
• An unconstrained rigid body moving in space can be described by 3
translational motions & 3 rotational motions.(independent)
• Thus a rigid body possesses 6 DOF.
• The connection of a link with another imposes certain constraints on
their relative motion.
• Degrees of freedom of a pair is defined as the number
of independent relative motions, both translational &
rotational a pair can have.
DOF = 6 – No. of restraints
• Most practical mechanisms have 1 DOF.
11. KINEMATIC CHAIN
• A kinematic chain may be defined as a combination of kinematic
pairs, joined in such a way that each link forms a part of two pairs and
the relative motion between the links or elements is completely or
successfully constrained.
• For example slider crank mechanism(engine). The total combination
of these links is a kinematic chain.
12. In case the motion of a link
results in indefinite motion of
other links, it is a non- kinematic
chain
Redundant chain
J = Binary joints
L = Binary links
LHS>RHS – locked/redundant chain
LHS=RHS – Constrained
LHS<RHS – Unconstrained
For lower pairs
13. DEGREES OF FREEDOM OR MOBILITY:
• the number of inputs which need to be provided in
order to create a predictable output;
also:
• the number of independent coordinates required to
define its position.
Degree of Freedom in Planar Mechanisms:
Typical joints
14. MOBILITY OF MECHANISMS:
If one of the links of a kinematic chain is fixed to the ground
Space mechanisms
Planar mechanisms
Kutzbach’s criterion
Gruebler’s Criterion
• Applicable to linkages with 1 DOF.
• So for 1 DOF P2 = 0
Most of the mechanisms are expected
to have 1 DOF.
As P1 & N are to be whole no., the relation can
be satisfied only if N is even.
DOF Positive – Mechanism
DOF Zero – Structure
DOF Negative – Super/preloaded structure
N = 6 4B+ 2T or 5B + 1Q
15. PARADOXES
Because of unique geometry
Redundant link: which do not introduce any extra constraint
Redundant DOF:
One or more links of a mechanism can be moved without
causing any motion to the rest of the links of a mechanism.
Effective DOF
The function of the mechanism is not affected even if any
one of the links 2, 4 or 5 are removed. Thus, the effective no. of
links in this case is 4 with 4 turning pairs and thus has 1 DOF.
16. LINKAGE TRANSFORMATION
(No change in DOF)
There are several transformation techniques or rules that we can apply
to planar kinematic chains.
1. Revolute joints in any loop can be replaced by prismatic joints provided that
at least two revolute joints remain in the loop.
2. Any full joint can be replaced by a half joint, but this will increase the DOF by one.
3. Removal of a link will reduce the DOF by one.
4. The combination of rules 2 and 3 above will keep the original DOF unchanged.
Spring connection
17. COMMONLY USED LINKS & JOINTS
With 1 DOF, the mechanical press mechanism is constrained. Moving only one
link, the handle, precisely positions all other links in the press, sliding the press
head onto the work piece.
18. Determine the DOF of the mechanisms:
PROBLEMS
Take scale and red link to be
a single link attached by screw
Link 3 is Redundant DOF
19.
20.
21.
22.
23. • F = N – (2L + 1)
• P1 = N + (L – 1)
L = No. of loops in a mechanism
Valid for mechanisms with turning pairs.
LOOP METHOD:
24.
25. INTERMITTENT MOTION
• Intermittent motion is a sequence of motions & dwells.
• A dwell is a period in which the output link remains stationary while
the input link continues to move.
Geneva Mechanism Cam and follower Manufacturing systems
26. Expansion of pairs (Limit & disguise of revolute pairs)
During analysis of a mechanism, its pairs
may expand and the appearance of the
mechanism may change beyond recognition,
though the character of motion of kinematic
chain remains unaltered.
Inversions of Mechanism:
Inversions are the different mechanisms obtained by fixing different links in a kinematic chain.
Thus as many inversions are possible as the no. of links.
The motion of a link in a kinematic chain relative to some other links is the property of the chain and not of the
mechanism.
NOTE: Relative motion of links is not changed in any manner through the process of inversion.
The arrangement looks radically different from the original diagram but kinematically it is equivalent to the
Same 4 bar mechanism.(No relative motion is altered)
27. THE GRASHOF CONDITION
Simplicity is one mark of good design. The fewest parts that can do the job will usually give the least
expensive and most reliable solution. Thus the four bar linkage should be among the first solutions to
motion control problems to be investigated.
The Grashof condition is a very simple relationship which predicts the rotation behavior or
rotatability of a four bar linkage's inversions based only on the link lengths.
S = length of shortest link
L = length of longest link
P = length of remaining link
Q = length of other remaining link
the linkage is Grashof and at least one link will be capable
of making a full revolution with respect to the ground plane.
This is called a Class I kinematic chain
If the inequality is not true, then the linkage is non-Grashof
and no link will be capable of a complete revolution relative
to any other link. This is a Class II kinematic chain.
• Crank
• Coupler
• Rocker
Impossible
d > a + b + c
28. • Whether they are later assembled into a kinematic chain in S, L, P, Q, or S, P, L, Q or any other order, will not change
the Grashof condition.
• The motions possible from a fourbar linkage will depend on both the Grashof condition and the inversion chosen.
The inversions will be defined with respect to the shortest link. The motions are:
For the Class II case, S + L > P + Q:
All inversions will be triple-rockers in which no link can
fully rotate.
For the Class I case, S + L < P + Q:
29. Referred to as special-case Grashof and also as a Class III kinematic chain, all inversions will be either
double-cranks or crank-rockers.
For the Class III case, S + L = P +Q
Both i/p & o/p rotate with same
angular velocities.
Both i/p & o/p rotate with different
angular velocities.
Wind shield wipers
i/p 2 rotations & o/p 1 rotation
(Galloway mechanism)
30. PROBLEMS
1. Find all the inversions of the chain given: 2. Indicate the type of mechanism whether
crank-rocker or double-crank or double-rocker
31.
32.
33. MECHANICAL ADVANTAGE
In general, the MA of a mechanism is defined as the ratio of the
force or torque exerted by the driven link to the necessary force or
torque required at the driver.
Both these angles are continuously changing and so is the MA.
When = 0o or 180o , linkage is said to be in toggle(or limit) posture.
If friction and inertia forces are ignored
The MA becomes infinite, thus at such a posture, only a small input
Torque is necessary to produce a very large output torque load.
Vise Grip locking pliers
34. TRANSMISSION ANGLE (µ)
• As this angle becomes smaller, the MA decreases and even a small amount of
friction might cause the mechanism to lock or jam.
• Ideally, we would like all of the force F34 to go into producing output torque T4
on link 4. However, only the tangential component creates torque on link 4.
The radial component F34 provides only tension or compression in link 4. This
radial component only increases pivot friction and does not contribute to the
output torque.
Therefore, the optimum value for the transmission angle is 90°. When µ is less
than 45° the radial component will be larger than the tangential component.
• A common thumb rule: µ > 45o or 50o
• The angle between the output link and the coupler is known as transmission angle.
35. A double rocker 4 bar linkage has a dead-center posture
when links 3 & 4 lie along a straight line and the linkage is
locked. (µ = 0o or 180o)
The designer must either avoid such a posture or provide
an external force, such as a spring to unlock the linkage.
Therefore, the transmission angle has become a commonly
accepted measure of quality of a design of the 4 bar linkage.
Double crank or
Crank rocker
Double rocker
36. • It is important to realize that a toggle condition is only undesirable if it is preventing your linkage from
getting from one desired position to the other. In other circumstances the toggle is very useful. It can
provide a self-locking feature when a linkage is moved slightly beyond the toggle position and against
a fixed stop.
An example of such a toggle linkage is shown in Figure 3-2. It happens to be a special-case Grashof
linkage in the deltoid configuration which provides a locking toggle position when open, and folds on
top of itself when closed, to save space.
40. FOUR BAR MECHANISM INVERSIONS
Watt mechanism
Pantograph
Beam engine
Coupled locomotive
wheels
41. SLIDER CRANK MECHANISM INVERSIONS
First Inversion(Reciprocating engine and compressor)
Note that every mechanism has a fixed link called the frame. When different links are chosen as the frame,
the relative motions b/w the various links are not altered, but their absolute motions(those measured w.r.t
the frame) may be changed significantly.
For reciprocating engine, 4(piston) is the driver and
if it is a compressor, 2(crank) is the driver.
49. QUICK RETURN MECHANISMS
Many machine design applications have a need for a difference in average velocity between their
"forward" and "return" strokes. Typically some external work is being done by the linkage on the forward
stroke, and the return stroke needs to be accomplished as rapidly as possible so that a maximum of time
will be available for the working stroke. Many arrangements of links will provide this feature.
CRANK – SLIDER QUICK RETURN:
• Depending on the relative lengths of the links this mechanism is known as a Whitworth or crank slotted
mechanism. If the ground link is the shortest, then it will behave as a double-crank linkage or Whitworth
mechanism. If the driving crank is the shortest link, then it will behave as a crank-rocker linkage or crank
slotted mechanism.
• They are often used in metal shaper machines to provide a slow cutting stroke (due to reasons like heat
dissipation, life of tool bits etc.) and a quick return stroke when the tool is doing no work.
50. Whitworth mechanism Crank & slotted lever mechanism
Link 3 – uniform speed
Link 1 – variable angular velocity
51.
52. In a crank and slotted lever quick-return mechanism shown, the distance between the fixed centres is 300
mm and the length of the driving crank is 150 mm. Find the inclination of the slotted lever with the vertical in
the extreme position and the ratio of time of cutting stroke to return stroke.
53. In a Whitworth quick return motion mechanism, as shown in
Fig., the distance between the fixed centres is 80 mm and the
length of the driving crank is 100 mm. The length of the slotted
lever is 180 mm
and the length of the connecting rod is 150 mm. Calculate the
ratio of the time of cutting to return strokes.
The distance between two parallel shafts connected by Oldham’s coupling is 25 mm. The driving shaft
revolves at 240 rpm. Determine the maximum speed of sliding of the tongue of the intermediate piece along
its groove.
54. In a crank and slotted lever mechanism, the length of crank is 560 mm and the ratio of time of working
stroke to return stroke is 2.8. Determine (a) distance between the fixed centres, and (b) the length of
the slotted lever, if length of stroke is 250 mm.
55. In a Whitworth quick return motion mechanism, as shown in Fig., the distance between the fixed
centres is 60 mm and the length of the driving crank is 80 mm. The length of the slotted lever is 160
mm
and length of the connecting nod is 140 mm. Find the ratio of the time of cutting stroke to the time of
return stroke and also the effective stroke.