The document provides an overview of theory of machines and machine elements design. It discusses kinematics, which is the study of motion without considering forces. Kinematics of machines deals with the relative motion between machine parts through displacement, velocity and acceleration. A mechanism is defined as part of a machine that transmits motion and power from input to output. Key concepts discussed include links, kinematic pairs, degrees of freedom, and inversions of mechanisms. Common mechanisms like slider crank chains and their inversions are presented. The document also discusses straight line motion generators, intermittent motion mechanisms, and mechanical advantage in mechanisms.
This document outlines the topics covered in a course on Dynamics of Machines. The six units cover gear trains, gyroscopes, force analysis of mechanisms, balancing of rotating and reciprocating masses, free and forced vibrations, and critical speeds of shafts. Experiments include studying gear trains, gyroscopes, moment of inertia determination, balancing, vibration characteristics, and an industrial visit. Revision topics include types of gears, gear trains, velocity ratio calculations, and idler gears.
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
- The document summarizes inversions of single and double slider crank chains. It discusses the first, second, third, and fourth inversions of a single slider crank chain and their applications.
- It also discusses the crank and slotted quick return mechanism used in shaping machines. It provides the equations to calculate the time ratio of cutting to return strokes.
- Additionally, it discusses inversions of a double slider crank chain including the elliptical trammels, Scotch yoke mechanism, and Oldham's coupling along with examples and applications of each.
This document discusses the inversion of mechanisms. It begins by defining inversion of mechanisms as generating different mechanisms by fixing one link in a kinematic chain. It then discusses three types of inversions: 1) inversion of a four bar chain, which includes inverting links in a chain with four rigid links connected by four pin joints, 2) inversion of a single slider crank chain, which includes mechanisms like a pendulum pump or oscillating cylinder engine, and 3) inversion of a double slider crank chain, which includes mechanisms like an elliptical trammel or scotch yoke mechanism. Diagrams and examples are provided for each type of inversion.
The document provides details about the syllabus of a course on Kinematics of Machinery. It is divided into 5 units. Unit I discusses mechanisms, kinematic pairs, degrees of freedom and inversions. Unit II covers velocity and acceleration analysis using graphical and relative velocity methods. Unit III focuses on straight line motion mechanisms. Unit IV discusses cams and cam mechanisms. Unit V is about higher pairs like gears, gear trains, epicyclic gears and their analysis. The document also provides the session planner and question bank for the course.
The document provides an overview of theory of machines and machine elements design. It discusses kinematics, which is the study of motion without considering forces. Kinematics of machines deals with the relative motion between machine parts through displacement, velocity and acceleration. A mechanism is defined as part of a machine that transmits motion and power from input to output. Key concepts discussed include links, kinematic pairs, degrees of freedom, and inversions of mechanisms. Common mechanisms like slider crank chains and their inversions are presented. The document also discusses straight line motion generators, intermittent motion mechanisms, and mechanical advantage in mechanisms.
This document outlines the topics covered in a course on Dynamics of Machines. The six units cover gear trains, gyroscopes, force analysis of mechanisms, balancing of rotating and reciprocating masses, free and forced vibrations, and critical speeds of shafts. Experiments include studying gear trains, gyroscopes, moment of inertia determination, balancing, vibration characteristics, and an industrial visit. Revision topics include types of gears, gear trains, velocity ratio calculations, and idler gears.
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
- The document summarizes inversions of single and double slider crank chains. It discusses the first, second, third, and fourth inversions of a single slider crank chain and their applications.
- It also discusses the crank and slotted quick return mechanism used in shaping machines. It provides the equations to calculate the time ratio of cutting to return strokes.
- Additionally, it discusses inversions of a double slider crank chain including the elliptical trammels, Scotch yoke mechanism, and Oldham's coupling along with examples and applications of each.
This document discusses the inversion of mechanisms. It begins by defining inversion of mechanisms as generating different mechanisms by fixing one link in a kinematic chain. It then discusses three types of inversions: 1) inversion of a four bar chain, which includes inverting links in a chain with four rigid links connected by four pin joints, 2) inversion of a single slider crank chain, which includes mechanisms like a pendulum pump or oscillating cylinder engine, and 3) inversion of a double slider crank chain, which includes mechanisms like an elliptical trammel or scotch yoke mechanism. Diagrams and examples are provided for each type of inversion.
The document provides details about the syllabus of a course on Kinematics of Machinery. It is divided into 5 units. Unit I discusses mechanisms, kinematic pairs, degrees of freedom and inversions. Unit II covers velocity and acceleration analysis using graphical and relative velocity methods. Unit III focuses on straight line motion mechanisms. Unit IV discusses cams and cam mechanisms. Unit V is about higher pairs like gears, gear trains, epicyclic gears and their analysis. The document also provides the session planner and question bank for the course.
2.kinematics inversions of 4 bar and slide crank chain (1) (1)Ganesh Fodase
This document discusses important kinematic chains including the 4 bar mechanism, single slider crank chain, and double slider crank chain. It focuses on inversions of the 4 bar mechanism, describing how different links can be fixed to create different mechanisms like the beam engine, coupling rod of a locomotive, and Watt's indicator mechanism. Inversions of the single slider crank chain are also examined, noting mechanisms like the pendulum pump, oscillating cylinder engine, and rotary internal combustion engine. The double slider crank chain inversions include elliptical trammels, the Scotch yoke mechanism, and Oldham's coupling.
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 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.
Fundamentals of kinematics and mechanismsajitkarpe1986
This document discusses kinematic mechanisms. It begins with defining key terms like links, pairs, and degrees of freedom. It then covers different types of links and pairs, including sliding, turning, rolling, and screw pairs. Methods for analyzing mechanisms like Kutzbach's criterion and Grubler's criterion are presented. Several examples of basic kinematic chains and their inversions including four bar chains and slider crank mechanisms are discussed in detail.
This document provides information about 10 experiments related to kinematics of machine. The experiments cover topics like types of kinematic links, pairs, chains and mechanisms; inversions of 4-bar mechanisms and single/double slider crank mechanisms; coefficient of friction between belt and pulley; plotting slider displacement, velocity and acceleration against crank rotation for single slider crank mechanisms; types of cams and followers; types of gears; types of gear trains; types of steering mechanisms; working of screw jack and determining its efficiency; and creating linkage mechanisms in CAD and simulating their motion. Each experiment includes the aim, apparatus used, relevant theory, procedures, observations and conclusions.
Ch 1 fundamentals and types of mechanismsPooja Katkar
The document provides an overview of mechanisms and kinematic pairs in mechanical engineering. It discusses:
- Mechanisms are devices that transfer motion, while kinematic pairs constrain links to specific motions relative to each other.
- The main types of kinematic pairs are sliding, rolling, turning, screw and spherical pairs.
- Important kinematic chains include the four-bar linkage, single slider-crank, and double slider mechanisms.
- Inversions of kinematic chains involve fixing different links, changing the input and output motions.
- Examples are given of mechanisms formed from inversions of the key kinematic chains, and their engineering applications.
The document discusses different types of mechanisms and their inversions. It describes three main types of kinematic chains: four bar chains, single slider crank chains, and double slider crank chains. It provides examples of inversions for each type. For four bar chains, inversions include double cranks and crank-rocker mechanisms. Inversions of single slider crank chains include pendulum pumps, oscillating cylinder engines, and rotary internal combustion engines. Inversions of double slider crank chains include elliptical couplings and scotch yoke mechanisms.
The document discusses various types of kinematic linkages including single slider crank chains and their inversions. It describes how fixing each link in a four bar linkage results in four possible inversions. Examples of applications are given for each inversion including internal combustion engines and air compressors. Double slider crank chains and their inversions are also covered along with examples like Scotch yoke mechanisms. Additional linkages and mechanisms discussed include straight line mechanisms, ratchets and pawls, indexing mechanisms, and rocking mechanisms.
This document outlines the syllabus for a course on Kinematics of Machinery across 5 units. Unit 1 covers mechanisms, kinematic links and pairs, constrained motion, and inversion of mechanisms. Unit 2 discusses straight line motion mechanisms and steering mechanisms. Unit 3 focuses on kinematics, velocity and acceleration diagrams, and instantaneous centers of rotation. Unit 4 examines cams and cam analysis. Finally, Unit 5 looks at gears, gear trains, and differentials. The overall objectives are to impart knowledge of mechanisms, teach analysis of link position/velocity/acceleration, and familiarize students with higher pairs like cams and gear design principles.
1. Kinematics is the study of motion without consideration of forces or masses. It examines the motion of elements in mechanisms such as their position, displacement, velocity, and acceleration.
2. A mechanism transmits motion and power from an input point to an output point through a series of links connected by kinematic pairs. The degrees of freedom of a mechanism determine how many inputs are needed to fully define the motion.
3. Important mechanisms include the four-bar linkage, slider-crank mechanism, and their inversions which have different links fixed. Quick return mechanisms use configurations like the drag link or crank and slot to provide faster return strokes.
This document provides an overview of basic kinematic concepts including:
- Types of links such as rigid, flexible, and fluid links
- Kinematic pairs classified by relative motion, contact type, and closure
- Kinematic chains including binary, ternary, and quaternary joints
- Mechanisms and calculating their degrees of freedom using Grubler's and Kutzbach's criteria
- Examples of common mechanisms including four-bar chains, single and double slider-crank chains, inversions, and steering gears.
The document discusses various power transmission systems used in industrial robotics including gears, belts, chains, shafts, and motion conversion mechanisms. Gears can be classified as external/internal or spur/helical/bevel/worm and are used to transmit motion between shafts. Belts and chains are also used for power transmission over longer distances. Motion conversion systems like lead screws, rack and pinion, and cam mechanisms are used to convert between rotary and linear motion.
The document discusses various types of linkages and mechanisms used in machinery, including:
- Four-bar linkages and their inversions like crank-rocker, double crank, and double rocker mechanisms.
- Slider-crank mechanisms which convert rotary to reciprocal motion, and their inversions.
- Quick-return mechanisms like the drag link and crank and slotted lever types, which provide a slower cutting stroke and faster return stroke.
- Other topics covered include transmission angles in four-bar linkages and the Scotch yoke mechanism.
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.
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.
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This document discusses important kinematic chains including the 4 bar mechanism, single slider crank chain, and double slider crank chain. It focuses on inversions of the 4 bar mechanism, describing how different links can be fixed to create different mechanisms like the beam engine, coupling rod of a locomotive, and Watt's indicator mechanism. Inversions of the single slider crank chain are also examined, noting mechanisms like the pendulum pump, oscillating cylinder engine, and rotary internal combustion engine. The double slider crank chain inversions include elliptical trammels, the Scotch yoke mechanism, and Oldham's coupling.
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This document discusses kinematic mechanisms. It begins with defining key terms like links, pairs, and degrees of freedom. It then covers different types of links and pairs, including sliding, turning, rolling, and screw pairs. Methods for analyzing mechanisms like Kutzbach's criterion and Grubler's criterion are presented. Several examples of basic kinematic chains and their inversions including four bar chains and slider crank mechanisms are discussed in detail.
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Ch 1 fundamentals and types of mechanismsPooja Katkar
The document provides an overview of mechanisms and kinematic pairs in mechanical engineering. It discusses:
- Mechanisms are devices that transfer motion, while kinematic pairs constrain links to specific motions relative to each other.
- The main types of kinematic pairs are sliding, rolling, turning, screw and spherical pairs.
- Important kinematic chains include the four-bar linkage, single slider-crank, and double slider mechanisms.
- Inversions of kinematic chains involve fixing different links, changing the input and output motions.
- Examples are given of mechanisms formed from inversions of the key kinematic chains, and their engineering applications.
The document discusses different types of mechanisms and their inversions. It describes three main types of kinematic chains: four bar chains, single slider crank chains, and double slider crank chains. It provides examples of inversions for each type. For four bar chains, inversions include double cranks and crank-rocker mechanisms. Inversions of single slider crank chains include pendulum pumps, oscillating cylinder engines, and rotary internal combustion engines. Inversions of double slider crank chains include elliptical couplings and scotch yoke mechanisms.
The document discusses various types of kinematic linkages including single slider crank chains and their inversions. It describes how fixing each link in a four bar linkage results in four possible inversions. Examples of applications are given for each inversion including internal combustion engines and air compressors. Double slider crank chains and their inversions are also covered along with examples like Scotch yoke mechanisms. Additional linkages and mechanisms discussed include straight line mechanisms, ratchets and pawls, indexing mechanisms, and rocking mechanisms.
This document outlines the syllabus for a course on Kinematics of Machinery across 5 units. Unit 1 covers mechanisms, kinematic links and pairs, constrained motion, and inversion of mechanisms. Unit 2 discusses straight line motion mechanisms and steering mechanisms. Unit 3 focuses on kinematics, velocity and acceleration diagrams, and instantaneous centers of rotation. Unit 4 examines cams and cam analysis. Finally, Unit 5 looks at gears, gear trains, and differentials. The overall objectives are to impart knowledge of mechanisms, teach analysis of link position/velocity/acceleration, and familiarize students with higher pairs like cams and gear design principles.
1. Kinematics is the study of motion without consideration of forces or masses. It examines the motion of elements in mechanisms such as their position, displacement, velocity, and acceleration.
2. A mechanism transmits motion and power from an input point to an output point through a series of links connected by kinematic pairs. The degrees of freedom of a mechanism determine how many inputs are needed to fully define the motion.
3. Important mechanisms include the four-bar linkage, slider-crank mechanism, and their inversions which have different links fixed. Quick return mechanisms use configurations like the drag link or crank and slot to provide faster return strokes.
This document provides an overview of basic kinematic concepts including:
- Types of links such as rigid, flexible, and fluid links
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- Kinematic chains including binary, ternary, and quaternary joints
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The document discusses various power transmission systems used in industrial robotics including gears, belts, chains, shafts, and motion conversion mechanisms. Gears can be classified as external/internal or spur/helical/bevel/worm and are used to transmit motion between shafts. Belts and chains are also used for power transmission over longer distances. Motion conversion systems like lead screws, rack and pinion, and cam mechanisms are used to convert between rotary and linear motion.
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1. UNITI MECHANISMS
Definition – Machine and Structure – Kinematic link, pair and
chain – classification of Kinematic pairs – Constraint & motion
– Degrees of freedom - Slider crank – single and double –
Crank rocker mechanisms – Inversions, applications –
Introduction to Kinematic analysis and synthesis of simple
mechanisms – Determination of velocity and acceleration of
simple mechanisms.
2. Problem - 1
•The crank of a slider crank mechanism rotates
clockwise at a constant speed of 300 rpm. The
crank is 150 mm and the connecting rod is 600
mm long. Determine the linear velocity of the
mid point of the connecting rod and angular
velocity of the connecting rod at a crank angle of
45° from inner dead centre position.
5. Problem - 2
• The dimensions and configuration of the four bar
mechanism shown in figure are as follows: P1A = 300
mm, P2B = 360 mm, AB = 360 mm and P1P2 = 600 mm.
The angle AP1P2 = 60°. The crank P1A has an angular
velocity of 10 rad/sec clockwise. Determine the
angular velocities of P2B, and AB and the velocity of
the point B.
8. Problem - 3
• In a toggle mechanism shown in figure, the slider D is
constrained to move on a horizontal path. The crank
OA rotates in the counter clockwise direction at a
speed of 180 rpm. The dimensions of the various links
are as follows: OA = 180 mm, CB = 240 mm, AB = 360
mm and BD = 540 mm. For the given configuration,
find velocity of slider D and angular velocity of BD
using relative velocity method.
11. Inversions of Mechanisms
• A mechanism is formed by fixing one of the links of a
chain.
• When different links of the same chain are chosen to
become frame-link, different mechanism will arise
• This process is known as kinematic inversion
12. Properties of Inversion
• Number of inversions possible for a kinematic chain
equals the number of links in the parent kinematic
chain
• Relative motions between any two links does not
change with inversions
• Absolute motion of points on various links may
however change drastically from one inversion to the
other
13. Types of kinematic chains
•The following three types of kinematic chains
with four lower pairs are important from the
subject point of view :
•Four bar chain or quadric cyclic chain,
•Single slider crank chain, and
•Double slider crank chain.
14. Four bar mechanism
• 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.
16. Inversion of Four bar mechanism
• Crank – Crank or Double
Crank Mechanism
• Crank – Lever (Rocker)
Mechanism
• Rocker – Rocker or
Double Rocker
Mechanism
20. Inversions of Slider Crank Mechanism
• It has four binary links, three
revolute pairs, one prismatic
pair
• By fixing links 1, 2, 3 in turn
we get various inversions