THEORY OF MACHINES

UNIT – 1
Learning Objectives :
 What is a Kinematic link, Kinematic pair, Kinematic chain,
Mechanism, and Machine.
 Different types of Kinematic links.
 Different types of Kinematic pairs.
 Different types of Classification of Kinematic pairs.
 Different types of Constraints between the Kinematic links.
 Inversion of a mechanism.
 Different Inversions of some important mechanisms like the Four – bar
Chain, Single – slider crank chain, and Double – slider crank chain.
 Compound Kinematic chains.
Theory of Machines

Kinematics of Machines Dynamics of Machines

Kinematics of Machines :
This part of the subject deals with  the study of relative motion between
the various parts of a machine, without taking into account the application
of any force.
Dynamics of Machines :
This part of the subject deals with  the study of motion between the
machine parts when they are subjected to some force.
This subject is again divided into Statics and Kinetics.

Statics : This deals with  the effect of forces which act on the machine
parts, when the parts are assumed to have no mass.
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Kinetics : This deals with the  inertia forces that arise out of the
combined effect of mass and motion of the parts.

Machine :
A machine may be defined as  a contrivance which receives energy in
some available form  and  utilizes it to do some particular kind of
work.
Ex:(1) A crowbar → A machine which uses Muscular energy to raise some heavy
Load.
(2) An I.C. Engine→ converts the Heat energy derived from the combustion
of fuel to Mechanical energy.
(3) A Lathe → is a machine which converts the Mechanical energy from the
line shaft of a motor → To remove metal from a bar stock.

KINEMATIC LINK or ELEMENT : Each part of a M/c  which has

motion relative to some other part.

Each link → may consist of several parts  manufactured as separate units.

Example: (1) Piston Rod and C/s head of a steam engine → when assembled in the
Engine  Consist one link only  Rigidly fastened together.
(2) Connecting rod of I.C. engine together with the big end and small
end bearings, bolts etc → constitutes one single link.
(3) Crank pin, Crankshaft, and fly wheel → toget h erone link only.

A linkis → Not necessarily a RIGID body →but  it must be A Resistant

body,  i.e. it must be capable of transmitting the required force
with negligible deformation.

e.g. (1) Fluid links (in Hydraulic presses)→ Resistant to Tensile forces.
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Classification of Kinematic Links :

The kinematic links may be classified as  Binary, Ternary, and

Quaternary links  based upon the ends on which the revolute (turning) pairs can
be placed  as shown in Fig.1.1(a), (b), and (c) respectively.

Fig.1.1

As shown in the figure  a binary link has two vertices, a ternary link has
three vertices, and a quaternary link has four vertices, and so on.

Types of Kinematic Links :

1. Rigid Link : This is a link which does NOT undergo any appreciable
deformation while transmitting motion, e.g., crank, connecting rod, etc.,
2. Flexible Link : This is a link which, while transmitting motion, is partly
deformed – but – in such a way that as not to affect the transmission of
motion, e.g., belts, ropes, springs, etc.,
3. Fluid Link : This contains a fluid held in a closed vessel, and the motion is
transmitted by the deformation of the fluid under pressure, e.g., in a fluid
brake, hydraulic press, etc.,

KINEMATIC JOINT :

In general, there are three types of kinematic joints used in mechanisms. They are :

1. Binary Joint : In this, two links are connected at the same joint by a pin  as
shown in Fig.1.2(a).

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 Fig.1.2

2. Ternary Joint : In a ternary joint  as shown in Fig.1.2(b)  three links are

connected at the same joint by a pin. This is equivalent to two binary joints. In
the Fig.1.2(b)  the joints at B and C are ternary joints, and all the others are
binary joints.

3. Quaternary Joint : When four links are connected at the same joint by a pin 
as shown in Fig.1.2(c)  it is termed as Quaternary joint. Thus, in the Fig.1.2(c)
 only the joint at B is a quaternary joint ; the joints at A, C, E, and F are ternary

joints, and the joint at D is a binary joint.

Kinematic Pair : Two elements or links → connected together in such a way

that the relative motion between them is completely
constrained→ form a Kinematic pair.

If the complete constraint of relative motion between the elements of a Kinematic

pair → is not constituted in the connection between the elements → BUT → is
completed by some other means→(external to the connection)  Such constraint
→ termed as  Successful constraint.

Types of Constraints :
(a) Incomplete constraint
(b) Complete constraint
(c) Successful constraint

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(a) Incomplete Constraint :

Refer Fig.1.3 (a) and Fig.1.3 (b)  Here, the round bar / shaft B passes
through the cylindrical hole in the other element A. Therefore, in this type
of kinematic pair, B may slide through A,it may rotate about its axis, or it
may have partly sliding and partly rotating motion relative to A. Therefore,
the relative motion between A and B is incompletely constrained.

(b) Complete Constraint :

Refer Fig.1.3(c) and 1.3(d) or Fig.1.3(e) and 1.3(f)  In these, the

connection between A and B is modified such that the constraint for relative
motion between them is complete, e.g., in Fig.1.3(c) and 1.3(d)  the cross
section of B and the shape of hole in A are both rectangular. Therefore, B
can only slide through the hole in A. Thus A and B form a sliding pair  and it is
completely constrained.

Further, if the type of connection between A and B is modified as

shown in the Fig.1.3(e) or 1.3(f) – with collars provided to the shaft B – as
shown in these figures – then B can only rotate about its axis, but it cannot have
translational motion relative to A because of the collars. Thus, the relative motion
between A and B is completely constrained to rotation only.

And, if the connection between A and B is as shown in the Fig.1.3(g)

and 1.3(h) such that the contact surfaces between A and B are screw
threads, it forms a screw pair, wherein although both rotation and sliding of
Bw.r.t. A is possible, a given amount of rotation of B w.r.t. A  results in

a strictly proportional axial movement of B relative to A. Therefore, this pair

can be considered as a completely constrained kinematic pair.

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6
 Fig.1.3
(c) Successful Constraint :

Refer to Fig.1.3(i) and (j)  In this, the left hand side collar is removed.
Thereby, the relative motion between A and B becomes incomplete, because
then B may have both rotational and sliding motion w.r.t. A. However, if
there is an axial force which is acting towards left such that it would
prevent B from sliding axially towards the right, then the constraint of
relative motion is complete  Such a constraint is termed as Successful
constraint. In a successfully constrained motion, the constraint for relative
motion between the two links is constituted  not within the links  but
through some external means.

e.g., (1) In vertical turbines  The connection between the shaft and thrust
bearing  Does not → AS A RULE → prevent the axial movement
of the shaft in the upward direction.

However, → The Weight of the Turbine → is far in excess of any upward

force likely to arise during the operation of the turbine.
Thus → this Kinematic Pair between the shaft and thrust
bearing → is Force – closed.

(2) The connection between the Piston and Cylinder in an I.C. Engine is another
example for the successful constraint.
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Here, the axis of the gudgeon pin -- and -- the axis of the Crank pin →

are maintained parallel to each other → by the connecting rod.

∴The Piston → only reciprocates → without any turning motion inside the

cylinder.

TYPES OF KINEMATIC PAIRS:

(A) According to the nature of Contact:

(1) Lower Pair → A pair of kinematic links having surface or area contact

between the members. The contact surfaces of the two

lines → shall be SIMILAR.

e.g., Screw and nut, A shaft rotating in a bearing,

A Hooke’s joint, etc.,

(2) Higher pair → A kinematic pair having point or line contact between

the two members of the pair  The contact surfaces

of the two lines → may be DISSIMLAR.

e.g., A wheel rolling on a surface, A cam and follower,

Gears, Ball and Roller bearing, etc.,

The Fig.1.4 shows two examples of Higher pairs. Fig.1.4(a) represents a

pair of friction discs in which the contact between the two links is line

contact. Fig.1.4(b) shows a cam and follower arrangement, wherein the

contact between the two links is point contact.

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 (a) (b)
Fig.1.4

(B) According to the nature of mechanical constraint :

(1) Closed pair : → Here, the two elements of the pair  which are
geometrically identical  are held together 
mechanically.
One element  Solid and full. Other element  Hollow or Open.
e.g., All lower pairs and some higher pairs
(2) Openpair : → Here, the two links are in contact  either due to the force
force of gravity or some spring force. The links are not
held together mechanically.  e.g., Cam and follower.
(C) According to the nature of Relative Motion:
(1) TurningPair : → Here, the two links have relative motion of rotation
between them.
e.g., A shaft in a bearing, A Hooke’s joint, etc.,
(2) Sliding pair:→Here, the two links have relative motion of sliding between
them,  e.g., A piston moving in a cylinder in an I.C.
Engine.
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(3) Rolling Pair : → Here, the two links have rolling motion between each
other.
e.g., (i) In a Ball bearing → The Ball and Shaft constitute
one rolling pair - and -- the Ball and bearing 
constitute another rolling pair.
(ii) Roller bearing.

(4) Screw Pair : → Here, the two links have turning as well as sliding motion
between them.
e.g., A pair of screw and nut.

(5) Spherical Pair : → Here, one link is in the form of a Ball or Sphere →
which turns inside a fixed link.
e.g., A Ball and Socket joint.

Kinematic Chain : A combination of Kinematic pairs → in which → each

element forms part of two pairs,  and in which the
relative motion between the parts is completely
constrained.

Mechanism : When one element of a kinematic chain is fixed, the arrangement

→ may be used for transmitting or transforming motion. Such a
kinematic chain is termed as  Mechanism.

Inversion of a Mechanism : If there are ‘n’ links in a Kinematic Chain, then

→ in general → by fixing each of the links in
turn, n different mechanisms may be obtained.

Each such mechanism → is termed as an INVERSION of the original

Kinematic Chain.

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MACHINE : When a mechanism is to be employed to transmit power or to
do some particular kind of work → The various elements or
links → are to be designed to carry safely the forces to which
they are subjected.

Such an arrangement → then → becomes a Machine.

Definition of a Machine : A machine is a combination of resistant bodies

with completely / successfully constrained relative
motions between them, -- and -- which is used to
transmit or transform the available energy to do
some particular kind of work.

Some Important Mechanisms :

I. Four – Bar Chain : In this mechanism → One link is fixed → as shown

in Fig.1.5. In this, a link which makes one complete revolution → is termed

as → CRANK -- and -- the link opposite to the fixed link → Coupler. The

4thlink → Lever (or) Rocker → if it oscillates (or) Another crank → if it rotates.

Fig.1.5

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Inversions of Four – bar Chain :

(a) If the sum of the lengths of the largest and shortest links in this chain ≤
the sum of the lengths of the other two links,  i.e., (s + l) ≤ (p + q) ,
where s and l are the lengths of the shortest and the longest links, and p and
q are the lengths of the other two links, then such a four – bar chain  is
termed as  Class I Four – Bar Chain. In such a kinematic chain only, it is
possible to have a complete relative motion between two members. This is
known as  Grashoff’s Law.

A kinematic chain satisfying the Grashoff’s law generates 3 distinct inversions

only. On the other hand, a Non – Grashoff chain generates only one distinct
inversion, namely the Rocker – Rocker Mechanism.

In such a Grashoff Four – bar chain → if the shortest link is made the
crank – and – any of the adjacent links is fixed → then the link opposite to
the crank → oscillates (rocks)  (Refer Fig.1.6).

Fig.1.6
Such a mechanism → is termed as  the Crank – Rocker mechanism  (or)
Crank – Lever mechanism  (or) Rotary – Oscillating converter.
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(b) If the shortest link is fixed : (Refer Fig 1.7).
The links 2 and 4  adjacent to the fixed link ‘1’ would make complete
revolutions.
This Mechanism → is termed as  the Crank – Crank mechanism (or)
Double – Crank mechanism (or)
Drag – Crank mechanism (or)
Rotary – Rotary converter.

Fig.1.7
(c) If the link opposite to the shortest link is fixed : (Refer Fig.1.8) 

Fig.1.8
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Here  the links 2 and 4  would oscillate. This mechanism is called as 

The Rocker – Rocker mechanism (or) Double – Rocker mechanism (or)

Double – Lever mechanism (or) Oscillating – Oscillating converter.

(d) If the sum of the lengths of the largest and shortest links > the sum of

the length of other two links  such a 4 – bar chain is termed as the Class

II 4 – bar chain  In this mechanism, fixing of any link → always results in a

 Rocker – Rocker Mechanism.

(e) If the length of one of the links > the sum of lengths of the other three

links  it is impossible to have a 4 – bar chain (refer Fig.1.9).

Fig.1.9
(f) Parallel crank 4 – bar chain: Here, two opposite links are parallel and

equal in length  Then any of these two links may be fixed  The two

links adjacent to the fixed link always act as cranks., i.e., Double – crank

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 mechanism  e.g., (Refer Fig.1.10).

Fig.1.10
II. SINGLE SLIDER CRANK CHAIN MECHANISM – INVERSIONS :

(1) This mechanism, shown in Fig.1.11 is primarily used in the I.C. Engines.
Here, the link AC (link 1) is fixed. The crank AB (link 2) revolves with a
uniform angular velocity of ω rad/s. BC is the connecting rod (link 3), and
a slider D (link 4) is attached to it at the point C. As the crank rotates, the
slider reciprocates to and fro within the guides. Thus, this mechanism
transforms the rotary motion of crank into reciprocating motion of the
slider, which is normally the piston in an I.C. Engine. In the above
mechanism, if the link 1 is fixed, then we get the inversion which is used
in the following applications.

Fig.1.11
Applications: (1) Reciprocating engine.
(2) Reciprocating compressor.
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(2) If the link 2 in the Single – slider crank chain is fixed, → then the link
3 together with the slider at its end C acts as the crank.
There are two applications for this inversion 
(a) Whitworth Quick – Return motion mechanism (Fig.1.12)
(b) Rotary engine mechanism (Fig.1.13)
(a) In the Whitworth Quick – Return motion mechanism  since the link 1
is fixed, the crank 2 rotates about ‘C’ along with the slider4. And the slider
4 reciprocates in the slotted link 3. This mechanism is termed as Quick
Return mechanism because  obviously → the two extreme positions of
the Ram 6 will correspond to the two positions DP1 and DP2 of the slotted
link. If the crank AC → rotates C.C.W → the time taken to turn from DP1
to DP2 is > the time taken to turn from DP2 to DP1. Therefore, the movement
of RAM → from left to right → is made the Cutting Stroke.(Since this
takes place at a lower mean speed than the Return Stroke). And  the
movement of RAM → from right to left→ is made the Return Stroke.

Fig.1.12
Legend : 1  Fixed link ; 2  Crank ; 3  Slotted lever ; 4  Slider ;
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 5  Connecting link ; 6  Ram ;
Time of cutting stroke 

∴ Time of return stroke (360   ) > 1 {since α > (3600 – α)}

(b) Rotary Engine mechanism :

This is shown in the Fig.1.13. In this mechanism, the crank OC is fixed.

The complete assembly of the cylinders and crank case rotates about the
center ‘C’, and the pistons reciprocate in their respective cylinders, i.e., as the
link OC rotates, the sliders (Pistons) reciprocate in their cylinders.

(3) If the link 3 (in the single – slider crank chain) is fixed → we get the
Oscillating cylinder engine mechanism -- and -- the Crank – and – Slotted
lever mechanism.
(a) Oscillating cylinder engine mechanism : (Refer Fig.1.14).
In this mechanism, the link 4 is made in the form of a Cylinder -- and --
a Piston (Slider) 5 is attached to the link 1. If the crank 2 rotates → the
Piston reciprocates in the link 4 → and thereby the link 4 oscillates.

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 Fig.1.13

1  Connecting Rod (Fixed link) ; 2  Crank ; 3  Piston Rod ; 4  Cylinder ; 5  Piston.

Fig.1.14
(b) Crank – and – Slotted lever mechanism : (Refer Fig.1.15)
In this mechanism, the link 3 is made in the form of a Slotted link -- and
-- the Piston is in the form of a slider ‘B’.
In this mechanism also  like in theWhitworth Quick – Return motion

Time of cutting stroke 360 0  


mechanism  Time of return stroke  .
The only difference between the Crank – and – Slotted lever mechanism and
the Whitworth mechanism is in the different proportions adopted for the
driving crank and the fixed link.

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 Fig.1.15
Here the link AB → is shorter than AO  Therefore the slotted link OP
oscillates between the two extreme positions OP1 and OP2– while – the
crank ABrevolves about‘A’. The PinP →is connected to the Pin Q
on the RAM of the Slotting / Shaping Machine.
∴ The Ram (Q)→ reciprocates along a path perpendicular to AO.

And -- here also -- similar to the Whitworth mechanism → the ratio of times

(3600   )
taken by the Ram on the Cutting and Return strokes is given by   .

(4) If the link 4(in the single – slider crank chain) is fixed, we get the

Pendulum Pumpor Bull Engine mechanism. (Refer Fig.1.16). In this

mechanism, the link 3 can oscillate about the fixed point Con the link 1 →

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Hence the end ‘A’ of the link2reciprocates along the axis of the fixed link

4.This mechanism → is not of much practical importance.

1  Cylinder (Fixed) ; 2  Crank ; 3  Connecting rod ; 4  Piston rod ; 5  Piston.

Fig.1.16 –Pendulum Pump (or) Bull Engine Mechanism

III. DOUBLE-SLIDER CRANK CHAIN – INVERSIONS :

This is a kinematic chain consisting of two turning pairs and two

sliding pairs. (Refer Fig.1.17). In this mechanism, the link 1 is fixed, and
the pins A and B on the die blocks (links 3 and 4) are connected by the
link 2. As the two die blocks slide along the slots in the link 1, the link 2
(AB) connecting the two die blocks is made to rotate. Each of the two die
blocks forms a sliding pair with the link 1, and a turning pair with the link 2.

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 (The above figure number is to be corrected as Fig.1.17)

Three Inversions of this kinematic chain are possible.

(1) ELLIPSE TRAMMELS : (Refer Fig.1.18).

This mechanism consists of  Two turning pairs -- and – Two sliding pairs.
The Pins A & B on the Die Blocks  slide along the slots in a Frame. The
Pins A & B  are connected by the link AB.

Fig.1.18
Each of the Die Blocks → forms a sliding pair with the frame – and – a turning
pair with the link AB. The slotted frame 1 is fixed. Any point ‘C’ on this link
AB will trace an Ellipse  as the die blocks A & B slide along their respective

slots.

For the Ellipse → AC → Semi – major axis. BC → Semi – minor

axis.

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(Refer Fig.1.18) : Here the link 1 is in the form of a frame – having guides for
the sliders 3 and 4 -- and -- the link 1 is fixed.

Any point C on the link 2 will trace an Ellipse -- and -- the mid – point of
AB→ traces a Circle.

θ → Angle made by the link 2 with the X – axis at any instant.

(x,y) → The co – ordinates of the point C, ∴x = BC cos θ ; y = AC sin θ.
x y x2 y2
 Cos θ ;  Sin θ ;  1
∴ BC AC ∴ BC2 AC 2 

This is the equation of Ellipse.

∴Semi – Major axis of Ellipse = AC; Semi – Minor axis = BC.
If C is the mid – point of AB,  then AC = BC.
x2 y2
∴  1
AC 2 AC 2 (or) (x2 + y2) = (AC)2  This is the Equation of a
Circle with AC (or) BC as its radius.

(2) Scotch Yoke Mechanism : [(Refer Fig.1.19(a) and (b)].

If any one of the sliders is fixed,  we get the Scotch Yoke mechanism.
In the figure shown, the block O is fixed. Therefore the link PO rotates
about the center O, and thereby causes the frame to reciprocate. The fixed
block O guides the frame. The practical configuration of this mechanism is
shown in the Fig.1.19(b).  This is used to convert rotary motion
into reciprocating motion.

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 (a) (b)
Fig.1.19

(3) Oldham Coupling : (Refer Fig.1.20).

This inversion is obtained by fixing the link 1 in the double – slider

crank chain mechanism. Thereby, each of the die blocks A and B can turn

about their pin joints. Further, if one block is turned through some

angle, the frame and the other block must turn about the same angle.

Fig.1.20– Oldham Coupling

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 And as the rotation of the blocks and frame occurs, the frame will slide
relative to each of the two blocks. Thus, for example, when the link 4 is
rotated through 45˚ clockwise, the links 2 and 3 also rotate through the same
45˚ angle -- but -- the mid – point of link 2 rotates through 90˚ in a circle,
with the length of the link 2 as its diameter.
Therefore, the angular velocity of the link 2 = 2  Angular velocity of
the link 3 (or the link 4). Thus, the mid – point of the intermediate disc
describes a circle with the distance between the axes of the shafts as its diameter.
Construction &Operation :

 Each half – coupling (2 or 3) → is identical in form -- and -- has a

single groove  cut diametrically across its face.

 A circular disc 4–with a Tongue (Projection) – passing diametrically

across each of its faces – and -- the two tongues (on the opposite
faces of the disc) set at right angles to each other – is placed
between the two half couplings – in such a way – that each tongue
fits into its corresponding groove in one of the two half couplings.
 The tongues are a sliding fit in their grooves.
 And, the whole arrangement works in such a way that – so long as
the shafts remain parallel to each other → the distance between their
axes may vary (within limits) while the shafts are in motion – without
affecting the transmission of uniform motion from one shaft to the
other.
 If the centre distance between the shaft axes is kept constant – the
center of the disc 4will describe a circular path– with the
distance between the shaft axes as its diameter.

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  The maximum speed of sliding of each tongue along its groove = The
peripheral velocity of centre of the disc along its circular path.

Compound Kinematic Chains :

These are the Kinematic chains in which there are more than 4 kinematic

pairs. The compound kinematic chains may be built up from any of the simple

chains → by adding further pairs → in such a way as to retain the completely

constrained motion. Further, the number of pairs / links added must satisfy the

equations relating the number of links, pairs, and joints, as given below :

2
l = (2p – 4) -- and -- l = 3 (j + 2)

 where ‘l’ is the number of links, ‘p’ is the number of pairs, and ‘j’ is

the number of joints.

Degrees of Freedom :
An unconstrained rigid body moving in space can have the following

independent motions  3 Translational motions along any three mutually

perpendicular axes x, y, and z – and – 3 Rotational motions about these three

axes. Therefore, a rigid body possesses 6 degrees of freedom. By connecting such

a rigid body (or link) with another link, certain restraints (or constraints) are

imposed on their relative motion. This number of restraints can never be either

zero or six.

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 Thus  the Degrees of Freedom of a kinematic pair may be defined as

 the number of independent relative motions (which include translational and

rotational) the pair can have.

In order to develop a general relationship between the number of degrees of

freedom (n) of a kinematic chain in terms of the number of links (l) and the

number of Lower pairs (j) and the number of Higher pairs (h)  let us consider

two links AB and CD which are in plane motion relative to each other  as

shown in Fig.1.23 (a). If the link AB is considered to be fixed, then the position of

any point P on the link CD can be completely specified by three variables, viz.,

the coordinates (x, y) of the point P, and the angle of inclination θ of the linkCD

with the fixed (reference) link AB. Therefore, this means that eachlinkof a

mechanism has 3 degrees of freedom before it is connected to any other link. But

Fig.1.23

when the link CD is connected to AB – by a turning pair at A – as shown in

Fig.1.23 (b)  the position of any point on the link CD can be defined by a single

variable θ – and thereby the link CD now has only one degree of freedom. Thus,
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from this  we may observe one important concept, i.e., When a link in a

kinematic chain is connected to a fixed link in the chain by a turning pair (lower

pair) , two degrees of freedom are destroyed.

Now, let us consider a plane mechanism having N number of links. Since

one of the links in a kinematic chain is to be fixed to obtain a Mechanism, the

number of movable links will be equal to (N – 1) , hence the total number of

degrees of freedom will be 6(N – 1)  before they are connected to any other link.

Let F be the total number of degrees of freedom of the mechanism, and let Pi

denote the number of kinematic pairs in the mechanism having i degrees of

freedom. Each pair having one degree of freedom imposes 5 constraints on the

mechanism, thereby reducing its number of degrees of freedom by 5P1. Similarly

each pair having two degrees of freedom imposes 4 constraints on the mechanism,

thereby reducing its number of degrees of freedom by 4P2, and so on. Therefore,

we can write the general equation for the number of degrees of freedom of the

mechanism as :

F= 6 (N – 1) – 5P1 – 4P2 – 3P3 – 2P4 – 1P5 --------------- (A)

This is known as Kutzback’s criterion for the mobility of a mechanism

having plane motion. However, it is hardly necessary to use the above expression

to find the degrees of freedom of a mechanism. Because, most of the mechanisms

are two – dimensional wherein the translation is possible along two axes (i.e., one

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restraint) and rotation is possible about only one axis (i.e., two restraints).

Therefore, for plane mechanisms, the number of degrees of freedom can be

obtained as 

F= 3 (N – 1) – 2P1 – 1P2 ------------------------------ (B)

The above Eqn. (D) is sometimes referred to as Gruebler’s criterion for

the number of degrees of freedom of plane mechanisms in which each movable

link possesses three degrees of freedom.

Again, if a mechanism does not contain any higher pairs, i.e., all kinematic

pairs are of single degree of freedom only  then, the Eqn. (D) can be modified

as : F= 3 (N – 1) – 2P1 ----------------------------------(C)

In general  a mechanism with N number of links may have j binary

joints (i.e., lower pairs with one degree of freedom each), and h number of higher

pairs (with two degrees of freedom each). Then the general equation for the

number of degrees of freedom of a mechanism may be written as:

F= 3 (N– 1) – 2 j – h -------------------------- (D)

However, if a mechanism does not contain any higher pairs, thenh = 0. In that case,

the above equation may be written as:

F= 3 (N– 1) – 2 j ------------------------------- (E)

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 Further, two empirical relations may be observed for plane mechanisms

having turning (lower) pairs only. Thus, if L is the number of loops in a

mechanism, then we have the following relations :

F = N – (2L + 1) --------------------------------------- (F)

– and – P1 = N + (L – 1) --------------------------------------- (G)

Note :

1. If F = 0  the mechanism forms a structure, i.e., there will be no relative

motion between the links.

2. If F = 1  the mechanism is of single degree of freedom, hence can be

driven by a single input motion.

3. If F = 2  the mechanism will have two degrees of freedom  hencetwo

separate input motions are necessary to produce constrained motion for the

mechanism.

4. If F = – 1 or less  the kinematic chain forms a statically indeterminate

structure.

Solved Examples

1. In a quick – return motion mechanism of the crank and slotted lever type

shown in Fig.P–1, the distance between the fixed centers is 80 mm, and the

length of the driving crank is 20 mm. Determine the ratio of the time of

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cutting stroke to the time of return stroke. Also find the effective length of the

stroke, if the length of the slotted lever is 200 mm.

Solution :

Refer to the figure given below.

Given that : OA = 80 mm ; AB = 20 mm ; OP = 200 mm;

Let the mid – point of the line of stroke be denoted by M.

   Crank   length 20
 90   
∠ MOP1 = 900 – 2  sin  2  = Distancebetween
   Fixed  Centers 80
= 0.25.
 
 90  
 2  =sin – 1 (0.25) = 14.4775  14.50  β = 1510.

Time of cutting stroke 360 0   (360  151) 209

 
 Time of return stroke  = 151 151 = 1.38.

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 Fig.P–1

  MP1
 90  
 sin  2 = sin ∠ MOP1 = OP1 = 0.25  ∴ MP1 = OP1 × 0.25 = 200 × 0.25
= 50 mm;
∴ Stroke length = 2 MP1 =100 mm.

2. A Whitworth quick- return motion mechanism, as shown in Fig.P–2, has a

length of stroke of 150 mm. The driving crank is 40 mm long, and the ratio of time

of cutting stoke to that of return stroke is 2. Find the length of the fixed link and

that of the link PD. Also find the angles of rotation of the crank corresponding to

the cutting stroke and return strokes.

Solution :

Given that : Stroke length = 150mm; Crank length = 40 mm ;

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 Time of cutting stroke 360 0  

Time of return stroke  = 2;
(360   ) 
 = 2  (360 – β) = 2β  3β = 360  β = 120  2 = 600.
0

Fig.P–2
 CD CD
cos 2 = Crank  length = 0.04 = cos 600 =0.5  ∴ CD = 0.5 × 0.04 = 0.02 m = 20mm
Length of stroke = 150 mm = 2 PD  ∴ PD =75 mm ; α = 360 – β = 2400.
3. Determine the degrees of freedom of the mechanisms shown in Fig.P–5.

Solution :

(a) Refer Fig.P–3(a).

The number of binary links in the mechanism = Nb = 7.

The number of ternary links in the mechanism = Nt = 2.

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 Fig.P–3
The number of quaternary links in the mechanism = Nq = 1.

∴ Total number of links in the mechanism = 10

Total number of lower pairs in the mechanism = 12 ; Number of higher pairs = 0 ;

∴ F = 3(10 – 1) – 2 (12) = 27 – 24 = 3.

(b) Refer Fig.P–3(b)  Nb = 7 ; Nt = 3 ; ∴ Total number of links =N = 10;

Total number of lower pairs in the mechanism = 12 ; Number of higher pairs = 0 ;

∴ F = 3(10 – 1) – 2 (12) = 27 – 24 = 3.

(c) Refer Fig.P–3(c)  Nb = 5 ; Nt = 4 ; ∴ Total number of links =N = 9 ;

Total number of lower pairs in the mechanism = 11 ; Number of higher pairs = 0 ;

∴ F = 3(9 – 1) – 2 (11) = 24 – 22 = 2.

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