MACHINE & MECHANISMS

TOM
ASSIGNMENT

SUBMITTED TO
SUBMITTED BY
Proff. Avdesh Kumar Sharma

Aayushman Pant
Abhinav Saxena
Abhishek Bansal
Abhishek Gupta
Abhishek
Raghuvanshi
Akash Bhadouria
Akash Gaur
Akash Rawat
Akshaydeep
Kushwah
Amit Ahirwar
MECHANICAL A

MECHANICSM
01. If a No. of bodies are assembled in
such a way that the motion of one
causes constrained and predictable
motion to the others is known as
mechanism.
02. It transmits and modifies a motion.
03. There is no need to consider forms
and cross sectional proportion of links.
04. it is the skeleton outline of the
machine.

MACHINE
01. Machine is a mechanism or a
combination of mechanisms which apart
from imparting definite motions to the
parts also transmits and modifies the
available energy into desired work.
02. It transmits mechanical work.
03. cross sectional and proportional
requirements and necessary to consider.
04. It may have many mechanisms.

KINEMATIC CHAIN
When the kinematic pairs are coupled in such a way that the last link is pined to the
first link to transmit definite motion is called a kinematic chain.
In a kinematic chain there is no fixed link and all follows a definite motion.
The relation between the number of pairs(p) and the number of links (n) in a 4 link
kinematic chain is given by
N = 2p 4
& the relation between the number of links (n) and the number of joints (j) is
J=

3
n2 If L.H.S > R.H.S , the chain is locked L.H.S = R.H.S then chain is
2

constrained ( 1 DOF )

L.H.S < R.H.S then chain is unconstrained

1 - 2 pair n = 2p 4
1 - 3 pair 3 = (2 * 3 ) 4

Ex:2

2 - 3 pair 3 > 2

N=3,p=3,j=3
R.H.S

L.H.S >

1
It is not a kinematic chain and hence no relative motion is possible such types of chain is
called is locked chain (Rigid frame or structure )

n=4
4

n = 2p - 4

j=4
pair p = 4

1
in this case the relative motion is completely constrained. This kinematic chain is
having DOF 1

KINEMATIC PAIR- A kinematic pair is a joint of two links having relative motion
between them.
TYPES OF KINEMATIC PAIRThere are three categories in which kinematic pairs can be classified according to
1) Nature of contact

2) Nature of mechanical constraints

3) Nature of relative motion
ACCORDING TO NATURE OF CONTACT1) Lower pair- A lower pair of links having surface or area contact between
the members is known as lower pair.
Exa. Nut turning on the screw , shaft rotating in bearing etc.
2) Higher pair-A higher pair of links having point or line contact between
the members is known as higher pair.
Exa. Wheel rolling on a surface , tooth gears etc.
ACCORDING TO NATURE OF MECH. CONSTRAINTSA) Closed pair- when the elements of a pair are held together providing
controll by mechanical arrengements.

Exa. All the lower and higher pairs are closed pairs.
b) Open pair- when the elements of a pair are held together by gravity
force .Exa. Cam and follower pair.

KINAMATIC PAIRS ACCORDING TO NATURE OF RELATIVE MOTION

a) Sliding pair-if two links have only sliding motion to each other then they
form a sliding pair.it is also called prismatic pair.

b) Turning pair- if two links have only turning motion relative to each other
then they form aturning pair.

c) Rolling pair-if two links have only rolling motion relative to each other then
they form a rolling pair.

d) Helical or screw pair-if two links have turning as well as sliding motion
between them then they form ahelical pair.

e) Spherical pair-if when one link of spherical shape turns into a fixed link
,then a spherical pair is formed.

f) Cylindrical pair-if two links have turning as well as translational motion

relative to each other then they form acylindrical pair.

g) Planer pair-if two links have rotational and translational motion in the same
plane then they form a planer pair.
h) Wrapping pair-wrapping pair comprises belt chain pully such devices .belt
comes from one side of the pully and moves over to other side through
another pully is called a wrapping pair.

TYPES OF CONSTRAINED MOTIONThere are three types of constrained motion1) Completely constrained motion
2) Successfully constrained motion
3) Incompletely constrained motion
These are discussed as follows1) Completely constrained motion-when the motion between two elements
of a pair is in a definite direction irrespective of the force applied, is known as
completely constrained motion. the motion is constrained due to there
shapes automatically.

2) Successfully constrained motion-when the motion between two elements

of pair is in more than one direction but the motion is restricted by some
mechanical arrangement is called successfully constrained motion.

3) Incompletely constrained motion-when the motion between two elements

of a pair is in more than one direction is called a incompletely constrained
motion.

 KINAEMATIC CHAINDEFINITION-It is a assembly of links or assembly of kinematic pair joined in such a

way that last end of the last link joined with first end of the first link and all the links
are in motion relative to each other.
When one link of a kinematic chain is fixed then we get a mechanism.

INVERSION-The process to find out the various mechanisms by fixing the different
links of a kinematic chain is called inversion of kinematic chain.
DEGREE OF FREEDOM-Degree of freedom is defined as the total number of
independent coordinates which is used to define the motion of link of a mechanism.

DEGREE OF FREEDOM IN A PLANE-

If N is the number of the total links in a mechanism and j is the total number of
lower pair and h is the total number of higher pair then the degree of freedom F is
given by
F =3(N-1)-2j-h
DEGREE OF FREEDOM IN SPACEIf N is the total number of links in a mechanism then the degree of freedom is given
by
F =6(N-1)-5j1-4j2-3j3-2j4-j5
Where,
J1= pair having 5 restraints
J2=pair having 4 restraints
J3=pair having 3 restraints
J4=pair having 2 restraints
J5=pair having 1 restraints
GRASHOFE CRIETARIA-It says that in a four bar chain if the sum of the length of
the smallest link and the largest link is less then the sum of the length of the
remaining links then we get four mechanisms.
1) Fixing the smallest link-if we fix the smallest link of four bar chain then we get
double crank mechanism.
2) Fixing the link opposite to the smallest link if we fix it then we get double
rocker mechanism.
3) Fixing the link adjacent to the smallest link if we fix the link adjacent to the
smallest link then we get crank-rocker mechanism.
Let,
S= length of smallest link
L=length of largest link
P&q =length of the remaining two links
S+l p+q

Inversion of Mechanism-:
When one of the links is fixed in a kinematic chain ,it is called a
mechanism .
We can obtain as many mechanism as no. of links in a kinematic chain by
fixing, in turn , different links in a kinematic chain.
This method of obtaining different mechanism by fixing different
links in a kinematic chain, is known as inversion of mechanism.
Types of kinematic chain:Kinematic chains are those which consists of 4 lower pairs, each
pair bring a sliding pair or turning pair.
1) Four bar chain or quadratic cyclic chain.
2) Single slider crank chain.
3) Double slider crank chain.

INVERSION OF SINGLE SLIDER CRANK

By fixing in turn different links in a kinematic chain 4 inversions of a single
slider crank chain are possible

First inversion : This inversion is obtained when link1 is fixed and link2 and link4
are made the crank and the slider respectively

Application : 1 reciprocating engine

2 reciprocating compressor
If link4 ( piston) is the driver then it is a reciprocating engine.
If link2 (crank) is the driver then it is a reciprocating compressor.

Second inversion :
Fixing of link2 of a slider crank chain results in the second inversion.

Application: 1 whit worth quick-return mechanism

2 rotary engine.

Whitworth quick return mechanism :it is used in workshops to cut metals.the

forward stroke takes a little longer and cuts the metal where as the return stroke is
idle and takes a shorter period.
Slider4 rotated in a circuit about b and slides on link 1.
D is a point on link1 where link5 is pivoted .
The other end of link5 is pivoted to the tool ,the forward stroke of which cuts the
metal.
The crank3 rotates in the counter-clockwise direction.
The time taken for the forward stroke of slider c is proportional to the angle The
time taken for the return stroke of tool c is proportional to angle

Time of cutting stroke

Time of return stroke

360

Third inversion : By fixing link3 of the slider crank mechanism third inversion is
obtained .now link2 again acts as a crank and link4 oscillates .

Application:1 crank and slotted lever mechanism.

2 oscillating cylinder engine.

Crank and slotted lever mechanism

oscillating cylinder mechanism
Slotted lever mechanism: in a crank and slotted lever mechanism link1 is a slider
which slides in a slotted lever which is link4 .link3 is fixed and link2 is a crank which
rotates in clock-wise direction about point b in a circle due to this the link4 oscillates
about the point c .

Link4 is extended to point d to which link de is connected .at the end of link5 cutting
tool link c is obtained.

Time of cutting stroke

Time of return stroke

360

360

Forth inversion:
If link4 of the slider crank mechanism is fixed the 4 th inversion is obtained.link 3 can
oscillate about the fixed pivot 8 on link 4 .

This makes end a of link2 to oscillate about b and end o to reciprocate along the
axis of the fixed link 4.

Application: hand pump.

Inversions of Double slider crank chain

It consists of 4 pairs out of which two are turning pairs and other two are sliding
pairs. Also the two pairs of same kind are adjacent. The following are its inversion:-

First inversion :- this inversion is obtained when link 1 is fixed and the two
adjacent pairs 23 and 34 are turning pairs and the other two pairs 12 & 14 are
sliding pairs.
Application:- elliptical trammers
It is instrument used for drawing ellispse.

Fig shows an elliptical trammel in which the fixed link 1 is called guider for slider 2
and 4. With the measurement of the sliders,any point c on the link 3. Except the mid
point of AB will trace on ellipseon the fixed plate . the mid point of AB trace a circle.
Let any instant , link 3 make any angle with x-axis
X= BC cos , y=AC sin
X/BC= cos & y/AC=sin
Squaring and adding ,
(X/BC )2 + ( y/AC)2 = 1 (This is an eqution of ellispse )
Hence , the path traced by C is an ellispse with semi major & semi minor axes being
equal to AC and BC respectively ,
If C is the pt. Of AB then AC =BC
(X/AC )2 + ( y/AC)2 = 1
X2 +y2=AC2
This is an equation of circle .

Second inversion

:-

If any of the slider blocks of the 1st inversion is fixed , the

2nd inversion of the double slider crank chain is obtained . when link 4 is fixed, end B

of crank 3 rotates about A and link 1 reciprocates inthe horizontal direction.

Application :- scotch yoke

This mechanism is used to convert the rotary motion into a sliding mtion. As crank 3
rotates , the horizotal portion of link 1 slides or reciprocates inthe link 4.

Third inversion :- when link 3 , of the double slider crank chain is fixed and link 1
is forced to move , third inversion is obtained .

This inversion is used in oldhams coupling , which is used for connecting two
parallel when the distance b/w the two shafts is small .
The two shafts to be connected have flanges at their ends which are rigidly fastened
by forging to the shafts.
The distance b/w the axes of the shafts is constant ,hence the center of
intermediate place will discribe a circle of dia. Equalto the distance b/w the link1
and each of the other link 2 3 4. The maximum sliding speed of each tongue along
its slot is equal to the peripherial velocity of the center of the disc along its circular
path.

Maximum speed of sliding = x

X= distance b/w the axes of shaft
=angular velocity of the shaft.

Question. In a crank and slotted lever mechanism the distance between the
fixed centres in 240 mm and length of the driving crank is 120 mm . Find the
inclination of the slotted bar with the extreme position and the time ratio of the
cutting stroke to the return stroke
If the length of the slotted bar is 450 mm find the length of the stroke if the line of
stroke passes through the extreme positions.

Solution:Vertical : 90 -

AB = A1 B = 120 mm CD = 450 mm BC = 240 mm

A1BC

cos 2

A1B
BC

120
240

= 0.5

= 1200

Inclination of slotted bar with the vertical axis is = 90 -

90 -

120
2

90 60 = 300

Time of cutting stroke =

Length of stoke = 2CD cos 2

360

360120
120

= 2 x 450 x cos 600 = 450 mm

240
120

= 2

Automobile steering gears: - [conditions for correct

steering of a car]

The mechanism which is used for changing the direction of two or more of the wheel
axles so as to move the automobile in any desired path is known as steering gear.
When a vehicle takes a turn on a road, all the wheels should roll on the road
smoothly preventing the excess wear of the types. This is achieved by mounting the
two front wheels on two short axles, known as stub-axles. The stub-axles are pin
jointed with the main front axles which is rigidly attached to the rear axle, top which
the back wheels are attached. The back wheels remain straight and do not turn.
Therefore, steering is done by means of front wheels only.
When the vehicle is making a turn towards one side, the front wheel of that side
must turn about the pin through a greater angle than the wheel of the other side.
In order to avoid skidding, the two front wheels must turn about the same
instantaneous centre I which lies on the axis of the back wheels. Thus the condition
for correct steering is that all the four wheels must turn about the same
instantaneous centre.

cot =

PT
TI

&

cot=

QT
TI

cot cot =

PT QT PQ W
=
=
TI
TI
L

cot cot =

W
L

This is known as fundamental equation of correct gearing. Mechanism that fulfils the
fundamental equation is known as steering gears.
Types of gears:(i)

Davis steering gear: - A Davis steering gear has sliding pairs which means
more friction and easy wearing. Davis steering gear fulfils the
fundamental equation of gearing in all positions. Due to easy wearing it
becomes inaccurate offer some time.

It consists of two arms PK and QL fixed to the stub axles PC and QD to form two
similar Bell-crank-levers CPK and DQL pivoted at P & Q respectively. A crosslink AB,
constrained to slide parallel to PQ, is pin jointed at its end to two sliders. The sliders
s1 and s2 are free to slide on the links PK and QL respectively.
h = vertical distance btw AB & PQ.

tan ( )=

yx
h

y
tan
h
yx
=
y
h
1+ tan
h

hy -

Tan

h tan
=

hx
2
y xy +h
2

= hy + y tan

- hx- xy tan

Similarly, tan ( + ) =

Therefore; tan

y+x
h

hx
2
y + xy+ h
2

And for correct steering action,

y w
=
h 2l

Since tan

Therefore, tan

y
h
=

w
2l

PANTOGRAPH

A pantograph is a mechanism of lower pairs used to produce paths on an enlarged

or a reduced scale exactly similar to the one traced by a point on the linkage.

The triangle ODA and OCE are similar and points O,A,E are in the straight line . It
may be proved that the point E traces out the same both as described by point A
In OAD and OCE
AOD = EOC Common angle
ODA = OCE
Therefore ,

OD OA DA
=
=
OC OE CE

Let the point O be fixed and the links are moved to

another position so that

Now , AD = AD = BC = BC
AB = AB = CD = CD
Therefore ABCD is a parallelogram
We know that

OD ' OD DA D ' A '

=
=
=
OC ' OC CE C ' E '

A moves to A , B to B , E to E

ODA = OCE
Therefore AOD = EOC
Hence O,A and E lie on a straight line
We know that

OA OD OD ' OA '
=
=
=
OE OC OC ' OE '

The above result shows that the ratio of the distances of A and E from the fixed
point remains the same as the link are moved.
Hence point E traces out the same path as described by point A .