INTRODUCTION AND

OVERVIEW OF THEORY OF
MACHINES

Theory of Machines, MEEN 3127

Engr. Muhammad Faizan Shah

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 STUDY PLAN
SUBJECT: MEEN-3127 THEORY OF MACHINES
CREDIT HOURS: 3-1
CONTACT HOURS: 3 Hrs per Week
INSTRUCTOR: Engr. Muhammad Faizan Shah
TEXT BOOK: R. Norton, Design of Machinery,
An introduction to Synthesis and Analysis of
Mechanisms and Machines, McGraw-Hill,
Latest Edition.
REFERENCE BOOK: J.E. Shigley and Uicker, Theory of
Machines and Mechanisms, Laest Edition,
McGraw-Hill. Mechanisms and dynamics of
machinery, Hamilton H Mabie, McGraw-Hill,
Laest Edition.
PREREQUISITE: a. Calculus: Basic
b. Engineering Statics
c. Engineering Dynamics.

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 STUDY PLAN
MODE OF TEACHING: Lectures/Demonstrations
COURSE OBJECTIVES: The objective of the course is to
introduce the preliminary concepts of mechanisms and to
present methods of analysis for the motion and force
transmission in mechanism. After this course the students are
able to understand the various independent technical
approaches that exist in the field of mechanisms, kinematics
and machine dynamics.
GRADING:
a. Midterm Exam 30%
b. Quizzes 10%
c. Assignments 5%
d. Project 10%
e. Final: 45%

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 STUDY PLAN
DETAILS OF SYLLABUS

➢ Kinematics Fundamentals
➢ Degrees of Freedom
➢ Mechanisms: Types, Characteristics, and applications
➢ Position Analysis
➢ Velocity Analysis
➢ Acceleration analysis
➢ Dynamic Force analysis
➢ Cam design and Gear (Gear Train) design
➢ Static and dynamic balancing

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 INTRODUCTION

In this text we will explore the topics of

Kinematics and dynamics of machinery in
respect to the Synthesis of mechanisms in
order to accomplish Desired motions or
tasks, and also the analysis of Mechanisms in
order to determine their rigid-body dynamic
behavior.

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 THEORY OF MACHINES

Theory of machines may be defined as

that branch of engineering science which
deals with the study of relative motion
between the various parts of machines
and the forces which act on them. The
knowledge of this subject is very essential
for an engineer in designing the various
parts of a machine.

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SUB-DIVISIONS OF THEORY OF MACHINES

Kinematics and Kinetics

Kinematics:
The study of motion without regard to forces.
Kinematics is that branch of theory of machines which is
responsible to study the motion of bodies without reference
to the forces which cause this motion, i.e. it relates the
motion variables (displacement, velocity, acceleration) with
the time.
Kinetics:
The study of forces on systems in motion.
Kinetics is that branch of theory of machines which is
responsible to relate the action of forces on bodies to their
resulting motion. 7
 APPLICATIONS OF KINEMATICS
Virtually any machine or device that moves contains one or
more kinematic elements such as linkages, cams, gears,
belts, chains. Bicycle is a simple example of a kinematic
System that contains a chain drive to provide torque
multiplication and simple cable-operated linkages for
braking.
In an automobile there are steering systems, wheel
suspension, piston engine which contains linkages, engine
valves open/close with cams, transmission is through
gears.
The windshield wipers are linkage-driven. Construction
equipment such as tractors cranes and backhoes all use
linkages. Exercise equipment also uses linkages.

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DESIGNING OR ENGINEERING DESIGNS

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COMMONLY EMPLOYED MECHANISMS

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COMMONLY EMPLOYED MECHANISMS

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 DESIGN PROCESS

It is the process of applying the various

techniques and scientific principles for the
purpose of defining a device, a process or a
system in sufficient detail to permit its
realization.
Design may be simple or enormously complex,
easy or difficult, mathematical or
nonmathematical; it may involve a trivial
problem or one of great importance.
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 DESIGN PROCESS
Design process has following steps:
➢ Identification of need
➢ Background Research
➢ Goal Statement
➢ Performance Specification
➢ Ideation and Invention
➢ Analysis
➢ Selection
➢ Detailed Design
➢ Prototyping and Testing
➢ Production

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 DESIGN PROCESS
Identification of need
First step in design is “What we need?” This
may be an unstructured problem statement or a
structured problem statement. It requires
brainstorming to identify the needs.
For example if we say “we need a better lawn
mower”.
This statement is brief and lacking in details.
e.g. Is it Automatic, Semiautomatic or Manual?,
Expensive or cheap, motor driven or engine
driven, etc.
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 DESIGN PROCESS
Background Research
This is the most important phase in the
process, and is unfortunately often the most
neglected. The term research is used in this
context, which is to collect the background
information on different aspects of problem. If
the similar problem is solved before then it is
no point to reinvent the wheel. The patent
literature and technical publications in the
subject area are the obvious sources of
information.
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 DESIGN PROCESS
Goal Statement
After understanding the background, recast the
problem statement to a goal statement. This
should be concise, be general and be
uncolored. The goal statement clearly define
the functional visualization of the design.

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 DESIGN PROCESS
Performance Specifications
After the goal is clearly stated, formulate the
set of performance specifications. The
difference between performance specifications
and design specifications is that former define
‘what the system must do’ while the later define
‘how the system must do’. The purpose of
performance specifications is to carefully define
and constrain the problem so that it both can
be solved and can be shown to have been
solved after the fact.
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 DESIGN PROCESS
Ideation and Invention
This phase is much critical for most designers.
It consists of brainstorming process, idea
generation process and creative process.
Brainstorming’s rules require that no one is
allowed to make fun of or criticize anyone’s
suggestions, no matter how ridiculous it is.

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 DESIGN PROCESS
Analysis
By applying analysis techniques the performance of the
design is examined
Selection
When the technical analysis indicates that you have
some potentially viable designs, the best one available
must be selected for detailed design and drawing,
prototyping and testing. A decision matrix is made
which helps to identify the best solution after
considering a variety of factors in a systematic way.

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 DESIGN PROCESS
Detailed Design
This step usually includes the creation of a complete
set of assembly and detailed drawings or computer
aided design(CAD) of each part. Each detailed drawing
must specify all the dimensions and the material
specifications necessary to make that part.
Prototyping and Testing
Although a mathematical model is very useful yet it can
never be as complete and accurate as a physical
model. Prototypes are often very expensive but may be
the most economical way to prove a design, short of
building the actual, full scale device. Testing of
prototype is done for observing the functionality of
design. 20
 DESIGN PROCESS
Production
Finally with enough time, money and persistence the
design will be ready for production.

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KINEMATIC FUNDAMENTALS

Theory of Machines, MEEN 3127

Engr. Muhammad Faizan Shah

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 DEGREES OF FREEDOM

Any mechanical system can be classified

according to the number of degrees of freedom
(DOF) which it possesses. The system's DOF
is equal to the number of independent
parameters (measurements) which are needed
to uniquely define its position in space at any
instant of time.
Note that DOF is defined with respect to a
selected frame of reference.
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 DEGREES OF FREEDOM
Figure shows a pencil lying on a flat piece of paper with an x, y coordinate
system added. If we constrain this pencil to always remain in the plane of
the paper, three parameters (DOF) are required to completely define the
position of the pencil on the paper, two linear coordinates (x, y) to define the
position of anyone point on the pencil and one angular coordinate (θ) to
define the angle of the pencil with respect to the axes.
The minimum number of measurements
needed to define its position
are shown in the
figure as x, y, and θ.
This system of the
pencil in a plane
then has three DOF.
Note: Any rigid body in
three-space has
six degrees of freedom.

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DEGREES OF FREEDOM

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 TYPES OF MOTION
Pure rotation
The body possesses one point (center of rotation) which has no
motion with respect to the "stationary" frame of reference. All other
points on the body describe arcs about that center. A reference
line drew on the body through the center changes only its angular
orientation.
Pure translation
All points on the body describe parallel (curvilinear or rectilinear)
paths. A reference line drawn on the body changes its linear
position but does not change its angular orientation.
Complex motion
A simultaneous combination of rotation and translation. Any
reference line drawn on the body will change both its linear
position and its angular orientation. Points on the body will travel
nonparallel paths, and there will be, at every instant, a center of
rotation, which will continuously change location.
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 LINKS, JOINTS, AND KINEMATIC CHAINS
Link
A link is a rigid body which posses at least two nodes.
Joint
A node is an attachment point for other links to join via
Joints.
Links are
classified
according
to the
number of
nodes

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 LINKS, JOINTS, AND KINEMATIC CHAINS
Link
The order of a link indicates number of joints to which
the link is connected (or the number of nodes per link).
There are binary (2 nodes), ternary (3 nodes), and
quaternary (4 nodes) links.
Links can be
of any shape
(not just those shown).
Link order =
number of nodes
on the link.

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 LINKS, JOINTS, AND KINEMATIC CHAINS
Links are assumed to be rigid bodies
Links have nodes for attachments
Links can be of any shape not just those shown
Link order = Number of nodes

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