TOM

INTRODUCTION
MECHANISM & MACHINE
MECHANISM & MACHINE

■ MECHANISM : - It is assembly of links or elements in which motion of one leads to

predictable motion of others.
■ Machine : - Machine is that mechanism in which energy is transferred from one link
to other.
■ Engine : - Engine is that machine in which the work obtained.
ANALYSIS & SYNTHESIS OF MECHANISM

■ Analysis – Motion of mechanism.

■ Synthesis – Design of mechanism.
• Completely constrained motion is a type of constrained motion in which
relative motion between the links of a kinematic pair occurs in a definite direction by itself,
irrespective of the external forces applied

• When the motion between a pair can take place in more than one direction, then the motion is
called an incompletely constrained motion.

• A kinematic pair is said to be partially or successfully constrained if the relative motion between
its links occurs in a definite direction, not by itself, but by some other means.
RIGID & RISTANT LINK

■ A resistant body is one which does not go under deformation while transmitting the
force.
■ Rigid link- In this type of link there is no deformation while transmitting the motion.
TYPES OF LINKS
■ 2 TERNARY LINKS = 3 BINARY LINKS ■ 1 QUATERNARY LINKS = 2 BINARY LINKS
CALCULATE TOTAL BINARY LINKS (EQUIVALENT)
KINEMATIC PAIR
■ A kinematic pair or simply a pair is a joint of two links having relative motion
between them.
TYPES OF KINEMATIC PAIR
■ Nature of contact
■ Nature of mechanical constraints
■ Nature of relative motion
ACCORDING TO NATURE OF CONTACT
■ SLIDING PAIR
■ TURNING OR REVOLVING PAIR
■ ROLLING PAIR
■ SCREW OR HELICAL PAIR
■ SPHERICAL PAIR
TYPES OF JOINTS/PAIRS
■ 1 TERNARY PAIR = 2 BINARY PAIR ■ 1 QUATNARY PAIR = 3 BINARY PAIR
SLIDER CRANK MECHANISM
TOM
INTRODUCTION
LINKAGE, MECHANISM & STRUCTURE

■ LINKAGE: - A linkage is obtained if one of the links of a kinematic chain is fixed to

the ground.
■ MECHANISM: -If motion of any of the moveable links results in definite motion of the
others, the linkage is known as a mechanism.
■ Structure: - If one of the links of a redundant chain is fixed, it is known as a structure
or a locked system.
DEGREE OF FREEDOM
■ To obtain definite motion of some of the links of a linkage (or mechanism), it is necessary to
know how many inputs are needed.

■ In some mechanism, only one input is necessary that determine the motion of other links and
it is said to have one DOF.

■ NOTE – DOF of structure or locked system is zero. A structure with negative DOF is known as a
superstructure.
DOF In Space
DOF
■ F = 6 – No of constraints
■ F = 3 (N-1) – 2P
■ For Mechanism F = 1
■ 1 = 3 (N-1) – 2P
■ 2P = 3N – 4
■ Hence N must be a even number to satisfy the relation given above.

NO OF LINKS NO OF PAIRS
4 4
6 7
8 10
DOF from Loops

■ L = No of loops
REDUNDANT LINK
■ Sometimes a system may have one or more links which do not introduce any extra
constraint. Such links are known as REDUNDANT LINKS & should not be counted to
find the degree of freedom.

■ The mechanism has 5 links, but 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.
REDUNDANT DOF
■ Sometimes one or more links of a mechanism can be moved without causing any
motion to the rest of the links of the mechanism. Such a link is said to have a
redundant degree of freedom.
Ans - 1
Ans – (-1)
Ans - 0
Ans - 1
SPRING IN PLACE OF TURNING PAIR
TOM
INVERSION
FOUR BAR MECHANISM
■ d – Fixed link
■ b – Link opposite to fixed link = Coupler
■ a & c – input & output links
■ Crank – Fully rotating (360 degree) link
■ Rocker/Oscillator – Rotating but not fully
GRASHOF’s CRITERIA
d (Shortest link) < a, b < c (Longest link)
1. If (d + c) > (a + b) --- Double rocker mechanism
a & c will oscillate (if d is fixed)
b & d will oscillate (if a is fixed)
2. If (d + c) < (a + b) ---- Different inversions are possible
[ At least one link will be rotating completely in this case]
■ If d (shortest) link is fixed –
DOUBLE CRANK MECHANISM (both a & c crack)
{Can’t say what b will do bcz already a & c is rotating}

■ If b (opposite to shortest) link is fixed –

DOUBLE ROCKER (a & c will rock, d will rotate)

■ If a or c (adjacent to shortest) link is fixed –

CRANK ROCKER MECHANISM
PARALLEL BAR MECHANISM

d+c=a+b
Possibility of Double Crank
■ d+c<a+b If d (shortest) link is fixed
■ d+c=a+b Longest link is fixed
NOTE
■ Double Crank mechanism is also called
■ Crank – Crank Mechanism
■ Drag crank Mechanism
■ Rotary – Rotary Converter
Find all inversion of the chain
Find type of mechanism in given figure
Double crank
Double rocker
Crank Rocker
DELTOID MECHANISM
■ A deltoid linkage is a 4 bar mechanism which consists of two pair of equal and adjacent
links. If any of the shorter link is fixed, a double crank mechanism is formed such that for
half revolution of link c the shorter link a makes one revolution.
MECHANICAL ADVANTAGE
■ M.A is the ratio of output torque or force to input torque or force
at an instant

■ When input link AB is inline with coupler (BC) or angle γ become 180 degree or 0 degree it makes the M.A infinite at this
position (Toggle Position).
Identify the nature of the mechanisms shown in Fig.
INVERSION OF MECHANISMS
■ A kinematic chain becomes a mechanism when one of its links is fixed. Therefore, as many
number of mechanisms can be obtained as many are the links in the kinematic chain. This
method of obtaining different mechanisms by fixing different links of a kinematic chain is
called inversion of the mechanism.
Inversions of a Four-Bar Chain
■ Four bar chain has three inversion
1. Double crank
2. Crank & Rocker
3. Double Rocker
Inversions of Slider Crank Mechanism
■ Four inversions of slider crank mechanism
1. Fix link 1
a) IC Engine
b) Reciprocating Compressor
c) Punching Machine
Inversions of Slider Crank Mechanism
■ Four inversions of slider crank mechanism
2. Fix link 2
a) Whitworth quick return mechanism
b) Rotating Engine
Quick Return Mechanism
Quick Return Ratio (QRR)
Inversions of Slider Crank Mechanism
■ Four inversions of slider crank mechanism
3. Fix link 3
a) Crank & Slotted lever mechanism
b) Oscillating cylinder engine
Inversions of Slider Crank Mechanism
■ Four inversions of slider crank mechanism
4. Fix link 4
a) Hand Pump
OFFSET SLIDER CRANK MECHANISM
NOTE
C =length of fixed link
r = radius of crank
Double Slider Crank Chain
■ A kinematic chain which consists of two turning pairs and two sliding pairs is known
as double slider crank chain, as shown in Fig.
Inversions of Double Slider Crank Chain
■ 1. Elliptical trammels. It is an instrument used for
drawing ellipses.
■ AC and BC are the semi-major axis and semi-
minor axis of the ellipse respectively.
■ P is the mid-point of link BA, it will trace a circle.

https://www.youtube.com/watch?v=
AjPwWrqmZ34
■ 2. Scotch yoke mechanism. This mechanism is used for converting rotary motion into a
reciprocating motion.
 ■ 3. Oldham’s coupling. An Oldham's coupling is used for connecting two parallel
shafts whose axes are at a small distance apart. The shafts are coupled in such a
way that if one shaft rotates, the other shaft also rotates at the same speed.

Let ω = Angular velocity of each shaft in rad/s, and

r = Distance between the axes of the shafts in meters.

Maximum sliding speed of each tongue (in m/s), v = ω .r

TOM
I - CENTRE
QUESTION -1
SOLUTION
Instantaneous centre
■ Sometimes a body has simultaneously a motion of rotation as well as translation s.a
wheel of car, a sphere rolling (not slipping) on the ground. Such a motion will have
combined effect of rotation & translation. Thus this combined motion of rotation and
translation of the link AB may be assumed to be a motion of pure rotation about
some centre I, known as the instantaneous centre of rotation (also called Centro or
virtual centre or I - Centre).
HOW TO LOCATE I - CENTRE
■ Identify any two points on the body whose linear velocity directions is known. Draw
the perpendicular on the velocity which will intersect at ‘I’ CENTRE as shown
■ In a pivoted joint the centre of the pivot is the I – centre for the two links of the pivot.
■ In a sliding motion the I – centre lies at infinity in a direction perpendicular to the
path of motion of the slider. This is because the sliding motion is equivalent to a
rotary motion of the links with the radius of curvature as infinite.
■ In a pure rolling contact of the two links, the I – Centre lies at the point of contact at
the given instant. It is because the two points of contact on the two bodies have the
same linear velocity and thus there is no relative motion of the two at the point of
contact which is the I – Centre.
Aronhold Kennedy (or Three Centers in Line) Theorem
■ The Aronhold Kennedy’s theorem states that if three bodies move relatively to each other , they
have three instantaneous centers and lie on a straight line.
Number of Instantaneous Centers in a Mechanism
 Method of Locating Instantaneous Centers in a Mechanism
Consider a pin jointed four bar mechanism as shown in Fig.
1. First of all, determine the number of instantaneous centers (N) by using the relation
2. Make a list of all the instantaneous centers in a mechanism. Since for a four bar
mechanism, there are six instantaneous centers, therefore these centers are listed as
shown in the following table (known as book-keeping table).

3. Locate the fixed and permanent instantaneous centers by inspection. In Fig. , I12 and I 14
are fixed instantaneous centers and I23 and I34 are permanent instantaneous centres.
4. Locate the remaining neither fixed nor permanent instantaneous centers (or secondary centers) by
Kennedy’s theorem. This is done by circle diagram as shown in Fig. Mark points n a circle equal to the
number of links in a mechanism. In the present case, mark 1, 2, 3, and 4 on the circle.
5. Join the points by solid lines to show that these centers are already found. In the circle diagram [Fig.]
these lines are 12, 23, 34 and 14 to indicate the centers I12, I23, I34 and I14.
6. In order to find the other two instantaneous centers, join two such points that the line joining them forms
two adjacent triangles in the circle diagram. The line which is responsible for completing two triangles,
should be a common side to the two triangles. In Fig, join 1 and 3 to form the triangles 123 and 341 and the
instantaneous centre I13 will lie on the intersection of I12 I23 and I14 I34, produced if necessary, on the
mechanism.
Find all I - CENTRES
Double Slider
 1 2

6 3

5 4
ANGULAR VELOCITY RATION THEORM
Types of Instantaneous Centres
The instantaneous centers for a mechanism are of the following three types :
■ 1. Fixed instantaneous centres,
■ 2. Permanent instantaneous centers,
■ 3. Neither fixed nor permanent.
■ The first two types i.e. fixed and permanent instantaneous centers are together known as
primary instantaneous centers and the third type is known as secondary instantaneous centres.

The instantaneous centres I12 and I14 are called the fixed
instantaneous centers as they remain in the same place
for all configurations of the mechanism. The
instantaneous centers I23 and I34 are the permanent
instantaneous centers as they move when the
mechanism moves, but the joints are of permanent
nature. The instantaneous centers I13 and I24 are neither
fixed nor permanent instantaneous centers as they vary
with the configuration of the mechanism.
Rubbing Velocity at a Pin Joint
■ The links in a mechanism are mostly connected by means of pin joints. The rubbing velocity
is defined as the algebraic sum between the angular velocities of the two links which are
connected by pin joints, multiplied by the radius of the pin.
 TOM
DYNAMIC ANALYSIS
TOM
FLYWHEEL
Turning Moment Diagram for 4 – Stroke Diagram
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Gear train
GEAR TRAIN
Epicyclic Gear Train
We have already discussed that in an epicyclic gear train, the axes of the shafts, over which the
gears are mounted, may move relative to a fixed axis. A simple epicyclic gear train is shown in Fig,
where a gear A and the arm C have a common axis at O1 about which they can rotate. The gear B
meshes with gear A and has its axis on the arm at O2, about which the gear B can rotate. If the
arm is fixed, the gear train is simple and gear A can drive gear B or vice- versa, but if gear A is
fixed and the arm is rotated about the axis of gear A (i.e. O1), then the gear B is forced to rotate
upon and around gear A. Such a motion is called epicyclic and the gear trains arranged in such a
manner that one or more of their members move upon and around another member are known as
epicyclic gear trains (epi. means upon and cyclic means around). The epicyclic gear trains may be
simple or compound.
TOM
CAM
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Balancing
STATIC BALANCING
Balancing of Rotating Masses
■ We have already discussed, that whenever a certain mass is attached to a rotating shaft, it exerts some centrifugal
force, whose effect is to bend the shaft and to produce vibrations in it. In order to prevent the effect of centrifugal
force, another mass is attached to the opposite side of the shaft, at such a position so as to balance the effect of the
centrifugal force of the first mass. This is done in such a way that the centrifugal force of both the masses are made
to be equal and opposite. The process of providing the second mass in order to counteract the effect of the
centrifugal force of the first mass, is called balancing of rotating masses.

The following cases are important from the subject point of view:

1. Balancing of a single rotating mass by a single mass rotating in the same plane.

2. Balancing of a single rotating mass by two masses rotating in different planes.

3. Balancing of different masses rotating in the same plane.

4. Balancing of different masses rotating in different planes.

Balancing of a Single Rotating Mass By a Single Mass Rotating in the Same Plane
Balancing of a Single Rotating Mass By Two Masses Rotating in Different Planes
■ We have discussed in the previous article that by introducing a single balancing mass in the same plane of
rotation as that of disturbing mass, the centrifugal forces are balanced. In other words, the two forces are
equal in magnitude and opposite in direction. But this type of arrangement for balancing gives rise to a
couple which tends to rock the shaft in its bearings. Therefore in order to put the system in complete
balance, two balancing masses are placed in two different planes, parallel to the plane of rotation of the
disturbing mass, in such a way that they satisfy the following two conditions of equilibrium.
1. The net dynamic force acting on the shaft is equal to zero. This requires that the line of action of three
centrifugal forces must be the same. In other words, the centre of the masses of the system must lie on the axis
of rotation. This is the condition for static balancing.
2. The net couple due to the dynamic forces acting on the shaft is equal to zero. In other words, the algebraic
sum of the moments about any point in the plane must be zero. The conditions (1) and (2) together give
dynamic balancing. The following two possibilities may arise while attaching the two balancing masses :
1. When the plane of the disturbing mass lies in between the planes of the two balancing masses
2. When the plane of the disturbing mass lies on one end of the planes of the balancing masses
Balancing of Several Masses Rotating in the Same Plane
GYROSCOPE