PREFACE OF THE FPP FILE

DEPARTMENT OF MECHANICAL ENGINEERING

BATCH

: 2016-2017

BRANCH

: MECHANICAL ENGINEERING

YEAR & SEMESTER

: I YEAR, III SEM

SUBJECT CODE

: ME6401

NAME OF THE SUBJECT

: KINEMATICS OF MACHINERY

STAFF IN CHARGE

: Dr.V.Santhanam,

RAJALAKSHMI ENGINEERING COLLEGE

DEPARTMENT OF MECHATRONICS ENGINEERING
MISSION AND VISION OF THE INSTITUTION
VISION
To be an institution of excellence in Engineering, Technology and Management,
Education & Research. To provide competent and ethical professionals with a concern
for society.
.
MISSION
To impart quality technical education imbibed with proficiency and humane
values. To provide right ambience and opportunities for the students to develop into
creative, talented and globally competent professionals. To promote research and
development in technology and management for the benefit of the society.
MISSION AND VISION OF THE DEPARTMENT
VISION
To be a globally competent renowned School of Engineering in Mechatronics
MISSION
To impart high quality professional education and produce Mechatronics Engineers
with all round knowledge of multi-disciplinary branches of engineering and technology.
To foster skill sets required to be a global professional in the areas of intelligent
systems, robotics, research and technology management and to fulfil the expectations
of industry and needs of the society.
To inculcate entrepreneurial qualities for creating, developing and managing global
engineering ventures
Programme Educational Objectives (PEOs): Mechatronics Engineering

PEO I
Graduates will have comprehensive knowledge in the analytical , scientific
and engineering fundamentals necessary to model ,
analyze and solve
engineering problems and to prepare them for graduate studies and for successful
careers in industry.
PEO II
Graduates will effectively design and develop products in the areas such as
manufacturing, motion Control, Machine vision, system simulation , Intelligent
systems, Automotive Systems and Robotics.
PEO III

Graduates will acquire Technical expertise, Leadership skills,

practices and Team spirit with a concern towards society.

Ethical

Programme Outcomes
(a) Graduates will demonstrate basic knowledge in mathematics, science and
engineering.
(b) Graduates will demonstrate the ability to design and conduct experiments,
interpret and analyze data, and report results.
(c) Graduates will demonstrate the ability to design or model or simulate or
implement a mechatronics system or a process that meets desired specifications
and requirements.
(d) Graduates will demonstrate the ability to function on engineering and science
laboratory teams, as well as on multidisciplinary design teams.
(e) Graduates will demonstrate the ability to identify, formulate and solve
mechatronics engineering problems.
(f) Graduates will demonstrate an understanding of their professional and ethical
responsibilities.
(g) Graduates will be able to communicate effectively in both verbal and written
forms to enhance their opportunities to build a successful career.
(h) Graduates will have the confidence to apply engineering solutions in global and
societal contexts.
(i) Graduates should be capable of self-education and clearly understand the value
of lifelong learning.
(j) Graduates will be broadly educated and will have an understanding of the
impact of engineering on society and demonstrate awareness of contemporary
issues.
(k) Graduates will be familiar with modern engineering software tools and
equipment to analyze mechatronics engineering problems.
(l)

Graduates will be exposed to industrial practices and acquire the ability to

serve in the core engineering industry.

PEOS MAPPING: I, II, III

a,b,c,e,I,l

MAPPING OF POS:

RAJALAKSHMI ENGINEERING COLLEGE

DEPARTMENT OF MECHANICAL ENGINEERING
ME 6505 DYNAMICS OF MACHINES
PEOS AND POS MAPPING
PEO

PO

UNI
T

II

III

II

III

IV

COURSE INFORMATION SHEET

PROGRAMME: UG
COURSE: KINEMATICS OF MACHINERY
COURSE CODE: ME 6401
REGULATION: 2013
COURSE AREA/DOMAIN: Mechatronics
Engineering
CORRESPONDING LAB COURSE CODE (IF
ANY): ME 6511
SYLLABUS:
UNI
T

II

III

IV

DEGREE: B.E.
SEMESTER:III
CREDITS: 3
COURSE TYPE: CORE
CONTACT HOURS: 3 hours/Week.
LAB COURSE NAME: DYNAMICS
LABORATORY

DETAILS

HOUR
S

BASICS OF MECHANISMS
Classification of mechanisms Basic kinematic concepts and definitions
Degree of freedom, Mobility Kutzbach criterion, Grueblers criterion
Grashofs Law Kinematic inversions of four-bar chain and slider crank chains
Limit positions Mechanical advantage Transmission Angle Description
of some common mechanisms Quick return mechanisms, Straight line
generators,
Universal Joint rocker mechanisms.
KINEMATICS OF LINKAGE MECHANISMS
Displacement, velocity and acceleration analysis of simple mechanisms
Graphical method Velocity and acceleration polygons Velocity analysis
using instantaneous centres kinematic analysis of simple mechanisms
Coincident points Coriolis component of Acceleration Introduction to
linkage synthesis problem.
KINEMATICS OF CAM MECHANISMS
Classification of cams and followers Terminology and definitions
Displacement diagrams Uniform velocity, parabolic, simple harmonic and
cycloidal motions Derivatives of follower motions Layout of plate cam
profiles Specified contour cams Circular arc and tangent cams Pressure
angle and undercutting sizing of cams.
GEARS AND GEAR TRAINS
Law of toothed gearing Involutes and cycloidal tooth profiles Spur Gear
terminology and definitions Gear tooth action contact ratio Interference
and undercutting. Helical, Bevel, Worm, Rack and Pinion gears [Basics only].
Gear trains Speed ratio, train value Parallel axis gear trains Epicyclic Gear
Trains.
FRICTION IN MACHINE ELEMENTS
Surface contacts Sliding and Rolling friction Friction drives Friction in
screw threads Bearings and lubrication Friction clutches Belt and rope
drives Friction in brakes- Band and Block brakes.
TOTAL HOURS

9 (L)

9 (L)

9 (L)

9 (L)

9 (L)

45 (L)

Text Book(s):
1. Uicker, J.J., Pennock G.R and Shigley, J.E., Theory of Machines and Mechanisms ,3rd
Edition, Oxford University Press, 2009.
2. Rattan, S.S, Theory of Machines, 3rd Edition, Tata McGraw-Hill, 2009
Reference Book(s):
1. Thomas Bevan, "Theory of Machines", 3rd Edition, CBS Publishers and Distributors, 2005.
2. Cleghorn. W. L, Mechanisms of Machines, Oxford University Press, 2005
3. Robert L. Norton, "Kinematics and Dynamics of Machinery", Tata McGraw-Hill, 2009.
4. Allen S. Hall Jr., Kinematics and Linkage Design, Prentice Hall, 1961
5. Ghosh. A and Mallick, A.K., Theory of Mechanisms and Machines", Affiliated East-West Pvt.Ltd., New
Delhi, 1988.
6. Rao.J.S. and Dukkipati.R.V. "Mechanisms and Machine Theory", Wiley-Eastern Ltd., New Delhi, 1992.
7. John Hannah and Stephens R.C., "Mechanics of Machines", Viva Low-Prices Student Edition, 1999.
8. Ramamurthi. V, "Mechanics of Machines", Narosa Publishing House, 2002.
9. Khurmi, R.S., Theory of Machines,14th Edition, S Chand Publications, 2005
10. Sadhu Sigh : Theory of Machines, "Kinematics of Machine", Third Edition, Pearson Education, 2012

COURSE PRE-REQUISITES:
C.COD
COURSE NAME
E
GE6253 Engineering Mechanics
,

DESCRIPTION
Basic knowledge involving kinematic
motions and friction etc.

SE
M
I

COURSE OBJECTIVES
1. To understand the basic components and layout of linkages in the assembly of a
system/machine.
2. To understand the principles in analyzing the assembly with respect to the displacement,
velocity, and acceleration at any point in a link of a mechanism.
3. To understand the motion resulting from the cam mechanisms for specified output motions.
4. To understand the basic concepts of toothed gearing and kinematics of gear trains
5. To understand the effects of friction in motion transmission and in machine components.
COURSE OUTCOMES
After the successful completion of course the students will be able to:
1. Understand basic kinematic mechanisms and to demonstrate some common mechanisms.
2. Solve the problems to compute the velocity and acceleration of simple mechanisms.
3. Understand different types of cams and Draw the cam profile for specified set of output
motions.
4. Solve problems involving gear transmission and gear trains.
5. Understand the effect of friction in different machine elements.
Gaps in the syllabus to meet industry/profession requirements:
Sl No
1
2

DESCRIPTION
Use of software to synthesise linkage
mechanisms
Basic kinematic structures of serial and

PROPOSED ACTIONS
To give software demo
To give demonstration on robotic

parallel robot manipulators

linkages

PROPOSED ACTIONS : TOPICS BEYOND SYLLABUS/ ASSIGNMENT/ INDUSTRY

VISITS/ GUEST LECTURE/ NPTEL Video etc
TOPICS BEYOND SYLLABUS
Sl No DESCRIPTION
1
Basic kinematic structures of serial and parallel robot manipulators
2
Use of software to synthesise linkage mechanisms
Web source reference:
www.nptel.ac.in
www.iitg.ernet.in
ocw.mit.edu
www.uobabylon.edu.iq
ocw.uc3m.es
nrao-mech-engg.blogspot.com
uqu.edu.sa
site.iugaza.edu.ps
DELIVERY/INSTRUCTIONAL METHODOLOGIES:
CHALK & TALK
STUD.
WEB RESOURCES
ASSIGNMENT
LCD/SMART
STUD. SEMINARS
ADD-ON
BOARDS
COURSES
ASSESSMENT METHODOLOGIES-DIRECT
ASSIGNMENTS
STUD. SEMINARS
STUD. LAB
PRACTICES
ADD-ON
COURSES

STUD. VIVA

TESTS/MODEL
EXAMS
MINI/MAJOR
PROJECTS

ASSESSMENT METHODOLOGIES-INDIRECT
ASSESSMENT OF COURSE OUTCOMES (BY
FEEDBACK, ONCE)
ASSESSMENT OF MINI/MAJOR PROJECTS BY
EXT. EXPERTS

UNIV.
EXAMINATION
CERTIFICATIONS
OTHERS

STUDENT FEEDBACK ON FACULTY

(TWICE)
OTHERS

SYLLABUS
ME6401
KINEMATICS OF MACHINERY
LTPC
3003
OBJECTIVES:
To understand the basic components and layout of linkages in the assembly of a system/
machine.
To understand the principles in analyzing the assembly with respect to the displacement, velocity,
and acceleration at any point in a link of a mechanism.
To understand the motion resulting from a specified set of linkages, design few linkage
mechanisms and cam mechanisms for specified output motions.
To understand the basic concepts of toothed gearing and kinematics of gear trains and the
effects of friction in motion transmission and in machine components.
UNIT I BASICS OF MECHANISMS
9
Classification of mechanisms Basic kinematic concepts and definitions Degree of freedom,
Mobility Kutzbach criterion, Grueblers criterion Grashofs Law Kinematic inversions of fourbar chain and slider crank chains Limit positions Mechanical advantage Transmission Angle
Description of some common mechanisms Quick return mechanisms, Straight line generators,
Universal Joint rocker mechanisms.
UNIT II KINEMATICS OF LINKAGE MECHANISMS
9
Displacement, velocity and acceleration analysis of simple mechanisms Graphical method
Velocity and acceleration polygons Velocity analysis using instantaneous centres kinematic
analysis of simple mechanisms Coincident points Coriolis component of Acceleration
Introduction to linkage synthesis problem.
UNIT III KINEMATICS OF CAM MECHANISMS
9
Classification of cams and followers Terminology and definitions Displacement diagrams
Uniform velocity, parabolic, simple harmonic and cycloidal motions Derivatives of follower
motions Layout of plate cam profiles Specified contour cams Circular arc and tangent cams
Pressure angle and undercutting sizing of cams.
UNIT IV GEARS AND GEAR TRAINS
9
Law of toothed gearing Involutes and cycloidal tooth profiles Spur Gear terminology and
definitions Gear tooth action contact ratio Interference and undercutting. Helical, Bevel,
Worm, Rack and Pinion gears [Basics only]. Gear trains Speed ratio, train value Parallel axis
gear trains Epicyclic Gear Trains.
UNIT V FRICTION IN MACHINE ELEMENTS
9
Surface contacts Sliding and Rolling friction Friction drives Friction in screw threads
Bearings and lubrication Friction clutches Belt and rope drives Friction in brakes- Band and
Block brakes.
TOTAL : 45 PERIODS
OUTCOMES:
Upon completion of this course, the students can able to apply fundamentals of mechanism for
the design of new mechanisms and analyse them for optimum design.
TEXT BOOKS:
1. Uicker, J.J., Pennock G.R and Shigley, J.E., Theory of Machines and Mechanisms, 3 rdEdition,
Oxford University Press, 2009.
2. Rattan, S.S, Theory of Machines, 3rd Edition, Tata McGraw-Hill, 2009.
REFERENCES:
1. Thomas Bevan, "Theory of Machines", 3rd Edition, CBS Publishers and Distributors, 2005.
2. Cleghorn. W. L, Mechanisms of Machines, Oxford University Press, 2005
3. Robert L. Norton, "Kinematics and Dynamics of Machinery", Tata McGraw-Hill, 2009.
4. Allen S. Hall Jr., Kinematics and Linkage Design, Prentice Hall, 1961
5. Ghosh. A and Mallick, A.K., Theory of Mechanisms and Machines", Affiliated East-West Pvt.
Ltd., New Delhi, 1988.
6. Rao.J.S. and Dukkipati.R.V. "Mechanisms and Machine Theory", Wiley-Eastern Ltd., New Delhi,
1992.

7. John Hannah and Stephens R.C., "Mechanics of Machines", Viva Low-Prices Student Edition,
1999.
8. Ramamurthi. V, "Mechanics of Machines", Narosa Publishing House, 2002.
9. Khurmi, R.S., Theory of Machines,14th Edition, S Chand Publications, 2005
10. Sadhu Sigh : Theory of Machines, "Kinematics of Machine", Third Edition, Pearson Education,
2012

LESSON PLAN
RAJALAKSHMI ENGINEERING COLLEGE
Thandalam, Chennai 602 105
LESSON PLAN
Faculty Name

: V.Santhanam/P.Arumugam/S.Vinoth kumar/ K.Thirumalaikannan

Subject Name

: KINEMATICS OF MACHINERY

Code

ME6401

Year

: II

Semester

III

Degree&Branch

: B.E. Mechatronics

Section

PEO mapping : I,II,III

PO mapping: a,b,c,e,i,l

Objectives:
1. To understand the basic components and layout of linkages in the assembly of a
system/machine.
2. To understand the principles in analyzing the assembly with respect to the displacement,
velocity, and acceleration at any point in a link of a mechanism.
3. To understand the motion resulting from the cam mechanisms for specified output motions.
4. To understand the basic concepts of toothed gearing and kinematics of gear trains
5. To understand the effects of friction in motion transmission and in machine components.
Text Book(s):
1. Uicker, J.J., Pennock G.R and Shigley, J.E., Theory of Machines and Mechanisms ,3rd
Edition, Oxford University Press, 2009.
2. Rattan, S.S, Theory of Machines, 3rd Edition, Tata McGraw-Hill, 2009
Reference Book(s):
1. Thomas Bevan, "Theory of Machines", 3rd Edition, CBS Publishers and Distributors, 2005.
2. Cleghorn. W. L, Mechanisms of Machines, Oxford University Press, 2005
3. Robert L. Norton, "Kinematics and Dynamics of Machinery", Tata McGraw-Hill, 2009.
4. Allen S. Hall Jr., Kinematics and Linkage Design, Prentice Hall, 1961
5. Ghosh. A and Mallick, A.K., Theory of Mechanisms and Machines", Affiliated East-West Pvt.Ltd., New
Delhi, 1988.
6. Rao.J.S. and Dukkipati.R.V. "Mechanisms and Machine Theory", Wiley-Eastern Ltd., New Delhi, 1992.
7. John Hannah and Stephens R.C., "Mechanics of Machines", Viva Low-Prices Student Edition, 1999.
8. Ramamurthi. V, "Mechanics of Machines", Narosa Publishing House, 2002.
9. Khurmi, R.S., Theory of Machines,14th Edition, S Chand Publications, 2005
10. Sadhu Sigh : Theory of Machines, "Kinematics of Machine", Third Edition, Pearson Education, 2012

UNIT I BASICS OF MECHANISMS

Objective
To understand the basic components and layout of linkages in the assembly of a system/machine.
Ourcome
Understand basic kinematic mechanisms and to demonstrate some common mechanisms.
S.
No.

1
2

Date

Period/
Hours

Unit

Topic(s)

T / R*

Book

Book

No.

Classification of mechanisms

Basic kinematic concepts

and definitions, Degree of
freedom, Mobility

Kutzbach criterion,
Grueblers criterion
Grashofs Law

4.

Kinematic inversions of fourbar chain

Kinematic inversions of slider

crank chains

6.

Limit positions Mechanical

advantage Transmission
Angle

Quick return mechanisms,.

Straight line generators,

Universal Joint rocker

mechanisms

10

Tutorial 1

Page(s)

UNIT II KINEMATICS OF LINKAGE MECHANISMS

Objective
To understand the principles in analyzing the assembly with respect to the displacement, velocity, and
acceleration at any point in a link of a mechanism.
Ourcome
Solve the problems to compute the velocity and acceleration of simple mechanisms
11

II

Displacement, velocity and

acceleration analysis of
simple mechanisms

12

II

Displacement, velocity and

acceleration analysis of
simple mechanisms

13

II

Tutorial 2

14

II

Graphical method Velocity

and acceleration polygons

15

II

Velocity analysis using

instantaneous centres

16

II

Tutorial 3

17

II

kinematic analysis of simple

mechanisms

18

II

kinematic analysis of simple

mechanisms

19

II

Coriolis component of
Acceleration

20

II

Coincident points

21

II

Introduction to linkage
synthesis problem.

22

II

Tutorial 4

UNIT III KINEMATICS OF CAM MECHANISMS

Objective
To understand the motion resulting from the cam mechanisms for specified output motions
Ourcome
Understand different types of cams and Draw the cam profile for specified set of output motions
23

III

Classification of cams and

followers

24

III

Terminology and definitions

25

III

Displacement diagrams
Uniform velocity motions

26

III

Displacement diagrams
parabolic motion

27

III

Displacement diagrams
simple harmonic motions

28

III

Displacement diagrams
cycloidal motions

29

III

Tutorial

30

III

Derivatives of follower
motions, Layout of plate cam
profiles Specified contour
cams

31

III

Circular arc and tangent

cams

32

III

Pressure angle and

undercutting sizing of cams

33

III

Tutorial

UNIT IV GEARS AND GEAR TRAINS

Objective
To understand the basic concepts of toothed gearing and kinematics of gear trains
Ourcome
Solve problems involving gear transmission and gear trains
34

IV

Law of toothed gearing

35

IV

Involutes and cycloidal tooth

profiles Spur Gear
terminology and definitions

36

IV

Gear tooth action contact

ratio Interference and
undercutting.

37

IV

Interference and
Undercutting.

38

IV

Tutorial

39

IV

Helical, Bevel, Worm, Rack

and Pinion gears [Basics
only].

40

IV

Gear trains Speed ratio,

train value Parallel axis
gear trains

41

IV

Tutorial

42

IV

Epicyclic Gear Trains

43

IV

Tutorial

Problems in contact ratio,

UNIT V FRICTION IN MACHINE ELEMENTS

Objective
To understand the effects of friction in motion transmission and in machine components
Ourcome
Understand the effect of friction in different machine elements.

44

Surface contacts Sliding

and Rolling friction

45

Friction drives

46

Friction in screw threads

47

Bearings and lubrication

48

Tutorial

50

Friction clutches

51

Tutorial

52

Belt and rope drives

53

Friction in brakes- Band and

Block brakes

54

Tutorial

* T Text Book / R Reference Book

RAJALAKSHMI ENGINEERING COLLEGE

DEPARTMENT OF MECHANICAL ENGINEERING
COURSE EXIT SURVEY
CAY : 2015-16
SEM : ODD
Date :
SUBJECT
KINEMATICS OF MACHINERY ME 6401
Year : II Year Mechatronics
FACULTY
CAY: CURRENT ACADEMIC YEAR
1. OBJECTIVE FOR SUBJECT
a) To understand the basic components and layout of linkages in the assembly of a system/machine.
b) To understand the principles in analyzing the assembly with respect to the displacement, velocity, and
acceleration at any point in a link of a mechanism.
c) To understand the motion resulting from the cam mechanisms for specified output motions.
d) To understand the basic concepts of toothed gearing and kinematics of gear trains
e) To understand the effects of friction in motion transmission and in machine components.
2. OUTCOMES FOR SUBJECT
After the successful completion of course the students will be able to:
1. Understand basic kinematic mechanisms and to demonstrate some common mechanisms.(a)
2. Solve the problems to compute the velocity and acceleration of simple mechanisms.(b)
3. Understand different types of cams and Draw the cam profile for specified set of output motions.(c)
4. Solve problems involving gear transmission and gear trains.(d)
5. Understand the effect of friction in different machine elements(e).
Please evaluate on the following Scale:
Excellent(
E)
5
SN
O

Good(G)
4

Average(
A)
3

Poor(
P)
2

No
Comment(NC)
1

QUESTIONAIRE
COURSE OBJECTIVES

E
NC

1)

To understand the basic components and layout of linkages in

the assembly of a system/machine.

2)

To understand the principles in analyzing the assembly with

respect to the displacement, velocity, and acceleration at any
point in a link of a mechanism.
To understand the motion resulting from the cam mechanisms
for specified output motions.
To understand the basic concepts of toothed gearing and
kinematics of gear trains
To understand the effects of friction in motion transmission
and in machine components.

3)
4)
5)

COURSE OUTCOMES
6)
7)
8)
9)
10)

Understand basic kinematic mechanisms and to demonstrate

some common mechanisms.
Solve the problems to compute the velocity and acceleration
of simple mechanisms
Understand different types of cams and Draw the cam profile
for specified set of output motions
Solve problems involving gear transmission and gear trains
Understand the effect of friction in different machine elements