BASICS OF MECHANISMS

Mechanism
Mechanism – Part of a machine, which transmit motion and
power from input point to output point

Mechanics

Statics
Dynamics

Kinematics Kinetics
Kinematicstics
Kinematics
Describes the motion of objects without
consideration of the causes leading to the
motion.

Kinetics
The study of the relation between
external forces or torque and motion
LINK (or) ELEMENT:
Any body (normally rigid) which has motion relative to
another
(or)
A LINK is defined as a rigid body having two or more pairing
elements which connected to other bodies for transmitting force
or motion

Types of Link:
Rigid Link – does not undergo any deformation while
transmitting motion.
Flexible Link – does undergo some deformation while
transmitting motion.
Fluid Link – the motion transmitted through the
pressurized fluid
 Structure
• It is an assembly of resistant bodies, but they
are not links. Because there is no relative motion
between them.
• Example: Bridges, Roof truss
 Machine Vs Structure
Machine Structure
Relative motion Relative motion does
occurs between the not occurs between
links. the links.
It transmit energy into It does not transmit
useful work energy
It transmit both force It transmit force only
and motion
 Kinematic Pair:
A Kinematic Pair or simply a pair is a joint of two links having relative
motion between them.

In the above given Slider crank mechanism,

link 2 rotates relative to link 1 and constitutes a revolute or turning pair.
Similarly,
links 2, 3and 3, 4 constitute turning pairs.
Link 4 (Slider) reciprocates relative to link 1 and its a sliding pair.
i
 Joints
Rigid Bodies

Kinematic Pair
 TYPES OF JOINTS

a. Binary link
b. Ternary link
c. Quaternary link
i) Kinematic pairs according to nature of contact :
A) Lower Pair: A pair of links having surface or area contact between the
members is known as a lower pair. The contact surfaces of the two links are
similar.
Examples: Nut turning on a screw, shaft rotating in abearing, all pairs
of a slider-crank mechanism, universal joint.

A B
B) Higher Pair: When a pair has a point or line contact between the links, it
is known as a higher pair. The contact surfaces of the two links are
dissimilar.
Examples: Wheel rolling on a surface cam and follower pair, tooth
gears, ball and roller bearings, etc.
ii) Kinematic pairs according to nature of mechanical
constraint.
a) Closed pair: When the elements of a pair are held
together mechanically, it is known as a closed pair.
The contact between the two can only be broken only
by the destruction of at least one of the members.

All the lower pairs and some of the higher pairs are
closed pairs.

b) Unclosed pair: When two links of a pair are in contact

either due to force of gravity or some spring action. In
this the links are not held
together mechanically. Ex.: Cam and follower pair.
iii) Kinematic pairs according to nature of
relative motion.
1. Revolute Pair
2. Prismatic Pair
3. Screw Pair
4. Cylindrical Pair
5. Spherical Pair
6. Planar Pair
 Revolute Pair
• A revolute allows only a relative rotation between
elements 1 and 2, which can be expressed by a single
coordinate angle 'theta‘( ) .Thus a revolute pair has a
single degree of freedom.

2 
 Prismatic Pair
A prismatic pair allows only a relative translation between elements 1
and 2, which can be expressed by a single coordinate 'S‘(distance).
Thus a prismatic pair has a single degree of freedom.

2
 Screw Pair
A screw pair allows only a relative movement between elements 1 and 2,
which can be expressed by a single coordinate angle 'theta' or 'S‘. Thus a
screw pair has a single degree of freedom. These two coordinates are
related as :  /2 =S/L

2
 Cylindrical Pair
A cylindrical pair allows both rotation and translation between elements 1
and 2, which can be expressed as two independent coordinates angle
'theta' and 'S‘. Thus a cylindrical pair has two degrees of freedom.
 Spherical Pair
A spherical pair allows three degrees of freedom since the complete
description of relative movement between the connected elements needs
three independent cooordinates.Two of the coordinates 'alpha' and 'beta'
are required to specify the position of the axis OA and the third coordinate
' ' describes the rotation about the axis OA.

A
 Planar Pair
A planar pair allows three degrees of freedom.Two coordinates x and y
describe the relative translation in the xy-plane and the third ' ' describes
the relative rotation about the z-axis.


 Wrapping Pairs
Wrapping Pairs comprise belts, chains, and other such devices .
 Types of Joints
a. Binary joint
b. Ternary joint
c. Quaternary joint

Total no. of Joints = ( no. of Binary Joint x1 )+ (no. of

Ternary Joint x 2)+ (no. of Quaternary Joint x 3)
( problem to be solved)
 Degrees of Freedom (DOF)
 Defined as the no. of independently controlled input parameters
which are useful for Engg. purpose
 An unconstrained rigid body moving in space can describe the
following independent motions.

1. Translational Motions along any three mutually Y

perpendicular axes x, y and z,
2. Rotational motions along these axes.

Z X
 Thus a rigid body possesses 6 degrees of freedom.

Degrees of freedom of a pair is defined as the number of independent

relative motions, both translational and rotational of pair.

Degrees of freedom = 6 – no. of restraints.

 Examples - DOF

n = 3(l-1)-2j-h
Here, l = 4, j = 4 & h = 0.
n = 3(4-1)-2(4) = 1
I.e., one input to any one link will result in definite
motion of all the links.
 Examples - DOF

n = 3(l-1)-2j-h
Here, l = 5,j = 5 and h = 0.
n = 3(5-1)-2(5) = 2
I.e., two inputs to any two
links are required to yield
definite motions in all the links.
 Examples - DOF

• n = 3(l-1)-2j-h
• Here, l = 6, j= 7 and h = 0.
• n = 3(6-1)-2(7) = 1
• I.e., one input to any one link will result in definite
motion of all the links.
 Examples - DOF

n = 3(l-1)-2j-h
Here, l = 6, j = 7 (at the intersection of 2, 3 and 4,
two lower pairs are to be considered) and h = 0.
n = 3(6-1)-2(7) = 1
 Examples - DOF

n = 3(l-1)-2j-h
Here, l = 11, j = 15 (two lower pairs at the
intersection of 3, 4, 6; 2, 4, 5; 5, 7, 8; 8, 10, 11) and
h = 0.
n = 3(11-1)-2(15) = 0
 Examples - DOF

(a) (b) (c)

n = 3(l-1)-2j-h n = 3(l-1)-2j-h n = 3(l-1)-2j-h
Here, l = 4, j = 5 and h = 0. Here, l = 3, j = 2 and h = 1. Here, l = 3, j = 2 and h = 1.
n = 3(4-1)-2(5) = -1 n = 3(3-1)-2(2)-1 = 1 n = 3(3-1)-2(2)-1 = 1
I.e., it is a structure
Mechanism:
When one link of Kinematics chain is fixed. It is known as
mechanism. It transforms or is transmitting the motion.
Example: engine, indicator, type writer. .

Machine
A machine is a mechanism or a collection of
mechanisms which transmits force from the
source of power to the load and thus perform a
desired work.
Ex: Shaper, Planer
http://www.mechanisms101.com/fourbar01.html
 COUPLER

ROCKER
CRANK

FRAME
Case l + s Vs p + q Shortest Bar Type

1 < Frame Double-crank

2 < Side Rocker-crank

3 < Coupler Doubl rocker

4 = Any Change point

5 > Any Double-rocker

 4-Bar Inversions
First Inversion
 Beam Engine
Second Inversion
 Double crank mechanism (Locomotive)
Third Inversion
Watt’s Indicator
Pantograph (lower pair)
Ackermann Steering mechanism (lower pair)
 show

show

http://jeanlouis.blanchard.pagesperso-orange.fr/english_swf/watt_engine_skeleton.html
 Single Slider Inversions
• Reciprocating Engine & Compressor
• Rotatory (or) Gnome Engine
• Crank and slotted lever mechanism
• Whitworth quick return mechanism
• Oscillating cylinder Engine
• Bull Engine
• Hand Pump
 lnversions of slider crank chain

(a) crank fixed (b) connecting rod fixed (c) slider

fixed
Reciprocating Engine & Compressor

show
show

show
 show

http://iel.ucdavis.edu/projects/mechanism/quickreturn/
Time for forward motion  360-  
------------------------------- = --- = --------- = --------
Time for return motion   360- 

Tool travel length (or) Length of stroke = 2AP X CB

AC
 Double Slider Crank Chain
• Elliptical trammel
• Scotch and Yoke mechanism
• Oldham Coupling

http://www.mekanizmalar.com/theo_jansen.html
 show

http://jeanlouis.blanchard.pagesperso-orange.fr/english_swf/fst_slotted_yoke_drive.htm
http://jeanlouis.blanchard.pagesperso-orange.fr/english_swf/stargear_2r.html
 SHOW

http://jeanlouis.blanchard.pagesperso-orange.fr/english_swf/snd_oldham.h
 Watt straight line
• http://jeanlouis.blanchard.pagesperso-
orange.fr/english_swf/watt_segment_equa
l.html
• http://jeanlouis.blanchard.pagesperso-
orange.fr/english_swf/peaucellier_rhombu
s.html
ACKERMANS STEERING MECHANISM

COT – COT = c/b

Intermittent motion mechanisms
Ratchet and pawl mechanism
Application of Ratchet Pawl
mechanism
Intermittent motion mechanisms
Geneva wheel mechanism
Pantograph
 Toggle mechanism
Considering the equilibrium condition of slider 6,

For small angles of α, F is much smaller than P.

Hooke’s joint
• Thank u
Mechanism

 Mechanism – Part of a machine, which transmit motion and power

from input point to output point.

 A simple example of this is the slider crank mechanism used

in an internal combustion or reciprocating air compressor.

Machine

A machine is a mechanism or a collection of mechanisms

which transmits force from the source of power to the
resistance to be overcome, and thus perform a mechanical
work.
 achine is a mechanism or a collection of mechanisms which transmits force
m the source of power to the resistance to be overcome,and thus perform a
 Types of Kinematic Pairs
Kinematic pairs can be classified
according to
i) Nature of contact.
ii) Nature of mechanical constraint.
iii) Nature of relative motion.
 Higher Pairs
A higher pair is defined as one in which the
connection between two elements has only a point or line
of contact.
A point contact takes place when spheres rest
on plane or curved surfaces (ball bearings) or between
teeth of a skew-helical gears. in roller bearings, between
teeth of most of the gears and in cam-follower motion.
The degree of freedom of a kinetic pair is
given by the number independent coordinates required to
completely specify the relative movement.
Cont…
To find the number of degrees of freedom for a plane
mechanism
we have an equation known as Grubler’s equation and is
given by
n = 3 ( L – 1 ) – 2 j1 – j2
n = Mobility or number of degrees of freedom
L = Number of links including frame.
j1 = Joints with single (one) degree of freedom.
j2 = Joints with two degrees of freedom.

If
n > 0, results a mechanism with ‘n’ degrees of freedom.
n= 0, results in a statically determinate structure.
n < 0, results in a statically indeterminate structure.