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KINEMATICS OF MECHANISMS
• Dynamics: Kinematics & Kinetics
– Kinematics: Study of motion without
regard to forces, gravity of motion.
– Kinetics: Study of forces on systems in
motion
MECHANISM
Mechanism – Part of a machine, which
transmit motion and power from input point to
output point
Example for Mechanism
KINEMATICS
RELEVANCE OF KINEMATIC
STUDY
• Motion requirements
• Design requirements
MOTION STUDY
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PAIRING ELEMENTS
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DEGREES OF FREEDOM (DOF):
In 2D plane
Slider Joint
1 DOF
(2 DOF restricted)
Pin in slot
2 DOF
(1 DOF restricted)
TYPES OF KINEMATIC PAIRS
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Unconstrained kinematic chain
MACHINE
A machine is a mechanism or collection of
mechanisms, which transmit force from the
source of power to the resistance to be
overcome.
Though all machines are mechanisms, all
mechanisms are not machines
PLANAR MECHANISMS
F=3n-(2PL+Ph)
• Here, n = 3, PL= 4 & Ph = 0.
• F = 3(3)-2(4-0) = 1
• I.e., one input to any one link
will result in definite motion of
all the links.
Examples - DOF
F=3n-(2PL+Ph)
• Here, n = 4, PL= 5 & Ph = 0.
• F = 3(4)-2(5-0) = 2
I.e., two inputs to any two links are
required to yield definite
motions in all the links.
Examples - DOF
n=2
Pl=2
Ph=1
F=3n-(2Pl+Ph)
=6-(4+1)
=1
Conditions for a mechanism to have
determined motion
DOF F ≥1
The DOF of the mechanism should be
equal to the numbers of the driving links.
Example: