Kinematics And Dynamics of Machines (MCL111)

PPT Slides (Some Modules) Courtesy: Prof. J. K. Dutt

Some PDF Hand-outs Courtesy: Prof. S. Mukherjee

MCL111: Kinematics and Dynamics of Machines 1

Kinematics and Dynamics of Machines (MCL111)
Intensive Summer Course
Teachers:
Dr. Rama Krishna K
Prof. Sudipto Mukherjee (Contingency, Some Portions)

Class days and times:

All Days: From 10:00AM to 12:00 NOON
Some days we may give a miss

Sessionals:
All Days: From 2 PM to 4 PM
Some days we may give a miss

Tentative Distribution of Marks:

Mid-term: 30
Quiz Tests: 35 (Minimum 12 Tests during Sessional Time)
Major: 35

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Syllabus on Kinematics and Dynamics of Machines
Introduction:
Introduction to Mechanisms and Machines, their need, how they function etc., Concept of links and kinematic
Pairs,
Kinematic Chains, Planar and Spatial Mechanisms, Kinematic Diagrams, Limit and Disguise of a revolute pair,
Kinematic Inversion,
Equivalent linkages, Four-Link planar linkages, Mobility and range of movements of a four link mechanism.

Kinematic Analysis of planar mechanisms:

Introduction, Displacement Analysis, General Planar motion of a Rigid body, Concept of Instantaneous Centres
of Velocity and their use in velocity analysis,
Aronhold-Kennedy theorem of three centres and its use, Graphical Analysis of Velocity and Acceleration,
Introduction to complex Mechanisms and their analysis of velocity, and acceleration, Analytical approach to
velocity and acceleration.

Dimensional Synthesis of Linkages

Introduction to synthesis, graphical Synthesis of 4-link mechanisms with three accuracy points, Synthesis of 4-
link Mechanisms with four accuracy points,
Freudenstein’s Method of Analytical Synthesis, Branch and Order defects, Special Straight line mechanisms.

MCL111: Kinematics and Dynamics of Machines 3

Dynamic Analysis of Mechanisms:
Introduction, Motion of rigid bodies subject to system of forces, Principle of Virtual Work, D’Alembert’s Principle of Dynamic
Equilibrium,
Dynamic Force Analysis – Analytical and Graphical methods, Dynamics of Slider-Crank Chain, Turning moment on crank shafts and
turning moment diagram, Fluctuation of crank speeds, Concept of flywheels to reduce speed fluctuation, Design of flywheels

Balancing of Inertia Forces and Moments on Machines:

Introduction, Balancing of rotating masses- the concepts of static and dynamic unbalance, Two-plane balancing,
Determination of balancing masses, Balancing of rotors, Balancing of Internal combustion engines, Balancing of planar linkages.

Cams:
Introduction, Classification of cams and followers, Description of follower movements, Determination of basic dimensions,
Synthesis of cam profiles – graphical and analytical approaches, cams with specified contours, dynamic analysis of cams.

Gears:
Introduction, Gearing action, Fundamental laws of gearing and Spur gear with Involute profile of teeth,
Properties of gear teeth with involute profile and the involute action,
Helical, Spiral, Bevel, and Worm gears, Gear Trains, Torques in Epicyclic gear trains.

Gyroscopic Action in Machines:

Introduction, Motion of a rigid body in three dimensions, Rigid bodies in spherical motion,
Euler’s equations of motion, Simple precession of a symmetrical rotor,
Gyro-dynamics, Gyroscopic effects in machines.

Vibrations in Mechanical Systems: (Briefly)

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Some Historical aspects

1. Mechanisms were devised as human being constantly tried to improve

abilities to do work
2. The first ever attempt of lifting and shifting heavy loads for construction
activities led to the development of lever mechanism, wedges, pulleys etc.
3. Needs like mining irrigation and water supply gave the idea of
transforming power to motion

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 Mechanisms and Machines
 Emergence of machine tools for cutting screws and boring cannons led to the industrial
revolution in Great Britain in mid-18th century.
 Another important invention of this era is the steam-engine by James Watt (1778).
The only surviving example of a spinning mule built by the
inventor Samuel Crompton in 1779. The mule produced high-
quality thread with minimal labor.
https://en.wikipedia.org/wiki/Spinning_mule

Newcomen's steam-powered
atmospheric engine (1712)
was the first practical piston
steam engine.

A Watt steam engine. James Watt in 1778 transformed the steam

engine from a reciprocating motion that was used for pumping to a
rotating motion suited to industrial applications. Watt and others
significantly
MCL111: Kinematics improved the
and Dynamics of efficiency of the steam engine.
Machines 6
Text Books:
1. Theory of Mechanisms and Machines by A. Ghosh and A.K. Mallik, EWP, 3rd Edition, reprinted in 2011
2. Design of Machinery by R.L. Norton, Tata Mc.Graw Hill 3rd Edition 2005

A few Definitions

What is a Machine?
A machine is a contraption or a device with the help of which, we are able to transmit and transform
force and motion from the source of power to a load to do useful work. In this process the machine may
employ either one mechanism or many mechanisms to achieve the objective.

MCL111: Kinematics and Dynamics of Machines 7

 What is a Mechanism
A mechanism is a combination of rigid bodies (in an ideal sense) so shaped and connected that they move upon each
other with a definite relative motion. It is very important to note that the bodies are properly shaped and connected.
Bodies are called links and the way of connecting two bodies is called pairing. Knowledge of working of the
mechanism is of fundamental importance.
Piston-Cylinder
Arrangement in a
Car engine:
Courtesy:
Vinogradov
Slider-Crank Mechanism:
1: Base, 2: Crank, 3:
https://www.youtube.com/watch?v=ZO8QEG4x0wY
Connecting Rod, 4: Piston
The crank is hinged with How does it function?
base. This is the working of a 4-stroke engine.
As the crank rotates clockwise, it pulls the piston away from the head
and causes suction of air. After the piston reaches the lowest position,
further rotation of the crank in the same direction causes compression
of the air, as the valves are closed. At the end of this motion fuel is
injected at the top of the piston. Either it is ignited by spark as in SI
engines or it ignites due to heat of compression. The pressure of gas
1 increases and pushes the piston, which travels down and thus give
power to the crank. Again the motion of crank, of course in the same
direction pushes the burnt gas through a valve opening. The opening
MCL111: Kinematics and Dynamics of Machines
and closing of the valve is controlled by cams. 8
 Two Examples
Moving End, pushed by thumb

Held on palm.
Crimping jaw This end does not move

Courtesy: Ghosh and Mallik 3rd Edition

Mechanism
MCL111: Kinematics and Dynamics of Machines of a typewriting Machine 9
 Design of Machines

Dynamics:
Kinematics: This study This studies the forces and
considers the geometry of Moments necessary to create a motion
motion without caring for the
force or moment that creates
it. Kinematic Design of Machines

Analysis Synthesis
This attempts to find out the This attempts to get a mechanism or
kinematic or dynamic parameters a machine to generate any given kinematic or
of an existing mechanism or dynamic situation
machine

MCL111: Kinematics and Dynamics of Machines 10

Synthesize
NO

Is the analysis Yes

satisfactory for the Stop
objective
Analyse

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Kinematic Pairs:

• Mechanism defined as a combination of bodies so connected that each moves relative to another

• Clue to behaviour of mechanism lies in nature of connections

• These connections are called Kinematic pairs

• Kinematic Pairs are building blocks of mechanisms

• Kinematic Pairs dictate the type of relative motion between two connected bodies

• D.O.F. of Kinematic Pair

• Pair Variables

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Kinematic Pairs:

These are the ways two links are connected to provide a type of desired relative motion between them. We should
study different types of kinematic pairs and the degree of freedom they provide to the relative motion.

1. Pairs which give relative motion between links only in one plane
2. Pairs which provide relative motion between links out of a plane
3. Pair which causes surface contact between two links (These are called lower Pairs)
4. Pairs which cause point or line contacts between links (These are called higher pairs)

Degrees of Freedom (F): These are the number of independent coordinates necessary to define the position and
orientation of a rigid body or a set of connected rigid bodies uniquely.

A rigid body in space has got in all 6 degrees of freedom, three in translation for defining position and three in
rotation for defining orientation.

A rigid body in plane has got in all 3 degrees of freedom, two for position and one for angular orientation.

When two rigid bodies are paired for a desired relative motion, then both lose some degrees of freedom to move and
the net degrees of freedom are reduced. A mechanism is said to have constrained motion, if its degree of freedom is 1,
if F = 0, the linkage is a structure, which does not move, if F < 0, the structure is statically indeterminate.
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 Prismatic Pair (used in planar
mechanisms, admits 1 degree of
Lower Pairs, An freedom and restricts 5)
Introduction
Revolute Pair (used in planar
s, 𝜃 etc. are mechanisms), admits 1 degree of
called pair freedom and restricts 5
variables
Cylindrical Pair, (used in spatial
mechanisms), admits 2 dof and restricts 4

Screw Pair, (used in spatial mechanisms),

admits 1 dof and restricts 6, as the rotation
and translation are related by the screw pitch

Planar Pair, (used in spatial mechanisms),

admits 3 dof and restricts 3

Spherical Pair, (used in spatial

mechanisms), admits 3 dof and restricts 3
MCL111: Kinematics
Courtesy: Ghoshand
andDynamics
Mallik of Machines 14
 A cam driven valve for automobiles: From Oleg Vinogradov, “Fundamentals of
Kinematics and Dynamics of Machines and Mechanisms”, CRC Press 2000

Wrapping Pair, Ghosh and Mallik

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Spur gear pair, higher pair
Lines of contact in Spur and helical gears

Bevel gear pair, higher pair

Helical gear pair, higher pair
From Oleg Vinogradov, “Fundamentals of Kinematics
MCL111: Kinematics and Dynamicsand Dynamics of Machines and Mechanisms”, CRC Press162000
of Machines
A comprehensive list
from
Erdman and Sandor
PHI 1988

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A comprehensive list
from
Erdman and Sandor PHI
1988, continued.

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Some Definitions:

1. A link which is connected to only one link is called a singular link. Shown by a line with kinematic pair at one end.
2. A link connected to two more links is called a binary link. Shown by a line with a pair at each end.
3. A link connected to three other links is called a ternary link. Shown by a triangle with a pair at each vertex.
4. A link connected to 4 other links is called a quaternary link. Shown by a quadrilateral with a pair at each vertex.

Links connected by pairs as in a mechanism is also called a linkage or chain.

A chain in which there is no singular link is called a “Closed Chain”.
A chain in which at least one link is singular is called an “Open Chain”.

A Kinematic diagram
A kinematic diagram of a mechanism or a machine is a diagram which has information about how different
links are connected by pairs such that the desired motion or motions may be represented. The exact shape as
well as dimension and other details of different links and joints are not given. Kinematic analysis and synthesis
of mechanisms are done by keeping the kinematic diagram in mind.

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Symbols for some necessary pairs

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 Binary

Ternary

Quaternary

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Example of a foot pedal mechanism for beating drums from Erdman and Sandor

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Example of the
Mechanism inside a
Washing machine from
Erdman and Sandor

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An Excavator: From Oleg Vinogradov, “Fundamentals of Kinematics and Dynamics of Machines and
Mechanisms”, CRC Press 2000
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 How to get a Kinematic Diagram?

A Punch Press Kinematic Diagram of a Punch Press, a 4-bar mechanism

Courtesy: Oleg Vinogradov, “Fundamentals of Kinematics and Dynamics of Machines and Mechanisms”, CRC Press 2000

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Mechanism of a Dump Truck Kinematic Diagram, a 6-bar mechanism

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 Robotic arm: Open chain

A Robot Manipulator, an open chain, Courtesy: Waldron and Kinzel, “Kinematics, Dynamics and Design of
Machinery, John Wiley, 2004.

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The JPL mobile robot ATHLETE is a platform with six
serial chain legs ending in wheels.

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 Trunion

Universal Joint or Hook’s joint:

Transmits rotary motion from one shaft to another when
their axes meet at an angle. Application in automobiles: To
connect power-shafts from the gearbox to the differential.

Space Mechanism: All the points do not move in a plane: Motion is 3D

MCL111: Kinematics and Dynamics of Machines 29

It is very important to know if the a linkage moves or not.
a) If it moves, whether it has constrained motion or not. This means that for one input there is one output motion.
This is determined by the ‘degree of freedom’ of a linkage. A linkage is called a Mechanism if the degree of freedom
is 1.
b) So it is important to know how the degree (s) of freedom may be calculated from the number of links and the
number and types of kinematic pairs connecting the links.
c) Let us consider planar linkages, or the links which move in planes parallel to one another.

Free link of
fixed length Link attached with
in plane: 3 Total dof: 3 Ground
dof Dof: 3-2 = 1

Elements of Revolute Pair

Angle θ only degree of freedom

Ground (Fixed, F=0) Kutzbach’s Formula: 3(n-1) – 2j, n: total no. of links, j, total number of joints
which restrict 2 degrees of freedom each.
30
MCL111: Kinematics and Dynamics of Machines
 The degree of freedom continued

Let us use the Kutzbach’s formula to find the degree(s) of freedom of 3 and 4 link linkages, in which all the links are binary
and connected by which are connected, say, by revolute pairs. We call them as 3R-3bar/link and 4R-4bar/link linkages
respectively, ‘R’ stands for the revolute pair.

For 3R-3bar linkage: n = 3, j = 3, and F = 3(3-1)-2*3 = 0. The value of F = 0 means that the linkage should not move and
behaves as a structure.
For 4R-4 bar linkage, n = 4, j = 4 and F = 3(4-1) – 2*4 = 1. The value of F =1 means that the linkage should have a unique
output for a given input.
An observation
If all the links in a planar linkage are binary,
R and are connected by a pair taking away two
degrees of freedom each, then, the 4 bar
Link 2 Link3 linkage has a degree of freedom = 1.
R Therefore, the 4 bar linkage is a 4 bar
R mechanism and this forms a basic
Fixed link- 1 mechanism. We shall learn about the
The 4R-4bar linkage, F = 1 degree(s) of freedom in detail in subsequent
The 3R-3bar linkage, F = 0 lectures.

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