Kinematics of Machines

Introduction
Kinematics of Machines:
• It deals with the relative motions of different parts of a
mechanism without taking into consideration the
forces producing the motion.
• Thus, it is a study from geometric point of view, to
know the displacement, velocity and acceleration of
different parts of a mechanism.
Dynamics of Machines:
• on the other hand, it deals with the study of motion of
the different parts of a mechanism considering the
inertia forces and/or external forces causing the
motion.
Kinematic Link (or) Element:
• Each part of a machine, which moves relative to some
other part, is known as kinematic link or element.
Ex: Crank, Connecting rod, Engine frame, Piston, etc.

Animation of a reciprocating engine mechanism

Types of links
1. Rigid link: A rigid link is one which does not undergo
any deformation while transmitting motion. No link
can be perfectly rigid body, but can be resistant body.
i.e. it must be capable of transmitting the required
motion with negligible deformation.
Ex: Crank, connecting rod, piston, etc.
2. Flexible link: A flexible link is one which is partly
deformed in a manner not to affect the transmission
of motion.
Ex: Belts, ropes, chains, wires which transmit tensile forces only.
3. Fluid link: A fluid link is one which is formed by having a
fluid in a receptacle and the motion is transmitted
through the fluid by pressure only.
Ex: Hydraulic presses, Hydraulic jacks, brakes, etc.
Types of links

Binary link Ternary link Quaternary link

Kinematic Pair

When two kinematic links are in contact with each other

such that the relative motion between them is completely
or successfully constrained (i.e. in a definite direction), the
pair is known as kinematic pair.

Types of Constrained Motions

1. Completely constrained motion: When the motion

between the elements of a pair is limited to a definite
direction irrespective of the direction of the force applied,
the motion is said to be completely constrained motion.
 Completely constrained motion

Fig (b) Fig (c)

Fig (a)

•The motion of a rectangular bar in a slot as in fig (a) is constrained to

only horizontal to & fro motion.

•The shaft shown in fig (b) can only rotate in the bearing as axial motion
is arrested by the end collars.

•The piston and cylinder shown in fig (c) form a pair and the motion is
constrained to reciprocate relative to the cylinder irrespective of the
direction of rotation of the crank.
2. Incompletely constrained motion: When the motion
between the elements of a pair can take place in more
than one direction, the motion is called motion is
called Incompletely constrained motion.
A change in direction of the impressed force may alter
the direction of relative motion between the pair.
Ex: A circular shaft in a circular hole shown in fig may rotate or
reciprocate and both motions are independent of each other.
3. Successfully constrained motion: When the motion
between the elements of a pair is such that the
constrained motion is not completed by itself, but by
some other means, the motion is said to be
successfully constrained motion.
Ex: The shaft in a foot step bearing may rotate in a bearing or it
may move upwards. But if the load is placed on the shaft , it
prevents axial upward movement.
 Classification of kinematic Pairs
The kinematic pairs may be classified according to the
following considerations;
1. According to the type of relative motion between the
elements:
(a) Sliding pair: When the two elements of a pair are
connected in such a way that one can only slide
relative to the other, the pair is known as sliding pair.
Ex: Piston & Cylinder,
Cross head & guide of a steam engine,
Ram & guides in a shaper,
Tail stock on the lathe bed, etc.
(b) Turning pair: When the two elements of a pair are
connected in such a way that one can only turn or
revolve about a fixed axis of another link, the pair is
known as Turning pair.
Ex: A shaft in a circular hole with end collars
Lathe spindle rotating in head stock
Cycle wheels turning over their axles, etc.
(c) Rolling Pair: When the two elements of a pair are
connected in such a way that one rolls over another
fixed link, the pair is known as Rolling pair.
Ex: Ball & Roller bearings
(d) Screw pair: When the two elements of a pair are
connected in such a way that one element can turn
about the other by screw threads, the pair is known
as Screw pair.
Ex: Lead screw with half nut in a lathe
Bolt & nut
(e) Spherical Pair: When the two elements of a pair are
connected in such a way that one element (with
spherical shape) turns or swivels about another fixed
element, the pair is known as Spherical pair.
Ex: Ball & socket joint, Pen stand, Car mirror
attachment, etc.
2. According to the type of contact between the
elements: Kinematic pairs may be classified according
to the type of contact as;
(a) Lower pair: When the two elements of a pair have
surface contact when the relative motion takes place,
the pair is known as Lower pair.
Ex: Sliding pairs, turning pairs, screw pairs.
(b) Higher Pair: When the two elements of a pair have line
or point contact and the relative motion between
them is partly sliding & partly turning, the pair is
known as Higher pair.
Ex: A pair of friction wheels, Toothed gearing, Ball &
roller bearings, Cam & follower, etc.
Gear Drive Cam & Follower
3. According to the type of closure: Kinematic pairs may
be classified according to the type of closure as;
(a) Self closed pair: When the two elements of a pair are
connected together mechanically in such a way that
only the required kind of relative motion occurs, it is
known as Self closed pair.
Ex: All lower pairs.
(b) Force closed pair : When the two elements of a pair
are not connected mechanically but are kept in
contact by the action of external forces, the pair is
known as Force closed pair.
Ex: Cam & follower, as they are kept in contact by
spring force & gravity force.
Kinematic Chain:
• When the kinematic pairs are coupled in such a way that
the last link is joined to the first link to transmit definite
motion, (i.e. completely or successfully constrained
motion) it is called a Kinematic Chain.
Ex: The crank and the crank shaft makes first kinematic pair
Crank with connecting rod forms second kinematic pair
Connecting rod with piston forms the third kinematic pair
Piston in the cylinder forms the fourth kinematic pair
The total combination of these links is a kinematic
chain.
 l  (2 p  4)

2( j  2)
l
3
 STRUCTURE
A structure is an assemblage of resistant
bodies having no relative motion between
among them. Usually they are meant for
carrying loads having straining action.
Ex: Railway bridge, Roof truss, Machine frames, etc.
 Differences between a Machine & a Structure

Sl. Machine Structure

No
1 The parts of a machine move The parts of a structure do not
relative to one another. move relative to one another.

2 A machine transforms the No such energy transformation

available energy into useful takes place.
work.
3 The links of a machine can The members of a structure can
transmit both motion & forces. transmit forces only.
Ex: Lathe, Engine, Pumps, Ex: Roof truss, Bridge, Machine
Compressors, etc. frames, engine frames, etc.
 Mechanism
• When one of the links of a kinematic chain is fixed, the
chain is known as Mechanism.
• It may be used for transmitting or transforming
motion.
Ex: Engine indicators, Type writer, etc.
Machine
• It is mechanism or a group of mechanisms used to
perform useful work.
• Its chief function is to adopt a source of power to
some specific work requirement.
 Differences between a Mechanism & a Machine

Sl. Mechanism Machine

No
1 A mechanism is meant to A machine is meant for
transmit or transform motion. transmitting energy to do useful
work.
2 No mechanism is necessarily a A machine is an assemblage of
machine. mechanisms.
3 A mechanism is a working model A machine is a practical
of any machine. development of any machine.
Ex: Clock, Type writer, Mini Ex: Steam engine, IC engine,
drafter, etc. Shaper, etc.
 Mobility Or Degrees of freedom
• Degrees of freedom describes the number of ways a
link of a mechanism can move.
• Mobility is the number of degrees of freedom a body
possesses.
• A free body in space has six degrees of freedom; 3
rotational & 3 translational.
• The connection of a link with another imposes certain
constraints on their motion.
• Hence, Mobility or number of degrees of freedom
=6 - Number of restraints
 Y

Z
Degrees of freedom of a Free body in Space
 Gruebler’s criterion for mobility of mechanisms
• It states that for a planar mechanism, the mobility or
number of degrees of freedom is given by;

n  3(l  1)  2 j  h
where ;
l= number of links, including the fixed link.
j=Number of single degree of freedom joints (lower
pairs)
h= Number of two degree of freedom joints (higher
pairs)
Note: The above criterion is also called Kutzback criterion.
• If n > 0, it is a mechanism.
• If n = 0, it is a statically determinate
structure.
• If n < 0, it is a statically indeterminate
structure.
 The degrees of freedom of various joints found in
planar mechanisms are given in table below:

Joint Nature of motion Degrees of

freedom
Revolute (Hinge) Pure Rotation 1
Prismatic (Slider) Pure Sliding 1
Cam or Gear Rolling and Sliding 2
Rolling contact Pure rolling 1
(Roller bearing)
Note: A revolute joint connecting ‘k’ links at a single point
must be counted as (k-1) joints.
Prob.1
Determine the mobility of the linkage shown in fig.

 
Solution:

Here,
C
Number of links l=3
Number of one degree of freedom
2 joints j=3.
3
Number of two degree of freedom
  joints h=0.
Number of degrees of freedom of the
1
mechanism, n=3(3-1)-(2x3)-0 = 0

Hence it is a Statically determinate structure.

Prob.2
Determine the mobility of the four bar linkage
shown in fig.

D C

A B
 Solution:

Here,
Number of links l=4
D 3 C Number of one degree of freedom
joints j=4.
4 2 Number of two degree of freedom
joints h=0.
A B Number of degrees of freedom of the
1 linkage, n=3(4-1)-(2x4)-0 = 1

Hence it is a mechanism with one degree of freedom.

Prob.2
Determine the mobility of the slider crank
mechanism shown in fig.

B
O
 Solution:

A
3
2
B
O 4

1 1

Here, Number of links l=4

Number of one degree of freedom joints j=4.
Number of two degree of freedom joints h=0.
Number of degrees of freedom of the linkage,
n=3(4-1)-(2x4)-0 = 1
Hence it is a mechanism with one degree of freedom.
Prob.4
Determine the mobility of the four bar linkage
shown in fig.

O3
A

O1 O2
 Solution:

Here,
1
Number of links l=4
3 O3
A Number of one degree of freedom
4
joints j=5. (As there are 3 links at A)
2

O1 O2 Number of two degree of freedom

1 1 joints h=0.
Number of degrees of freedom of the
linkage, n=3(4-1)-(2x5)-0 = -1

Hence it is a Statically indeterminate structure.

Prob.5
Determine the mobility of the device shown
in fig.
E
F
H D

K
G C

A B
 Solution:

Here,
E Number of links l=8
5
F
4 Number of one degree of freedom
H D
6 8 joints j=10. (As there are 3 links at G)
K 3
G C Number of two degree of freedom
7
2 joints h=0.
A B Number of degrees of freedom of the
1
linkage, n= 3(8-1) -(2x10) -0 = 1

Hence it is a mechanism with one degree of freedom.

Prob.5
Determine the mobility of the device shown
in fig.
E D

F C

A B
 Solution:

E D
4 Here,
Number of links l=7
5 3
Number of one degree of freedom
F 7 C joints j=10.
(As there are 3 links at A, B, D, & E)
6
2

A B Number of two degree of freedom

1 joints h=0.
Number of degrees of freedom of the
linkage, n= 3(7-1) -(2x10) -0 = -2

Hence it is a Statically indeterminate structure.

Prob.6
Determine the mobility of the device shown
in fig.
O2

O1
 Solution:

Here,
3 O2 Number of links l=4
4
1 Number of one degree of freedom
joints j=3.
2

O1 Number of two degree of freedom

1 joints h=1.
Number of degrees of freedom of the
linkage, n= 3(4-1) -(2x3) -1 = 2

Hence it is a mechanism with two degrees of freedom.

Prob.7
Determine the mobility of the device shown in
fig.
 Solution:

3 Here,
Number of links l=5
4
Number of one degree of freedom
joints j=5.
2
Number of two degree of freedom
5
1 joints h=0.
Number of degrees of freedom of the
linkage, n= 3(5-1) -(2x5) -0 = 2

Hence it is a mechanism with two degrees of freedom.

Prob.8
Determine the mobility of the device shown in
fig.
 Solution:

4 3 Here,
Number of links l=6
Number of one degree of freedom
5 6
joints j=7.
2

Number of two degree of freedom

1 joints h=0.
Number of degrees of freedom of the
linkage, n= 3(6-1) -(2x7) -0 = 1

Hence it is a mechanism with one degree of freedom.

Prob.9
Determine the mobility of the device shown in
fig.

cylinders roll without slipping

O2 O3

O1
 Solution:

cylinders roll without slipping Here,

2 3
O2
Number of links l=7
O 3
Number of one degree of freedom
1 1 joints j=9.
4
5
O1
6 Number of two degree of freedom
1
7 joints h=0.
Number of degrees of freedom of the
linkage, n= 3(7-1) -(2x9) -0 = 0

Hence it is statically determinate structure.

Prob.10
Determine the mobility of the device shown in
fig.

2
3

1
 Solution:

Here,
Number of links l=3
2 Number of one degree of freedom
3 joints j=2.

Number of two degree of freedom

1 joints h=1.
Number of degrees of freedom of the
linkage, n= 3(3-1) -(2x2) -1 = 1

Hence it is mechanism with one degree of freedom.

Prob.11
Determine the mobility of the device shown in
fig. Assume that the surface is smooth.

3 Wheel
2
4

1
 Solution: As the surface is given as smooth, the wheel may roll as well
as skid. Hence, it is a higher pair (two d.o.f joint)

3 Wheel
2
4

1
Here, Number of links l=4
Number of one degree of freedom joints j=3.
Number of two degree of freedom joints h=1.
Number of degrees of freedom of the linkage,
n=3(4-1)-(2x3)-1 = 2
Hence it is a mechanism with two degrees of freedom.
Note: If it is given that the surface is rough, the wheel can only
roll without slipping. Hence h=0, j=4, and hence n=1
Prob.11
Determine the mobility of the devices shown in
fig.
 Solution:

(a) (b) (c)

n = 3(l -1)-2j-h Here, l = 3, Here, l = 3, j = 2 and h = 1.
Here, l = 4, j= 5 and h = 0. j=2,h=1 n = 3(3-1)-2(2)-1 =1
n = 3(4-1)-2(5) = -1 n = 3(3-1)-2(2)-1 = 1 i.e., it is a mechanism with
i.e. it is a statically i.e., it is a mechanism one d.o.f
indeterminate with one d.o.f
structure
 Types of kinematic Chains
There are three important types of kinematic
chains which have 4 lower pairs , each pair
being a sliding pair or turning pair. They are;

1. Four bar chain or Quadric cycle chain

2. Single slider crank chain
3. Double slider crank chain
 FOUR BAR CHAIN
(link 1) frame ,(link 2) crank, (link 3) coupler, (link 4) rocker
 Four Bar or Quadric cycle chain
• It has four links (out of which one is fixed link), connected by
only turning pairs.
• The fixed link is called the frame.
• One of the rotating link is called the driver or crank.
• The other rotating link is called the follower or rocker.
• The floating link is called the connecting rod or coupler.
Depending upon the arrangement of proportions of the links,
• one may rotate through 3600 while the other oscillates.
(Crank -rocker Mechanism)
• the two pivoted links (driver & follower) may both rotate
through 3600 .(Double crank Mechanism)
• Both the links may oscillate. (Double rocker mechanism)
Crank -rocker Mechanism
 Grashof’s law:
• It States that “for a four bar mechanism, the sum of the shortest &
longest link lengths should not be greater than the sum of lengths
of the remaining two links if there is to be continuous relative
motion (i.e. at least one link completely revolves) between the two
links”.

• If l is the length of longest link, and s is the length of shortest link, and
the length of the remaining links are p and q, then according to
Grashof’s law,
l+s<p+q
• If the above law is not satisfied, i.e. if l + s > p + q, the mechanism is
always a double rocker mechanism irrespective of which link is
fixed.

NOTE:
• The above law applies only when either the shortest link or link
adjacent to shortest link is fixed.
• If the link opposite to the shortest link is fixed, it results in double rocker
mechanism though it satisfies Grashof's law.
Fig shows some four link mechanisms in which the numbers
indicate the lengths of the links in some standard units.
Indicate the type of each mechanism whether crank rocker or
double crank or double rocker.
9
7

7 9
6

5 7

4
(a)
(b)

5 7
10
10

7 4
8
9
(d)
(c)
(a) Length of longest link=9 units, Length of shortest link=5units,
Length of other links=7 & 6 units.
Since (9+5) > (7+6), it does not satisfy Grashof’s law. It is a double
rocker or double lever mechanism. (irrespective of fixed link).
(b) Length of longest link=9 units, Length of shortest link=4units,
Length of other links=7 & 7 units.
Since (9+4) < (7+7), it satisfies Grashof’s law. In this case as the
shortest link is fixed, It is a double crank mechanism.
(c) Length of longest link=10 units, Length of shortest link=5units,
Length of other links=9 & 7 units.
Since (10+5) < (9+7), it satisfies Grashof’s law. In this case as the
link opposite to shortest link is fixed, It is a double rocker
mechanism.
(d) Length of longest link=10 units, Length of shortest link=4units,
Length of other links=8 & 7 units.
Since (10+4) < (8+7), it satisfies Grashof’s law. In this case as the
link adjacent to shortest link is fixed, It is a Crank rocker
mechanism.
Fig shows some four link mechanisms in which the numbers
indicate the lengths of the links in some standard units.
Indicate the type of each mechanism whether crank rocker or
double crank or double rocker.
7

7
8
6
6
3
5

(a) 4
(b)

6
5

(c)
(a) Length of longest link=7 units, Length of shortest link=3
units, Length of other links=5 & 6 units.
Since (7+3) < (5+6), it satisfies Grashof’s law. In this case as
the link adjacent to shortest link is fixed, It is a Crank rocker
mechanism.
(b) Length of longest link=8 units, Length of shortest link=4units,
Length of other links=6 & 7 units.
Since (8+4) < (6+7), it satisfies Grashof’s law. In this case as
the shortest link is fixed, It is a double crank mechanism.
(c) Length of longest link=8 units, Length of shortest link=4 units,
Length of other links=5 & 6 units.
Since (8+4) > (5+6), it does not satisfy Grashof’s law.
irrespective of which link is fixed, It is a double rocker
mechanism.
 Mechanisms
Definition:
When one of the links of a kinematic chain is fixed, the
chain is known as Mechanism.

It may be used for transmitting or transforming motion.

Ex: Engine indicators, Type writer, etc.

 Classification of Mechanisms
Types:
1. Simple Mechanisms – having 4 links
2. Compound Mechanisms – having more than 4 links
3. Complex Mechanisms – having ternary or higher
order floating links to simple mechanisms

1. Planar Mechanisms – Single plane

2. Spatial Mechanisms – more than one plane
3. Equivalent Mechanisms – pair replace by other
pairs without affecting the final motion.
 Inversion of a Mechanism
• An inversion of a mechanism is obtained by
fixing the different links of a kinematic chain.
• By fixing different links of a kinematic chain, as
many inversions are obtained as the number of
links.
• Inverting a mechanism does not change the
relative motion between the links, but
drastically changes their absolute motions.
(w.r.t. the fixed link)
 Inversion of a four bar Chain
1. Beam Engine: (Crank Lever Mechanism): In this
mechanism, the crank rotates about the fixed center A, the
lever oscillates a fixed center D. The end E of the lever CDE is
connected to a piston rod which reciprocates due to rotation of
the crank.
Lever (link 4)

C Connecting
D
Piston rod rod (Link 3)

Cylinder

Crank (link 2)
A

Frame (link 1)
B
 Inversion of a four bar Chain
2. Coupling rod of a locomotive: (Double Crank
Mechanism): This is an example of a double crank
mechanism where both cranks rotate about fixed centers A & B
as shown In fig. In this mechanism, the opposite links are equal
in length i.e. AB=CD, AD=BC, Link AB is fixed. Link CD is the
coupling rod which is meant for transmitting rotary motion
from one wheel to another.
Link 2
Link 4
D Link 3 C

A B
Link 1
Drag Link Mechanism : (Double Crank Mechanism)
C

B B"

A E' E E"
C'  D C"

Stroke

B'
Drag Link Mechanism : (Double Crank Mechanism): This is an
example of a double crank mechanism where both cranks rotate about
fixed centers A & D as shown In fig. In this mechanism, the rotation of link
AB through an angle  in clock wise direction makes the link CD rotate
through 1800 during which ram moves from E’ to E’” (Forward stroke).
When the link AB continues to rotate an angle  , link CD rotates through
another 1800 during which ram moves from E” to E’ (return stroke) . We
can observe that ;
Time of forward stroke 
=
Time of return stroke 
As    ,
Time of return stroke  Time of forward stroke
C

Thus quick return motion is achieved.

B B"

A E' E E"
C'  D C"

Stroke

B'
3. Watt’s Indicator mechanism (Double lever Mechanism):
This is an example of double lever mechanism where both
the pivoted links can only oscillate about the fixed center
as shown in fig. The links AB & CD oscillate about the fixed
centers A & D and the point P on the connecting link CB
traces a figure–eight shaped path, a considerable portion
of which is approximately straight line.

C D

A B
Watt’s Indicator mechanism (Animation)
 Single Slider Crank Chain & its Inversions
In this mechanism, the crank rotates about a fixed center, the
connecting rod oscillates The end of the connecting rod is
connected to a piston or slider which reciprocates in a fixed
guide or cylinder.
Applications: Reciprocating engine, Reciprocating compressor

A
3
2
B
O 4

1 1
 Single Slider Crank Chain & its Inversions
By fixing the different links, one can obtain many
inversions which will find application in different
mechanisms.

Connecting rod fixed

Slider fixed
Crank fixed
 1. BY FIXING THE CRANK
By fixing the crank, the following useful
mechanisms are obtained;
• Rotary or Gnome Engine
• Whitworth quick return motion mechanism
Rotary Engine Or Gnome Engine
(Not in use and obsolete)
Rotary Engine Or Gnome Engine
Rotary Engine
• In the olden days, rotary internal
(or) Gnome Engine
combustion engines were used in
aviation, but now they are replaced
by gas turbines.
• It consists of 7 cylinders in one
plane and all revolve about the
fixed center A as shown in fig.
•While the crank (link 2) is fixed,
the connecting rod (link 3) rotates
and the piston (link 4) reciprocates
in the cylinders which form link 1.
Whitworth quick return motion mechanism
(Used in work shops for metal cutting)

B
 3

A
1

2  6
B" C' C" B'
O
5
C
 Whitworth quick • The crank (link 2) is fixed and the link 1
return motion is extended backwards where link 5 is
mechanism pivoted.
• Link 3 rotates along with the slider 4,
which also slides on the link 1.
4
• The other end of link 5 is pivoted to the
B
 3
tool, the forward stroke of which cuts
A
1 the metal.
• From the fig, as link 3 rotates ccw
2 
B" C' C" B'
6
through an angle , the tool moves from
O
5
left extreme position to right extreme
C
position. (Forward stroke)
• As link 3 continues to rotate through an
Time of forward stroke 
angle , the tool moves from right
=
Time of return stroke  extreme position to left extreme
As    , position. (Reverse stroke)
Time of return stroke  Time of forward stroke
Thus quick return motion is achieved.
 2. BY FIXING THE CONNECTING ROD
By fixing the connecting rod, the following
useful mechanisms are obtained;
• Crank & slotted lever quick return mechanism
• Oscillating cylinder engine
 Crank and slotted lever quick return motion mechanism
(Used in Shaping, slotting machines & in rotary internal combustion engines)

5
1 Line of Stroke

4
2


3
 Crank and slotted lever quick return motion mechanism

• The connecting rod (link 3) is fixed and

6
the link 1 is slotted in which slider 4
1
5
Line of Stroke
reciprocates.
 • Slider 4 is also pivoted to link 2 which
4
2 rotates in a circle.
• The other end of link 1 is pivoted to the
 tool, the forward stroke of which cuts
3 the metal.
• From the fig, as link 2 rotates cw
Time of forward stroke 
= through an angle , the tool moves from
Time of return stroke 
As    ,
left extreme position to right extreme
Time of return stroke  Time of forward stroke position. (Forward stroke)
Thus quick return motion is achieved. • As link 2 continues to rotate through an
angle , the tool moves from right
extreme position to left extreme
position. (Reverse stroke)
Application of Crank and slotted lever quick
return motion mechanism

Courtesy:www.technologystudent.com
Oscillating cylinder engine:
• This arrangement is used
to convert reciprocating
motion into rotary motion.
•The connecting rod (link 3)
is fixed.
• As the piston reciprocates
inside the cylinder (link 4),
the cylinder oscillates
about a pin pivoted to fixed
link.
• This makes the link 2 to
rotate.
Oscillating cylinder engine:
3. BY FIXING THE SLIDER
Pendulum Pump or Hand • This arrangement is used
Pump to supply feed water to
boilers.
• It is obtained by fixing link
2 4 which is made in the
1
form of a cylinder.
• A plunger attached to link
1 reciprocates in link 4.
•As the crank (link 2)
3 rotates, the connecting rod
(link 3) oscillates about a
4
fixed pin on link 4.
 DOUBLE SLIDER CRANK CHAIN
• It is a kinematic chain consisting of two
turning pairs and two sliding pairs.
• The inversions of a double slider chain may be
obtained by fixing either the sliding pairs or
turning pairs.
 SCOTCH –YOKE MECHANISM
Turning pairs –1&2, 2&3; Sliding pairs – 3&4, 4&1

• The Scotch yoke is a

mechanism for
converting the linear
motion of a slider into
rotational motion or vice-
versa.
• The piston or other
reciprocating part is
directly coupled to a
sliding yoke with a slot
that engages a pin on
the rotating part.
SCOTCH –YOKE MECHANISM
Elliptical • Here link 4 is fixed. Any point
Trammel on the link 2 describes an
ellipse as it moves.
• The mid-point of the link 2
will obliviously describe a
circle.
• From the fig, AC = p and BC =
q, then, x = q.cosθ and y =
p.sinθ.
Rearranging,
2 2
 x  y
      cos 2   sin 2   1
q  p

which is the equation of an ellipse.

Elliptical trammel
Elliptical trammel
OLDHAM COUPLING
• An Oldham coupling is used
to transfer torque between
two parallel but not
collinear shafts.
• It has three discs, one
coupled to the input, one
coupled to the output, and
a middle disc that is joined
to the first two by tongue
and groove.
• The tongue and groove on
one side is perpendicular to
the tongue and groove on
the other.
Mechanisms with three lower pairs
1. Wedge
2. Screw Press
WEDGE •The wedge consists of a pair of
W
inclined planes set face-to-face,
that can sustain relative sliding
or rolling motion.

•By moving one plane relative

to the other, a wedge is capable
C P of building up enormous force
A
in a direction perpendicular to
that of the moving wedge.
B
WEDGE
•With adequate friction at the
interfaces, the wedge becomes
a separating, holding and
stopping device with countless
mechanical applications.
 Screw Press • A screw press is a type of
machine press in which the
ram is driven up and down by a
screw. The screw shaft can be
driven by a handle, or a wheel.
• It works by using a coarse
screw to convert the rotation
B of the handle or drive-wheel
A
into a small downward
movement of greater force..
C
• A press is a metalworking
machine tool used to shape or
SCREW PRESS cut metal by deforming it with
a die. It is frequently used to
punch holes in sheet metal in
one operation, rather than by
cutting the hole or drilling.
Toggle mechanism •The mechanisms used to
overcome a large resistance
of a member with a small
driving force are known as
‘Snap action’ or ‘Toggle
mechanisms’
• Toggle Mechanism is used
in Used in switches, Circuit
breakers, stone crusher
mechanisms and other
device where a snap action
is required.
 Toggle mechanism • From the fig, links of equal length
4 & 5 are connected at pivot B.
• Link 4 is free to oscillate about
pivot C and link 5 is connected to a
sliding link 6. Link 3 joins links 4 & 5.
• When a small force ‘F’ is applied at
B through link 3, the angle 
decreases and link 4 & 5 tend to

Considering the equilibrium become collinear.

condition of slider 6, • At this instant, the slider
F overcomes a large resistance ‘P’ at
tan   2  F  2 P tan 
P slider.
For small angles of α, F is much
smaller than P.
Toggle Mechanism
 Straight line motion mechanisms
• The easiest method to generate a straight line motion is
by using a sliding pair but in precision machines sliding
pairs are not preferred because of wear & tear.
• Hence in such cases, different methods are used to
generate straight line motion.
1. Exact Straight line motion mechanisms
Ex: Peaucellier mechanism
Hart mechanism
Scott Russell mechanism
2. Approximate Straight line motion mechanisms
Ex: Watt mechanism
Robert’s mechanism
Tchebicheff’s mechanism
 Straight line motion mechanisms
Condition for Exact • Let O be a point on the circumference of a
Straight line motion circle of diameter OP. Let OA be any chord
B and B is the point on OA produced, such
A that (OA x OB = Constant)
• Then the locus of a point B will be a
P
O Q straight line perpendicular to the diameter
O1
OP.

Proof : Draw BQ perpendicular to OP produced. Join AP.

The triangles OAP and OBQ are similar.
OA OQ OA  OB
   OQ  But OP  constant.
OP OB OP
 OQ  constant , if OA  OB  constant
 B moves along a straight line BQ which is  to OP
 Exact Straight Line mechanisms
1. Peaucellier's Mechanism
2. Hart’s Mechanism
3. Scott Russell Mechanism
 Pauecellier's mechanism

It gives exact Srtraight line motion. The link OO 1 is fixed as shown in fig.
The pin at A is constrained to move along the circumference of the circle
with OP as diameter. Length AC=CB= BD=DA =BQ & OO1 =O1 A.
The path of B is a st. line perpendicular to OP as the link O1 A rotates about O1
if (OA  OB) = constant.
Proof :
The diagonals of the rhombus ABCD bisect at right angles at R.
Consider the right angled triangles ORC & BRC;
OC2  OR 2  RC 2 (i) and
BC2  RB 2  RC 2 (ii )
Subtracting (ii) from (i),
OC2  BC2  OR 2  RC 2  ( RB 2  RC 2 )
 OC2  BC2  OR 2  RB 2  (OR  RB )(OR  RB )  OB  OA
Since OR & RB are constants (link lengths), the product (OB  OA) is a
constant.  B traces a straight path normal to OP.
Pauecellier's mechanism
 Hart’s Straight line motion mechanism

• Hart’s mechanism requires only six links as compared

with the eight links required by the Peaucellier's
mechanism.
• It consists of a fixed link OO1 and other straight links O1A,
FC, CD, DE and EF are connected by turning pairs at their
points of intersection, as shown in fig.
 Hart’s Straight line motion mechanism

• The links FC and DE are equal in length and the lengths of

the links CD and EF are also equal.
• The points O, A and B divide the links FC, CD and EF in the same
ratio.
Hart’s Straight line motion mechanism
Hart’s Straight line motion mechanism
Hart’s Straight line motion mechanism
Hart’s Straight line motion mechanism
 Approximate Straight line motion Mechanisms
1. Robert Mechanism

•The links AC & BD are of equal

length & the tracing point P is at
the mid point of AB.
• The path of P is approximately a
straight line parallel to CD.

Robert’s mechanism
Approximate Straight line motion Mechanisms

Watt mechanism Tchebicheff mechanism

 Intermittent motion mechanisms
• Intermittent motion means the motion is not
continuous but is stopped at definite intervals.
• There may be many instances where it is necessary to
convert continuous motion into intermittent motion
Ex: Indexing mechanism in machines
Geneva wheel • It is an intermittent mechanism used in
indexing mechanisms, feeding of film roll
in early motion picture projectors, in
preventing over winding of main springs
in clocks & watches.
• It consists of a driving wheel carrying a
pin which engages in a slot of a follower.
• During one-quarter revolution of the
driving plate, the pin & the follower
remain in contact and hence the follower
is turned by one-quarter turn.
• During the remaining time of revolution
of the driver, the follower remains at rest
in locked position by the circular arc of
the locking plate.
Geneva wheel mechanism

In the most common arrangement, the driven wheel has four

slots and thus advances for each rotation of the drive wheel
by one step of 90°. If the driven wheel has n slots, it
advances by 360°/n per full rotation of the drive wheel.
Ratchet and pawl mechanism
Ratchet and pawl mechanism
• This mechanism is used in producing
intermittent rotary motion from an
oscillating motion member.
• From the fig, A is the ratchet wheel &
C & D are the pawl.
• When the lever B carrying the pawl C
is raised, the ratchet wheel rotates in
ccw direction.
• When the lever B is lowered, the pawl
C slides over the ratchet teeth.
• The pawl D is used to prevent the
ratchet from reversing.
• This mechanism is used in feed
mechanisms, lifting jacks, clocks,
watches & counting devices.
Application of Ratchet Pawl mechanism
• The bucket of water is

heavy and so the person

can rest by taking his/her
hands away from the
handle.
• This is because the
pawl has fallen into the
'dip' between the teeth
and so the bucket
cannot fall back into the
well.
 Pantograph
• A pantograph is a mechanical linkage used to copy the
curves on reduced or enlarged scales.
• Hence this mechanism is useful in engraving machines or
profiling machines to guide cutting tools.
• Pantograph is also used as a geometrical instrument to
reproduce geometrical figures and plane areas of irregular
shapes such as maps, plans, drawings, etc. to an enlarged or
reducing scales.
Pantograph Animation

Pantograph mirror
Pantograph • It consists of a parallelogram ABCD

connected by turning pairs.

• The links BA & BC are extended to O
OA AD
& E respectively such that OB  BE
• Thus for all relative positions of the
links, the triangles OAD & OBE are
similar and the points O, D & E are in
one straight line.
• From similar triangles OAD and OBE,
we find that OD  AD
OE BE
Pantograph • Let point O be fixed and the points D
& E move to some new positions D’
OD OD '
and E’. Then 
OE OE '
• This implies DD’ is parallel to EE’
and hence the point E traces a straight
line parallel to D.
Universal (or) Hooke’s joint
• Hooke’s joins is used to
connect two nonparallel
but intersecting shafts.
• It transmits power from
the gear box of the
engine to the rear axle.
• It has two U –shaped
yokes ‘a’ and ‘b’ and a
center block or cross-
shaped piece C.
Universal (or) • The universal joint can
transmit power between two
Hooke’s joint
shafts intersecting at small
angles (up to α = 300).
• However, the angular velocity
ratio is not uniform during
the cycle of operation.
• The amount of fluctuation
depends on the angle (α)
between the two shafts.
• For uniform transmission of
motion, a pair of universal
joints should be used.
Hooke’s joint
 Automobile Steering gear
• It is a mechanism for changing the direction of
motion of two or more wheel axles with
respect to chassis, in order to move the vehicle
in any desired path.
• The front wheels are mounted on two short
axles called ‘stub axles’ which are pivoted to
the chassis of vehicle where as the rear wheels
have a common axle and this is fixed.
• Steering is effected by turning the axis of
rotation of the two front wheels relative to the
chassis of the vehicle.
Steering Mechanism
 Condition for Perfect steering
• If the car makes a turn, the axis of inner wheel must
swing about the pin through a greater angle than the
outer wheel.
• The condition for correct steering is that the relative
motion between the wheels & the road surface must
be one of pure rolling.
• To satisfy the above condition, the swing of the two
axles would be such that their center lines extended
always intersect at a point on the axis of rear axle.
• Then all parts of the automobile would be moving
about a vertical axis through that point without
skidding.
 Condition for Perfect Steering

A C
B
a = Wheel track
b = wheel base
b
a

f  I

E F

EI EF  FI a  FI
cot    
AE AE b This is known as
FI FI ‘Fundamental equation of
cot f   correct gearing’
CF b
a  FI FI a Mechanisms fulfilling this
 cot   cot f    equation are known as
b b b ‘Steering Gears’
 Davis steering mechanism

G E F H

 
h

B D

A C

It satisfies the condition for perfect steering. But

as it has sliding pairs, the wear & tear is very high.
 Davis steering gear

AG, CH – two arms

f AB, CD – stub axles

BAG,DCH - Bell-Crank levers
G E F GH – Cross Link or Track Arm
h H
B D
A f C 

x x
I

From the fig, AC - GH = 2c

c c+x c-x
Also tanα = , tan  α + φ  = , tan  α - θ  =
h h h
 Davis steering gear


f

G E F

h H
B D
A f C 

x x
I

tan   tan f c h  tan f c  x

But tan   f    
1  tan  tan f 1  c h tan f h
 c  h tan f  c  x  c 2 h tan f  cx h tan f
xh
 tanφ = 2
h + cx + c2
 Davis steering gear


f

G E F

h H
B D
A f C 

x x
I

tan   tan  c h  tan  cx

tan       
1  tan  tan  1  c h tan  h
xh
 c  h tan   c  x  c 2 h tan   cx h tan   tanθ =
h 2 - cx + c 2
 Davis steering gear


f

G E F

h H
B D
A f C 

x x
I

h 2  cx  c 2 h 2  cx  c 2
cot f  , cot  
xh xh
h 2  cx  c 2 h 2  cx  c 2 2cx 2c
 cot f  cot     cot f  cot   
xh xh xh h
 cotf - cot = 2tana
 Davis steering gear


f

G E F

h H
B D
A f C 

x x
I

a a a
For correct steering cotφ - cotθ =  2 tan    tanα =
b b 2b
Since tanα is a constant of design, this mechanism provides perfect steering.
 Ackermann steering gear
• The Ackerman steering gear mechanism is much
simpler than Davis gear.
• The differences between the Ackerman and Davis
steering gears are ;
1. The whole mechanism of the Ackerman steering
gear is on back of the front wheels whereas in Davis
steering gear, it is in front of the wheels.
2. The Ackerman steering gear consists of turning
pairs, whereas Davis steering gear consists of
sliding members.
 Ackermann steering gear

• It consists of only turning pairs and is based on a four bar chain with two
longer links unequal in length while two shorter links of equal length.
• It satisfies the condition for correct steering only if the links are suitably
proportioned, but only for particular angles of rotation of the front axles.
• In all other cases, pure rolling motion is not obtainable.
• As it has only turning pairs, the wear & tear is less.