M.S.

Ramaiah School of Advanced Studies, Bengaluru

PEMP
MMD2509
Introduction to Kinematics
Session delivered by:
Dr. Arun R. Rao
M.S. Ramaiah School of Advanced Studies, Bengaluru
PEMP
MMD2509
Session Objectives
At the end of the session, the students would have understood
about
Fundamentals of kinematics
Types of motion,
Links, J oints
Kinematic-chains,
Mechanisms, Structure,
Linkage transformation
Intermittent motionInversions,
Four bar linkage and Inversions
Slider Crank Mechanism and Inversions
Straight-line Motion Mechanisms
M.S. Ramaiah School of Advanced Studies, Bengaluru
PEMP
MMD2509
Engineering mechanics
Engineering mechanics is a branch of the physical
sciences which looks to understand the actions and
reactionsof bodiesat rest or inmotion.
Much of modern engineering mechanics is based on
Isaac Newton's laws of motion while the modern
practice of their application can be traced back to
Timoshenko, who is said to be the father of modern
engineeringmechanics.
Engineering mechanics can be subdivided into statics,
strengthof materials, dynamics, deformablebodies and
fluidmechanics.
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MMD2509
Mechanics
M.S. Ramaiah School of Advanced Studies, Bengaluru
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MMD2509
Statics:
Statics deals with the analysis of stationary systems, that is, those in
which time is not a factor
Dynamics:
deals with systems that change with time.
Kinematics
Kinematics is thebranch of dynamics that consists of thestudy of
motion without the reference to the forces that cause, or are
developedby, themotion. It isthestudyof motion, quiteapart from
the forces which produce that motion. More particularly,
kinematics is the study of position, displacement, rotation, speed,
velocity, andacceleration
Kinetics
It is the study of force on system during motion where the effects
of the forces on the body is considered..
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MMD2509
Machine
It is a combination of resistant bodies
so arranged that by their means the
mechanical forces of nature can be
compelled to do work accompanied
by certain determinate motion
Structure
It is also a combination of resistant
bodies connected by joints, but its
purpose is not to do work or to
transform motion. A structure is
intendedtoberigid
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Machine
A machine is a mechanism or group of mechanism used to
performuseful work. Its chief function is to adopt asourceof
power tosomespecificwork requirement
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MMD2509
Mechanisms
A mechanismis a constrained kinematic chain. Motion of any one link in the
kinematic chainwill giveadefiniteandpredictablemotionrelativetoeachof the
others. Usuallyoneof thelinksof thekinematic chainisfixedinamechanism
Planar Mechanisms
When all the links of a mechanismhave plane motion, it is called as a planar
mechanism. All the links in a planar mechanismmove in planes parallel to the
referenceplane.
Water Pumping Mechanism Hydraulic Door retracting Mechanism
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MMD2509
Mechanisms
Mechanismsarethemechanical
portion of machines that have
the function of transferring
motionandforcesfromapower
source(motor) toanoutput
A mechanismmay, in general,
be considered a collection of
parts that are arranged and
connected so that they produce
the desired motion of the
machine
The primary purpose of most
mechanisms analyses is to
ensure that the device will
exhibit motion that will
accomplish thedesired purpose
of themachine
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PEMP
MMD2509
Why Kinematic Analysis
of Mechanism?
Determine appropriate movements
Determine an assembly configurationof
mechanism components
Subsequent analysis of the component
motions (kinematics) for proper all-
around operation of the mechanism
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MMD2509
MECHANISMS AND STRUCTURES
Thedegreeof freedomof anassembly of linkscompletely predictsitscharacter.
Thereareonlythreepossibilities.
If the DOF is positive, it will be a mechanism, and the link will have relative
motion.
If theDOF isexactly zero, thenit will beastructure, andnmotionispossible.
If the DOF is negative, then it is a preloaded structure, which means that no
motion is possibleand somestresses may also bepresent at thetimeof assembly
Figureshowsexamplesof thesethreecases. Onelinkisgroundedineachcase.
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MMD2509
Element or Link
Each part of a machine which has motion relative to some other
parts is termed an element or link
A link need not necessarily be rigid body, but it must be a resistant
body
E.g: incompressible fluids, belt, rope, chain etc
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MMD2509
Kinematic Pairs
Kinematic pairs may be classified as higher and lower pairs
Higher pair are the ones consisting of line or point contact
whileinmotionasinthecaseof aroller or ball bearing
Lower pair are the ones consisting of surface contact
betweentwolinksasinpinjoint or aslider
Lower Pairs may beclassifiedas turningpairs, slidingpairs,
spherical pairs, screwor helical pairsandrollingpairs
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MMD2509
Based on nature of contact between elements
Lower pair
The joint by which two members are connected has surface contact.
Higher pair
The contact between the pairing elements takes place at a point or along a line.
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MMD2509
Kinematic Pairs
Sliding Pair Two elements are so connected that one is
constrainedtohaveaslidingmotionrelativetotheother
Screw Pair When one element turns about the other element by
means of threads, it forms a screw or helical pair
E.g.. Bolt and nut
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Kinematic Pairs
TuringPair whentwo element aresoconnectedthat one
isconstrainedtoturnabout afixedaxisof other it formsa
turningpair
E.g.. Crank Shaft turninginabearing
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Spherical Pair- when one element is in the formof sphere turns
about theother fixedelement it formsaspherical pair
E.g.. Ball andSocket joint
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Rolling Pair when two elements are so connected that one is
constrainedtoroll inother fixedelement it formsarollingpair
E.g.. Ball androller bearing
17
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MMD2509
Lower Pairs
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Lower Pairs
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Higher Pair Joints
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Higher Pairs
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Planar Mechanism
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Spherical Mechanisms
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Spatial Mechanisms
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Constrained Motion
oneelement hasgot onlyonedefinitemotionrelativetotheother
Completely constrained motion
Successfully constrained motion
Incompletely
constrained motion
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MMD2509
Kinematic Chain
A Kinematic chain is any group of links connected together for the
purposeof transmittingforcesor motions
Locked Kinematic chainis anarrangement of links suchthat no link can
moverelativetotheother linksinthechain
Constrained Kinematic Chain is an arrangement of links such that a
movement of onelink causesadefinitepredictablemovement of theother
links
Unconstrained Kinematic Chain is an arrangement of links such that a
movement of onelink doesnot causeapredictablemovement of theother
links
Inversions
By making a different link in a kinematic chain the fixed member, we
obtainadifferent mechanism. Thusanyoneof thelinksmaybearbitrarily
selected as the fixed link, and each arrangement is an inversion of the
others
Inversionof akinematic linkageor mechanismisobservingthemotionof
the members of the mechanismwith fixing different links as reference
frame. Each time when a different link is chose as the frame link the
mechanismshows different characteristicsof themotion.
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MMD2509
Types Kinematic Chain
Locked
Kinematic chain
Constrained
Kinematic chain
Un-constrained
Kinematic chain
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Quadratic Chain
Quadratic chain is a four links kinematic chain
Four bar chain and its inversion
A four bar mechanismis amechanismhavingfour rigidlinks
withonelinkfixed, thechainconsistsof four turningpairs
Thefixedlinkisreferredtoastheframe
Therotatinglinkiscalledthedriver or crank
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Quadratic Chain
Theother rotatinglinkiscalledthefollower or rocker
Thefloatinglinkiscalledtheconnectingrod
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Four Bar Chain Mechanism
The four-bar mechanism is called as a kinematic chain. In this
planar mechanism, four links are constrained by four cylindrical
joints. Whenonelink is fixedor grounded, themotionof asecond
linkdeterminesthemotionof thethirdandfourthlinks
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Inversions of 4-bar Chain mechanism
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Inversions of 4-bar chain mechanism
CRANK-ROCKER MECHANISM
DRAG LINK MECHANISM
DOUBLE CRANK MECHANISM
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MMD2509
Applications of 4-bar chain Mechanism
Brake of a Wheelchair Folding sofa Backhoe Excavator
Door Mechanism Sheet Metal Shear (Mechanical Workshop)
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Linkages of more than 4 bars
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More than 4 Link Mechanisms
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Slider Crank Mechanism

x
Connecting rod
Piston
Crank
arm
Crank pin
Cylinder
Crankshaft
Gudgeon
pin
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MMD2509
Single slider crank Mechanism
The function of the reciprocating engine is to convert the
reciprocating motion into rotary motion. It is a simplest fromof
single slider crank chain mechanism. In reciprocating engine there
is onesliding pair and threeturning pairs. In figuretherearethree
turningpairs and theslidingpair is formed between thecross head
and theguides. Link 1 is fixed (frame). Link 2 will act as acrank,
whichrotates. Link 3isaconnectingrodandlink4isacrosshead.
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lnversions of slider crank chain
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Multi-cylinder Engine- an inversion of slider crank
mechanism
Crankshaft piston
assembly
Pistons
Fuel
and air
Compressed
fuel and air
Spark plug
Crank arms
Crank shaft
Connecting rods
Inlet & outlet
valves
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Pendulum pump or bull engineIII inversion of slider crank mechanism (slider fixed)
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Oscillating Cylinder Engine
Inversion is obtained by fixing the link CD as shown in fig
As the crank rotates about C the slotted link AB slides over
the die block which is pivoted to the fixed link at D
The mechanism of oscillating cylinder engine is based
upon it
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Oscillating Cylinder Engine
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Whitworth Quick Return Mechanism
Theinversionisobtainedby fixingthelink BC. It isusedinanumber of applications
suchasslottingandshapingmachines
Thecrank CD rotates at uniformspeed. Thedieblock D slides alongtheslotted link
AB andcausesthistorevoluteabout B withvariablespeed
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Crank and slotted lever quick return motion mechanism
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Double Slider Crank Chain and its
Inversions
The kinematic chain consists of two turning and two
sliding pair
Two slide block A and B slide along slots in a frame S and
the pins A and B on the slide blocks are connected by the
link AB as shown
Such a Kinematic chain has three inversions
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Elliptical Trammel
It is an instrument for drawing ellipses. The slotted frame S is fixed. Any
point, suchasP onthelink AB except themidpoint of AB will traceanellipse
astheslideblocksA andB slidealongtheir respectiveslots
Theequationof anellipsewithcentreat Oisgivenby
sin
2
+ cos
2
= x
2
/ a
2
+ y
2
/ b
2
=1
AC =pandBC =q,
then, x=q.cos andy=p.sin.
Rearranging,
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Oldhams Coupling
Second inversion is obtained by fixing the link AB as
shown
For a given angular displacement of any one of the slide
block, theframeandother blockwill turnthroughthesame
angular displacement
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MMD2509
Scotch Yoke Mechanism
Third inversion is
obtained by fixing any
one of the two blocks
A or B as shown in fig.
The link AB can rotate
about A as centre and
thus cause the frame to
reciprocate
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Scotch Yoke Mechanism
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Straight line motion mechanisms
Condition for perfect steering Locus of pt.C will beastraight
line, toAE if,
is constant.
Proof:
AC AB
. .,
.
const AC ifAB const AE
const butAD
AD
AC AB
AE
AE
AB
AC
AD
ABD AEC
= =
=

=
=

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Peaucellier mechanism Roberts mechanism
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Pantograph
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Watts Mechanism
Drafter Mechanism
Tongs Mechanism
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Toggle mechanism
Considering the
equilibrium condition of
slider 6,
For small anglesof , F is
muchsmaller thanP.

tan 2
2
tan
P F
P
F
=
=
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Intermittent Motion Mechanisms
Geneva Mechanism
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Ratchet and pawl mechanism
Application of Ratchet Pawl
mechanism
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Ratchet and pawl mechanism
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Other Intermittent Motion Mechanism
Mutilated Gear Elliptical Gears
Escapement
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Session Summary
Fundamentals of kinematics
Types of motion,
Links, J oints
Kinematic-chains,
Mechanisms, Structure,
Intermittent motionInversions,
Four bar linkage and Inversions
Slider Crank Mechanism and Inversions
Straight-line Motion Mechanisms
Multiple linkage Mechanism