Kom Unit-I

KOM
Unit I: Basics of Mechanisms

Classification of mechanism-Basic kinematic concepts and definitions-degree of
freedom, Mobility-Kutzbach criterion, Grueblers criterion-Grashofs LawKinematic inversions of four bar chain and slider crank chains-Limit positionsMechanical advantage-Transmission angle-Description of some common
mechanisms-Quick return mechanisms, Straight line generators, Universal
joint-Rocker mechanisms
Mechanism:
Mechanism is combinations of number of bodies (usually rigid bodies) are
assembled in such a way that the motion of one causes constrained and predictable
motion to the others.
A mechanism transmits and modifies a motion.
A link may also be defined as a member or a combination of members of a

mechanism, connecting other members and having motion relative to them.
Thus, a link may consist of one or more resistant bodies.
A link is also known as kinematic link or element.
Links can be classified into binary, ternary, quaternary, etc. Depending

upon their ends on which revolute or turning pairs can be placed.
Binary link
Ternary link
Quaternary link
Machine:
A Machine is a mechanism or combination of mechanisms imparting
definite motions to the parts. Also, it transmits and modifies the available mechanical
energy into desired (or useful) work.
KINEMATIC PAIR
A kinematic pair or simply a pair is a joint of two links having relative motion
between them.
Rigid and Resistance bodies:

Rigid body: A rigid body does not suffer any distortion (or the distance between any
two points on it remains constant) under the action of force.
Resistance body or semi-rigid body: A Resistant body or semi-rigid body are
normally flexible under the action of force.
But resistance bodies, under certain loading conditions, act as rigid bodies for the
limited purpose.
(E.g.) Belt, Fluids and Spring etc
A Belt is rigid when subjected to tensile forces. Therefore, the belt-drive acts as a
resistant body.
Similarly, fluids can also act as resistant bodies when compressed as in case of a
hydraulic press.
For some purposes, springs are also resistant bodies.
Link:
In a slider-crank mechanism link 2 rotates relative to link 1 and constitutes a

revolute or turning pair. Similarly, links 2, 3 and 3, 4 constitute turning pairs. Link 4
(slider) reciprocates relative to link 1 and is a sliding pair.
Types of Kinematic Pairs
Kinematic pairs can be classified according to:
Nature of contact;
Nature of mechanical constraint;
Nature of relative motion.
A resistant body or a group of resistant bodies with rigid connections

preventing their relative movement is known as a link.
Department of Mechanical, AAMEC
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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 a bearing, all pairs of a
slider-crank mechanism, universal joint, etc.
(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.
Kinematic Pairs According to Nature of Relative Motion

(a) Sliding Pair
If two links have a sliding motion relative to each other,
they form a sliding pair.
A rectangular rod in a rectangular hole in a prism is a
sliding pair.
(b) Turning Pair
When one link has a turning or revolving motion relative to
the other, they constitute a turning or revolving pair.
In a slider-crank mechanism, all pairs except the slider and
guide pair are turning pairs. A circular shaft revolving inside a
bearing is a turning pair.
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 two elements are geometrically identical; one
is solid and full and the other is hollow or open.
The latter not only envelops the former but also
encloses it. The contact between the two can be
broken only by destruction of at least one of the
members. All the lower pairs and some of the
higher pairs are closed pairs. A cam and follower
pair (higher pair) shown in Figure and a screw pair
(lower pair) belong to the closed pair category.
(c) Rolling Pair

When the links of a pair have a rolling motion relative to
each other, they form a rolling pair, e.g. a rolling wheel on a
flat surface, ball and roller bearings, etc.
In a ball bearing, the ball and the shaft constitute one
rolling pair, whereas the ball and the bearing is the second
rolling pair.
(d) Screw Pair (Helical Pair)
(b)Unclosed pair
When two links of a pair are in contact either due to
force of gravity or some spring action they constitute
an unclosed pair. In this, the links are not held
together mechanically, e.g. carn and follower pair
shown in figure.
If two mating links have a turning as well as sliding

motion between them, they form a screw pair. This is
achieved by cutting matching threads on the two links.
The lead screw and the nut of a lathe is a screw pair.
(e)Spherical pair
When one link in the form of a sphere turns inside a
fixed link, it is a spherical pair.
The ball and socket joint is a spherical pair.
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DEGREES OF FREEDOM
An unconstrained rigid body moving in space
can describe the following independent
motions
1. Translational motions along any three
mutually perpendicular axes x, y and z,
2. Rotational motions about these axes.
Thus, a rigid body possesses six degrees
of freedom. The connection of a link with
another imposes certain constraints on their
relative motion.
Degrees of freedom of a pair is defined as the number of independent relative
motions, both translational and rotational, a pair can have.
Degrees of freedom = 6 - Number of restraints
In general Degree of freedom is defined as the number of independent coordinates
required to specify the position of point in a space uniquely.
CLASSIFICATION OF KINEMATIC PAIRS
Depending upon the number of restraints imposed on the relative motion of the
two links connected together, a pair can be classified as given in Table which gives
the possible form of each class.
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Kinematic Chain:
A kinematic chain is an assembly of links in which the relative motions of the
links is possible and the motion of each relative to the other is definite.
Non-Kinematic chain:
The motion of a link results in indefinite motions of other links, then it is a non
kinematic chain.
Redundant chain:
A redundant chain does not allow any motion of a link relative to the other link.
Linkage:
A linkage is obtained if one of the links of a kinematic chain is fixed to the ground.
Structure
If one of the links of a redundant chain is fixed, it is known as a structure
Superstructure:
The degree of freedom of a structure with negative degree of freedom is known as a
superstructure.
MOBILITY OF MECHANISMS:
Mobility is also known as Degrees of freedom of a Mechanism.
A mechanism may consist of a number of pairs belonging to different classes having
different number of restraints. It is also possible that some of the restraints imposed
on the individual links are common or general to all the links of the mechanism.
According to the number of these general restraints a mechanism may be classified
into different order.
A zero order mechanism will have no such general restrain. Of course, some of the
pairs may have individual restraints.
A first order mechanism has one general restraint;
A second order mechanism has two general restraints and so on up to fifth order
mechanism
A sixth order mechanism cannot exist since all the links become stationary and no
movement is possible.
Degrees of freedom of a mechanism in space can be determined as follows:

N = total number of links in a mechanism;
F = degrees of freedom;
P1 = number of pairs having one degree of freedom;
P2 = number of pair having two degrees of freedom and so on.
In a mechanism, one link is fixed.
Therefore,
Number of movable links = N - 1;
Number of degrees of freedom of (N - 1) movable links = 6(N - 1)
Each pair having one degree of freedom imposes 5 restraints on the
mechanism reducing its degrees of freedom by 5P1.
Each pair having two degrees of freedom will impose 4 restraints reducing the
degrees of freedom of the mechanism by 4P2.
Similarly, other pairs having 3, 4 and 5 degrees of freedom reduce the degrees
of freedom of the mechanism.
Thus,
F = 6 (N - 1) - 5Pl - 4P2 - 3P3 - 2P4 1P5
The above criterion is hardly necessary to find the degrees of freedom, as space
mechanisms, especially of the zero order are not practical.
Gruebler's criterion:
Two-dimensional mechanism such as a four-link or a slider-crank mechanism in
which displacement is possible along two axes (one restraint) and rotation about only
one axis (two restraints). Thus, there are three general restraints.
Therefore, for plane mechanisms, the following relation may be used to find the
degrees of freedom,
F = 3 (N - 1) - 2Pl 1P2
This is known as Gruebler's criterion.
Each pair with one degree of freedom imposes two further restraints on the
mechanisms thus, reducing its degrees of freedom.
Similarly, each pair with two degrees of freedom reduces the degrees of freedom of
the mechanism at the rate of one restraint each.
Kutzback's criterion:
Degree of freedom
F = 3 (N - 1) - 2P1
This is applicable to linkages with single degree of freedom only.
For linkages with single-degree of freedom, P2 = 0
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Empirical Relations:
The following empirical relations give the degree of freedom of a linkage when the
number of links and number loops in a kinematic chain is known.
These relations are valid for linkages with turning pairs,
F = N - (2L + 1)
P1= N + (L - 1)
Where L = Number of loops in a linkage.
Note:
The above empirical relations can give incorrect results. This is due to the reason
that the lengths of the links or other dimensional properties are not considered in
these empirical relations. So, exceptions are bound to come with equal lengths or
parallel links.
Problems:
1. For the kinematic linkages shown in Figure, calculate the following: the
number of binary links (Nb); the number of ternary links (Nt); the number of
other (quaternary etc.) links (No); the number of total links (N); the number of
loops (L); the number of joints or pairs (P1); Number of degrees of freedom (F)
Solution:
(a) Nb = 4; Nt = 4; No = 0; N = 8; L = 4; P1 = 11 by counting (or)
P1 = (N + L - 1) = 11
Kutzbach criterion
Empirical Relation
F =3(N - 1) 2P1
or
F = N - (2L + 1)
= 3 (8 - 1) (2 11) or
= 8 - (2 4 + 1)
= -1
or
= -1
The linkage has negative degree of freedom and thus it is a superstructure.
(b) Nb = 4; Nt = 4; No = 0; N = 8; L = 3
P1 = 10 (by counting) or P1 = (N + L - 1) = 10
Kutzbach criterion:
Empirical relation:
F = 3(N - 1) -2P1
F = N - (2L + 1)
= 3(8 - 1) (210)
= 8 ((2 3) + 1)
=1
=1
( i.e.) The linkage has one degree of freedom. Thus it is completely constrained
motion when one of the seven moving links is driven by an external source.
(c) Nb = 7; Nt = 2; No = 2; N = 11; L = 5; P1= 15
Kutzbach criterion:
Empirical relation:
F = 3(N - 1) -2P1
F = N - (2L + 1)
= 3(11- 1) (215)
= 11 ((2 5) + 1)
=0
=0
Therefore, the linkage is a Structure.
2. Determine the degrees of freedom of the following:
(a)
(b)
Solution:
(a) No.of links N = 3
No.of pairs with 1 DOF P1= 2
Grueblers criterion:
Degrees of freedom F =3(N-1)-2P1-1P2
=3(3-1)-2(2)-1
F=1
Thus the given linkage is completely constrained mechanism.
(b) No.of links N = 4
Grueblers criterion:
Degrees of freedom F =3(N-1)-2P1-1P2
=3(4-1)-2(3)-1(1)
F=2
Thus the given linkage is incompletely constrained mechanism
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FOUR-BAR CHAIN:
Fig (1)
A four-bar chain is the most fundamental of the plane kinematic chains.
Basically, it consists of four rigid links which are connected by four pin-joints.
A link that acts as frame is called fixed link.
A link that makes complete revolution is called the crank.
The link opposite to the fixed link, the coupler and
The fourth link, a lever or rocker if oscillates (another crank, if rotates)
Grashofs law:
Grashofs law states that, A four-bar mechanism has at least one revolving link if
the sum of the lengths of the largest and the shortest links is less than the sum of
lengths of the other two links.
In four bar chain shown in fig (1),
Assume
Link AD is shortest link with the length d
Link BC is the longest link with the length b
Link AB and CD with lengths a and c respectively.
According to the Grashofs law,
b+d < a+c
Based on the Grashofs law, Mechanisms are classified in to
(a) Class I Mechanism
(b) Class II Mechanism
Class I Mechanism:
If the mechanism obeys Grashofs law then the mechanism is known as
Class I Mechanism.
(i.e) Sum of lengths of shortest and longest link < Sum of lengths of other two links
b+d < a+c

Class II Mechanism:
If the mechanism does not obey the Grashofs law then the mechanism is
known as Class II Mechanisms.
(i.e)Sum of lengths of shortest and longest link > Sum of lengths of other two links
b+d > a+c
Special cases:
In few cases,
Sum of lengths of shortest and longest link = Sum of lengths of other two links
(i.e) b+d=a+c
(E.g) Parallel-crank four-bar linkage and deltoid linkage.
Inversions of Kinematic chain or Mechanism:
Different mechanisms obtained by fixing different links of a kinematic chain
are known as its inversions.
Inversions Four bar chain:
Position of fixed link
Nature of Inversion of Mechanism

Class I
Class II
Shortest link
(Fig.1)
Double crank
[crank-crank(or)
Drag-link (or)
Rotary-Rotary]
Double Rocker
Adjacent to the shortest Crank-Rocker Mechanism
[Rocker-Rocker
link(Fig.2 & Fig3)
[Crank-Lever (or)
mechanism]
Rotary-Oscillating ]
Opposite to the shortest Double Rocker
link(Fig.4)
[Rocker-Rocker (or)
Oscillation-Oscillation]
From the above table conclude that Class I Mechanisms generate different
mechanism when different link as fixed.
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Class II Mechanisms not generate different nature of mechanism.
MECHANICAL ADVANTAGE
The Mechanical Advantage (M.A.) of a mechanism is the ratio of the output force
or torque to the input force or torque at any instant.
For the linkage of Fig (5) below, if friction and inertia forces are ignored and the
input torque T2 is applied to link 2 to drive the output link 4 with a resisting torque T4
then
Fig. (6)
In Fig.(6), if link AB is the input link, the force applied to the output link DC is
transmitted through the coupler BC.
For a particular value of force in the coupler rod, the torque transmitted to the
output link (about point D) is maximum, when the transmission angle is 90.
If links BC and DC become coincident, the transmission angle is zero and the
mechanism would lock or jam.
If deviates significantly from 90, the torque on the output link decreases.
Sometimes it may not be sufficient to overcome the friction in the system and the
mechanism may be .locked or Jammed. Hence is usually kept more than 45.
Therefore, the best mechanisms have a transmission angle that does not deviate
much from 900.
Applying cosine law to triangles ABD and BCD (Fig. 6),
Fig. (5)
Power input = Power output
T2 2 = T4 4
Mechanical Advantage M . A
T4 2
T2 4
Thus, Mechanical Advantage (M.A) is the reciprocal of the velocity ratio.

In crank-rocker mechanisms, the velocity ( 4) of the output link DC (rocker)
becomes zero at the extreme positions.
When the input link AB is in line with the coupler BC and angle between them
is either zero or 180 which makes the mechanical advantage to be infinite at such
positions. Only a small input torque can overcome a large output torque load.
The extreme positions of the linkage are known as toggle positions.
TRANSMISSION ANGLE:
The angle () between the output link and the coupler is known as transmission
angle.
a 2 d 2 2ad cos k 2
b 2 c 2 2bc cos k 2
From (i) and (ii),
a 2 d 2 2ad cos b 2 c 2 2bc cos

a 2 d 2 b 2 c 2 2ad cos 2bc cos 0
The maximum or minimum values of the transmission angle can be found by putting
d/d equal to zero.
Differentiating the above equation with respect to ,
ad sin bc sin
d ad sin
d bc sin
d
0
d
Thus, if d/d is to be zero, the term ad sin has to be zero which means is
either 0 or 180. It can be seen that is maximum when is 180 and minimum
when is 0.
However, this would be applicable to the mechanisms in which the link a is able
to assume these angles, i.e. in double-crank or crank rocker mechanisms.
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Fig.7
Fig.8
Fig.7 and Fig.8 show a crank-rocker mechanism indicating the positions of the
maximum and the minimum transmission angles.
Solution:
(a) Shortest link length = 5
Longest link length = 9
Since,
Sum of shortest and longest link length =5+9 =14
Sum of other two link length = 6+7 =13
Sum of length of shortest and longest link > sum of length of other two links.
It does not obey Grashofs law. Therefore, the mechanism belongs to Class II
Mechanism.
Shortest link is fixed. Therefore the given mechanism is Double-Rocker
Fig.9
Fig.10
Fig.9 and Fig.10 show the maximum and the minimum transmission angles for a
double-rocker mechanism.
Problems:
3. Figure shows some four-link mechanisms in which the figures indicate the
dimensions in standard units of length. Indicate the type of each mechanism.
Whether crank-rocker or double-crank or double-rocker
(b) Shortest link length = 4

Sum of length of shortest and longest link < sum of length of other two links.
It obeys Grashofs law. Therefore, the mechanism belongs to Class I
Mechanism.
Shortest link is fixed. Therefore the given mechanism is Double-Crank
Mechanism
(c) Shortest link length = 5

Since,
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It obeys Grashofs law. Therefore, the mechanism belongs to Class I Mechanism.
Link Opposite to the Shortest link is fixed. Therefore the given mechanism is
Double-Rocker Mechanism
(d) Shortest link length = 4

Since,
In this mechanism,
Length of the longest link = 3; Length of the shortest link = 1;
Length of other links = 3 and 2
Since 3 + 1 < 3 + 2, it belongs to class-I mechanism.
In this case as the link adjacent to the shortest link is fixed, it is a crank-rocker
mechanism. Maximum transmission angle is when is 1800.
Position of Max.transmission angle
Position of Min.transmission angle
It obeys Grashofs law. Therefore, the mechanism belongs to Class I
Mechanism.
Link Adjacent to the shortest link is fixed. Therefore the given mechanism is
Crank-Rocker Mechanism
Fig. (1)
Thus, (a + d) 2 = b2 + c2 -2bc COS
(1+ 3)2 = 32 + 22 (2 3 2 cos )
16 = 9 + 4 - 12 cos
4. Find the maximum and minimum transmission angles for the mechanisms
shown in Figure below. The figures indicate the dimensions in standard units of
length.
= 104.50
Minimum transmission angle is when is 00 (as shown in figure)
Thus, (d - a) 2 = b2 + c2 -2bc COS
(3-1)2= 32 + 22 - 232 cos
4 = 9+4-12 cos
cos
Fig. (2)
3
0.25
12
3
0.25
4
41.40
cos
(b)
Solution:
(a)
In this mechanism,
Length of the longest link = 10;
Length of the shortest link = 6;
Length of other links = 8 and 7.
Since 10 + 6 > 8 + 7,
It belongs to class-II mechanism and this is a
double rocker mechanism
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Maximum transmission angle is when is 1800 as shown in figure below
Thus (a + d) 2 = b2 + c2 -2bc COS
(7+ 8)2 = 62 + 102 (2 6 10cos )
225= 36 + 100 - 120 cos
cos
(6 - 3)2 = 62 + 72 [2 6 7 cos ]
9 = 36 + 49 - 84 cos
cos
89
0.742
120
76
84
cos = 0.9048
= 25.20
= 137.90
Minimum transmission angle is when the angle at B is 1800 shown in figure below
Thus ( d) 2 = (a+b)2 + c2 -2(a+b)c COS
(8)2 = (7+6)2 + 102 [2 (7+6) 10cos ]
64= 169 + 100 - 260 cos
cos
205
0.788
260
Inversion of Four bar chain:

(i)
Beam Engine Mechanism
(ii)
Coupling rod of locomotive
(iii)
Watt Indicators Mechanism
(i)
=380
Beam Engine Mechanism:
(c) In this mechanism,

Length of the longest link = 7;
Length of the shortest link = 3;
Length of other links = 6 and 7.
Since 7 + 3 < 6 + 6, it belongs to class-I
mechanism.
In this case as the shortest link is fixed, it is a
double-crank
or drag-link mechanism.
Maximum transmission angle is when is 1800 as shown in figure below
Thus, (a + d)2 = b2 + c2 - 2bc cos
(6 + 3)2 = 62 + 72 [2 6 7 cos ]
81 = 36 + 49 - 84 cos
cos
4
84
cos = 0.476
= 87.270
Minimum transmission angle is when is 00 as shown in figure below
Thus, (a - d)2 = b2 + c2 - 2bc cos
A part of the mechanism of a beam engine which consist of four links, is

shown is figure.
Adjacent link to the shortest link is fixed. Therefore, the mechanism also
known as Crank-Lever Mechanism.
In this mechanism, when the crank rotates about the fixed centre A, the
lever oscillates about a fixed centre D.
The end E of the lever CDE is connected to a piston rod which reciprocates
due to the rotation of the crank.
In other words, the purpose of this mechanism is to convert rotary motion
into reciprocating motion.
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Coupling rod of a locomotive:
It may be noted that BF and FD form on link because these two parts have
no relative motion between them.
The links CE and BFD act as levers. The displacement of the link BFD is
directly proportional to the pressure of gas or stream which acts on the
indicator plunger.
On any small displacement of the mechanism, the tracing point E at the end
of the link CE trances out approximately a straight line.
The initial position of the mechanism is shown in figure by full lines
whereas the dotted lines show the position of the mechanism when the gas
or stream pressure acts on the indicator plunger.
The mechanism of a coupling rod of a locomotive which consist of four link

as shown in figure.
The mechanism also known as double crank mechanism.
In this mechanism, the links AD and BC having equal length.
AD and BC are act as crank and connected to the respective wheels.
The link CD acts as a coupling rod and the link AB is fixed in order to
maintain a constant centre to centre distance between them.
This mechanism is mean for transmitting rotary motion from one wheel to
the other wheel.
Watts indicator mechanism:
SLIDER-CRANK CHAIN:
A single slider crank chain is a modification of the basic four bar chain. It consist
of one sliding pair and three turning pairs. It is, usually, found in reciprocating steam
engine mechanism.
This type of mechanism converts rotary motion into reciprocating motion and
vice versa. In a single slider crank chain, as shown in Figure 11, the links 1 and 2,
links 2 and 3, and links 3 and 4 form three turning pairs while the links 4 and 1 form
a sliding pair.
Fig.11
A Watts indicator mechanism also known as watts straight line mechanism

or double lever mechanism.
It consists of four links is shown in figure.
The four links are :
Fixed link A
Link AC
Link CE
Link BFD.
The link 1 corresponds to the frame of the engine, which is fixed. The link 2
corresponds to the crank; link 3 corresponds to the connecting rod and link 4
corresponds to cross-head. As the crank rotates, the cross-head reciprocates in the
guides and thus the piston reciprocates in the cylinder.
Inversions of Single Slider Crank Chain
By fixing different links in a kinematic chain, an inversion is obtained and can obtain
as many mechanisms as the links in a kinematic chain. It is thus obvious, that four
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inversions of a single slider crank chain are possible. These inversions are found in
the following mechanisms.
1. Pendulum pump or Bull engine:
In this mechanism, the inversion is obtained by fixing the cylinder or link 4 (i.e.
sliding pair), as shown in Fig.12. In this case, when the crank (link 2) rotates, the
connecting rod (link 3) oscillates about a pin pivoted to the fixed link 4 at A and the
piston attached to the piston rod (link 1) reciprocates. The duplex pump which is
used to supply feed water to boilers have two pistons attached to link 1, as shown in
Fig.12.
Fig.12
Fig.14
Sometimes back, rotary internal combustion engines were used in aviation. But
now-a-days gas turbines are used in its place. It consists of seven cylinders in one
plane and all revolves about fixed centre D, as shown in Fig. 14, while the crank
(link 2) is fixed. In this mechanism, when the connecting rod (link 4) rotates, the
piston (link 3) reciprocates inside the cylinders forming link 1.
4. Crank and slotted lever quick return motion mechanism.
This mechanism is mostly used in shaping machines, slotting machines and in
rotary internal combustion engines
In this mechanism, the link AC (i.e. link 3) forming the turning pair is fixed, as
shown in Fig.15. The link 3 corresponds to the connecting rod of a reciprocating
steam engine. The driving crank CB revolves with uniform angular speed about the
fixed centre C. A sliding block attached to the crank pin at B slides along the slotted
bar AP and thus causes AP to oscillate about the pivoted point A. A short link PR
transmits the motion from AP to the ram which carries the tool and reciprocates
along the line of stroke R1R2. The line of stroke of the ram (i.e. R1R2) is
perpendicular to AC produced.
Fig.13
2. Oscillating cylinder engine.

The arrangement of oscillating cylinder engine mechanism, as shown in
Fig.13, is used to convert reciprocating motion into rotary motion. In this
mechanism, the link3 forming the turning pair is fixed. The link 3 corresponds to the
connecting rod of a reciprocating steam engine mechanism. When the crank (link 2)
rotates, the piston attached to piston rod (link 1) reciprocates and the cylinder (link 4)
oscillates about a pin pivoted to the fixed link at A.
3. Rotary internal combustion engine or Gnome engine:
Fig.15
In the extreme positions, AP1 and AP2 are tangential to the circle and the cutting
tool is at the end of the stroke. The forward or cutting stroke occurs when the crank
rotates from the position CB1 to CB2 (or through an angle ) in the clockwise
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direction. The return stroke occurs when the crank rotates from the position CB2 to
CB1 (or through angle ) in the clockwise direction. Since the crank has uniform
angular speed, therefore,
Time of cutting stroke
360

(or )
Time of return stroke 360
Since the tool travels a distance of R1 R2 during cutting and return stroke, therefore
travel of the tool or length of stroke
= R1R2 = P1P2 = 2P1Q = 2AP1 sin P1 AQ
2 AP1 sin 90 2 AP cos

2
2
CB1
2 AP1
AC
2 AP
CB
AC
(AP1=AP)
CB1
cos 2 AC
(CB1=CB)
Note: From Fig. 15, we see that the angle made by the forward or cutting stroke is
greater than the angle described by the return stroke. Since the crank rotates with
uniform angular speed, therefore the return stroke completed within shorter time.
Thus it is called quick return motion mechanism.
5. Whitworth quick return motion mechanism:
This mechanism is mostly used in shaping and slotting machines. In this
mechanism, the link CD (link 2) forming the turning pair is fixed, as shown in
Fig.16. The link 2 corresponds to a crank in a reciprocating steam engine. The
driving crank CA (link 3) rotates at a uniform angular speed. The slider (link 4)
attached to the crank pin at A slides along the slotted bar PA (link 1) which oscillates
at a pivoted point D. The connecting rod PR carries the ram at R to which a cutting
tool is fixed. The motion of the tool is constrained along the line RD produced, i.e.
along a line passing through D and perpendicular to CD.
Fig.16
When the driving crank CA moves from the position CA1 to CA2 (or the link
DP from the position DP1 to DP2) through an angle (in the clockwise direction,
the tool moves from the left hand end of its stroke to the right hand end through a
distance 2PD.
Now when the driving crank moves from the position CA2 to CA1 (or the link
DP from DP2 to DP1 ) through an angle in the clockwise direction, the tool moves
back from right hand end of its stroke to the left hand end.
A little consideration will show that the time taken during the left to right
movement of the ram (i.e. during forward or cutting stroke) will be equal to the time
taken by the driving crank to move from CA1 to CA2. Similarly, the time taken
during the right to left movement of the ram (or during the idle or return stroke) will
be equal to the time taken by the driving crank to move from CA2 to CA1.
Since the crank link CA rotates at uniform angular velocity therefore time taken
during the cutting stroke (or forward stroke) is more than the time taken during the
return stroke. In other words, the mean speed of the ram during cutting stroke is less
than the mean speed during the return stroke. The ratio between the time taken
during the cutting and return strokes is given by
Time of cutting stroke
360
(or )
Time of return stroke
360
Note. In order to find the length of effective stroke R1 R2, mark P1 R1 = P2 R2 = PR.
The length of effective stroke is also equal to 2 PD
Double Slider Crank Chain
A kinematic chain which consists of two turning pairs and two sliding pairs is known
as double slider crank chain, as shown in Fig.17. The link 2 and link 1 form one
turning pair and link 2 and link 3 form the second turning pair. The link 3 and link 4
form one sliding pair and link 1 and link 4 form the second sliding pair.
Inversions of Double Slider Crank Chain
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KOM

The following three inversions of a double slider crank chain are important from the
subject point of view:
1. Elliptical trammels. It is an instrument used for drawing ellipses. This inversion is
obtained by fixing the slotted plate (link 4), as shown in Fig. 17. The fixed plate or
link 4 has two straight grooves cut in it, at right angles to each other. The link 1 and
link 3, are known as sliders and form sliding pairs with link 4. The link AB (link 2) is
a bar which forms turning pair with links 1 and 3. When the links 1 and 3 slide along
their respective grooves, any point on the link 2 such as P traces out an ellipse on the
surface of link 4, as shown in Fig. 17. A little consideration will show that AP and
BP are the semi-major axis and semi-minor axis of the ellipse respectively. This can
be proved as follows
Note : If P is the mid-point of link BA, then AP = BP. The above equation can be
written as
x2
y2
1
AP2
AP2
or
x 2 y 2 AP 2
This is the equation of a circle whose radius is AP. Hence if P is the mid-point of link
BA, it will trace a circle.
2. Scotch yoke mechanism:
Fig.17
Fig.18
Let us take OX and OY as horizontal and vertical axes and let the link BA is
inclined at an angle with the horizontal, as shown in Fig.18. Now the co-ordinates of
the point P on the link BA will be
x = PQ = AP cos ; and y = PR = BP sin
or
x
cos
AP
squaring on both sides
and
y
sin
BP
Fig.19
This mechanism is used for converting rotary motion into a reciprocating motion.
The inversion is obtained by fixing either the link 1 or link 3.
In Fig.19, link 1 is fixed. In this mechanism, when the link 2 (which corresponds to
crank) rotates about B as centre, the link 4 (which corresponds to a frame)
reciprocates. The fixed link 1 guides the frame.
3. Oldhams coupling.
x2
y2
cos 2 sin 2 1
2
2
AP
BP
This is the equation of an ellipse. Hence the path traced by point P is an ellipse
whose semi major axis is AP and semi-minor axis is BP.
Page 14
KOM
Fig.20 (a)
Fig.20(b)
Fig.20(c)
An Oldhams coupling is used for connecting two parallel shafts whose axes
are at a small distance apart. The shafts are coupled in such a way that if one shaft
rotates, the other shaft also rotates at the same speed. This inversion is obtained by
fixing the link 2, as shown in Fig.20 (a). The shafts to be connected have two flanges
(link 1 and link 3) rigidly fastened at their ends by forging.
The link 1 and link 3 form turning pairs with link 2. These flanges have
diametrical slots cut in their inner faces, as shown in Fig. 20 (b). The intermediate
piece (link 4) which is a circular disc, have two tongues (i.e. diametrical projections)
T1 and T2 on each face at right angles to each other, as shown in Fig.20(c).
The tongues on the link 4 closely fit into the slots in the two flanges (link 1 and link
3). The link 4 can slide or reciprocate in the slots in the flanges.
When the driving shaft A is rotated, the flange C (link 1) causes the intermediate
piece (link 4) to rotate at the same angle through which the flange has rotated, and it
further rotates the flange D (link 3) at the same angle and thus the shaft B rotates.
Hence links 1, 3 and 4 have the same angular velocity at every instant. A little
consideration will show that there is a sliding motion between the link 4 and each of
the other links 1 and 3.
If the distance between the axes of the shafts is constant, the centre of intermediate
piece will describe a circle of radius equal to the distance between the axes of the
two shafts. Therefore, the maximum sliding speed of each tongue along its slot is
equal to the peripheral velocity of the centre of the disc along its circular path.
Part-A
1. State the difference between mechanism and structure.
(May/June 2013, R2008/2010)
2. Differentiate the machine and structure (May/June 2014, R2008/2010)
3. Classify the constraint motion (May/June 2014, R2008/2010)
4. What is meant by Kinematic Pair?
(May/June 2013, R2008/2010)
5. Differentiate rotation and translation. (Nov/Dec 2013, R2008/2010)
6. Define sliding connectors.
(Nov/Dec 2013, R2008/2010)
7. Define the term Degree of freedom. (May/June 2013, R2004/2007)
8. Find the degree of freedom of a Cam mechanism with knife-edge follower.
(Nov/Dec 2014, R2004/2007)
9. Determine the degree of freedom for the linkage shown in Figure.
Let = Angular velocity of each shaft in rad/s, and

r = Distance between the axes of the shafts in metres.
Maximum sliding speed of each tongue (in m/s), v = r
Page 15
KOM

(Nov/Dec 2013, R2004/2007)
10. Write Grashoffs law for four bar mechanism. (Nov/Dec 2012, R2008)
11. Define: Mechanical advantage.
(Nov/Dec 2013, R2004/2007)
12. Define the term "Transmission angle of a mechanism. (Nov/Dec 2014,
R2004/2007)
13. Sketch and define transmission angle of a four bar mechanism. What are the
worst values of transmission angle? (May/June 2012, R2008)
14. What are the three conditions to obtain a four bar drag-link mechanism?
(May/June 2013, R2004/2007)
15. What are condition for correct steering of an automobile (May/June 2012,R2008)
(Nov/Dec 2013, R2004/2007)
Fig.(a)
Part-B
1. Determine the degree of freedom for following linkages. (6) (Nov/Dec 2013,
R2008/2010)
Fig.(b)
Fig.(c)
Fig .(d)
5. M1, M2, M3 and M4 are four-bar linkages as shown in figure. The numbers
on the figure indicate the respective link lengths in cm.
2. Explain kutzbach criterion for the mobility of a mechanism with suitable

example (4) (May/June 2012, R2008)
3. Sketch two general exception mechanisms for Kutzbach criterion, with
suitable proof. (4) (May/June 2013, R2004/2007)
4. Identify the type of mechanisms shown in Fig (a) to Fig (d), whether it is
crank-rocker or double-crank or double-rocker and justify the answer. The
dimensions are provided in standard units of length. (8)
Dimensions are in cm
Identify the nature of the mechanism, i.e. whether double crank, crank rocker
or double rocker. Give reason in brief. (12) (May/June 2012, R2008)
Page 16
KOM
6. Explain the inversions of Four bar chain with examples (May/June 2013,
R2008/2010)
[Sketch and explain any three kinematic inversion of four bar chain (May/June 2014,
R2008/2010)]
7. What is kinematic inversion? Explain the four different inversions of slider
crank mechanism.(Nov/Dec 2013, R2008/2010)
[Explain the inversions of slider crank chain. (8) (May/June 2013, R2004/2007)
With a neat sketch, explain the first inversion of a slider crank chain.(4) (Nov/Dec
2013, R2004/2007)
15. Sketch and Explain four inversions of single-slider crank chain (16) (Nov/Dec
2012, R2008)]
12. Explain the two different types of quick return mechanisms. Derive an
expression for the ratio of time taken in forward and return stroke for one of
these mechanism. (May/June 2014, R2008/2010)
13. With the help of a neat sketch explain the working of Whitworth quick
return mechanism. (8) (May/June 2013, R2004/2007)
14. Explain with neat sketch, how an offset slider crank mechanism can be used
as a quick-return motion mechanism. Derive an expression to find the quickreturn ratio. (10) (May/June 2012, R2008)
9. Define the significance of transmission angle of a four bar mechanism.(4)

(May/June 2013, R2004/2007)
15. Sketch and explain briefly the following mechanisms:

(i) Quick-return motion mechanism of a shaping machine. (4)
(ii) Oscillating cylinder engine mechanism. (4)
(iii) Ratchet mechanism. (4)
(iv) Indexing mechanism. (4) (Nov/Dec 2014, R2004/2007)
[What is meant by indexing mechanism? Where do we use it? (Nov/Dec 2012,
R2008)]
16. With a neat sketch, explain the crank and slotted lever mechanism. (8)
(Nov/Dec 2013, R2004/2007)
10. Find the maximum and minimum transmission angles for the mechanisms
shown in figure. The figures indicate the dimensions in standard units of length.
(8) (Nov/Dec 2013, R2008/2010)
17. Sketch and explain the following:

(i)Elliptical Trammel
(ii)Scotch yoke mechanism (May/June 2013, R2008/2010)
8. Sketch and explain any four inversions of a double-slider crank chain.

Mention also the application of each inversion. (Nov/Dec 2014, R2004/2007)
18. Write short notes on toggle mechanism. (8)(Nov/Dec 2013, R2008/2010)

19. With a suitable diagram, explain how a pantographs works. What is its use?
(6) (May/June 2012, R2008)
[Explain the working of Pantograph with a neat sketch. (4) (May/June 2013,
R2004/2007)]
11. A crank-rocker mechanism has a 70 mm fixed link, a 20 mm crank, a 50mm

coupler and 70 mm rocker. Draw the mechanism and determine the maximum
and minimum values of the transmission angle. Locate the two toggle points and
find the corresponding crank angles and transmission angles. (12) (Nov/Dec
2013, R2004/2007)
20. What are straight line mechanisms? Sketch the peaucellier straight line
motion mechanism and prove that the generating points moves in a straight line
(8) (Nov/Dec 2012, R2008)
21. Sketch a Hookes joint and derive the condition for equal speeds of driving
and driven shafts (8) (Nov/Dec 2012, R2008)
Page 17
KOM
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KOM

Unit I: Basics of Mechanisms

A link may also be defined as a member or a combination of members of a

A link is also known as kinematic link or element.

Links can be classified into binary, ternary, quaternary, etc. Depending

Rigid and Resistance bodies:

In a slider-crank mechanism link 2 rotates relative to link 1 and constitutes a

A resistant body or a group of resistant bodies with rigid connections

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

Kinematic Pairs According to Nature of Relative Motion

Kinematic Pairs According to Nature of Mechanical Constraint

(c) Rolling Pair

If two mating links have a turning as well as sliding

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

Degrees of freedom of a mechanism in space can be determined as follows:

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

Department of Mechanical, AAMEC

b+d < a+c

Position of fixed link

Nature of Inversion of Mechanism

Unit I: Basics of Mechanisms

Thus, Mechanical Advantage (M.A) is the reciprocal of the velocity ratio.

a 2 d 2 2ad cos b 2 c 2 2bc cos

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

(b) Shortest link length = 4

(c) Shortest link length = 5

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

(d) Shortest link length = 4

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

Inversion of Four bar chain:

Beam Engine Mechanism:

(c) In this mechanism,

Department of Mechanical, AAMEC

A part of the mechanism of a beam engine which consist of four links, is

Unit I: Basics of Mechanisms

The mechanism of a coupling rod of a locomotive which consist of four link

A Watts indicator mechanism also known as watts straight line mechanism

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

2. Oscillating cylinder engine.

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

2 AP1 sin 90 2 AP cos

Time of cutting stroke

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

2. Scotch yoke mechanism:

squaring on both sides

Department of Mechanical, AAMEC

Unit I: Basics of Mechanisms

Let = Angular velocity of each shaft in rad/s, and

Department of Mechanical, AAMEC