LECTURE NOTES

ON
KINEMATICS OF MACHINERY

2018 – 2019

II B. Tech II Semester (17CA03404)

Mr. S.Praveen kumar

Assistant Professor

CHADALAWADA RAMANAMMA ENGINEERING COLLEGE

(AUTONOMOUS)
Chadalawada Nagar, Renigunta Road, Tirupati – 517 506

Department of Mechanical Engineering

 KINEMATICS OF MACHINERY

II B.Tech IV Semester: ME

Course Code Category Hours / Week Credits Maximum Marks

L T P C CIA SEE Total
17CA03404 Core
2 2 - 3 30 70 100
Contact Classes: 34 Tutorial Classes: 34 Practical Classes: Nil Total Classes: 68
OBJECTIVES:
The course should enable the students to:
I. Understand the basic principles of kinematics and the related terminology of machines.
II. Discriminate mobility, enumerate links and joints in the mechanisms.
III. Formulate the concept of analysis of different mechanisms.
IV. Understand the working of various straight line mechanisms, gears, gear trains, steering gear mechanisms,
cams and a Hooke’s joint.
V. Analyze a mechanism for displacement, velocity and acceleration of links in a machine.

UNIT-I MECHANISMS & MACHINE Classes: 14

MECHANISMS AND MACHINES: Elements or Links – Classification – Rigid Link, flexible and fluid link.
Types of kinematic pairs – sliding, turning, rolling, screw and spherical pairs – lower and higher pairs – closed and
open pairs – constrained motion – completely, partially or successfully constrained and incompletely constrained.
Mechanisms and machines – classification of mechanisms and machines – kinematic chain – inversion of
mechanisms – inversions of quadric cycle chain – single and double slider crank chain.Mobility of mechanisms.
Straight Line Motion Mechanisms- Exact and approximate, copiers and generated types –Peaucellier, Hart and
Scott Russel – Grasshopper, Watt, Tchebicheff and Robert Mechanisms. Pantograph.
UNIT-II STEERING MECHANISMS & BELT, ROPE AND CHAIN DRIVES : Classes: 14
STEERING MECHANISMS: Conditions for correct steering – Davis Steering gear, Ackermanns steering gear.
Hooke’s Joint (Universal coupling) -Single and double Hooke’s joint –– applications – Simple problems.
Belt, Rope and Chain Drives : Introduction, Belt and rope drives, selection of belt drive- types of belt drives,
materials used for belts and ropes, velocity ratio of belt drives, slip of belt, creep of belt, tensions for flat belt drive,
angle of contact, centrifugal tension, maximum tension of belt, Chains- length, angular speed ratio, classification
of chains.
UNIT-III KINEMATICS Classes: 14
Velocity and Acceleration Diagrams: Velocity and acceleration – Motion of link in machine – Determination of
Velocity and acceleration – Graphical method – Application of relative velocity method – Slider crank mechanism,
four bar mechanism. Acceleration diagrams for simple mechanisms, Coriolis acceleration, determination of
Coriolis component of acceleration. Kleins construction. Analysis of slider crank mechanism for displacement,
velocity and acceleration of slider using analytical method
Instantaneous Centre Method: Instantaneous centre of rotation, Instantaneous centre for simple mechanisms, and
determination of angular veloties of points and links. centrode and axode – relative motion between two bodies –
Three centres in-line theorem.
UNIT-IV GEARS & GEAR TRAINS: Classes: 12
GEARS: Introduction to gears and types of gears(Spur, Helical, Bevel and worm gears) , friction wheels and– law
of gearing, condition for constant velocity ratio for transmission of motion, Forms of tooth- cycloidal and involute
profiles. Velocity of sliding – phenomena of interference – Methods to avoid interference. Condition for minimum
number of teeth to avoid interference, expressions for arc of contact and path of contact.
GEAR TRAINS: Introduction –Types of gear trains – Simple, compound, reverted and Epicyclic gear trains.
Train value – Methods of finding train value or velocity ratio – Tabular column method for Epicyclic gear trains.
Torque in epicyclic gear trains. Differential gear of an automobile.
UNIT-V CAMS & ANALYSIS OF MOTION OF FOLLOWERS: Classes: 14
CAMS: Definitions of cam and follower – uses – Types of followers and cams – Terminology. Types of follower
motion - Uniform velocity – Simple harmonic motion and uniform acceleration, Offset method for CAM profiles.
Maximum velocity and maximum acceleration during outward and return strokes. Drawing of cam profiles.
ANALYSIS OF MOTION OF FOLLOWERS: Tangent cam with roller follower – circular arc (Convex) cam
with flat faced and roller follower.
Text Books:
1. Joseph E. Shigley, “Theory of Machines and Mechanisms”, Oxford University Press, 4th Edition, 2010.
2. S.S. Rattan, “Theory of Machines”, Tata McGraw Hill Education, 1st Edition, 2009.
Reference Books:
1. Jagadish Lal, “Theory of Mechanisms and Machines”, Metropolitan Book Company, 1st Edition, 1978.
2. Norton, “Kinematics and Dynamics of Machinery”, Tata McGraw Hill, 3rd Edition, 2008.
3. Sadhu Singh, “Theory of Machines”, Pearson, 2nd Edition, 2006.
4. J. S Rao, R. V Duggipati, “Mechanisms and Machine Theory”, New Age Publishers, 2nd Edition, 2008.
5. R. K. Bansal, “Theory of Machines”, Lakshmi Publications, 1st Edition, 2013.
6. Thomas Bevan, “Theory of Machines”, Pearson, 3rd Edition, 2009.
Course Outcomes:
1. Identify different types of mechanisms and inversions of different kinematic chains.
2. Calculate the basic parameters for Hooke’s joint, steering mechanisms and belt drives.
3. Analyze velocity and acceleration at different point in a simple plane mechanism using relative velocity
method and instantaneous center method.
4. Calculate pitch, module, number of teeth, path of contact for meshing gears and train value for different gear
trains by using tabular column method.
5. Analyze displacement, velocity and acceleration of cam follower at different positions of cam with specified
contours by drawing displacement diagram and cam profile for different types of motions (SHM, UARM and
uniform velocity) of cam and follower.
Note: End Examination should be conducted in drawing hall.