KINEMATICS OF

MACHINERY
Dr. G. Harinath Gowd
Professor,
Dept. of ME, MITS

Theory of Machines
The subject Theory of Machines may be
defined as that branch of Engineeringscience, which deals with the study of
relative motion between the various parts
of a machine, and forces which act on
them.
Importance: The knowledge of this subject
is very essential for an engineer in
designing the various parts of a machine.
2

Purpose
The purpose of this course is to explore
the topics of kinematics and dynamics
of machinery in respect to the synthesis
of mechanisms in order to accomplish
desired motions or tasks, and also the
analysis of mechanisms in order to
determine
their
rigid-body
dynamic
behavior.
Synthesis is the process of combining
separate parts into a whole
3

THEORY OF MACHINES
Branch of science that deals with the study of
relative motion between the various parts of a
machine, and forces which act on them.

KINEMATICS

DYNAMICS

Relative motion

Relative motion

Forces are Not considered

Forces are considered

KINEMATICS OF MACHINE
Deals with the study of relative motion between the various parts of
a machine, and various forces are not considered.
Ex:- Displacement , velocity and accelerations
Mechanisms, Belts, chains and Gear wheels etc

DYNAMICS OF MACHINE
Deals with the study of relative motion between the various parts of
a machine, and various forces are considered.
Ex:- Forces
Balancing, Flywheels, Governors, etc

KINETICS
Forces - moving

STATICS
Forces - stationary

Objective of Kinematics
The objective of kinematics is to develop
various means of transforming motion to
achieve a specific kind needed in applications.
For example, an object is to be moved from
point A to point B along some path.
The first question in solving this problem is
usually: What kind of a mechanism (if
any) can be used to perform this
function?
And the second question is:
How does one design such a mechanism?

Objective of Dynamics
The objective of dynamics is analysis of
the behavior of a given machine or
mechanism when subjected to dynamic
forces.
For the above example, when the
mechanism is already known, then
external forces are applied and its
motion is studied.
The determination of forces induced in
machine components by the motion is
part of this analysis

Kinematics and Kinetics

Kinematics
The study of motion without regard to forces.
Kinetics
The study of forces on systems in motion.
These two concepts are really not physically
separable. One principal aim of kinematics is to
create (design) the desired motions of the subject
mechanical parts and then mathematically compute
the positions, velocities, and accelerations which
those motions will create on the parts.
8

Machines and
Mechanisms
A mechanism is a device which
transforms motion to some desirable
pattern and typically develops very
low forces and transmits little power.
A
machine
typically
contains
mechanisms which are designed to
provide
significant
forces
and
transmit significant power.
9

Machines and Mechanisms

A useful working definition of a
mechanism is A system of
elements arranged to transmit
motion in a predetermined
fashion.
On the other hand, a machine is A
system of elements arranged to
transmit motion and energy in a
predetermined fashion.
Some of the examples of
10

Mechanisms

Simple press

11

Mechanisms
Moves packages from an assembly
bench to a conveyor

Rear-window
wiper

Microwave carrier to assist

people on wheelchair
12

Mechanisms

Front loader

Lift platform

Device to close the

top flap of boxes

Lift platform
13

Mechanisms

Rowing type exercise machine

Conceptual design for an

exercise machine
14

Machines

Food Blender

Automatic
Transmission
15

Machines

Bulldozer

Spider Robot

Amusement
Park Ride
16

Applications of Kinematics
Virtually any machine or device that
moves contains one or more kinematic
elements such as linkages, cams, gears,
belts, chains. Your bicycle is a simple
example of a kinematic system that
contains a chain drive to provide torque
multiplication and simple cable-operated
linkages for braking.

17

Applications of Kinematics
An automobile contains many more
examples of kinematic devices. Its steering
system, wheel suspensions, and pistonengine all contain linkages; the engine's
valves are opened by cams; and the
transmission is full of gears. Even the
windshield wipers are linkage-driven.

18

Applications of Kinematics
Figure (a) shows a spatial linkage used to control the rear wheel
movement of a modem automobile over bumps.

19

Applications of Kinematics

Construction equipment such as tractors, cranes, and backhoes all

use linkages extensively in their design. Figure (b) shows a small
backhoe that is a linkage driven by hydraulic cylinders.

20

Applications of Kinematics
Another application using linkages is that of exercise equipment as
shown in Figure (c).

21

Machine
Device to transfer or transform energy to do useful work
Combinations of Mechanisms
Examples : Watch, Washing machines, Refrigerator, IC Engines

Mechanism
Combinations of rigid body or restricted bodies (no deformation)/
negligible deformation)

Device to transfer or transform given input motion to specified

output motion
Ex : Four bar mechanism, Slider crank Mechanism,

type writer,

Machine
Machine is a device by means of which available
energy can be converted into desired form of useful
work.
It is the assembly of resistant bodies or links whose
relative motions are successfully constrained so that
available energy can be converted into useful work.
Machines are used to transform both motion and force.
Example: Scooter Converts available energy of petrol
into useful wrok which propels it along the road.

Resistant Body
A body is said to be resistant if it is capable of
transmitting the required force with negligible
deformation. These bodies are the parts of the
machines which are used for transmitting motion
and forces.
It is a theoretical concept which is accepted. Though
practically speaking, there is some deformation in
the body while transmitting the motion or force. A
link need not necessarily be a rigid body, but it must
be a resistant body. For Example Springs, belts and
oil used in hydraulic press are not rigid links; but
they are resistant bodies.

Mechanism
A mechanism may therefore be
defined as a combination of rigid or
resistant bodies, formed and
connected so that they move with
definite relative motions with respect
to one another
When one of the links of a kinematic chain
is fixed, it is known as mechanism. It is
used to transmit motion.

Mechanism - Types
Simple mechanism It has four
links
Ex: Slider crank mechanism
Compound mechanism More
than four links. It may be made
by adding two or more simple
mechanisms.

Plane and Spatial Mechanism

If all the points of a mechanism move
in parallel planes, then it is defined
as a plane mechanism.
If all the points do not move in
parallel planes then it is called
spatial mechanism.

Some Definitions
Machine Device to transfer or transform
energy to do useful work.
Mechanism Device to transfer or transform
given input motion to specified output motion
Structure A single body with no motion /
combination of bodies with no relative motion

Structure
It is an assemblage of a number of resistant bodies
(known as members) having no relative motion
between them and meant for carrying loads having
straining action. A railway bridge, a roof truss, machine
frames etc., are the examples of a structure.

Difference Between a Machine and a

Structure
1. The parts of a machine move relative to one another,
whereas the members of a structure do not move
relative to one another.
2. A machine transforms the available energy into some
useful work, whereas in a structure no energy is
transformed into useful work.
3. The links of a machine may transmit both power and
*
30
motion, while the members of a structure transmit

IS IT A MACHINE, A MECHANISM, OR A STRUCTURE?

The term machine is usually applied to a complete product.
A car is a machine, as is a tractor, an earthmoving machine,
etc.
At the same time, each of these machines may have some
devices performing specific functions, like a windshield wiper in a
car, which are called mechanisms.
The distinction between the machine/mechanism and the
structure is more fundamental.
The former must have moving parts, since it transforms motion,
produces work, or transforms energy.
The latter does not have moving parts its function is purely
structural, i.e., to maintain its form and shape under given
external loads, like a bridge, a building, or an antenna mast.

Fundamentals of Kinematics and Dynamics of Machines

and Mechanisms

Chair, or a solar antenna, may be

confusing. Before the folding chair can be
used as a chair, it must be unfolded. The
transformation from a folded to an unfolded
state is the transformation of motion.
Thus, the folding chair meets two
definitions:
it is a mechanism during unfolding and a
structure when unfolding is completed.

LINK / ELEMENT
KINEMATIC PAIR /
KINEMATIC JOINT
KINEMATIC CHAIN
MECHANISM

MACHINE

LINK / ELEMENT
KINEMATIC PAIR /
KINEMATIC JOINT

KINEMATIC CHAIN
MECHANISM

MACHINE

which moves relative to some other part, is

known as a kinematic link

The two links or elements of a machine, when in

contact with each other, are said to form a pair.

When the kinematic pairs are coupled in such a

way that the last link is joined to the first link to
transmit definite motion

mechanism or a collection of chain ,When

one of the links of a kinematic chain is fixed, the
chain is known as mechanism.

machine is a collection of mechanisms which

transmits force from the source of power to the
resistance to be overcome ,and thus perform a
mechanical work.

Kinematic Link or Element

Each part of a machine, which moves relative to some
other part, is known as a kinematic link (or simply link)
or element.
A link may consist of several parts, which are rigidly
fastened together, so that they do not move relative to
one another.
For example, in a reciprocating steam engine, as shown
in Fig. 1, piston, piston rod and crosshead constitute
one link ; connecting rod with big and small end
bearings constitute a second link ; crank, crank shaft
and flywheel a third link and the cylinder, engine frame
and main bearings a fourth link.

36

Types of Links
In order to transmit motion, the driver and the follower may
be connected by the following three types of links :
1. Rigid link.
A rigid link is one which does not undergo any deformation
while transmitting motion. Strictly speaking, rigid links do
not exist. However, as the deformation of a connecting rod,
crank etc. of a reciprocating steam engine is not appreciable,
they can be considered as rigid links.
2. Flexible link.
A flexible link is one which is partly deformed in a manner
not to affect the transmission of motion. For example, belts,
ropes, chains and wires are flexible links and 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
or compression only, as in the case of hydraulic
*
37
presses, jacks and brakes.

LINK/ELEMENT
Link is a resistant body / combinations of
resistant bodies having relative motion with
resistant or combinations of resistant bodies.
Rigid Link
Fluid Link

Flexible Link

LINK / ELEMENT
It is the name given to any body which has motion relative to
another. All materials have some elasticity. A rigid link is one,
whose deformations are so small that they can be neglected in
determining the motion parameters of the link.

Binary link: Link which is connected to other links at two points.

(Fig. a) or Two nodes
Ternary link: Link which is connected to other links at three
points. (Fig. b) or Three nodes
Quaternary link: Link which is connected to other links at four
points. (Fig. c) Four nodes

KINEMATIC PAIR

NATURE OF
CONTACT

LOWER
PAIR
Surface Contact

HIGHE
PAIR
Point Contact

RELATIVE
MOTION

MECHANICAL
CONSTRAIN

Sliding pair
Turning pair
Rolling Pair
Screw pair
Spherical Pair

Closed pair
Unclosed
pair

Kinematic Pair
The two links or elements of a machine,
when in contact with each other, are
said to form a pair. If the relative
motion between them is completely or
successfully constrained (i.e. in a
definite direction), the pair is known as
kinematic pair.

41

According to the type of contact between

the elements
(a) Lower pair. When the two elements of a pair have a
surface/area contact.
when relative motion takes place and the surface of one
element slides over the surface of the other, the pair formed is
known as lower pair.
Examples : sliding pairs, turning pairs and screw pairs form
lower pairs.

According to the type of contact between

the elements
(b) Higher pair. When the two elements of a pair have a line or point contact.
when relative motion takes place and the motion between the two elements
is partly turning and partly sliding, then the pair is known as higher pair.
Examples: A pair of friction discs, toothed gearing, belt and rope drives,
ball and roller bearings and cam and follower .

1. According to the type of contact between the

elements.
(a)Lower pair.
When the two elements of a pair have a surface contact
when relative motion takes place and the surface of
one element slides over the surface of the other, the
pair formed is known as lower pair. It will be seen that
sliding pairs, turning pairs and screw pairs form lower
pairs.
(b) Higher pair.
When the two elements of a pair have a line or point
contact when relative motion takes place and the
motion between the two elements is partly turning and
partly sliding, then the pair is known as higher pair. A
pair of friction discs, toothed gearing, belt and rope
drives,
ball and roller bearings and cam and follower44
*

Lower Pairs
A pair is said to be a lower pair when
the connection between two elements
is through the area of contact. Its 6
types are :
Revolute or Turning Pair
Prismatic or Sliding Pair
Screw Pair
Cylindrical Pair
Spherical Pair
Planar Pair

Classification of Kinematic Pairs

2. 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 a sliding pair.
The piston and cylinder, cross-head and guides of a
reciprocating steam engine, ram and its guides in
shaper, tail stock on the lathe bed etc. are the
examples of a sliding pair. A little consideration will
show, that a sliding pair has a completely constrained
motion.

46

Sliding pair
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 a sliding pair.
Or
Sliding pair allows only a relative translation between
elements 1 and 2, which can be expressed by a single
coordinate 'S'.Thus a Sliding pair pair has a single degree of
freedom.

(b) Revolute or 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.
Example: A shaft with collars at both ends
fitted into a circular hole, the crankshaft in
a journal bearing in an engine, lathe
spindle supported in head stock,
cycle wheels turning over their axles etc.
are the examples of a turning pair.
A turning pair also has a completely
constrained motion.

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Revolute or Turning pair.

A revolute allows only a relative
rotation between elements 1 and 2,
which can be expressed by a single
coordinate angle 'theta' .Thus a
revolute pair has a single degree of
freedom.

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
Turning pair or revolute pair allows only a relative rotation
between elements 1 and 2, which can be expressed by a
single coordinate angle 'theta' .Thus a revolute pair has a
single degree of freedom.

Revolute Pair or Turning Pair

One link has a turning or revolving motion relative to other.
Its allows only a relative rotation between elements 1 and 2, which can
be expressed by a single coordinate angle 'theta' .Thus a revolute pair has a
single degree of freedom.

(c) 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 the
other fixed element, the pair
formed is called a spherical pair
(DOF=3)
The ball and socket joint,
attachment of a car mirror, pen
stand etc., are the examples of a
spherical pair.

51

Spherical pair. A spherical pair will have surface contact and

three degrees of freedom. Eg. Ball and socket joint. DOF = 3
Spherical Pair: A spherical pair allows three degrees of
freedom since the complete description of relative movement
between the connected elements needs three independent
coordinates. Two of the coordinates 'alpha' and 'beta' are
required to specify the position of the axis OA and the third
coordinate 'theta' describes the rotation about the axis OA.

(e) 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. The lead
screw of a lathe with nut, and bolt
with a nut are examples of a
screw pair.

53

Screw Pair: If the two links has a turning sliding motion between them.
A screw pair allows only a relative movement between elements 1 and 2,
which can be expressed by a single coordinate angle 'theta' or 'S' .Thus a
screw pair has a single degree of freedom.

(d) 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.
Ball and roller bearings are
examples of rolling pair.

55

(f) Cylindrical pair. If the relative motion between the pairing

elements is the combination of turning and sliding, then it is called
as cylindrical pair. DOF = 2

Cylindrical Pair: A cylindrical pair allows both rotation and

translation. Between elements 1 and 2, which can be
expressed as two independent coordinates angle 'theta' and
'S' .Thus a cylinderical pair has two degrees of freedom.

TURNING
SLIDING

PAIR

SCREW

CYLINDRICAL
PAIR

PAIR

SPHERICAL PAIR

ROLLING

PAIR

PAIR

3. According to the type of closure.

(a)Self closed pair.
When the two elements of a pair are connected
together mechanically in such a way that only
required kind of relative motion occurs, it is
then known as self closed pair. The lower pairs
are self closed pair.
(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 said
to be a force-closed pair. The cam and follower
is an example of force closed pair, as it is kept
in contact by the forces exerted by spring and
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60
gravity.

MACHINES

. According to the type of closure

(a) Self closed pair. When the two elements of a pair are connected together mechanically
in such a way that only required kind of relative motion occurs, it is then known as self
closed pair.
OR
Elements of pairs held together mechanically due to their geometry constitute a closed
pair. They are also called form-closed or self-closed pair.
The lower pairs are self closed pair.
(b) unclosed or 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 said to be a
force-closed pair.
OR
Unclosed or force closed pair. Elements of pairs held together by the action of external
forces constitute unclosed or force closed pair .Eg. Cam and follower.
The cam and follower is an example of force closed pair, as it is kept in contact by the
forces exerted by spring and gravity.

Types of Constrained Motions

Following are the three types of constrained motions :
1. Completely constrained motion.
When the motion between a pair is limited to a definite direction
irrespective of the direction of force applied, then the motion is
said to be a completely constrained motion.
For example, the piston and cylinder (in a steam engine) form a
pair and the motion of the piston is limited to a definite direction
(i.e. it will only reciprocate) relative to the cylinder irrespective of
the direction of motion of the crank.
The motion of a square bar in a square hole, as shown in Fig. 2,
and the motion of a shaft with collars at each end in a circular
hole, as shown in Fig. 3, are also examples of completely
constrained motion.

64

2. Incompletely constrained motion.

When the motion between a pair can take place in
more than one direction, then the motion is called an
incompletely constrained motion.
The change in the direction of impressed force may
alter the direction of relative motion between the pair.
A circular bar or shaft in a circular hole, as shown in Fig.
4, is an example of an incompletely constrained motion
as it may either rotate or slide in a hole. These both
motions have no relationship with the other.

65

3. Successfully constrained motion

When the motion between the elements, forming a pair,
is such that the constrained motion is not completed by
itself, but by some other means, then the motion is said
to be successfully constrained motion.
Consider a shaft in a foot-step bearing as shown in Fig.
5. The shaft may rotate in a bearing or it may move
upwards. This is a case of incompletely constrained
motion. But if the load is placed on the shaft to prevent
axial upward movement of the shaft, then the motion of
the pair is said to be successfully constrained motion.
The motion of an I.C. engine valve and the piston
reciprocating inside an engine cylinder are also the
examples of successfully constrained motion.

66

Degrees of freedom (DOF):

It is the number of independent coordinates required to
describe the position of a body in space.
A free body in space (fig 1.5) can have six degrees of
freedom. I.e., linear positions along x, y and z axes and
rotational/angular positions with respect to x, y and z
axes.
In a kinematic pair, depending on the constraints
imposed on the motion, the links may loose some of the
six degrees of freedom.

67

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.
In other words, a kinematic chain may be defined as a
combination of kinematic pairs, joined in such a way that
each link forms a part of two pairs and the relative
motion between the links or elements is completely or
successfully constrained.
Two equations for lower pairs are available to determine whether the
assemblage of links and pairs are formed the kinematic chain or not.

 If each link is assumed to form two pairs with two adjacent links, then the
relation between the number of pairs ( p ) forming a kinematic chain
and the number of links ( l ) may be expressed in the form of an
equation :
L=2P-4 Eq (1)
Since in a kinematic chain each link forms a part of two pairs, therefore
there will be as many links as the number of pairs.
Another relation between the number of links (l) and the number of
joints ( j ) which constitute a kinematic chain is given by the expression :
j=(3/2)L 2
Eq (2)

The equations (i) and (ii) are applicable only to kinematic chains, in
which lower pairs are used.
Note: It above two equations are satisfied, the links form a kinematic chain.

Types of Kinematic Chains

The most important kinematic chains are those which consist of
four lower pairs, each pair being a sliding pair or a turning pair.
The following three types of kinematic chains with four lower
pairs are important from the subject point of view :

1. Four bar chain or quadric cyclic chain,

(All Four Turning pairs)

2. Single slider crank chain (3 Turning + 1 Sliding)

3. Double slider crank chain (2 Turning + 2 Sliding)

Four bar chain or Quadratic chain

The kinematic chain is a combination of four or more kinematic pairs, such

that the relative motion between the links or elements is completely
constrained. The simplest and the basic kinematic chain is a four bar chain
or quadric cycle chain. .It consists of four links, each of them forms a
turning pair at A, B, C and D. The four links may be of different lengths.
All the pairs are turning pairs
Link
Link
Link
Link

1
2
3
4

:
:
:
:

Frame
Slider
Con rod or Coupler
Crank

Inversions

Four bar or
quadratic

Single slider
crank
mechanisms

1. Beam engine (crank and lever

mechanism)
2. Coupling rod of a locomotive
(Double crank mechanism)
3. Pantograph : (Double lever
mechanism)

Double slider
crank
mechanisms

I
N
V
E
R
S
I
O
N
S

Four bar
or
quadratic
Single slider
crank
mechanisms

Double slider
crank
mechanisms

1. Beam engine (crank and

lever mechanism)
2. Coupling rod of a
locomotive (Double crank
mechanism)
3. Watt,s mechanism :
(Double lever mechanism)
4. Inversion
Pantograph
: (Double
I st
: Reciprocating
lever mechanism)
Engine
Reciprocating
Compressor
2nd Inversion :
White worth Quick Return
Mechanism
Rotary Engine
3 rd Inversion
Crank and slotted lever
Mechanism
Oscillating
cylinder engine
I st Inversion
: Elliptical
Tramme
4
th
Inversion
:
Hand
Pump
2nd Inversion : Scotch Yoke
Mechanism
3 rd Inversion : Oldham's
Coupling

Slider Crank mechanism

Slider Crank Mechanism.mp4

Beam Engine
( Crank and lever Mechanism)

Beam Engine
( Crank and lever Mechanism)
Beam engine is consist with 4
links . These are
Link 1: Frame, Link 2: Crank,
Link 3 : Con rod, Link 4: Lever
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.
The purpose of this mechanism is
to convert rotary motion into
reciprocating motion.

Coupled wheels of Locomotive

(Double crank mechanism)

Coupled wheels of Locomotive

(Double crank mechanism)
The mechanism of a coupling rod of a
locomotive (also known as double crank
mechanism)
which consists of four links
In this mechanism, the links AD and
BC (having equal length) act as cranks
and are 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 meant for
transmitting rotary motion from one
wheel to the other wheel.

Watts Indicator Mechanism

(Double lever Mechanism)

Single slider crank mechanism

Single slider crank mechanism

Single slider mechanism

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 Fig. 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.

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.

Two Stroke Engine

1 st Inversion : Reciprocating Engine

Reciprocating Compressor

Whit worth quick return motion mechanism

2 nd Inversion : Rotary Engine

Gnome Engine

Crank and slotted Lever Mechanism This mechanism is mainly

used in Shaping, Sloting & Rotary Combustion Engines

Crank and slotted Lever Mechanism

4 th Inversion : Hand Pump

Double Slider Crank Mechanism

Double Slider Crank Mechanism

1st Inversion : Elliptical Trammel

1st Inversion : Elliptical Trammel

2nd Inversion : Scotch

Mechanism

Yoke

3rd

Inversion : Oldhams coupling

3rd

Inversion : Oldhams coupling