Simple Mechanisms

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 Simple Machine
Machine: A machine is a device which receives
energy and transforms it into some useful work.
OR
Simple machine is a device that simply transforms the
direction or magnitude of a force.
Simple machines:
Inclined plane, Wheel & axle, Lever, Pulley, Wedge, Screw.
Mechanical components:
Axle, Bearings, Belts, Bucket, Fastener, Gear, Key, Link
chains, Rack and pinion, Roller chains, Rope, Seals,
Spring, Wheel.
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 Kinematic Link
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 or element need not to be a rigid body,
but it must be a resistant body.

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 Kinematic Link

Reciprocating steam engine, as shown in Fig.

piston, piston rod and crosshead constitute one link ;
connecting rod with big and small end bearings constitute second link ;
crank, crank shaft and flywheel a third link and
cylinder, engine frame and main bearings a fourth link.
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 Simple Mechanisms
Resistant Body: A body is said to be a
resistant body if it is capable of transmitting the
required forces with negligible deformation.
Thus a link should have the following two
characteristics:
1. It should have relative motion.
2. It must be a resistant body.

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 Types of Links
In order to transmit motion, the driver and the
follower may be connected by the following
three types of links :

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 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
considerable, 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.
Examples: 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.
Examples: hydraulic presses, jacks and brakes.
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 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.
Examples: A railway bridge, a roof truss,
machine frames etc.

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Difference Between a Machine and a Structure

The following differences between a machine and a

structure are important from the subject point of view :
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 motion, while the members of a
structure transmit forces only.
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 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.

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1. Completely Constrained Motion

The motion of a square bar in a square hole, as shown in Fig. 5.2, and
the motion of a shaft with collars at each end in a circular hole, as
shown in Fig. 5.3, are also examples of completely constrained motion.

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2. Incompletely Constrained Motion

A circular bar or shaft in a circular hole, as shown in Fig. 5.4, 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.

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2. 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.
Note: sliding pairs, turning pairs and screw pairs
form lower pairs

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2. 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.

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 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 (completely or successfully
constrained motion), it is called a kinematic chain.
OR
It is 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.
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 Kinematic Chain
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 :

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 Kinematic Chain
Another relation between the number of links ( l )
and the number of joints ( j ) which constitute a
kinematic chain is given by the expression :

Note: The equations (i) and (ii) are applicable only to

kinematic chains, in which lower pairs are used.
Incase of higher pairs used, each higher pair may be
taken as equivalent to two lower pairs with an
additional element or link.
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 Kinematic Chain
1. Consider the arrangement of three links A B, BC and CA with pin joints at
A, B and C as shown in Fig. 5.6. In this case,

It is not a kinematic chain and no relative motion is possible. Such type of

chain is called locked chain and it forms a rigid frame or structure which is
used in bridges and trusses. 18
 Kinematic Chain
2. Consider the arrangement of four links A B, BC, CD and DA as
shown in Fig. 5.7

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 Kinematic Chain
3. Consider an arrangement of five links, as shown in
Fig. 5.8

the relative motion is not completely constrained. Such a type of chain is

called unconstrained chain.
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 Kinematic Chain
4. Consider an arrangement of six links, as shown in Fig. 5.9.

Note: A chain having more than four links is known as compound

kinematic chain.
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 Types of Joints in a Chain
1) Binary joint: When two links are joined at the same
connection, the joint is known as binary joint.
For example, a chain as shown in Fig. 5.10, has four links and
four binary joins at A, B, C and D.

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 Types of Joints in a Chain
In order to determine the nature of chain relation given
by A.W. Klein, may be used :

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 Types of Joints in a Chain
2) Ternary joint: When three links are joined at
the same connection, the joint is known as
ternary joint.
Note:1 ternary joint = 2 binary joints
binary joints =3 + 2 2 = 7
l = 6 and j = 7

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 Types of Joints in a Chain
3) Quaternary joint: When four links are joined
at the same connection, the joint is called a
quaternary joint.
Note: It is equivalent to three binary joints.
In general, when l number of links are joined at
the same connection, the joint is equivalent to
(l 1) binary joints.

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 Types of Joints in a Chain
Consider a chain having eleven links, as shown in Fig. 5.12 (a).
It has one binary joint at D, four ternary joints at A, B, E and F,
and two quaternary joints at C and G.

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 Types of Joints in a Chain

If the link CG is removed, as shown in

Fig. 5.12 (b), it has ten links and has
one binary joint at D and six ternary
joints at A, B, C, E, F and G.
Therefore total number of binary
joints are 1 + 2 6 = 13.

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 Mechanism
When one of the links of a kinematic chain is fixed, the chain is
known as mechanism. OR
A mechanism is a device designed to transform input forces and
movement into a desired set of output forces and the
movement.
Mechanisms generally consist of moving components such as
gears and gear trains, belt and chain drives, cam and follower
mechanisms, and linkages as well as friction devices such as
brakes and clutches, and structural components such as the
frame, fasteners, bearings, springs, lubricants and seals etc
It may be used for transmitting or transforming motion.
Examples: differential mechanism , slider crank mechanism in
automobile engine, steering mechanism in a car, or the winding
mechanism of a wristwatch, cam and follower mechanisms etc
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 Mechanism
A mechanism with four links is known as simple
mechanism.
A mechanism with more than four links is known
as compound mechanism.
When a mechanism is required to transmit
power or to do some particular type of work, it
then becomes a machine.

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Number of Degrees of Freedom for
Plane Mechanisms
It is defined as the number of input parameters
(usually pair variables) which must be
independently controlled in order to bring the
mechanism into a useful engineering purpose.

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Number of Degrees of Freedom for
Plane Mechanisms

The position of point P on the moving link CD can be completely specified by the three
variables. In other words, we can say that each link of a mechanism has three degrees of
freedom before it is connected to any other link.
But when the link CD is connected to the link A B by a turning pair at A, as shown in
Fig.(b), the position of link CD is now determined by a single variable and thus has one
degree of freedom.
Note: When a link is connected to a fixed link by a turning pair (lower pair), two
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degrees of freedom are destroyed.
Number of Degrees of Freedom for
Plane Mechanisms

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Number of Degrees of Freedom for
Plane Mechanisms
Now let us consider a plane mechanism with l
number of links. Since in a mechanism, one of the
links is to be fixed, therefore the number of
movable links will be (l 1) and thus the total
number of degrees of freedom will be 3 (l 1)
before they are connected to any other link.
In general, a mechanism with l number of links
connected by j number of binary joints and h
number of higher pairs (2 DOF pairs), then the
number of degrees of freedom of a mechanism is
given by

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 Kutzbach Criterion for Plane
Mechanisms

This equation is called Kutzbach criterion for the

movability of a mechanism having plane motion.
If there are no higher pairs then h = 0.
Substituting h = 0 in above equation, we have

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Application of Kutzbach Criterion
to Plane Mechanisms

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Application of Kutzbach Criterion
to Plane Mechanisms
1. in Fig. 5.16 (a) , l = 3 and j = 3.

2. in Fig. 5.16 (b) , l = 4 and j = 4.

3. in Fig. 5.16 (c) , l = 5 and j = 5.

4. in Fig. 5.16 (d) , l = 5 and j = 6.

5. in Fig. 5.16 (e) , l = 6 and j = 8.

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Application of Kutzbach Criterion
to Plane Mechanisms

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 Mechanism with a higher pair

In Fig. (a), l = 3, j = 2 and h = 1

In Fig. (b), l = 4, j = 3 and h = 1

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 Inversion of Mechanism
The method of obtaining different mechanisms by fixing
different links in a kinematic chain, is known as inversion
of the mechanism.
The relative motions between the various links is not
changed in any manner through the process of inversion,
but their absolute motions (those measured with respect
to the fixed link) may be changed drastically.
Note: The part of a mechanism which initially moves with
respect to the frame or fixed link is called driver and that
part of the mechanism to which motion is transmitted is
called follower.
Example: in a reciprocating steam engine, the piston is
the driver and flywheel is a follower. 39
 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.

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 Four Bar Chain or Quadric Cycle
Chain
According to Grashof s law for a four bar mechanism,
the sum of the shortest and longest link lengths
should not be greater than the sum of the remaining
two link lengths if there is to be continuous relative
motion between the two links.

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 Four Bar Chain or Quadric Cycle
Chain
While designing a mechanism, it is to ensure that the input crank
makes a complete revolution relative to the other links. The
mechanism in which no link makes a complete revolution will not
be useful.
In a four bar chain, one of the links will make a complete
revolution relative to the other three links, in particular the
shortest link, if it satisfies the Grashof s law that is AD (link 4 ) is
a crank.
The link BC (link 2) which makes a partial rotation or oscillates is
known as lever or rocker or follower.
The link CD (link 3) which connects the crank and lever is called
connecting rod or coupler.
The fixed link AB (link 1) is called frame of the mechanism.
Note: When the crank (link 4) is the driver, the mechanism is
transforming rotary motion into oscillating motion. 42
 Inversions of Four Bar Chain
1. Beam engine (crank and lever mechanism)
2. Coupling rod of a locomotive (Double crank
mechanism)
3. Watts indicator mechanism (Double lever
mechanism)

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 Beam engine (crank and lever
mechanism)

In this mechanism, when the crank

rotates about the fixed center A,
the lever oscillates about a fixed
center D. The end E of the lever
CDE is connected to a piston rod
which reciprocates due to the
rotation of the crank.
Note: This mechanism is to convert
rotary motion into reciprocating
motion.

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 Coupling rod of a locomotive (Double
crank mechanism)

In this mechanism, the link AD and

link 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 center
to center distance between them.
Note: This mechanism is meant for
transmitting rotary motion from one
wheel to the other wheel.

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 Single 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.
Note: This type of mechanism
converts rotary motion into
reciprocating motion and vice
versa.

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 Inversions of Single Slider Crank
Chain
1. Pendulum pump or Bull engine.
2. Oscillating cylinder engine.
3. Rotary internal combustion engine or Gnome
engine.
4. Crank and slotted lever quick return motion
mechanism.

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 Pendulum pump or Bull engine

In this mechanism, the inversion is

obtained by fixing the cylinder or link
4 (sliding pair). 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.
Example: The duplex pump which is
used to supply feed water to boilers
have two pistons attached to link 1,
as shown in Fig. 5.23.

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 Oscillating cylinder engine
This mechanism is used to convert
reciprocating motion into rotary
motion. In this mechanism, the link
3 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.

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 Crank and Slotted Lever Quick
Return Motion Mechanism.
In this mechanism, the link AC (link 3)
forming the turning pair, is fixed and
corresponds to the connecting rod of a
reciprocating steam engine. The driving
crank CB revolves with uniform angular
speed about the fixed center 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 (R1R2) is
perpendicular to AC produced.

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Crank and Slotted Lever Quick
Return Motion Mechanism.

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 Crank and Slotted Lever Quick
Return Motion Mechanism.
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 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,

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 Crank and Slotted Lever Quick
Return Motion Mechanism.
The tool travels a distance of R1R2 during
cutting and return stroke, therefore travel of the
tool or length of stroke.

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Crank and Slotted Lever Quick
Return Motion Mechanism.

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Crank and Slotted Lever Quick
Return Motion Mechanism.

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Crank and Slotted Lever Quick
Return Motion Mechanism.

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Crank and Slotted Lever Quick
Return Motion Mechanism.

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Crank and Slotted Lever Quick
Return Motion Mechanism.

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Crank and Slotted Lever Quick
Return Motion Mechanism.

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Crank and Slotted Lever Quick
Return Motion Mechanism.

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Crank and Slotted Lever Quick
Return Motion Mechanism.

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 Assignment 3
Due date:
Find DOF of following joints of human body
1. Shoulder
2. Elbow
3. Wrist
4. Knee
5. Ankle
6. Neck
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