Kinematics and Dynamics of Machinery

Introduction

Sourav Rakshit
204 Machine Design Section
srakshit@iitm.ac.in

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 1 / 29
 Topics

1 Introduction
Basic Definitions
Kinematic Pairs
Form/Force closed
2 Kinematic Diagrams
Kinematic chain
Kinematic Diagram
3 Kinematic Inversion
Definitions
Kinematic inversion of 4R mechanism
Kinematic inversion of 3R1P mechanism
Kinematic inversion of 2R2P mechanism
4 Equivalent Linkages

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 2 / 29
 Introduction Basic Definitions

Basic Definitions

Mechanism: A mechanism is a combination of rigid or restraining

bodies so shaped and connected that the move upon each other with
definite relative motion. A mechanism transfers the motion in the
required way but develops very low forces and transmits little power.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 3 / 29
 Introduction Basic Definitions

Basic Definitions

Mechanism: A mechanism is a combination of rigid or restraining

bodies so shaped and connected that the move upon each other with
definite relative motion. A mechanism transfers the motion in the
required way but develops very low forces and transmits little power.
Machine: A machine is a mechanism or combination of mechanisms
that transmits force from the source of the power to the resistance
(load) to be overcome. A machine performs mechanical work.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 3 / 29
 Introduction Basic Definitions

Basic Definitions

Mechanism: A mechanism is a combination of rigid or restraining

bodies so shaped and connected that the move upon each other with
definite relative motion. A mechanism transfers the motion in the
required way but develops very low forces and transmits little power.
Machine: A machine is a mechanism or combination of mechanisms
that transmits force from the source of the power to the resistance
(load) to be overcome. A machine performs mechanical work.
When the purpose is only to transfer and transform the motion
(without considering the forces), the system is a mechanism.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 3 / 29
 Introduction Basic Definitions

Basic Definitions

Mechanism: A mechanism is a combination of rigid or restraining

bodies so shaped and connected that the move upon each other with
definite relative motion. A mechanism transfers the motion in the
required way but develops very low forces and transmits little power.
Machine: A machine is a mechanism or combination of mechanisms
that transmits force from the source of the power to the resistance
(load) to be overcome. A machine performs mechanical work.
When the purpose is only to transfer and transform the motion
(without considering the forces), the system is a mechanism.
When the purpose is to transfer the mechanical energy, the system is
machine.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 3 / 29
 Introduction Kinematic Pairs

Kinematic Pairs

Kinematic Pair: The interconnection of the rigid or restraining bodies

in a mechanism is called kinematic pair.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 4 / 29
 Introduction Kinematic Pairs

Kinematic Pairs

Kinematic Pair: The interconnection of the rigid or restraining bodies

in a mechanism is called kinematic pair.
Degree of Freedom: The number of independent coordinates required
to completely describe the relative movement of a mechanism. These
coordinates are also known as Pair Variables.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 4 / 29
 Introduction Kinematic Pairs

Kinematic Pairs

Kinematic Pair: The interconnection of the rigid or restraining bodies

in a mechanism is called kinematic pair.
Degree of Freedom: The number of independent coordinates required
to completely describe the relative movement of a mechanism. These
coordinates are also known as Pair Variables.
Types of kinematic pairs: Lower pairs, higher pairs, and wrapping
pairs.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 4 / 29
 Introduction Kinematic Pairs

Lower Pairs

Figure: Lower pairs: Connection between 2 elements is through area of contact.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 5 / 29
 Introduction Kinematic Pairs

Higher Pairs

Figure: Higher pairs: Connection between 2 elements is through point or line

contact.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 6 / 29
 Introduction Kinematic Pairs

Figure: Wrapping pair: Belt-pulley, chain-sprocket, etc.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 7 / 29
 Introduction Kinematic Pairs

Revolute or Turning Pair

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 8 / 29
 Introduction Kinematic Pairs

Prismatic Pair

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 9 / 29
 Introduction Kinematic Pairs

Helical Pair

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 10 / 29
 Introduction Kinematic Pairs

Cylindrical Pair

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 11 / 29
 Introduction Kinematic Pairs

Spherical Pair

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 12 / 29
 Introduction Kinematic Pairs

Planar Pair

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 13 / 29
 Introduction Form/Force closed

Form-closed and Force-closed

Form closed: Contact between bodies is maintained due to geometric

constraints.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 14 / 29
 Introduction Form/Force closed

Form-closed and Force-closed

Form closed: Contact between bodies is maintained due to geometric

constraints.
Force closed: Contact between bodies is maintained by externally
applied force(s).
Sourav Rakshit 204 Machine Design Section Kinematics
srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 14 / 29
 Kinematic Diagrams Kinematic chain

Link

A material body that is common to 2 or more kinematic pairs is called

a link.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 15 / 29
 Kinematic Diagrams Kinematic chain

Link

A material body that is common to 2 or more kinematic pairs is called

a link.
A kinematic chain is a series of links connected by kinematic pairs.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 15 / 29
 Kinematic Diagrams Kinematic chain

Link

A material body that is common to 2 or more kinematic pairs is called

a link.
A kinematic chain is a series of links connected by kinematic pairs.
If every link is connected to at least 2 other links, the chain is closed.
Else, the chain is open.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 15 / 29
 Kinematic Diagrams Kinematic chain

Link

A material body that is common to 2 or more kinematic pairs is called

a link.
A kinematic chain is a series of links connected by kinematic pairs.
If every link is connected to at least 2 other links, the chain is closed.
Else, the chain is open.
A link which is connected to only 1 other link is called as a singular
link.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 15 / 29
 Kinematic Diagrams Kinematic chain

Link

A material body that is common to 2 or more kinematic pairs is called

a link.
A kinematic chain is a series of links connected by kinematic pairs.
If every link is connected to at least 2 other links, the chain is closed.
Else, the chain is open.
A link which is connected to only 1 other link is called as a singular
link.
A link which is connected to 2 other links is called as a binary link.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 15 / 29
 Kinematic Diagrams Kinematic chain

Link

A material body that is common to 2 or more kinematic pairs is called

a link.
A kinematic chain is a series of links connected by kinematic pairs.
If every link is connected to at least 2 other links, the chain is closed.
Else, the chain is open.
A link which is connected to only 1 other link is called as a singular
link.
A link which is connected to 2 other links is called as a binary link.
A link which is connected to 3 other links is called as a ternary link.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 15 / 29
 Kinematic Diagrams Kinematic chain

Link

A material body that is common to 2 or more kinematic pairs is called

a link.
A kinematic chain is a series of links connected by kinematic pairs.
If every link is connected to at least 2 other links, the chain is closed.
Else, the chain is open.
A link which is connected to only 1 other link is called as a singular
link.
A link which is connected to 2 other links is called as a binary link.
A link which is connected to 3 other links is called as a ternary link.
A closed chain cannot contain a singular link.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 15 / 29
 Kinematic Diagrams Kinematic chain

Link

A material body that is common to 2 or more kinematic pairs is called

a link.
A kinematic chain is a series of links connected by kinematic pairs.
If every link is connected to at least 2 other links, the chain is closed.
Else, the chain is open.
A link which is connected to only 1 other link is called as a singular
link.
A link which is connected to 2 other links is called as a binary link.
A link which is connected to 3 other links is called as a ternary link.
A closed chain cannot contain a singular link.
A chain consisting of only binary links is called a simple chain.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 15 / 29
 Kinematic Diagrams Kinematic chain

Links and Kinematic chains

Figure: Different types of links

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 16 / 29
 Kinematic Diagrams Kinematic chain

Constrained Kinematic Chain

If the relative position of any link uniquely defines the position of any
point on any other link, the chain is called a constrained kinematic
chain.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 17 / 29
 Kinematic Diagrams Kinematic chain

Constrained Kinematic Chain

If the relative position of any link uniquely defines the position of any
point on any other link, the chain is called a constrained kinematic
chain.
A mechanism can be defined as a closed kinematic chain with one
fixed link.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 17 / 29
 Kinematic Diagrams Kinematic chain

Constrained Kinematic Chain

If the relative position of any link uniquely defines the position of any
point on any other link, the chain is called a constrained kinematic
chain.
A mechanism can be defined as a closed kinematic chain with one
fixed link.
A mechanism consisting of only lower pairs is called a linkage.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 17 / 29
 Kinematic Diagrams Kinematic chain

Constrained Kinematic Chain

If the relative position of any link uniquely defines the position of any
point on any other link, the chain is called a constrained kinematic
chain.
A mechanism can be defined as a closed kinematic chain with one
fixed link.
A mechanism consisting of only lower pairs is called a linkage.
The simplest linkage consists of 4 binary links:
4-bar mechanism/linkage.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 17 / 29
 Kinematic Diagrams Kinematic chain

Constrained Kinematic Chain

If the relative position of any link uniquely defines the position of any
point on any other link, the chain is called a constrained kinematic
chain.
A mechanism can be defined as a closed kinematic chain with one
fixed link.
A mechanism consisting of only lower pairs is called a linkage.
The simplest linkage consists of 4 binary links:
4-bar mechanism/linkage.
A 4-bar linkage has 1 d.o.f.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 17 / 29
 Kinematic Diagrams Kinematic chain

Structure and Mechanism

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 18 / 29
 Kinematic Diagrams Kinematic Diagram

Kinematic Diagram

Figure: To facilitate study of a mechanism, it is represented by a kinematic

diagram. This diagram represents essential kinematic features of a mechanism.
Sourav Rakshit 204 Machine Design Section Kinematics
srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 19 / 29
 Kinematic Diagrams Kinematic Diagram

Kinematic diagram examples: Drafter

Figure: A drafter and its kinematic diagram.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 20 / 29
 Kinematic Diagrams Kinematic Diagram

Kinematic diagram examples: V2 Engine

Figure: A V2 engine and its kinematic diagram.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 21 / 29
 Kinematic Inversion Definitions

Kinematic Inversion

From the definition of mechanism, i.e., it is a closed kinematic chain

with one link fixed, we can get as many different mechanisms as the
number of links in the chain.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 22 / 29
 Kinematic Inversion Definitions

Kinematic Inversion

From the definition of mechanism, i.e., it is a closed kinematic chain

with one link fixed, we can get as many different mechanisms as the
number of links in the chain.
Kinematic Inversion is the process of fixing different links of the same
Kinematic Chain to produce distinct mechanisms.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 22 / 29
 Kinematic Inversion Definitions

Kinematic Inversion

From the definition of mechanism, i.e., it is a closed kinematic chain

with one link fixed, we can get as many different mechanisms as the
number of links in the chain.
Kinematic Inversion is the process of fixing different links of the same
Kinematic Chain to produce distinct mechanisms.
The relative motion between the links remain unchanged, however,
the absolute motion may be different.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 22 / 29
 Kinematic Inversion Definitions

4-bar linkage terminologies

A link that makes a complete revolution and is pivoted to the ground

is called crank (normally the driving member). The other link pivoted
to the ground is called follower.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 23 / 29
 Kinematic Inversion Definitions

4-bar linkage terminologies

A link that makes a complete revolution and is pivoted to the ground

is called crank (normally the driving member). The other link pivoted
to the ground is called follower.
A link that has oscillatory rotation and is pivoted to ground is called a
rocker.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 23 / 29
 Kinematic Inversion Definitions

4-bar linkage terminologies

A link that makes a complete revolution and is pivoted to the ground

is called crank (normally the driving member). The other link pivoted
to the ground is called follower.
A link that has oscillatory rotation and is pivoted to ground is called a
rocker.
A link that has complex motion and is not pivoted to ground is called
coupler (opposite to the frame).
Sourav Rakshit 204 Machine Design Section Kinematics
srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 23 / 29
 Kinematic Inversion Kinematic inversion of 4R mechanism

Kinematic inversion of 4-bar linkage (4R)

Figure: l = longest link; s = shortest link; p & q are links of intermediate length

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 24 / 29
 Kinematic Inversion Kinematic inversion of 3R1P mechanism

Kinematic inversion of slider-crank linkage (3R1P)

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 25 / 29
 Kinematic Inversion Kinematic inversion of 2R2P mechanism

Kinematic inversion of RRPP mechanism

Figure: Skotch yoke mechanism

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 26 / 29
 Kinematic Inversion Kinematic inversion of 2R2P mechanism

Kinematic inversion of RRPP mechanism

Figure: Oldham coupling mechanism

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 27 / 29
 Kinematic Inversion Kinematic inversion of 2R2P mechanism

Kinematic inversion of RRPP mechanism

Figure: Elliptic trammel mechanism

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 28 / 29
 Equivalent Linkages

Equivalent Linkages

Figure: Mechanism with higher pairs can be replaced by equivalent mechanism

with lower pairs.

Sourav Rakshit 204 Machine Design Section Kinematics

srakshit@iitm.ac.in
and Dynamics of Machinery Introduction 29 / 29