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Module 1.
Basic Kinematics Kinematics CHAIN and mechanism Inversion of Chain Special Mechanism

Some Important Defination


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1. Kinematic Link
Links are individual parts of a mechanism. Each parts of a machine which has a relative motion to some other parts is known as Kinematic link.

2. Kinematic Chain
When the kinematic pairs are coupled in such a way that the last linked is joined the first link to transmit the definite motion it is called a kinematic chain.

3.

Kinematic Pair
The two links of the machine when in contact with each other are said to form a pair if the relative motion between them is successfully constrained.

4. Inversion
The method of obtaining the different mechanism by fixing the different links in a kinematic chain is known as inversion of the mechanism.

5. Machine
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When the mechanism is required to transmit the power or to do some particular type of work, it then becomes a Machine.

6. Structure
It is the assemblage of a number of resistant bodies having no relative motion between then and meant for carrying loads having a straining action. Example: a railway bridge.

7. Mechanism
When one of the links of a kinematic chain is fixed, the chain is known as mechanism. It may be used for transmitting or transforming motion. Example: Engine indicator, Typewriter.

TYPE OF CONSTARINED MOTIONS.


1. Completely constrained motion. 2. Incompletely constrained motion. 3. Successfully constrained motion.
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1. Completely constrained motion.


When the motion between a pair is limited to definite direction irrespective of the direction of force applied, then the motion is said to be a completely constrained motion. Example: The motion of the square bar in square hole. The motion of shaft with collars at each end in a circular hole.

2. Incompletely constrained motion.


When the motion between a pair can take place in more than one direction, then the motion is said to be a completely constrained motion. Example: The motion of the circular bar in circular hole.

3. Successfully constrained motion.


When the relative motion between the link is not completely constrained by itself but it is made by some other means is called successfully constrained motion. Example:
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Shaft in Footstep Bearing The motion IC engine valve and piston in reciprocating inside an engine cylinder.

Kinematic Link
Links are individual parts of a mechanism. 2)Each parts of a machine which has a relative motion to some other parts is known as Kinematic link.
1)

Classification of the LINK 1.Depending upon the nature of the resistant bodies a) Rigid link.
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b) Flexible link. c)Fluid link. 2.Depending upon the points at which the link is attached to mechanism a) Binary link b) Ternary link c)Quaternary link

Depending upon the nature of the resistant bodies


1. Rigid link
The links which do not undergo appreciable transformation while transmitting the required motion and forces is known as rigid link. Example: Piston ,Connecting Rod of Steam engine.
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2. Flexible Link
The links which are partly deformed transformation while transmitting the required motion and forces in such a way that they don effect the required transmission of motion is known as Flexible link Example: Chain, Belt and Spring

3. Fluid Link
The link which transmit the motion by fluid pressure as compression are called fluid link. Example: Liquid used in Hydraulic presses

Depending upon the points at which the link is attached to mechanism

1. Binary link
The link which is attached to two points in the mechanism is called Binary Link.

2. Ternary link
The link which is attached to three points in the mechanism is called Ternary Link.

3. Quaternary link
The link which is attached to four points in the mechanism is called Quaternary Link.

2. Kinematic Pair
The two links of the machine when in contact with each other are said to form a pair if the relative motion between them is successfully constrained.

Classification of kinematic pair


I. According to the relative motion between them
Sliding pair.
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Turning pair. Rolling pair. Screw pair. Spherical pair.

II. According to Nature of the contact


Lower pair. Higher pair.

III. According to type of closure


Self closed pair. Force closed pair.

According to the relative motion between them 1. Sliding pair.


A sliding pair is said to be formed by two links such a manner that one link is constrained to have a sliding motion relative to other link. Example: Piston and Cylinder, Cross head and guides of Steam engine.

2. Turning pair
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A turning pair is said to be formed by two links such a manner that one link is constrained to turn or revolve relative to other link. Example: Shaft with collar in circular hole.

3.

Rolling pair.
A Rolling pair is said to be formed by two links such a manner that one link is constrained to have a rolling motion over the other link. Example: Ball bearing forms Rolling pair.

4. Screw pair.
When the two elements of pairs are connected in such a way that one element can turn about the other by means of screw threads is known as Screw Pair. Example: Bolt and nut is example of Screw Pair.

5. Spherical pair.
When the two elements of pairs are connected in such a way that one element turn or swivels about the other fixed element, the pair formed is known as Screw Pair.
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Example: Ball and socket is example of Spherical Pair.

According to Nature of the contact

1. Lower pair.
When the two element of a pair have a surface contact when the relative motion takes place and the surface of one element slides over the other, the pair forced is known as lower pair. Example: The motion of piston and cylinder in the engine.

2.

Higher pair.
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When the two element of a pair have a line or point contact when the relative motion takes place and the motion between the two element is partially turning and partly sliding then the pair formed is know as Higher pair. Example: The motion of cam and follower

Kinematic pairs according to nature of mechanical constraint a. Self Closed pair


When the elements of a pair are held together mechanically in such a way that only the required kind of relative motion occurs , all the lower pairs and some of the higher pairs are closed pairs. Example: The lower pair is known as closed pair.

b. Force Closed pair or Unclosed pair


When two links of a pair are not connected mechanically but kept in contact either due to force of gravity or some spring action, they constitute an unclosed pairs. Example: The motion of cam and follower

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3. MECHANISM
When one of the links of a kinematic chain is fixed, the chain is known as mechanism. It may be used for transmitting or transforming motion. Example: Engine indicator, Typewriter.

Types of Mechanism
i. ii. Simple mechanism (a mechanism with four links) Compound mechanism (a mechanism with more than four link)

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Inversion of the following types 1. Four bar chain a) Beam engine. b) Coupling rod of Locomotives. c)Watts indicator mechanism. d) Pantograph.

2.

Single slider crank chain. a) Pendulum pump or Bull engine. b) Oscillating cylinder engine. c)Rotary IC engine. d) Crank and slotted lever quick return mechanism. e) With worth quick return mechanism.
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3.

Double slider crank chain. a) Elliptical trammel b) Scotch yoke mechanism. c)Oldhams coupling.

1. BEAM ENGINE

1. Beam engine is also called as Crank and lever mechanism. It consist of four link 2. In this mechanism, when the crank rotated about the fixed centre A, the lever oscillates about the fixed center D.

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3. The end E of the lever CDE is connected to piston rod which reciprocates due to the rotation of the crank. 4. Purpose: Convert rotary motion into reciprocating motion.

2. Coupling rod of locomotive

1. The coupling rod of the locomotive consists of four links as shown in figure. 2. In this mechanism, the link AB and BC act as crank and are connected to the respective wheel.

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3. The link CD act as a coupling rod and the link AB is fixed in order to maintain a constrain motion between them. 4. Purpose: meant for transmitting rotary motion from one wheel to another wheel.

3. Watts indicator mechanism


A watt indicator mechanism has a four link as shown in figure.

1)The four links are fixed link at A, link AC, link CE, and link BFD.
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2)It may be noted that BF and FD forms one link because two parts have no relative motion between them. 3)The link CE and BFD act as lever.

4)The displacement of link BFD is directly proportional to the pressure of gas or steam which acts on the indicator plunger. 5)On any small displacement of the mechanism, the tracing point E at the end of the link CE traces out approximately straight line. 6)The initial position of the mechanism is shown in full line whereas the dotted lines shows the position of mechanism when the gas or steam pressure acts on the indicator plunger.

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4.

Pantograph
A pantograph is an instrument used to reproduce an enlarged or reduce scale and as exactly as possible the path described by a given point.

1. It is a based on four based kinematic chain. 2. It consists of jointed parallelogram ABCD. 3. It is made up of bar connected by turning pair. It has a four turning pair.

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4. Link BA and BC are extended to O and E respectively such that OA/OE = AD/BE. 5. For all relative position of bars the triangle OAD and OBE are similar and the point O,D,E are in straight line. 6. The point E describes the same path as described by point D.

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Slider crank chain: This is a kinematic chain having four links. It has one sliding pair and three turning pairs. Link 2 has rotary motion and is called crank. Link 3 has got combined rotary and reciprocating motion and is called connecting rod. Link 4 has reciprocating motion and is called slider. Link 1 is frame (fixed). This mechanism is used to convert rotary motion to reciprocating and vice versa. Double slider crank chain: It is a kinematic chain consisting of two turning pairs and two sliding pairs. Scotch Yoke mechanism. Turning pairs 1&2, 2&3; Sliding pairs 3&4, 4&1. Inversions of double slider crank mechanism: Elliptical trammel. This is a device which is used for generating an elliptical profile.
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Oldham coupling. This is an inversion of double slider crank mechanism, which is used to connect two parallel shafts, whose axes are offset by a small amount. 5.

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