IV Sem 'B' Section, Mechanical Department KOM Notes-2016

Unit-I: Kinematic Link or Element

Introduction
Syllabus: A link is a resistant body that constitutes the
Definitions Link or element, kinematic pairs, Degrees of part of machine connecting other parts which
freedom, Grubler's criterion (without derivation), Kinematic have motion relative to it.
chain, Mechanism, Structure, Mobility of Mechanism,
Inversion, Machine. OR
Kinematic Chains and Inversions: Inversions of Four bar chain; Each part of a machine, which moves relative
Single slider crank chain and Double slider crank chain.
to some other part, is known as a kinematic
Santosh A Goudar, B.E, M.Tech, (Ph.D)., link (or simply link) or element.
Asst. Professor,
Mechanical Department, Example: slider-crank chian
AIET, Moodbidri
1 2

3. Ternary Link : A link which is connected to

Classification of links three other links is called a ternary link
1. Singular Link : A link which is connected to 4. Quarternary Link : A link which is connected
only one other link is called a singular link to four other links is called quarternary link

2. Binary Link : A link which is connected to two

other links is called a binary link

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Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 1
IV Sem 'B' Section, Mechanical Department KOM Notes-2016

Types of Links Kinematic Pair

1. Rigid link: A rigid link is one which does not
undergo any deformation while transmitting
motion. Ex- connecting rod, crank etc.
2. Flexible link: A flexible link is one which is partly
deformed in a manner not to affect the
transmission of motion. Ex- belts, ropes, chains
and wires
3. Fluid link : A fluid link is one which the motion is
transmitted through the fluid by pressure
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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.

2. Incompletely constrained motion: When the

Types of Constrained Motions motion between a pair can take place in more
1. Completely constrained motion: When the than one direction, then the motion is called
motion between a pair is limited to a definite an incompletely constrained motion.
direction irrespective of the direction of force
applied, then the motion is said to be a
completely constrained motion.

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Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 2
IV Sem 'B' Section, Mechanical Department
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.
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1. 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.
EX- The piston and cylinder, tail stock on the lathe bed
etc.
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Santosh A Goudar, B.E, M.Tech,(Ph.D).,
Asst. Professor,Mechanical Department, AIET, Moodbidri
KOM Notes-2016
Classification of Kinematic Pairs
Kinematic pairs may be classified according to,
1. Type of Relative Motion Between The Elements
2. Type of Contact Between The Elements
3. Type of Closure
(b) 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.
EX- A shaft with collars at both ends fitted into a
circular hole lathe spindle supported in head stock,
cycle wheels turning over their axles etc.
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IV Sem 'B' Section, Mechanical Department
(c) 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.
EX- Ball and roller bearings are examples of
rolling pair.
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(e) 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.
EX- The ball and socket joint, attachment of a
car mirror, pen stand etc.,
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Santosh A Goudar, B.E, M.Tech,(Ph.D).,
Asst. Professor,Mechanical Department, AIET, Moodbidri
KOM Notes-2016
(d) 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
EX- The lead screw of a lathe with nut, and bolt
with a nut
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2. 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 , the pair is known as lower pair.
Ex-sliding pairs, turning pairs and screw pairs
(b) Higher pair: When the two elements of a pair
have a line or point contact when relative
motion takes place, the pair is known as higher
pair.
Ex- toothed gearing, belt and rope drives, ball and
roller bearings and cam and follower.
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IV Sem 'B' Section, Mechanical Department KOM Notes-2016

Closed pair 3. Type of closure

(a) 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 closed pair
Unclosed pair Ex- lower pairs are self closed pair
(b) Unclosed 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 unclosed pair
Ex- The cam and follower and foot-step bearing
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The following relationship holds foe a kinematic chain

Kinematic chain having lower pairs only,
N= 2P- 4
- A kinematic chain is an assembly of links in which the J= 3N/2 -2
relative motion of the links is possible and the motion Where N = No. Of links
of each link relative to others is definite P = No. Of pairs
- The last link of kinematic chain is attached to the first j= No. of joints
link If LHS>RHS, chain is locked
Ex- LHS=RHS, chain is constrained
LHS<RHS, chain is unconstrained
Ex-

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Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 5
IV Sem 'B' Section, Mechanical Department KOM Notes-2016

Machine v/s Mechanism Machine v/s Structure

Machine Mechanism Machine Structure

1. A machine is meant for A mechanism is meant for transmit or

1. The parts of a The members of a structure do not
transmitting energy or to transform motion
machine move relative move relative to one another
do useful work
2. A machine is a
to one another
combination of two or A mechanism is a combination of of rigid or 2. A machine
more mechanisms restraining bodies which are so shaped and transforms the In a structure no energy is transformed
arranged in such a way so connected, they move each other with available energy into into useful work
as to obtain the required definite relative motion
some useful work
motion
3. A machine can use one 3. The links of a
It is not the case with mechanisms. A
or more than one machine may transmit The members of a structure transmit
mechanism is a single system to transfer or
mechanism to perform both power and forces only
transform motion
the desired function 21
motion 22

Mobility, Degree of freedom(DOF), Mobility: of mechanism is defined as the

Grubler criterion number of degree of freedom it possesses or it
is defined as minimum number of independent
DOF: The number of DOF is described as the parameters required to specify the location of
number of ways of link of mechanism can every link within a mechanism.
move Grubler criterion :
OR F= 3(n-1)-2j1-j2
The no. Of dof of a kinematic pair is defined as where , F = Degrees of freedom
the no. Of independent relative motion both n = Number of links
translation and rotation that a kinematic pair J1 = Number of lower pairs
can have. j2 = Number of higher pairs

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Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 6
IV Sem 'B' Section, Mechanical Department KOM Notes-2016

Inversions of mechanism Types of Kinematic Chains

A mechanism is one in which one of the links of a
kinematic chain is fixed. Different mechanisms can
be obtained by fixing different links of the same
kinematic chain. These are called as inversions of the
mechanism.
1. Four bar chain or quadric cyclic chain
2. Single slider crank chain, and
3. Double slider crank chain.

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Four Bar Chain or Quadric Cycle Chain
According to Grashofs 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

Link 1- The fixed link is known as frame

Link 2 Crank (the link which can make complete rotation)
Link 3- connecting rod or coupler (which connects the crank and
lever)
Link 4- lever or rocker or follower(The link which oscillates)

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Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 7
IV Sem 'B' Section, Mechanical Department KOM Notes-2016

Inversions of Four Bar Chain Beam engine (crank and lever mechanism)

1. Beam engine (crank and lever mechanism)

2. Coupling rod of a locomotive (Double crank
mechanism) or parallel crank mechanism
3. Watts indicator mechanism (Double lever
mechanism)

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- In this mechanism, when the crank rotates

Coupling rod of a locomotive (Double
about the fixed centre A, the lever oscillates crank mechanism)
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

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Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 8
IV Sem 'B' Section, Mechanical Department KOM Notes-2016

- In this mechanism, the links AD and BC

Watts indicator mechanism (Double
(having equal length) act as cranks and are lever mechanism)
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.

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In this mechanism, the links AB & DE acts as Single slider crank chain
levers, the ends A&E of these levers are fixed.
The links AB & DE are parallel in mean Link 1 frame
position of mechanism and coupling rod BD Link 2 crank
Link 3 connecting rod
perpendicular to the levers AB & DE. Link 4 slider

The point C traces the shape 8, which will be

approximately straight. Hence this is
approximately straight line mechanism
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.
35 36

Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 9
IV Sem 'B' Section, Mechanical Department KOM Notes-2016

Inversions of Single slider crank chain First inversion

This inversion is obtained when
1. First inversion link 1 is fixed and links 2 and 4
a) Reciprocating engine are made crank and slider
2. Second inversion respectively
a) Rotary engine (Gnome engine)
b) Whitworth quick return mechanism ( will study in next
Reciprocating engine:-
unit )
3. Third inversion In Reciprocating
a) Oscillating cylinder engine engine, Link 4 is a
b) Crank and slotted lever quick return motion mechanism ( piston acts as driver
will study in next unit )
4. Fourth inversion
a) Hand pump

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Second inversion It consists of seven cylinders in one plane and

a. Rotary engine (Gnome all revolves about fixed centre D, while the
engine)
crank (link 2) is fixed.
In this mechanism, when the connecting rod
(link 3) rotates, the piston (link 4) reciprocates
inside the cylinders forming link 1

39 40

Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 10
IV Sem 'B' Section, Mechanical Department KOM Notes-2016

Third inversion In this mechanism, the link 3 forming the

turning pair is fixed, The link 3 corresponds to
Oscillating cylinder engine 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 at A.
The arrangement of oscillating cylinder engine
mechanism is used to convert reciprocating
motion into rotary motion

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Fourth inversion In this mechanism, the inversion is obtained

Hand pump
Link 1- piston rod
Link 2- crank
Link 3- connecting rod
Link 4- cylinder(Fixed )
by fixing the cylinder or link 4 (i.e. sliding pair),
as shown in fig.
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.

43 44

Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 11
IV Sem 'B' Section, Mechanical Department KOM Notes-2016

3. Double slider crank chain. Elliptical trammels

1. Elliptical trammels
2. Scotch yoke mechanism.
3. Oldhams coupling.

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It is an instrument used for drawing ellipses. Let us take OX and OY as horizontal and
This inversion is obtained by fixing the slotted vertical axes and let the link BA is inclined at
plate (link 4), The fixed plate or link 4 has two an angle with the horizontal, as shown in
straight grooves cut in it, at right angles to each
Fig(b).
other.
The link 1 and link 3, are known as sliders and
form sliding pairs with link 4. The link AB (link 2)
is a bar which forms turning pair with links 1 and
3
When the links 1 and 3 slide along their
respective grooves, any point on the link 2 such
as P traces out an ellipse on the surface of link 4.

47 48

Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 12
IV Sem 'B' Section, Mechanical Department KOM Notes-2016

This is the equation of an ellipse. Hence the 2. Scotch yoke mechanism.

path traced by point P is an ellipse whose
semi-major axis is AP and semi-minor axis is
BP.

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This mechanism is used for converting rotary 3. Oldhams coupling

motion into a reciprocating motion.
In Fig, link1 is fixed. In this mechanism, when
the link 2 (which corresponds to crank) rotates
about B as centre, the link 4 (which
corresponds to a frame) reciprocates. The
fixed link 1 guides the frame. Link 1 Flange
Link 2 Supporting frame
Link 3 Flange
Link 4 Intermediate piece

51 52

Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 13
IV Sem 'B' Section, Mechanical Department
53
The intermediate piece (link 4) which is a
circular disc, have two tongues (i.e.
diametrical projections) T1 and T2 on each
face at right angles to each other, as shown in
Fig.
The tongues on the link 4 closely fit into the
slots in the two flanges (link 1 and link 3). The
link 4 can slide or reciprocate in the slots in
the flanges
55
Santosh A Goudar, B.E, M.Tech,(Ph.D).,
Asst. Professor,Mechanical Department, AIET, Moodbidri
KOM Notes-2016
An oldham's coupling is used for
connecting two parallel shafts whose axes are
at a small distance apart. The shafts are
coupled in such a way that if one shaft rotates,
the other shaft also rotates at the same
speed.
The shafts to be connected have two flanges
(link 1 and link 3) rigidly fastened at their ends
by forging .
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When the driving shaft A is rotated, the flange
C (link 1) causes the intermediate piece (link
4) to rotate at the same angle through which
the flange has rotated, and it further rotates
the flange D (link 3) at the same angle and
thus the shaft B rotates.
Hence links 1, 3 and 4 have the same angular
velocity at every instant.
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IV Sem 'B' Section, Mechanical Department KOM Notes-2016

Maximum sliding speed of each tongue (in m/s)

Let,
= Angular velocity of each shaft in rad/s,
r = Distance between the axes of the shafts in
metres.

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Santosh A Goudar, B.E, M.Tech,(Ph.D).,

Asst. Professor,Mechanical Department, AIET, Moodbidri 15