Introduction to Theory of Machines

LECTURE NOTES- MECE 303 Theory of

Machines
Chapter 1- Introduction to Theory of
Machines

Fall Semester 2010/2011

Halil Orhan YILDIRAN, MS

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 Introduction to Theory of Machines

In the mechanism analysis we’ll study

Kinematic analysis: motion analysis for position,
velocity, acceleration
Force analysis: static and dynamic force analysis
on the mechanism
In these analysis you may use some CAD Tools,
and internet to get information and to visualize
the subject.

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 Introduction to Theory of Machines

A machine is an assemblage of rigid bodies that

transmits and/or transforms forces, motion and
energy in a predetermined manner, to do work.

A mechanism is a group of rigid bodies connected to

each other by joints, to form a closed kinematic chain
with one link fixed, to transmit force and motion

A rigid body is a material body in which the distance

between any two points remains always constant.
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 Introduction to Theory of Machines

Ex. Four bar mechanism

Ex. Slider crank mechanism

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 Introduction to Theory of Machines

Ex. A toggle mechanism with non rigid

connections

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 Introduction to Theory of Machines

BASIC CONCEPTS AND DEFINITIONS

Kinematic element: is that part of a rigid body,
which is used to connect it to another rigid body
such that relative motion between the two rigid
bodies can occur.

Joint (kinematic pair, pair): a connection between

rigid bodies, which permits relative motion
between them and physically adds some
constraint(s) to this relative motion. In other
words it is the joining of two kinematic elements.
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 Introduction to Theory of Machines

Open kinematic pair: is a joint for which contact between

kinematic elements is maintained only for some possible
positions of a mechanism.

Closed kinematic pair: is a joint for which contact

between kinematic elements is maintained within all
possible positions of a mechanism.
a)Form closed kinematic pair: is a joint for which the contact
between kinematic elements is maintained due geometry.
b)Force closed kinematic pair: is a joint for which some external
force (i.e. weight, spring-force) is required to keep the contact
between kinematic elements.
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 Introduction to Theory of Machines

Lower kinematic pair: is a joint for which the

contact between the two kinematic elements is
along a surface.
Higher kinematic pair: is a joint for which the
contact between the two kinematic elements is
along a line or at a point.
Degree-of-freedom (dof) of a joint: is the number
of independent parameters that is required to
determine the relative position of one rigid body
with respect to the other which is connected by
the joint. These independent parameters are
called joint or pair variables. 8
 Introduction to Theory of Machines

Open kinematic pair

Closed kinematic pairs:

Form closed kinematic pair
(Lower kinematic pairs-Surface contact)

Force closed kinematic pair

(Higher kinematic pairs-Line/point contact)

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 Introduction to Theory of Machines

Table: Frequently used joints

Name Symbol Joint Relative Motion Lower or

DOF Translational Rotational Higher Pair
Revolute (pin, hinge) R 1 0 1 L
Prismatic (sliding) P 1 1 0 L
Helical H 1 1 coupled L
Cylindrical C 2 1 1 L
Spherical S 3 0 3 L
Plane E 3 2 1 L
*
Gear pair G 2 1 1 H
*
Cam pair Cp 2 1 1 H
*
: assuming rolling and sliding occurs

There are only six lower pairs (i.e. R, P, H, C, S, E) others are higher pairs and only
two of them (G, Cp) are given in the above table. General point or line contact joints
with pure rolling (1 dof), pure sliding (1dof), or rolling-sliding (2-dof) conditions
are also common higher pairs. .
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 Introduction to Theory of Machines
Table. Types of joints with lower pairs
Joint Illustration Pair Degrees of Relative
variable freedom Motion
Revolute
(turning pair) ∆θ 1 1 rotational

Prismatic
∆s 1 1 translational
Helical 1 translational or 1 rotational,
∆s or ∆θ 1 ( ∆s and ∆θ are dependent,
i.e. ∆s α ∆θ )
Cylindrical
∆s and ∆θ 2 1 translational and 1 rotational
Spherical
∆θ, ∆φ, ∆ϕ 3 3 rotational
Plane
∆x, ∆y, ∆θ 3 2 translational and 1 rotational

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 Introduction to Theory of Machines

Link: a rigid body that provides connections to

other rigid bodies by at least two joints.
Links can be classified according to the number of kinematic
elements they contain as

Binary link

Ternary link

Quarternary link

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 Introduction to Theory of Machines
When multiple links are connected the joint order will be as follows
Joint Illustration Joint order

Binary joint 1

Ternary joint
2

Quarternary joint
3
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 Introduction to Theory of Machines

When one of the links of a kinematic chain is held

fixed then it is called a mechanism.
The fixed link is also called the ground link or
frame. A mechanism, which contains only lower
pairs is called a linkage.
Example: Kinematic chain versus mechanism

Four-bar kinematic chain Four-bar mechanism (linkage)

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 Introduction to Theory of Machines

If the motion of links of a kinematic chain or mechanism or linkage

is:
- on a plane or parallel planes then it is a planar kinematic chain,
or planar mechanism, or planar linkage
-in three dimensional space then it is a spatial kinematic chain, or
spatial mechanism, or spatial linkage
A spatial linkage may contain any of the six lower pairs (R, P, H, C, S,
E). A planar linkage may contain revolute and prismatic joints (R, P).
Representation of revolute and prismatic joints in planar chains is
illustrated below

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 Introduction to Theory of Machines

Kinematic representations of revolute and prismatic joints

R R

P P

Pin-in-a-slot or slotted cylinder (Cs) joints are also common higher

pairs utilized in planar kinematic chains

Kinematic equivalence for pin-in-a-slot joint

Cs R

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 Introduction to Theory of Machines

The degree of freedom of space (λ):The number

of independent parameters that should be
specified in order to define the position of a rigid
body in that space.
Spatial space is most general case … (λ=6) 3
rotation, 3 translation
In planar space a rigid body has 3 degrees of
freedom (λ=3) : 2 translation (x and y axis) and 1
rotation (z axis).
Spherical space: (λ=3)Three rotation
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 Introduction to Theory of Machines

In a planar space the position of a rigid body can

be specified by:
*2 points on the body (Wrt a fixed ref.)
*1 point on the body and angle from this point to
the second point (Wrt a fixed ref.) XA, YA and θ
*Radius and angle from origin of fixed ref. to the
first point and angle from this point to the second
point (r, Ø and θ)

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Introduction to Theory of Machines

(XA-XB) 2+(YA-YB)2=a2.

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 Introduction to Theory of Machines

Degree of freedom of Mechanisms (F):

Is the number of independent parameters that should be specified in order to define position of
every link in the mechanism.

Consider an l -link mechanism with j joints. If there were no joints we would have l -1
movable links so we would need λ (l -1) parameters to define the position of those links, ie
total dof= λ (l -1)
The joints impose constrains on the motion . Let dof of ith joint be defined as fi. Then the
number of constraints imposed by the ith joint is λ-fi.
j
The total number of constraints by all joints is ∑i =1 (λ − fi) . Therefore
j j
∑i=1 (λ − fi) = λj- ∑i=1 fi (assuming all constraints are independent.)
j
F= λ(l -1)- (λj- ∑i =1 fi )

j
F= λ(l -j-1)+ ∑i =1
fi
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 Introduction to Theory of Machines

SPECIAL SPACES
*Spatial space is most general case … λ=6
*Planar space is the special case… λ=3
*Spherical space
• All the links only rotate about a common fixed point
• The rotation axis of each link intersect at a common
point.
• Since there is no translation λ=3
• Eg
• Figure 1.50 Hook’s universal joint
j
λ=3, l =4, j=4, ∑ i =1
fi =4 There fore F=3(4-4-1)+4=1
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 Introduction to Theory of Machines-Special Spaces

*Nonrotational Planar Space

• Since there is no rotation λ=2
• In this space there can only be P joints
• Ex:
• Wedge mechanism

j
λ=2, l =3, j=3, ∑ i =1
fi =3 There fore F=2(3-3-1)+3=1

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 Introduction to Theory of Machines-Special Spaces

*Screw Space
• All the links rotate about and /or translate along one axis. λ=2
• The possible joints are H, R, P
j
λ=2, l =3, j=3, ∑
i =1
fi =3 There fore F=2(3-3-1)+3=1

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 Introduction to Theory of Machines
It is possible that different part of a mechanism may have different
λ’s.
• Ex
• Links 1,2,3,4 form a four bar linkage λ=3
• Links 3,5, 6 form a wedge mechanism λ=2
•
• Four bar, F=1
• Wedge mechanism, F=1.
So the total degree of fredom is F=2

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 Introduction to Theory of Machines

KINEMATIC INVERSION
• The process of choosing different links of a chain
as the fixed link, for generating new mechanisms
is called KINEMATIC INVERSION
• Ex
• 4 link planar RRRP chain:

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Introduction to Theory of Machines-Kinematic Inversion

• a)Fixing link 1-(Slider crank mechanism, 2 as

crank). When translation direction is changed
the appearance changes considerably.
• b)Fixing link 4-(Slider crank mechanism, 3 as
crank, slider 1, same as (a)
• c)Fixing link 3- Swinging block
• d) Fixing link 2, same as fixing link 3

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Introduction to Theory of Machines-Kinematic Inversion

Fixing link 3 (at left)

Fixing link 4 (at rigth)

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 Introduction to Theory of Machines

GRUBLER’s Equation
• General dof eqn: F= λ(l -j-1)+ ∑ij=1 fi
• This equation can be simplified for sub-classes
of mechanisms. Consider 1 dof planar linkages,
which are most common mechanism subclasses.
j
• F=1, λ=3 and with R,P joints ∑i =1 fi =j
• 1=3(l -j-1)+j
• From here we can get the Grubler’s equation
as:
3 l -2j-4=0 28
Introduction to Theory of Machines-GRUBLER’s Equation

Conclusions for this class of mechanism(F=1):

• * l must be even

• * # of binary links in a mechanism ≥4

• * # kinematic elements of a link ≤ l /2

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 Introduction to Theory of Machines
CRITICAL FORM MECHANISMS
Sometimes the general dof equation gives incorrect
result. This occurs because of special link dimensions.
Such mechanisms are called critical form mechanisms.
Example: j
λ=3, l =5, j=6, ∑
i =1
fi =6.
There fore F=3(5-6-1)+6=0, so this is a structure.

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 Introduction to Theory of Machines-Critical Form
Mechanisms
• But if links 1 and 3 are made parallel and links 2, 4 and 5 are
made parallel using special link lengths, the result is a double
parallelogram linkage.
• For this mechanism;
• Equation gives F=0 but, Factual =1 due to special link lengths.

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