Kinematics and Dynamics of Machinery

Kinematics: with relaive motion of different parts of

a mechanism without taking into consideration the
forces producing the motion - Science dealing with
motion
Dynamics - calculation of forces impressed upon
different parts of a mechanism . Deals with
systems which are changing with time- kinetics
and statics
Statics – Deals with systems which
are not changing with time – with forces when
the body is stationary.

Kinetics - Study of forces when the body in motion

DIVISIONS OF DYNAMICS

KINEMATICS – Deals with Motion and Time

 (Kinema – Greek Word – Motion)

Dynamics : KINETICS – Deals with Motion, Time

and statics -
 Forces.

 Statics Kinematics Kinetics

STRUCTURE MECHANISM MACHINE
 MACHINE
A machine is a mechanism or combination of
mechanisms, which apart from imparting definite
motions to the parts, also transmits and modifies the
mechanical energy into some kind of desired work.
resistance to be overcome.
- A combination of interrelated parts having definite
motions and capable of performing useful work.
It is neither a source of energy nor a producer of
work but helps in proper utilisation of the same.

Wednesday, July 12, 2023 Kinematics of Machinery - Unit - I 3

Though all machines are mechanisms, all
mechanisms are not machines

Wednesday, July 12, 2023 Kinematics of Machinery - Unit - I 4

DYNAMIC/INERTIA LOAD
Inertia load require acceleration

Wednesday, July 12, 2023 Kinematics of Machinery - Unit - I 5

Wednesday, July 12, 2023 Kinematics of Machinery - Unit - I 6
Wednesday, July 12, 2023 Kinematics of Machinery - Unit - I 7
Wednesday, July 12, 2023 Kinematics of Machinery - Unit - I 8
Definitions
Machine – device to transfer or transform energy to do
useful work.
A mechanism or a combination of mechanisms which
apart from importing definite motions to the parts also
transmits and modifies the available mechanical energy
into some kind of desired work.

Mechanism – device to transfer or transform given input

motion to specified output motion

Structure – a single body with no motion / combination

of bodies with no relative motion
 Difference between Machine and
Structure

Machine Structure
1. Move Relative to one anotherStationary
2. Transforms available energy to No energy is
Another or useful work transformed
3. Transmit both power and Transmits
Motion forces only
Schematic notation for kinematic diagrams
Difference between Mechanism and Machine
Mechanism Machine
1. Transmits and modifies motion Modifies mechanical
work
2. Skeleton outline of the machine have many
to produce definite motion between mechanisms for
Various links transmitting
mechanical work or power
3. During Analysis - forms and cross- considered all
secticonal proportions of links not details for
considered except in assembly strength, stiffness
etc
 LINK / ELEMENT

KINEMATIC PAIR / JOINT

KINEMATIC CHAIN

MECHANISM

MACHINE
COMPONENTS OF MECHANISMS
Link / element

Kinematic pairs / joints

Kinematic chain
 Rigid OR Resistant Bodies
Rigid: If under action of forces it does not suffer any
deformation or the distance between any two points
on it remains constant
Resistant: which are rigid for the purpose they have
to serve – do not suffer appreciable distortion or
change in physical form due to forces acting on
them – spring, belt, & fluid – capable of transmitting
the required forces with negligible deformation.
All resistant bodies considered rigid bodies for the
purpose of transmitting motions
Semi –rigid bodies normally flexible but under
certain loading conditions act as rigid bodies for the
limited purpose – resistant bodies : belt, springs
 Kinematic Link or Element
 LINK : All rigid bodies forming the network of a
machine – move relative to some other part – need
not be a rigid but resistant – capable of
transmitting the required forces with negligible
deformation.
Member or a combination of members of a
mechanism connecting other members and having
motion relative to them.
Resistant body or a group of resistant bodies with
rigid connections preventing their relative
movement
 Types of Link / Element
1. Rigid - does not undergo any appreciable deformation
while transmitting motion : Connecting rod, crank
2. Flexible - Partly deformed not affecting the
transmission of motion : belts, ropes, chains, wires
3. Liquid – fluid in a receptacle and motion transmitted
through the fluid by pressure or compression – jacks,
brakes, hydraulic presses

Rigid Flexible Liquid

• Link with one Node : Unary Link
• Link with two Nodes : Binary Link (a)
• Link with three Nodes : Ternary Link (b)
• Link with four Nodes : Quaternary Link (c)

Rigid links having no relative

motion between the joint
within the link
 Kinematic Joint / Pair
The two links of a machine when in contact with each
other are said to form a pair to have a relative motion
between them
A connection between two or more links (at their nodes)
which allows some motion or potential motion
(completely or successfully constrained) between the
connected links
Combination of two links kept in permanent contact
permitting particular kind(s) of relative motion(s)
between them
Kinematic Joint / Pair

A connection between two or more links

(at their nodes) which allows some
motion or potential motion (completely or
successfully constrained) between the
connected links
Combination of two links kept in
permanent contact permitting particular
kind(s) of relative motion(s) between
them
Constrained motion of a kinematic pair
1. Completely constrained motion
When the motion between a pair is limited to
a definite direction irrespective of the
direction of force applied, then the motion
said to be a completely constrained motion
2: Incompletely constrained
motion: When the motion
between a pair can take
place in more than one
direction, then the motion
called an incompletely
constrained motion

3. Successfully constrained
motion : When the motion
between the elements,
forming a pair, is such that
constrained motion is not
completely by itself, but by
some other means
Classification of Pairs
Nature of contact between elements: line,
point or surface
Nature of mechanical constraint
Nature of relative motion
Number of links joined (order of the
joint)
 Classification of Pairs
BASED ON NATURE OF CONTACT BETWEEN
LINKS:
•1.BASED
Lower ON NATURE
Pairs OF CONTACT
-- Surface BETWEEN
Contact :When LINKS:
the connection
between two elements through the area of contact - Ex:
1. Lower
Revolute pair, Pairs -- Surface
prismatic, screw, Contact
cylindrical, spherical, and
planar pairs
2. Higher Pairs – Point or Line Contact –Ex.: Gear, Cam
and Follower, Belt & Rope drive, Ball & roller Bearing

3. Wrapping or special pair

Examples: Belt, Chain, etc.
Lower pairs

Higher pairs

Gear drive

Cam and Follower 25

Based on the nature of mechanical
constraint
(a) Closed pair : elements
(geometrically identical) held together
mechanically - one Solid and full &
other hollow or open enveloping and
enclosing. Contact will be broken by
destroying any one.
All lower pair and some of higher pair

(b) Unclosed or force closed or

Open pair
Contact either due to force of gravity or
some spring action – not held together
mechanically – Cam and follower pair
Wednesday, July 12, 2023 26
 Based on type of relative
motion between pairing
elements

(a) Siding pair [DOF = 1]

 Two links have a sliding motion
relative to each other

(b) Turning pair (revolute pair)

[DOF = 1]
One has a relative turning or
revolving motion

Wednesday, July 12, 2023 15

 Based on relative motion between pairing elements
(c) Cylindrical pair [DOF = 2]
 Both turning and sliding with no relationship with each

(d) Rolling pair

[DOF = 1] a rolling motion relative to other.
Rolling wheel on
flat surface, Ball
& Roller bearing

Wednesday, July 12, 2023 28

 Based on relative motion between pairing
elements
(e) Spherical pair [DOF = 3]: one in the form of sphere
turns inside a fixed link:

(f) Helical pair or screw pair [DOF = 1]: to have both

turning and sliding

Wednesday, July 12, 2023 29

Based on the nature of mechanical
constraint
(a) Closed pair : elements
(geometrically identical) held
together mechanically - one Solid
and full & other hollow or open
enveloping and enclosing. Contact
will be broken by destroying any one.
All lower pair and some of higher
pair
(b) Unclosed or force closed or Open
pair
Contact either due to force of gravity
or some spring action – not held
together mechanically – Cam and
follower pair
Wednesday, July 12, 2023 30
The degrees of freedom (dof) of a system: The
no. of independent relative motions, both
translational and rotational a pair can have;
the number of independent coordinates which
are required to uniquely define its position. For
example, if each of the above links are restricted
to move in a plane (as part of a planar
mechanism), then they would each have 3 dof
(translation in x and y, and rotation ).
BASED ON THE POSSIBLE MOTIONS (Few
Important Types only)

 Name of Pair Letter Symbol D.O.F

 1. Revolute / Turning Pair R 1
 2. Prismatic / Sliding Pair P 1
 3. Helical / Screw Pair H 1
 4. Cylindrical Pair C 2
 5. Spherical / Globular Pair S (or) G 3
 6. Flat / Planar Pair E 3
 7. Cylindric Plane Pair CP 4
 8. Spheric Plane Pair SP 5
BASED ON THE NATURE OF CONSTRAINT
1. (Completely) Constrained Pair - 1 D.O.F
2. Unconstrained Pair – More than 1 D.O.F
3. Successfully Constrained pair – Unconstrained
pair converted as Constrained pair by some
means.
Kinematic Chain
Assembly of links and pairs to produce required /
specified output motion(s) for given input
motion(s)
Linkage –one of the links of a kinematic chain is
fixed to the ground
Mechanism : A kinematic chain with one link
fixed / stationary – If motion of any of the
movable links results in definite motion of others
Structure or Locked system : DoF is zero
Superstructure : structure with negative DoF
 Mobility / D.O.F of Mechanism
No. of inputs required to get a constrained mechanism
(or) no. of position variables needed to sketch the
mechanism with all link lengths known.- the no. of
independent relative motions, both translational and
rotational a pair can have

KUTZBACH CRITERION FOR PLANAR

MECHANISM
 F = 3(N-1) - 2P1 - P2
F – DoF N – No. of Links
P1 – No. of kinematic pairs with 1 DoF.
P2 – No. of kinematic pairs with 2 DoF.
Number synthesis
Expressing no. of DOF of a linkage in terms of
the no. of links and the no. of pair connections
of different types
Let
N = total no. of links in a mechanism
F = DoF
P1 = No. of pairs having one DoF
P2 = No. of pairs having two DoF
 Spatial
Spatial D.o.F.
D.O.F. Planar
Planar D.o.F.
D.O.F.

R – Pair P – Pair C - Pair

R – Pair P – Pair C - Pair
AB fixed Link; CD – Movable
Position of Point P completely specified by 3 variables : x, y
&θ
Each link has 3 DoF before it is connected to any other
link .
When CD is connected to AB by a turning pair at T,
position of Cd is determined by a single variable θ and has
one DoF.
When a link is connected toa fixed link by aturning pair 2
DoF destroyed.
F=9 F=7 F=5 F=3 F=1
Degree of Freedom
Ina mechanism one link is fixed
No. of movable link = N – 1
DoF of (N – 1) movable links = 6 (N – 1)
Each pair having one DoF imposing 5 restraints on the
mechanism, hence DoF = 5 P1
Each pair having two DoF imposing 4 restraints on the
mechanism, hence DoF = 4 P2
similarly other pairs having 3, 4 and 5 DoF reduce the
DOF of the mechanism,
F = 6 (N -1) – 5 P1 – 4P2 – 3P3 – 2P4 – P5
Restricting six DoF Not practical
Most of the mechanism are two dimensional
such as slider – crank and four-link &
displacement along two axes and rotation
about only one axis – 3 restraint
Hence for plane mechanism,
F = 3(N – 1) – 2 P1 – P2 - Grubler’s
criterion for DoF of plane mechanism in
which each movable link possesses 3 DoF –
Kutzback’s Criterion
For linkages with a single DoF only, P2 = 0
F = 3(N – 1) – 2 P1
As most of the linkages are expected to
have one DoF one input to any of the links,
a constrained motion of the others obtained.
 1 = 3(N – 1) – 2 P1
 2 P1= 3N – 4
P1= (3/2)N – 2
As P1 and N are whole nos. 2 P1= 3N – 4 met only if
N is even – binary links
N = 4 P1 = 4 No excess turning pair
N =6 P1 = 7 One excess turning pair
N =8 P1 = 10
Increse in no. of links increases the no. of excess
turning pairs.
Excess or additional pairs or joints can be obtained
only from links having more than two joining points –
ternary or quarternary links, etc
 Not six-link
chain - 4
Link chain as
Stephennson’s
links 1, 2 and
six-bar chain
Watts six-bar chain - 3 are one link
ternary link
ternary links connected only with no
not connected
relative
motion
AB fixed Link; CD – Movable
Position of Point P completely specified by 3 variables :
x, y & θ
Each link has 3 DOF before it is connected to any other
link .
When CD is connected to AB by a turning pair at D,
position of CD is determined by a single variable θ and
has one DOF.
When a link is connected to a fixed link by a turning pair
2 DOF destroyed.
F=9 F=7 F=5 F=3 F=1
 Spatial
Spatial D.O.F.
D.O.F. Planar D.O.F.
Planar D.O.F.

R – Pair P – Pair C - Pair

R – Pair P – Pair C - Pair
Ina mechanism one link is fixed
No. of movable link = N – 1
DOF of (N – 1) movable links = 6 (N – 1)
Each pair having one DOF imposing 5 restraints on the
mechanism, hence DOF = 5 P1
Each pair having two DOF imposing 4 restraints on the
mechanism, hence DOF = 4 P2
similarly other pairs having 3, 4 and 5 DOF reduce the
DOF of the mechanism,
F = 6 (N -1) – 5 P1 – 4P2 – 3P3 – 2P4 – P5
Restricting six DOF Not practical
Most of the mechanism are two dimensional
such as slider – crank and four-link &
displacement along two axes and rotation
about only one axis – 3 restraint
Hence for plane mechanism,
F = 3(N – 1) – 2 P1 – P2 - Grubler’s
criterion for DOF of plane mechanism in
which each movable link possesses 3 DOF
– Kutzback Criterion
For linkages with a single DOF only, P2 = 0
F = 3(N – 1) – 2 P1
As most of the linkages are expected to
have one DOF ;one input to any of the
links, a constrained motion of the others is
obtained.
 1 = 3(N – 1) – 2 P1
 2 P1= 3N - 4
As P1 and N are whole nos. 2 P1= 3N – 4 met only if
N is even – binary links
N = 4 P1 = 4 No excess turning pair
N =6 P1 = 7 One excess turning pair
N =8 P1 = 10
Increse in no. of links increases the no. of excess
turning pairs.
Excess or additional pairs or joints can be obtained
only from links having more than two joining points –
ternary or quaternary links, etc.
 Not six-link
chain - 4
Link chain as
Stephennson’s
links 1, 2 and
six-bar chain
Watts six-bar chain - 3 are one link
ternary link
ternary links connected only with no
not connected
relative
motion
2 Excess turning pairs required for 8 link chain by using
4 ternary links as (a) and (b)
2 quaternary links as in (c)
one quanternay and 2 ternary links as in (d)
No. of links = 8
P1 = 9 + 1 = 10
F = 3(8 -1 ) – 2 x 10 = 1
F = N – (2L +1)
P1 = N + (L -1)
Where
N = total no. of links in a mechanism
F = DOF
L = No. of Loops in a linkage
L F P1
1 N-3 N
2 N-5 N+1
3 N-7 N+2
4 N-9 N+3
5 N-11 N+4
Ex: if 4 loops and 11 links, its DOF = 2 and No. of joints = 14.
Sometimes, all relations discussed may not give correct results.
No. of Links = 5, P1 = N + (L – 1)

No. of turning pair = 6 6 = 5 + (2 -1)

No. of Loops = 2 6 =6
F = 5 – (2 x 2 +1) = 0 - Structure
No. of Links = 4, P1 = N + (L – 1)
No. of turning pair = 4 4 = 4 + (1-1) = 4
No. of Loops = 1
F = 4 - (2x 1 +1) = 1
F = 3(N – 1) – 2 P1 = 3(5 – 1) -2 x 5 = 12-10 = 2
= 3(4-1) – 2x4 = 9-8 = 1
Examples - DOF
F = 3(N-1)-2P1-H
Here, n = 4, P1 = 4 &
H = 0.
F = 3(4-1)-2(4) = 1
I.e., one input to any
one link will result in
definite motion of all
the links.
Examples - DOF
F = 3(N-1)-2P1-H
Here, N = 5, P1 = 5 and H =
0.
F = 3(5-1)-2(5) = 2
I.e., two inputs to any two
links are required to yield
definite motions in all the
links.
Examples - DOF
F = 3(N-1)-2P1-H
Here, N = 6, P1 = 7 and H =
0.
F = 3(6-1)-2(7) = 1
I.e., one input to any one
link will result in definite
motion of all the links.
Examples - DOF
F = 3(N-1)-2P1-H
Here, N = 6, P1 = 7 (at
the intersection of 2, 3
and 4, two lower pairs
are to be considered)
and H = 0.
F = 3(6-1)-2(7) = 1
Examples - DOF
F = 3(N-1)-2P-H
Here, N = 11, P1 = 15 (two
lower pairs at the
intersection of 3, 4, 6; 2, 4,
5; 5, 7, 8; 8, 10, 11) and h =
0.
F = 3(11-1)-2(15) = 0
Examples - DOF

(a) (b) (c)

F = 3(N-1)-2P1-H F = 3(N-1)-2P1-H F = 3(N-1)-2P1-H
Here, N = 4, P1 = 5 Here, N = 3, P1 = 2 Here, N = 3, P1 = 2
and H = 0. and H = 1. and H = 1.
F = 3(4-1)-2(5) = -1 F = 3(3-1)-2(2)-1 = 1 F = 3(3-1)-2(2)-1 = 1
I.e., it is a super
structure
F = N – (2L +1)
P1 = N + (L -1)
Where
N = total no. of links in a mechanism
F = DOF
L = No. of Loops in a linkage
L F P1
1 N-3 N
2 N-5 N+1
3 N-7 N+2
4 N-9 N+3
5 N-11 N+4
Ex: if 4 loops and 11 links, its DOF = 2 and No. of joints = 14