Theory of Machines

Presentation
By
Prof. N Mohan Rao
JNTUK

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 Plane mechanisms

• Basic terminology:
Resistant body is that which does not suffer
appreciable distortion or change in physical
form due to the forces acting on it.
Element is a part of machine which has been
manufactured without the operation of
assembling. Example: bolt and nut are two
elements.

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 Basic terms
• Link: A link is a resistant body or assembly of
resistant bodies that connects parts of a machine
which have motion relative to it.
A link may be meant for transmitting motion and
for guiding other links. It may be support also.
Eg. Piston, piston rod and cross head of a steam
engine together form one link.
• Kinematic Pair: It is a movable joint of two links
which are in contact with the relative between
them being completely or successfully
constrained. Piston and cylinder of an I.C engine
form a pair.
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 Types of Kinematic Pairs
• Based on type of contact
– Lower pair : surface contact while in motion
Ex. Shaft revolving in a bearing, straight line
motion mechanisms, automobile steering gear.

– Higher pair: point or line contact while in motion

Ex. Belt, rope and chain drives, gears, cams

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 Types of Kinematic Pairs…
• Based on type of relative motion
– Sliding pair: Two links are connected such
that one is constrained to have sliding
motion relative another link.
Example: Cross head and guides of a
reciprocating engine
bearing
– Turning pair: two links are connected such
that one is constrained to turn or revolve
about a fixed axis of another link.
Example: Crank shaft turning in a bearing

– Screw pair: one link turns about the other

by means of thread, relative motion being
combination of turning and sliding.
Example: Bolt and nut, lead screw and nut
of a lathe

– Spherical pair: one element in the form of

a sphere turns about the other element
Example: ball and socket joint
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 Types of Kinematic Pairs…
• Based on type of closure
– Closed Pair: the links of a pair are held together
by their geometrical arrangement under any
direction of force.
Example: screw pair and spherical pair
– Unclosed pair: the links of a pair are not held
together mechanically, but are connected by
the forces exerted by external arrangement.
Example: cam and follower are connected by
the forces exerted by spring and gravity only.

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• Kinematic chain: when the kinematic pairs are
connected such that the last link is joined to
the first link to transmit constrained motion, it
is called kinematic chain. Connecting rod
crank

slider
Mechanism: It is an assemblage of links so connected
that they move relative to the other with a definite
relative motion.
A mechanism is formed by fixing one of the links of a
kinematic chain.
A mechanism is a part of machine.
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 Constrained motion
• Completely constrained motion: is the one in
which motion takes place in a definite direction
irrespective of the direction of force.
The motion is complete by its own links.
Example: a rectangular bar moving in a
rectangular hole, a shaft with collars at each end
rotating a round hole.
Fixed element
collars

shaft

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 Successfully constrained motion
• Successfully constrained motion:
When the constrained motion is not complete
by itself but by some other external means, it is
called as partially or successfully completed
motion.
Example: a foot step bearing and a rotor of a
vertical turbine

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 Incompletely constrained motion
• Incompletely constrained motion:
When the links are so connected that the
motion can take place in more than one direction,
it is called incompletely constrained motion.
Direction of motion changes with the direction of
impressed force.
• Example: A circular bar moving in a round hole as
the bar rotate or reciprocate independently.
Fixed element

shaft

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 Degrees of freedom
• The number of degrees of freedom of a
mechanism indicates the number of inputs the
mechanism should be given in order to fulfill a
useful engineering purpose.
Example: A mechanism with one degree of
freedom requires one input motion at a point on
the mechanism to cause constrained motion of
all other links.
A mechanism with two degrees of freedom
requires two independent motions to cause
definite motion of other links.

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 Degrees of freedom

θ
φ
θ
Degrees of freedom, F=1
Degrees of freedom, F=2

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 Degrees of freedom for plane mechanisms
• Let the L number of links in a mechanism be
connected by P1 number of lower pairs and P2
number of higher pairs.
• Each link has 3 degrees of freedom before it is
connected to any link.
• Total number of degrees of freedom for (L-1) links
is 3(L-1).
• For each lower pair present in the mechanism,
there is a loss of 2 degrees of freedom.
• For each higher pair present in the mechanism,
there is a loss of 1 degrees of freedom.
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• Hence, the degrees of freedom of a mechanism,
F = 3(L-1) – 2P1 – P2 ……..(1)
This equation is known as Gruebler’s criterion for degrees
of freedom of plane mechanisms
• If P2=0 i.e. there are no higher pairs,
F= 3(L-1) – 2P1 ……..(2)
• If F=1, Eq. (2) takes the form
1= 3(L-1) – 2P1
2P1-3L+4=0……………(3)
This equation is gives the relation between the number
of links and the lower pairs for plane mechanisms
having one degree of freedom.

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• If a mechanism is assumed to consist of
turning pairs only, then the number of turning
pairs in the mechanism is equal to number of
lower pairs in the mechanism.
• P1=(3/2)L-2
• In order that P1 to be whole number, L should
be even.
• Thus, for plane mechanisms with F=1 and all
turning pairs, the number of links should be
even.

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 L P1 Comments

4 4 No excess turning pairs required

6 7 One excess turning pair required
8 10 Two excess turning pairs required
With all the binary links (turning pairs), it is not possible to get the
excess turning pairs. Therefore, to get the excess pairs or joints, links
having more than two joints are to be used like ternary or quaternary
links.
For the six-link chain, two ternary links are required to get one excess
turning pair
For eight link chain, two quaternary links (or) four ternary links (or)
one quaternary link and two ternary links are required to get two
excess turning pairs
Ternary link Ternary link

six-link chain six-link chain

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 Four bar chain
• Four bar chain is the most fundamental chain
of the plane mechanisms. It is the much
preferred mechanism due to its simplicity. It
consists of four links connected by four
turning pairs.
C

A D

Four bar chain

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• Grashof's theorem states that a four bar mechanism has at
least one revolving link, if the sum of the lengths of the
shortest and longest links is less than or equal to the sum of
lengths of the other two links. L + S ≤ P+Q

Mechanisms satisfying this condition fall into the

following three categories:
(1)When any one of the adjacent links of the shortest link
is fixed, the shortest link can have full revolution and
the link opposite to it oscillates. This is known as crank-
rocker mechanism.

s
s

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(2) If the link opposite to the
shortest link is fixed and the
shortest link is made coupler,
the other two links oscillate. s

This is known as rocker-rocker

or double- rocker mechanism.

(3) When the shortest link is

fixed, the mechanism is
s
double-crank mechanism.

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 Inversion of a mechanism
Different mechanisms obtained by fixing
different links of a kinematic chain are known
as its inversions.

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 Slider-crank chain
• It is a four link chain with one sliding pair and
three turning pairs. This mechanism converts
the reciprocating motion of piston of a steam
engine into rotary motion of its crank.

OA- Crank – link 2

AB – Connected rod – link 3
B – slider – link 4
OB- Fixed link – link 1

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 Inversions of a slider- crank chain
• Different inversions of the
mechanism can be obtained by 4
fixing different links one link at
a time. 3

(1) Link 4 (sliding pair) is fixed

2
Example: Pendulum pump, 1
Duplex pump used as feed water 1
4
pump to boilers (two pistons are
Pendulum pump
fitted to link 1) (link 4 fixed)

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 Link 3 (connecting rod) fixed
• Examples: 1
2

(a) oscillating cylinder 3

engine 1

(b) Crank and slotted lever 4

type quick return Oscillating cylinder
link 3 fixed
motion mechanism

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 B C
• Crank and slotted lever 4
type quick return α 2 1
A
O1
motion mechanism β

• Used in shaper/planer 3

O2
Crank and slotted lever type
quick return motion mechanism

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 Link 2 (rotating pair) fixed
• (a) Whitworth type quick return motion
mechanism
B
1

O2 C

2
4 β
A 3 O1
α

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• Gnome engine

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 Double slider crank chain
• Consists of 2
turning pairs and 2
sliding pairs
• Links 1 and 2 form
turning pair
• Links 2 and 3 form
turning pair
• Links 3 and 4 form
sliding pair
• Links 4 and 1 form
sliding pair
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Inversions of Double slider crank chain
Oldham’s coupling – link 2 fixed

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• Elliptical trammel – link 4 fixed
x = BC cosθ
y = AC sinθ

(x / BC) = cosθ

(y / AC) = sinθ O

(x2 / BC2) + (y2 / AC2) = cos2θ + sin2θ = 1

Equation for ellipse.

Locus of point C is an ellipse with O as the centre

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 Questions
1. A four bar mechanism is made up of links of
length 100, 200, 300 and 350 mm. If the 350 mm
link is fixed, the number of links that can rotate
fully is __________.

2. The number of degrees of freedom in a planar

mechanism having n links and j simple hinge
joints is
(A) 3(n−3)−2j (B) 3(n−1)−2j (C) 3n−2j (D) 2j−3n+4
Answer : (B) 3(n−1)−2j
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(3) The number of degrees of freedom of the
planetary gear train shown in the figure is
(A) 0 (B) 1 (C) 2 (D) 3
Answer : (C) 2
L=4, P1=3
P2=1
F= 3(4-1)-2x3-1x1=2

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(4) The number of degrees of freedom of the
linkage shown in the figure is
(A) -3 (B) 0 (C) 1 (D) 2
Answer : (C) 1

L=6 P1=7
F=3(6-1) – 2x7=1

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(5) For the given statements:
I. Mating spur gear teeth is an example of higher pair
II. A revolute joint is an example of lower pair
Indicate the correct answer.
(A) Both I and II are false

(B) I is true and II is false

(C) I is false and II is true

(D) Both I and II are true

Answer : (D) Both I and II are true

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(6) A 4-bar mechanism with all revolute pairs has link lengths lf = 20
mm, lin = 40 mm, lco = 50 mm and lout = 60 mm. The suffixes 'f', 'in',
'co' and 'out' denote the fixed link, the input link, the coupler and
output link respectively. Which one of the following statements is
true about the input and output links?

(A) Both links can execute full circular motion

(B) Both links cannot execute full circular motion
(C) Only the output link cannot execute full circular motion
(D) Only the input link cannot execute full circular motion
co
Answer: A
ou
in

f
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(7) A planar closed kinematic chain is formed with rigid links
PQ = 2.0 m, QR = 3.0 m, RS = 2.5 m and SP = 2.7 m with all
revolute joints. The link to be fixed to obtain a double
rocker (rocker-rocker) mechanism is
(A) PQ PQ+QR< RS+ SP
R
(B) QR S

(C) RS
P Q
(D) SP
Answer : (C) RS
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(8) Mobility of a statically indeterminate structure is
(A) ≤−1

(B) 0

(C) 1

(D) ≥2
Answer : (A) ≤−1

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(9) Which of the following statements is INCORRECT?
(A) Grashof’s rule states that for a planar crank-rocker four
bar mechanism, the sum of the shortest and longest link
lengths cannot be less than the sum of the remaining two
link lengths.
(B) Inversions of a mechanism are created by fixing
different links one at a time.
(C) Geneva mechanism is an intermittent motion device
(D) Gruebler’s criterion assumes mobility of a planar
mechanism to be one.
Answer : (A) Grashof’s rule states that for a planar crank-
rocker four bar mechanism, the sum of the shortest and
longest link lengths cannot be less than the sum of the
remaining two link lengths.

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(10) A simple quick return mechanism is shown
in the figure. The forward to return ratio of
the quick return mechanism is 2:1. If the
radius of the crank O1P is 125 mm, then the
distance 'd' (in mm) between the crank
centre to lever pivot centre point should be

(A) 144.3 (B) 216.5

(C) 240.0 (D) 250.0

180 x1/(1+2)=60o
O1
cos 60o=0.5=125/O1O2
60o
d=O1O2=250 P
90o
Ans. D

O2

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(11)Match the approaches given below to perform stated kinematics / dynamics
analysis of machine

(A) P-1,Q-2,R-3,S-4

(B) P-3,Q-4,R-2,S-1

(C) P-2,Q-3,R-4,S-1

(D) P-4,Q-2,R-1,S-3

Answer : (B) P-3,Q-4,R-2,S-1

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(12) A planner mechanism has 8 links and 10 rotary joints. The number of
degrees of freedom of the mechanism, using Gruebler’s criterion, is
(A) 0

(B) 1

(C) 2

(D) 3

Answer : (B) 1

F=3(8-1)-2x10=1

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 Velocity analysis
• To determine the velocities of different points
on links of a mechanism for a given input
motion. Determination of the motion
characteristics of links in a mechanism is
required for the force analysis
• Velocities of links and of points of mechanism
can be determined by different methods.
1. Relative velocity method or velocity polygon
method
2. Instantaneous centre method.
 Velocity of link
• In order to determine the relative motion of
A
the ends of a link, one of the ends is
assumed to be moving relative to the other
end.
• Let a link AB rotate about A in anti-clockwise
direction such that the end B rotates relative
to A.
B
• Then the direction of relative motion of B
with respect to A is perpendicular to AB.
• Therefore, the direction of relative velocity of
a point w.r.t any other point on a link is
always along perpendicular to the straight
line joining the two points.
 Velocity of link… A
• This method is useful in drawing the velocity
diagram and finding the relative velocities of
points on a link.
• Let the velocity of B w.r.t A be represented by ω
ab. Then ab is drawn perpendicular to AB to C
any convenient scale as shown in the velocity
diagram. B
• If the ω = angular velocity of link AB about its
a
end A, then velocity of B w.r.t A =
c b
• Similarly, velocity of any intermediate point C
w.r.t A = .. It is represented by the
vector ac in the velocity diagram.
 Velocity of link…
• Hence, the point c divides the vector ab in the
same ratio as the point C divides the link AB.
 Relative velocity method
Velocity of any point on a link:
A
Consider a link AB where the directions VA
of motion of its ends are shown. The VB
velocity vectors are shown.
C
oa – velocity of the end A
B
ob- velocity of the end B
ab- velocity of B with respect to A b
c
ba- velocity of A with respect to B
a
o
 Velocity of any point on a link…
• Velocity of any point C on the link can be
determined by dividing the vector ab at c such
that

Then, the velocity of C with respect to A

Hence, the vector oc represents the velocity of

point C.
 References
• The Theory of Machines – THOMAS BEVAN
• Theory of Machines – S S RATTAN
• Theory of Mechanisms &Machines – DR.
JAGDISH LAL
• Website links related to this subject.

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