Fundamentals of Mechanisms-1: AUC205A Theory of Machines

AUC205A – Theory of Machines
Lecture- 3
Fundamentals of Mechanisms-1
Course Leader:
Mr. Umesh S.
umesh.aae.et@msruas.ac.in
1
Faculty of Engineering & Technology © Ramaiah University of Applied Sciences
Lecture Objectives
At the end of this lecture, students will be able to:

• Define degrees of freedom
• Define basic terms used in kinematics of machinery
• Explain Planar and Spatial mechanism
• Classify kinematic pairs
2
Topics
• Definitions of Degrees of freedom, Link, Kinematic Pair,

Kinematic Chain, Mechanism, Inversions
• Planar and Spatial Mechanism
• Types of Kinematic Pairs
3
Degrees of Freedom (DOF)
• For a rigid body, DOF is equal to the number of

independent parameters (measurements) which are
needed to uniquely define its position in space at any
instant of time
• A rigid body in plane motion has three DOF
• Any rigid body in three dimensional space has six degrees

of freedom
4
Degrees of Freedom continued..
How many DOF for the block?
5
How many DOF for the Sphere?
6
How many DOF for the block?
How many DOF for the Sphere?
SUPPORT
7
• A link free in space

has six DOF since it
is free to translate
in each of the X, Y,
and Z directions
and to rotate about
each of the axes
8
DOF (Plane motion) continued..
• In planar linkages, Ɵ
Y
motion is restricted
to the XY plane.
The DOF is hence
reduced from six to
X
three. (x, Y, Ɵ)
9
DOF for a Kinematic pair continued..
• If we attach this link

Ɵ
to the another link Y
with a single DOF
pair, such as a turning
pair, then its DOF is
further reduced from X
three to one (Ɵ)
10
Link
• A link is defined as a rigid body having two or more pairing
elements which connect it to other bodies for the purpose of
transmitting force or motion
CRANK CONNECTING ROD PISTON PARTS LINKS
PISTON Link-1
CONNECTING ROD Link-2
CRANK Link-3
CYLINDER CYLINDER Link-4
11
Types of links
1. Binary link (Two elements or Nodes))
2. Ternary link (Three elements)
3. Quaternary link (Four elements)
12
Types of links continued…
 A simple link is a rigid body that contains only two joints,

which connect it to other links
 A complex link is a rigid body that contains more than two
joints
Simple link (Binary link) Complex link (Ternary link)

13
Kinematic Pair
• A kinematic pair is defined as a pair of two links having
relative motion
• Kinematic pair (Joint or 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 joint of two kinematic elements
14
Formation of kinematic pair
2
1
2
15
Kinematic Chain
• An assemblage of links and joints, interconnected in a way
to provide a controlled output motion in response to a
supplied input motion
4
2
1
Four bar chain
16
Mechanism
• A device which transforms motion to some desirable
pattern and typically develop very low forces and
transmits little power
A lift table used to

adjust the working
height of different
objects
17
Mechanism continued…
• 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
18
Kinematic chain versus Mechanism
Fixed link
19
Fixed Link or Frame
Fixed link or Frame
20
Inversions
• The process of choosing different links of a chain as the

fixed link, for generating new mechanisms is called
KINEMATIC INVERSION
• Different mechanisms obtained by fixing different links of

the same kinematic chain are called the inversions of that
particular kinematic chain
21
Planar and Spatial Mechanism
• 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
22
Kinematic Constraints
• Two or more rigid bodies in space are collectively called a rigid
body system
• We can obstruct the motion of these independent rigid bodies

with kinematic constraints
2
1
2
1 23
Kinematic Constraints
• Kinematic constraints are constraints between rigid
bodies that result in the decrease of the degrees of
freedom of rigid body system
• The term kinematic pairs actually refers to kinematic

constraints between rigid bodies
2
1
24
Classification of Kinematic Pairs
• Based on nature of contact
• Based on nature of mechanical constraint
• Based on nature of relative motion
25
Types of Kinematic Pairs (Nature of Contact)
1. Lower Pair: A pair of links having surface or area contact

between the members is known as a lower pair.
Examples:
26
Types of Kinematic Pairs (Nature of Contact)
2. Higher Pair: A pair of links having point or line contact
between the members is known as a higher pair.
Examples:
27
Types of Kinematic Pairs (Nature of Mechanical Constraint)
1. Closed Pair
2. Unclosed or Open Pair
1. Closed Pair: When the two links of a pair are held together
mechanically, it is known as closed pair.
28
Types of Kinematic Pairs (Nature of Mechanical Constraint)
2. Unclosed or Open Pair: When two links of a pair are in contact

either due to force of gravity or some spring action, they constitute a
an unclosed pair.
29
Types of Kinematic Pairs (Nature of relative motion)
1. Turning Pair
2. Sliding Pair
3. Cylindrical Pair
4. Rolling Pair
5. Helical pair or Screw Pair
6. Planar Pair
7. Spherical Pair
30
Turning Pair or Revolute 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.
• A shaft with collars at both ends fitted into a circular hole, the
crankshaft in a journal bearing in an engine, lathe spindle
supported in head stock, cycle wheels turning over their axles etc.
are the examples of a turning pair.
• A turning pair also has a completely constrained motion with one
DOF
31
Sliding Pair
one can only slide relative to the other, the pair is known as a
sliding pair.
• The piston and cylinder, ram and its guides in shaper, tail stock on
the lathe bed etc. are the examples of a sliding pair.
• A sliding pair has a completely constrained motion with one DOF
32
Cylindrical Pair
• A cylindrical pair keeps two axes of two rigid bodies aligned.
• Two rigid bodies that are part of this kind of system will have an
independent translational motion along the axis and a relative
rotary motion around the axis.
• Therefore, a cylindrical pair removes four degrees of freedom from
spatial mechanism. DOF = 2.
33
Rolling Pair
one rolls over another fixed link, the pair is known as rolling pair.
• Ball and roller bearings are examples of rolling pair.
Rolling pair Ball bearing Roller bearing
34
Helical Pair or Screw Pair
one element can turn about the other by screw threads, the pair is
known as screw pair.
• The lead screw of a lathe with nut, and bolt with a nut are examples
of a screw pair.
• A helical pair has one DOF
Helical pair 35
Planar Pair
• A planar pair allows three degrees of freedom
• Two coordinates x and y describe the relative translation in

the XY-plane and the third 'theta' describes the relative
rotation about the z-axis
36
Spherical Pair
one element (with spherical shape) turns or swivels about the other
fixed element, the pair formed is called a spherical pair
• The ball and socket joint, attachment of a car mirror etc., are the
examples of a spherical pair
• A spherical pair has three DOF
37
Lecture Summary
 Different types of kinematic pairs are employed to
build kinematic chain

 Fixing a link in a kinematic chain, results in a
“Mechanism”
 Different mechanisms developed from same
kinematic chain are called “Inversions”
38

Fundamentals of Mechanisms-1: AUC205A Theory of Machines

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Fundamentals of Mechanisms-1: AUC205A Theory of Machines

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AUC205A – Theory of Machines

At the end of this lecture, students will be able to:

• Define basic terms used in kinematics of machinery

• Explain Planar and Spatial mechanism

• Classify kinematic pairs

• Definitions of Degrees of freedom, Link, Kinematic Pair,

• Planar and Spatial Mechanism

• Types of Kinematic Pairs

• For a rigid body, DOF is equal to the number of

• A rigid body in plane motion has three DOF

• Any rigid body in three dimensional space has six degrees

How many DOF for the block?

How many DOF for the Sphere?

How many DOF for the block?

How many DOF for the Sphere?

• A link free in space

• If we attach this link

CRANK CONNECTING ROD PISTON PARTS LINKS

CONNECTING ROD Link-2

CYLINDER CYLINDER Link-4

2. Ternary link (Three elements)

3. Quaternary link (Four elements)

 A simple link is a rigid body that contains only two joints,

Simple link (Binary link) Complex link (Ternary link)

• Kinematic pair (Joint or Pair): a connection between rigid

• In other words it is the joint of two kinematic elements

A lift table used to

• When one of the links of a kinematic chain is held fixed

• The fixed link is also called the ground link or frame

• A mechanism, which contains only lower pairs is called a

Fixed link or Frame

• The process of choosing different links of a chain as the

• Different mechanisms obtained by fixing different links of

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

- on a plane or parallel planes then it is a planar

-in three dimensional space then it is a spatial

• We can obstruct the motion of these independent rigid bodies

• The term kinematic pairs actually refers to kinematic

• Based on nature of contact

• Based on nature of mechanical constraint

• Based on nature of relative motion

1. Lower Pair: A pair of links having surface or area contact

2. Unclosed or Open Pair

2. Unclosed or Open Pair: When two links of a pair are in contact

5. Helical pair or Screw Pair

• Therefore, a cylindrical pair removes four degrees of freedom from

spatial mechanism. DOF = 2.

• Ball and roller bearings are examples of rolling pair.

Rolling pair Ball bearing Roller bearing

• Two coordinates x and y describe the relative translation in

• A spherical pair has three DOF

 Different types of kinematic pairs are employed to

build kinematic chain

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