ME 6401 – KINEMATICS OF MACHINERY

UNIT I :BASICS OF MECHANISMS

Classification of mechanisms – Basic kinematic concepts and definitions – Degree of

freedom, Mobility – Kutzbach criterion, Gruebler’s criterion – Grashof’s Law –
Kinematic inversions of four-bar chain and slider crank chains – Limit positions –
Mechanical advantage – Transmission Angle – Description of some common
mechanisms – Quick return mechanisms, Straight line generators, Universal Joint –
rocker mechanisms.
TWO MARK:

CLASSIFICATION OF MECHANISMS:
1. Define structure?
 It is an assemblage of a number of resistant bodies having no relative motion between them
and meant for carrying loads having straining action.
2. Enumerate the difference between a Machine and a Structure. (May/June 14)

Machine Structure
 Machine is a mechanism or  Structure is the assemblage of
collection of mechanism which resistant bodies without any relative
transmits force from the source of motion between the links
power to the resistance (load) to
overcome and thus performs useful
mechanical work.
E.g IC engine E.g Bridges

3. Differentiate between Machine and Mechanism.

Machine Mechanism
 Machine is a mechanism or collection of  Combination of rigid or resistant bodies
mechanism which transmits force from connected that they move upon each
the source of power to the resistance other with definite relative motion
(load) to overcome and thus performs
useful mechanical work.
E.g Lathe, Shaping Machine etc. E.g single slider mechanism in IC engine

4. What is simple mechanism?

 A mechanism with four link is known as simple mechanism.
5. When a linkage become mechanism? [May/June 2016]
 When one of the links of a kinematic chain is fixed, the chain is known as a mechanism.
6. List out few types of rocking mechanism?
 Pendulum motion is called rocking mechanism.1. Quick return motion mechanism.2. Crank and
rocker mechanism.3. Cam and follower mechanism.
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 7. Define pantograph?
 It is device which is used to reproduce a displacement exactly in a enlarged scale.
8. Name the application of crank and slotted lever quick return motion mechanism?
1. Shaping machines.2.Slotting mechanism.3.Rotary internal combustion engine.
9. Define single slider crank chain mechanism?
 A single slider crank chain is a modification of the basic four bar chain. It consist of one sliding
pair and three turning pair.
10.Define double slider crank chain mechanism?
 A kinematic chain which consists of two turning pair and two sliding pair is known as double
slider crank mechanism.
11.What is Inversion of mechanism? (May/June 06)
 The method of obtaining different mechanism by fixing different links in a kinematic chain is
known as inversion of mechanism.
12.Define Link. [Nov/Dec-11]
 A link is defined as a member or a combination of members of a mechanism connecting other
members and having relative motion between them. The link may consist of one or more
resistant bodies. A link may be called as kinematic link or element. Eg: Reciprocating steam
engine.
13.What is meant by spatial mechanism?
 Spatial mechanism have a geometric characteristics in that all revolute axes are parallel and
perpendicular to the plane of motion and all prism lie in the plane of motion
14.What are the important applications of a single slider crank mechanism?
1. Rotary or Gnome engine.2. Crank and slotted lever mechanism.3. Oscillating cylinder engine.
4. Bull engine and 5. Hand pump.
BASIC KINEMATIC CONCEPTS AND DEFINITIONS:
15.What is Kinematics?
 Kinematics is the study of motion (position, velocity, acceleration). A major goal of
Understanding kinematics is to develop the ability to design a system that will satisfy Specified
motion requirements. This will be the emphasis of this class.
16.What is Kinetics?
 Kinetics is the study of effect of forces on moving bodies. Good kinematic design should
produce good kinetics
17.What is constrained kinematic chain?
 When the relative motion of a chain is definite, then the chain is called as constrained kinematic
chain.
18.Define Kinematic link
 It is a component of a machine or mechanism, which moves relative to another component of a
machine.
19.Differentiate rigid and flexible links. [Nov/Dec 2016]
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 Rigid link. A rigid link is one which does not undergo any deformation while transmitting motion.
Strictly speaking, rigid links do not exist. However, as the deformation of a connecting rod, crank
etc. of a reciprocating steam engine is not appreciable, they can be considered as rigid links.
 Flexible link. A flexible link is one which is partly deformed in a manner not to affect the
transmission of motion. For example, belts, ropes, chains and wires are flexible links and transmit
tensile forces only.
20.Define Kinematic pair.[April/May-10]
 When two links are in contact with each other it is known as a pair. If the pair makes constrain
motion it is known as kinematic pair.
21.Give some examples for kinematic pairs.
1. Crank and connecting rod, 2. Connecting rod and piston rod, and 3. Piston and engine cylinder
22.Classify the kinematic pair based on the various characteristics
1) Type of relative motion between contacting elements 2) Type of contact between contacting
elements 3) Number of degrees of freedom 4) Type of closure.
23.Classify kinematic pairs based on nature of contact. Give examples. (May/June 2016)
 The kinematic pairs according to the type of contact between the elements may be classified as
discussed below :
(a) Lower pair.
 When the two elements of a pair have a surface contact when relative motion takes place and
the surface of one element slides over the surface of the other, the pair formed is known as
lower pair. It will be seen that sliding pairs, turning pairs and screw pairs form lower pairs.
(b) Higher pair.
 When the two elements of a pair have a line or point contact when relative motion takes place
and the motion between the two elements is partly turning and partly sliding,then the pair is
known as higher pair. A pair of friction discs, toothed gearing, belt and rope drives, ball and
roller bearings and cam and follower are the examples of higher pairs.
24.Define Kinematic chain.[April/May-10]
 When a number of links connected in space make relative motion of any point on a link with
respect to any other point on the other link is known as kinematic chain.
25.Define sliding pair.[April/May-08]
 When the two elements of the pair have only sliding motion between them, then the pair is said
to be sliding pair. Example: Piston and cylinder of slider crank mechanism.
26.Define turning pair.
 When one link of a pair only rotates or turns with respect to axis of the another link, then the
pair is said to be turning pair. Example: Cycle wheel turning over its axle.
27.Define rolling pair.
 When one link of a pair rolls over another link, then the pair is called as rolling pair. Example:
Belt and pulley arrangement.
28.Define screw pair.
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  When one link of a pair turns or rotates dependently with respect to an axis of the other link by
screw thread, then the pair is called as screw pair.
29.Define cylindrical pair.
 When one link of a pair rotates and slides independently with respect to an axis about other
link, then the pair is called as cylindrical pair. Example: Shaft in a circular hole.
30.What is locked chain?
 When there is no relative motion between the links of a chain, then the chain is called as locked
chain.
31.What is unconstrained kinematic chain?
 When the relative motion of a chain is not definite, then the chain is called as unconstrained
kinematic chain.
32.Define lower pair. (Nov/Dec 11)
 When the elements of pair have surface contact, then the pair is called as lower pair. The
sliding turning pair, screw pair and spherical pair are lower pairs.
33.Define higher pair. (Nov/Dec 11)
 When the elements of pair have point or line contact, then the pair is called as lower pair. The
rolling pair is the higher pair.
34.Classify the Constrained motion? [May/June-14]
 Constrained motions are classified into three types 1. Completely constrained motion. 2.
Incompletely constrained motion.3. Successfully constrained motion
35.What are the methods for determining the velocity of a point on a link?
 Instantaneous centre method,
 Relative velocity method
36.Define Spherical pair.
 In a spherical pair degree of freedom is three. It can both move left and right,up and down, and
rotate along the same point
37.Define Mechanical pair.
(a) Open pair: In this pair everything is open to the atmosphere.
(b) Closed pair: In this pair everything is closed from the atmosphere
38.What are the different types of joints?
a. Binary Joint b. Ternary Joint c. Quaternary Joint
39.What is meant by binary Joint?
 If two links are connected at the same junction it is called binary joint
40.What is meant by Ternary Joint?
 If three links are connected to the same junction, then is known ternary joint.
41.What is meant by Quaternary Joint?
 If four links are connected to the same joint then it is a Quaternary joint. One quaternary joint =
Three binary joints
42.What is meant by number synthesis?
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  Expressing mobility or degree of freedom of a mechanism in terms of the number of links and the
number of pair connections of a given type is known as number synthesis.
43.Explain the working principle of bicycle bells.
 Bicycle bells are working on the principle of snap action mechanism or toggle mechanism or flip
flop mechanism.
44.Whether a cycle chain is kinematic chain or not?
 A cycle chain is a combination of several links with turning pair. Hence it is not a kinematic chain.
45.What is resistant body?
 A body is said to be resistant if it is capable of transmitting the required force with negligible
deformation. A link need not necessarily be a rigid body, but it must be a resistant body
46.Define sliding connectors. (Nov /Dec 13)
 Sliding connectors are used when one slider (the input) is to drive another slider(the output).
Usually the two sliders operate in the same plane but in different directions.
47.Define rotation and translation. (Nov /Dec 13)
 Translation is defined as a state of motion of a body for which the displacement difference between
any two points of the body is zero.
 Rotation is a state of motion of the body for which different points of the body exhibit different
displacements
48.Differentiate between rigid and resistant bodies. (Nov /Dec 14)
 The Rigid body can receive forces and torque to make the objects move in a realistic way, in which
deformation is neglected. The resistant body has the capacity to withstand something, but in which
deformation is possible.
DEGREES OF FREEDOM:
49.Define degrees of freedom.[April/May-08]
 It is defined as the minimum number of input parameters which must be independently controlled
in order to bring the mechanism into a useful engineering purpose.
50.Define Degree of Freedom and give the DOF for a shaft in a circular hole.
 The number of independent input parameters which must be controlled independently so that a
mechanism fulfills its useful engineering purpose.
MOBILITY:
51.What is meant by mobility.
 The mobility of a mechanism is defined as the number of input parameters which must be
independently controlled in order to bring the device into a particular position.

52.Compare Movability and Mobility.

 Movability includes the six degrees of freedom of the device as a whole, as though the ground link
was not fixed and thus applies to a kinematic chain.

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  Mobility neglects these and considers only the internal relative motions, thus applying to a
mechanism.
KUTZBACH CRITERION:
53.Write down Kutzbach’s criterion to of a planar mechanism.
 The Kutzbach criteria which calculates the mobility.
F = 3(n – 1) – 2j Where, F- Degrees of freedom ,n – number of links, J – number of joints
54.Write down the Kutzbach’s criteria for spatial mechanism.
Mobility, n = 6(N-1)-5PI-4P2-3P3-2P4-1p5
55.Write the Kutzbach’s relation. (Apr/May-2008)
 Kutzbach’s criterion for determining the number of degrees of freedom or movability (n) of a plane
mechanism is n=3(l-1)-2j-h
n-Degree of freedom.
l-Number of links.
h-Higher pair joint
j-Lower pair joint.
GRUEBLER’S CRITERION:
56.Write down the Grubler’s criteria for planar mechanism
M = 3(N-1) – 2 f1 – f2 Where, n = total number of links ,M = DOF ,f1 = number of 1DOF joints
f 2 = number of 2 DOF joints
57.Write the Grubler’s criterion for determining the degrees of freedom of a mechanism
having plane motion.
n=3(l-1)-2j
h- Higher pair joint
l- Number of links
j- Lower pair joint
GRASHOF’S LAW:
58.Explain Grashoff’s law. (May/June 09)(Nov/Dec 12)
 Sum of shortest link length and sum of longest link length is not greater than the sum of
remaining link length.
59.Explain Grashoff’s law significance. (Apr/May-2008)
 Significance:
1.Grashoff’s law specifies the order in which the links are connected in a kinematic chain.
2.Grashoff’s law specifies which link of the four-bar chain is fixed.(s+1)=(p+q) should be satisfied,
if not, no link will make a complete revolution relative to another.
s= length of the shorter length , l= length of the longest link
KINEMATIC INVERSIONS OF FOUR-BAR CHAIN AND SLIDER CRANK CHAINS:
60.Define Inversion of mechanism.

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  The method of obtaining different mechanism by fixing different links in a kinematic chain is known
as inversion of mechanism.
61.Define kinematic inversion
 A mechanism is formed by fixing one of the links of a chain. The process of choosing different links
of a kinematic chain for becoming frame.
62.List out the inversions of a double slider crank chain.
 First Inversion – Scotch Yoke mechanism,
 Second Inversion – Oldhams Coupling
 Third Inversion – Elliptical trammel,
 Fourth Inversion – Hand Pump
63.What are the applications of inversion of double slider crank chain mechanism?
 It consists of two sliding pairs and two turning pairs. There are three important inversions of
double slider crank chain. 1) Elliptical trammel. 2) Scotch yoke mechanism. 3) Oldham’s coupling.
Give some examples for kinematic pairs.
64.Name the inversions of four bar mechanisms
 Inversions of four bar mechanisms
 First Inversion – Coupled wheels of locomotive – double crank
 Second Inversion – Beam Engine - Crank and lever mechanism
 Third Inversion – Watt’s Engine Indicator – Double lever mechanism
65.Name the inversions of single slider mechanism
 First Inversion – Reciprocating engine mechanism
 Second Inversion – Gnome Engine or Rotary Engine – Whitworth quick return mechanism
 Third Inversion – Quick return mechanism – Crank and slotted lever – Oscillating cylinder
engine
 Fourth Inversion – Hand Pump
MECHANICAL ADVANTAGE:
66.What is mechanical advantage?

 It is defined as the ratio of the load to the effort.

Note : It is defined as the ratio of the output torque, supplied by the driven link, to the
input torque, required to be supplied to the driver link

67.What is Toggle position?

 It is the position of a mechanism at which the mechanical advantage is infinite and the sine of
angle between the coupler and driving link is zero
TRANSMISSION ANGLE:
68.What is meant by transmission angle? What is the worst values of transmission angle?
(April/may 10)(May/June12) [Nov/Dec 2016]
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  In a four bar chain mechanism, the angle between the coupler and the follower (driven) link is
called as the transmission angle. The transmission angle is zero and the mechanism would lock or
jam.
DESCRIPTION OF SOME COMMON MECHANISMS:
69.What is meant by planar mechanism?
 A planar mechanism is one in which all particles describe plane curves in space and all these curves
lie in parallel planes: that is, the loci of all points are plane curves parallel to a single common
plane. It utilizing only lower pairs is called planar linkages, they include only prismatic and revolute
pairs.
70.Define equivalent mechanism; and spatial mechanism.
 Equivalent mechanism: The mechanism, that obtained has the same number of the degree of
freedom, as the original mechanism called equivalent mechanism.
 Spatial mechanism: Spatial mechanism have special geometric characteristics in that all revolute
axes are parallel and perpendicular to the plane of motion and all prism axes lie in the plane of
motion
71.Give any two example of Snap action mechanism.
 It is used in calling bells, bicycle bells etc.
72.What is meant by motion adjustment mechanism?
 The mechanism used to adjust or modify any one of the links in a mechanism is known as motion
adjustment mechanism. Differential screw used in bench vice, pipe wrench, Lathe chuck and screw
jack are some of the examples of motion adjustment mechanism.
73.What is meant by Scott Russel mechanism?
 This is one of the mechanisms to produce straight line motion mechanism. The mechanism in which
the straight line is copied from a existing straight line constrain is known as Scott Russel
mechanism
74.Discuss Elliptical trammel
 Elliptical trammel is an instrument used for drawing ellipses. It is the best example for first
inversion of double slider crank chain.
75.What is meant by Ackermann steering?
 Ackermann steering is the one of the mechanism used in vehicles. It is obtained by inversion of
four bar chain.
76.What is meant by motion adjustment mechanism?
 The mechanism used to adjust or modify the motion of the link are known as motion adjustment
mechanism. Motion adjustment is obtained by wedges, levers and rack and pinion.

77.What is the use of Oldham’s coupling?

 It is used for transmitting motion between two shafts which are parallel but not coaxial.
78.What is the condition for correct steering of an automobile? (May/June 12)
1. When the vehicle moves straight.
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 2. When the vehicles moves at a correct angle to the right, and
3. When the vehicles moves at a correct angle to the left.
79.What is meant by indexing mechanism? Where do we use it? (May/June12)
 An indexing mechanism serves the purpose of dividing the periphery of a circular piece into a
number of equal parts. Indexing is generally done on gear cutting or milling machines.
QUICK RETURN MECHANISMS:
80.What are the types of quick return motion mechanism?
 Crank and slotted lever quick return motion mechanism.
 Whitworth quick return motion mechanism
STRAIGHT LINE GENERATORS:
81.Name some straight line generating mechanism
 Peaucellier mechanism , Scott Russel mechanism , Hart’s mechanism
ROCKER MECHANISMS:
82.List out few types of rocking mechanism.
 Pendulum motion is called rocking mechanism.
1. Quick return motion mechanism.
2. Crank and rocker mechanism.
3. Cam and follower mechanism
83.The ratio between the width of the front axle and that of wheel base of a steering
mechanism is 0.44. At the instant when the front inner wheel is turned by 18°, what
should be the angle turned by the outer front wheel for perfect steering? (Nov /Dec 14)

PART - B
16-MARKS
CLASSIFICATION OF MECHANISMS:

1. What are the different types of mechanism and explain it briefly?

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BASIC KINEMATIC CONCEPTS AND DEFINITIONS:
2. Explain the Mechanism And Machine:
 As mentioned earlier, combination of a number of bodies (usually rigid) assembled in such a way
that the motion of one causes constrained and predictable motion to the others is known as a
mechanism. Thus the function of n mechanism is to transmit and modify motion.
 A machine is a mechanism or a combination of mechanisms which, apart from imparting definite
motions t0 the parts, also transmits and modifies the available mechanical energy into some kind
of desired work. It is neither a source of energy nor a producer of work but helps in proper
utilization of the same. The motive power has to be derived from external sources
 A slider-crank mechanism (Fig.) converts the reciprocating motion of a slider into rotary motion of
the crank or vice-versa. However, when it is used as an automobile engine by adding valve
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 mechanism etc it becomes a machine which converts the available energy (force on the piston) into
the desired energy (torque of the crank-shaft). The torque is used to move a vehicle. Reciprocating
pumps, reciprocating compressors and steam engines are other examples of machines derived
from the slider-crank mechanism.

3. Explain the types of Constrained Motion? (Nov/Dec 2016)

 There are three types of constrained motion:
 Completely constrained motion: When the motion between two elements of a pair is in a
definite direction irrespective of the direction of the force applied, it is known as completely
constrained motion. The constrained motion may be linear or rotary. The sliding pair of Fig.(a) and
the turning pair of Fig.(b) are the examples of the completely constrained motion. In sliding pair,
the inner prism can only slide inside the hollow prism. In case of a turning pair, the inner shaft can
have only rotary motion due to collars at the ends. In each case the force has to be applied in a
particular direction for the required motion.

 lncompletelv constrained motion :When the motion between two elements of a pair is possible
in more than one direction and depends upon the direction of the force applied, it is known as
incompletely constrained motion. For example, if the turning pair of Fig. does not have collars, the
inner shaft may have sliding or rotary motion depending upon the direction of the force applied.
Each motion is independent of the other.

 Successfully constrained motion: When the motion between two elements of a pair is possible
in more than one direction but is made to have motion only in one direction by using some external
means, it is a successfully constrained motion. For example, a shaft in a footstep bearing may have
vertical motion apart from rotary motion. But due to load applied on the shaft it is constrained to
move in. Fig for constrained motion (Footstep bearing)

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3. Explain the classification Kinematic Pairs? (Nov/Dec 14) (May/June 2016)
 According to Nature of Contact:
(a) Lower Pair: A pair of links having surface or area contact between the members is known as a
lower pair. The contact surfaces of the two links are similar. Examples: Nut turning on a screw. shaft
rotating in a bearing. all pairs of a slider-crank mechanism. Universal joint. etc.
(b) Higher Pair: When a pair has a point or line contact between the links. ii is known as a higher
pair. The contact surfaces of the two links arc dissimilar.
Example: Wheel rolling on a surface, cam and follower pair, tooth gears, ball and roller bearings. etc.
 Nature of Mechanical Constraint:
(a) Closed Pair: When the elements of a pair are held together mechanically, it is known as a closed
pair. TI1c two elements arc geometrically identical; one is solid and full and the ocher is hollow or
open. The latter not only envelops the Conner but also encloses it The contact between the two can be
broken only by destruction of al leas! one or the members. All the lower pairs and some of the higher
pairs arc closed pairs. A cam and follower pair (higher pair) shown in Fig. and a screw pair (lower pair)
belong to the closed pair category,

(b) Unclosed Pair: When two links of a pair arc in contact either due to force of gravity or some
spring action. They constitute an unclosed pair. In this, the links are not held together
mechanically, e.g cam and follower pair of Fig.

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 According to nature of relative motion:
A. sliding pair: If two links have sliding motion relative to each other. they form a sliding pair. A
rectangular rod in a rectangular hole in a prism is a sliding pair {Fig.(a)].
(b) Turning Pair: When one link has a turning or revolving motion relative 10 the other, they
constitute a turning or revolving pair {Fig(b)].
(c) Rolling Pair: When the links of a pair have a rolling motion relative to each other, they form a
rolling pair, e.g .. a rolling wheel on a flat surface, ball and roller bearings, etc. In a ball bearing [Fig.
(c)], the ball and the shall constitute one rolling pair whereas the ball and roller bearing is the second
rolling pair.
(d) Screw Pair (Helical Pair): lf two mating links have a turning as well as sliding motion between
them, they from a screw pair. This is achieved by culling matching threads on the two links. The lead
screw and the nut of a lathe is a screw pair (Fig. d)].
(c) Spherical Pair: When one link in the form of a sphere turns inside a fixed link, ii is a spherical
pair. The ball and socket joint is a spherical pair [Fig.(e)].

4. Explain the types of' joints?

 The usual types of joints in a chain arc
o Binary joint
o Ternary joint
o Quaternary joint
 Binary joint: If two links are joined at the same connection. It is called a binary joint For example.
Fig. Shows a chain with two binary joints named B.
 Ternary joint: I f three links arc joined at a connection. It is known as a ternary joint. It is
considered equivalent to two binary joints since fixing of any one link constitutes two binary joints
with each of the other two links. In fig. ternary links are mentioned as T.
 Quaternary joint: If four links are joined at a connection. it is known as a quaternary joint It is
considered equivalent to three binary joints since fixing of any one link constitutes three binary
joints. Figure shows one quaternary joint. In general. if n number of links arc connected at a
joint, it is equivalent to (n- 1) binary joints

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DEGREE OF FREEDOM:
5. Explain the Degrees Of Freedom
 An unconstrained rigid body moving in space can describe the following independent motions (Fig.)
1. Translational motions along any three mutually perpendicular axes x, y and z
2. Rotational motions about these axes Thus, a rigid body possesses six degrees of freedom. The
connection of a link with another imposes certain constraints on their relative motion. The number
of restraints can never be zero (joint is disconnected) or six (joint becomes solid).
 Degrees of freedom of a pair is defined as the number of independent relative motions, both
translational and rotational, a pair can have.
Degrees of freedom =• 6 - Number of restraints

6. For the kinematic linkages shown in Fig. Calculate the following: the number of binary links
(N)the number of ternary links (N)the number of other [quaternary. etc.) links(N.) the
number of total links (N) the number of loops (L) the number of' joints or pairs (P1) the
number of degrees of freedom (F)

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7. State whether the linkages shown in Fig. are mechanisms with one degree of freedom. lf
not, make suitable changes. The number of links should not be varied by more than 1.
(May/June 16)

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8. Determine the degree of freedom of the mechanisms.

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9. Determine the degree of freedom for following linkages. (Nov /Dec 13) (May/June 16)

FORMULA: 3(n-1)-2l-h=0
n=4, l=4, h=0
F=3(4-1)-(2*4)-(1*0) =1

FORMULA: 3(n-1)-2l-h=0
n=6.l=1,h=0
F=3(6-1)-(2*7)-(1*0)=1

FORMULA: 3(n-1)-2l-h=0
n=4,l=3,h=2
F=3(4-1)-(2*3)-(1*2)=1

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KUTZBACH CRITERION:
10. Explain Kutzbach criterion for the movability of a mechanism with suitable example?
(May/Jun 13)
 Let us consider a plane mechanism with l number of links. Since in a mechanism, one of the links is
to be fixed, therefore the number of movable links will be (l – 1) and thus the total number of
degrees of freedom will be 3 (l – 1) before they are connected to any other link. In general, a
mechanism with l number of links connected by j number of binary joints or lower pairs (i.e. single
degree of freedom pairs) and h number of higher pairs (i.e. two degree of freedom pairs), then the
number of degrees of freedom of a mechanism is given by

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  This equation is called Kutzbach criterion for the movability of a mechanism having plane motion. If
there are no two degree of freedom pairs (i.e. higher pairs), then h = 0. Substituting h = 0 in
equation ,we have

GRUEBLER’S CRITERION:
11. Explain Grubler’s Criterion for Plane Mechanisms.
 The Grubler’s criterion applies to mechanisms with only single degree of freedom joints
where the overall movability of the mechanism is unity. Substituting n = 1 and h = 0 in
Kutzbach equation, we have
1 = 3 (l – 1) – 2 j or 3l – 2j – 4 = 0

 This equation is known as the Grubler's criterion for plane mechanisms with constrained
motion.
 A little consideration will show that a plane mechanism with a movability of 1 and only
single degree of freedom joints cannot have odd number of links. The simplest possible
machanisms of this type are a four bar mechanism and a slider-crank mechanism in which
l = 4 and j = 4.
12. State the Inconsistencies (or limitation) of Grubler’s criterion. [May/June - 16]

 Although the kutzback equation is useful in determining the mobility of a wide variety of
commonly used engineering mechanisms, it gives incorrect DOF for some mechanisms
because of the following reasons:

a) It yields only a theoretical value.

b) It does not take into account the geometry of the links or mechanism.
c) It can be misleading.

 Therefore, when ambiguity arises, the actual mobility of a mechanism must be determined
by inspection.

GRASHOF’S LAW:
13. Explain Grashoff's law.
 Grashoff 4-bar linkage:
 A linkage that contains one or more links capable of undergoing a full rotation.
 A linkage is Grashoff if: S + L < P + Q
(Where: S = shortest link length, L = longest, P, Q = intermediate length links).
Both joints of the shortest link are capable of 360 degrees of rotation in Grashoff linkages.
 This gives us 4 possible linkages:
1. crank-rocker (input rotates 360

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 2. rocker-crank-rocker (coupler rotates 360)
3. rocker-crank (follower)
4. Double crank (all links rotate 360).

Grashoff’s law significance.

1. Grashoff’s law specifies the order in which the links are connected in a kinematic chain.
2. Grashoff’s law specifies which link of the four-bar chain is fixed.(s+1)=(p+q) should be
satisfied, if not, no link will make a complete revolution relative to another.
s= length of the shorter length
l= length of the longest link

KINEMATIC INVERSIONS OF FOUR-BAR CHAIN AND SLIDER CRANK CHAINS:

14. What is inversion and list its properties. (May/June 16)

15. Find all the inversion of the chain given in Fig.

Length of the longest link= 12 mm.

27
 Length or the shortest link = 3 mm
Length of other links = I 0 mm and 8 mm
 Since 12 + 3 < I 0 + 8, it belongs to the class-1 mechanism nod according to Grashoff's law, three
distinct inversions arc possible.
 Shortest link fixed. i.e., when the link with 3·mm length is fixed. The chain will act as double-crank
mechanism in which links with lengths of 12 mm and 8 mm will have complete revolutions.
opposite to the shortest link fixed. i.e. when the link with 10-mm length is fixed.
 The chain will act as double-rocker mechanism, in which links with lengths of 12 mm and 8 mm will
oscillate, link adjacent write shortest link fixed. i.e when any of the links adjacent t0 the shortest
link. i.e., link with a length of 12mm or 8mm is fixed.
 The chain will act as crank-rocker mechanism in which the shortest link of 3m length will revolve
and the link with 10mm length will oscillate.

16. What are the Inversions of four bar chain? Explain (May/June13,14)
Beam engine (crank and lever mechanism). (Nov/Dec 2016)
 A part of the mechanism of a beam engine (also known as cranks and lever mechanism) which
consists of four links is shown in. In this mechanism, when the crank rotates about the fixed centre
A, the lever oscillates 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. In other words, the purpose of this
mechanism is to convert rotary motion into reciprocating motion.

Coupling rod of a locomotive (Double crank mechanism).

 The mechanism of a coupling rod of a locomotive (also known as double crank mechanism) which
consists of four links is shown in. In this mechanism, the links AD and BC (having equal length) act
as cranks and are 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.

28
Watt’s indicator mechanism (Double lever mechanism).
 A Watt’s indicator mechanism (also known as Watt's straight line mechanism or double lever
mechanism) which consists of four links is shown in. The four links are: fixed link at A, link AC, link
CE and link BFD. It may be noted that BF and FD form one link because these two parts have no
relative motion between them. The links CE and BFD act as levers. The displacement of the link
BFD is directly proportional to the pressure of gas or steam which acts on the indicator plunger. On
any small displacement of the mechanism, the tracing point E at the end of the link CE traces out
approximately a straight line. The initial position of the mechanism is shown in by full lines whereas
the dotted lines show the position of the mechanism when the gas or steam pressure acts on the
indicator plunger.

17. What are the Inversions of Single Slider Crank Chain? Explain.
(Apr/May 10)(Nov/Dec12,13,14,2016)
Pendulum pump or Bull engine.
 In this mechanism, the inversion is obtained by fixing the cylinder or link 4 ( i.e. sliding pair), as
shown in. 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.
The duplex pump which is used to supply feed water to boilers have two pistons attached to link 1,
as shown in fig

29
 Oscillating cylinder engine.
 The arrangement of oscillating cylinder engine mechanism, as shown in, is used to convert
reciprocating motion into rotary motion. In this mechanism, the link 3 forming the turning pair is
fixed. The link 3 corresponds to 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.

Rotary internal combustion engine or Gnome engine .

 Sometimes back, rotary internal combustion engines were used in aviation. But now-a-days gas
turbines are used in its place. It consists of seven cylinders in one plane and all revolves about
fixed centre D, as shown in, while the crank (link 2) is fixed. In this mechanism, when the
connecting rod (link 4) rotates, the piston (link 3) reciprocates inside the cylinders forming link 1.

30
 Crank and slotted lever quick return motion mechanism. (Nov/Dec 2016) (May/June 14)
 This mechanism is mostly used in shaping machines, slotting machines and in rotary internal
combustion engines. In this mechanism, the link AC (i.e. link 3) forming the turning pair is fixed,
as shown in the link 3 corresponds to the connecting rod of a reciprocating steam engine. The
driving crank CB revolves with uniform angular speed about the fixed centre C.
 A sliding block attached to the crank pin at B slides along the slotted bar AP and thus causes AP to
oscillate about the pivoted point A. A short link PR transmits the motion from AP to the ram which
carries the tool and reciprocates along the line of stroke R1R2. The line of stroke of the ram (i.e.
R1R2) is perpendicular to AC produced. In the extreme positions, AP1 and AP2 are tangential to
the circle and the cutting tool is at the end of the stroke.
 The forward or cutting stroke occurs when the crank rotates from the position CB1 to CB2 (or
through an angle) in the clockwise direction. The return stroke occurs when the crank rotates from
the position CB2 to CB1 (or through angle ) in the clockwise direction. Since the crank has uniform
angular speed.

 Since the tool travels a distance of R1 R2 during cutting and return stroke, therefore travel of the
tool or length of stroke

31
 Whitworth quick return motion mechanism. (May/June 12,14)
 This mechanism is mostly used in shaping and slotting machines. In this mechanism, the link CD
(link 2) forming the turning pair is fixed, as shown. The link 2 corresponds to a crank in a
reciprocating steam engine. The driving crank CA (link 3) rotates at a uniform angular speed. The
slider (link 4) attached to the crank pin at A slides along the slotted bar PA (link 1) which
oscillates at a pivoted point D. The connecting rod PR carries the ram at R to which a cutting tool
is fixed. The motion of the tool is constrained along the line RD produced, i.e. along a line passing
through D and perpendicular to CD.
 When the driving crank CA moves from the position CA1 to CA2 (or the link DP from the position
DP1 to DP2) through an angle _ in the clockwise direction, the tool moves from the left hand end
of its stroke to the right hand end through a distance 2 PD. Now when the driving crank moves
from the position CA2 to CA1 (or the link DP from DP2 to DP1) through an angle in the clockwise
direction, the tool moves back from right hand end of its stroke to the left hand end.
 A little consideration will show that the time taken during the left to right movement of the ram
(i.e. during forward or cutting stroke) will be equal to the time taken by the driving crank to move
from CA1 to CA2. Similarly, the time taken during the right to left movement of the ram (or during
the idle or return stroke) will be equal to the time taken by the driving crank to move from CA2 to
CA1.Since the crank link CA rotates at uniform angular velocity therefore time taken during the
cutting stroke (or forward stroke) is more than the time taken during the return stroke.
 In other words, the mean speed of the ram during cutting stroke is less than the mean speed
during the return stroke. The ratio between the time taken during the cutting and return strokes is
given by

32
18. What are the Inversions of Double Slider Crank Chain? Explain.
(Nov/Dec 11)(May/Jun 13)
Elliptical trammels.
 It is an instrument used for drawing ellipses. This inversion is obtained by fixing the slotted plate
(link 4), as shown. The fixed plate or link 4 has two straight grooves cut in it, at right angles to
each 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, as shown in. A little consideration will show that AP
and BP are the semi-major axis and semi-minor axis of the ellipse respectively.

Scotch yoke mechanism. (Nov/Dec 2016)

 This mechanism is used for converting rotary motion into a reciprocating motion. The inversion is
obtained by fixing either the link 1 or link 3. In Fig, link1 is fixed. In this mechanism, when the link
2 (which corresponds to crank) rotates about B as centre, the link4 (which corresponds to a frame)
reciprocates. The fixed link 1 guides the frame.

33
 Oldham’s coupling.
 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. This inversion is obtained by fixing the link 2, as shown. The shafts to be
connected have two flanges (link 1 and link 3) rigidly fastened at their ends by forging. The link 1
and link 3 form turning pairs with link 2. These flanges have diametrical slots cut in their inner
faces, as shown. The intermediate piece (link 4) which is a circular disc, have two tongues (i.e.
diametrical projections) T 1 and T 2 on each face at right angles to each other, as shown in. 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.

19. Fig shows some four-link mechanisms in which the figures indicate the dimensions in
standard units of length. Indices the type of each mechanisms whether crank-rocker or
double-crank or double rocker.

(a) Length of the longest link= 9

Length of the shortest link= 5
Length of other links • 7 and 6
Since 9 + 5 > 7 + 6, it does not belong to the class-I mechanism. Therefore it is a double
rocker mechanism.

(b) Length of the longest link= 9

34
 Length of the shortest link= 4
Length of other links=• 7 and 7
Since 9 + 4 < 7 + 7. It belongs to the class-I mechanism. In this case as the shortest link is
fixed, it is a double-crank mechanism.

(c) Length of the longest link=10

Length of the shortest link = 5
Length of other links= 9 and 7
Since 10+t 5 < 9 + 7, it belongs 10 the class-I mechanism. In this case as the link opposite
to the shortest link is fixed. It is a double rocker mechanism.

(d) Length of the longest link = 10

Length of the shortest link= 4
Length of other links = 8 and 7
Since 10 + 4 < 8 + 7, it belongs to the class-I mechanism. In this case as the link adjacent
10 the shortest link is fixed. it is a crank rocker mechanism.

20.Shows a plane mechanism in which the fig indicates the dimensions in standard units of
length. The slider C is the driver: will the link AG revolve or oscillate?

 The mechanism has three sub-chains:

(i) ABC, a slider-crank chain
(ii) ABDE. a four-bar chain
(iii) AEFG. a four-bar chain
 DEF is a locked chain as it has only three links.

 As the length BC is more than the length AB plus the offset of 2 units. AB acts as a crank and can
revolve about A.
 In the chain ABDE.
Length of the longest link = 8
Length of the shortest link =4
Length of other links = 8 and 6
 Since 8 + 4 < 8 + 6, it belongs 10 the class-I mechanism. In this case as the shortest link is fixed,
it is a double-crank mechanism and 1husAB and ED) can revolve fully.

35
  In the chain AEFG.
Length of the longest link= 8
Length of 1he shone SI link = 4
Length of other links= 6 and 6
 Since 8 + 4 = 6 + 6, it belongs t0 the class mechanism. As the shortest link is fixed, ii is a double-
crank mechanism and thus EF and AG can revolve fully.

MECHANICAL ADVANTAGE:
21.Explain the Mechanical Advantage?
 The mechanical advantage (MA) of a mechanism is the ratio of the output force or torque 10 the
input force or torque at any instant. Thus for the linkage of Fig. if friction and inertia forces are
ignored and the input torque T, is applied to the link 2 to drive the output link 4 with a resisting
torque T, then

 Thus, it is the reciprocal of the velocity ratio. In case of crank-rocker mechanisms the velocity ω 4,
of the output link DC (rocker) becomes zero at the extreme positions (AB'C'D and AB''C'D). i.e.,
when the input link AB is in line with the coupler BC and the angle y between them is either zero or
180 degree. It makes the mechanical advantage to be infinite at such positions. Only a small input
torque can overcome a large output torque load. The extreme positions of the linkage are known
as toggle positions.

TRANSMISSION ANGLE:
22.Explain the Transmission Angle? [Nov 16]
 The angle μ between the output link and the coupler is known as transmission angle. In Fig. if the
link AB is the input link, the force applied 10 the output link DC is transmitted through the coupler
BC. For a particular value of force in the coupler rod, the torque transmitted 10 the output link
(about the point D) is maximum when the transmission angle μ is 90°. If links BC and DC become
coincident. The transmission angle is zero and the mechanism would lock or jam. If μ deviates c
significantly from 90 degree, the torque on the output link decreases. Sometimes, it may not be
sufficient to overcome the friction in the system and the mechanism may be locked or jammed.
Hence μ is usually kepi more than 45°. The best mechanisms, therefore, hove a transmission angle
that does not deviate much from 90 degree.
 Applying cosine law to triangles ARD and BCD (Fig.),
36
 ad sin θ - bc sin µ dµ/dθ = 0

dµ/dθ = ad sin θ/ bc sin µ

23. Find the maximum and minimum transmission angle for the mechanisms shown in fig. The
figure indicates the dimensions in standard unit’s length. (Nov /Dec 13)

(a) length of the longest link=3

length of the shortest link = 1
length of other links = 3 and 2
Since 3 + 1 < 3 + 2
it belongs to class I mechanisms
Maximum angle:
(a +d)2 =b2 + c2 - 2bc cosµ
(1 + 3)2 =32 + 22 -2 *3*2 cosµ
µ =104
Minimum angle:
(d – a)2 = b2 +c2 -2bc cos µ
(3 -1)2 =32 +22 -2*3*2 cos µ
µ =41

(b) length of the longest link=10

length of the shortest link = 6
length of other links = 8 and 7
Since10 + 6 < 8 + 7
it belongs to class I mechanisms
Maximum angle:
(a +d)2 =b2 + c2 - 2bc cosµ
(7 + 8)2 =62 + 102 -2 *6*10 cosµ

37
 µ =137
Minimum angle:
d2 =( a +b)2 +c2 -2(a +b)c cos µ
82 =( 7 +6)2 +102 -2(7 +6) 10 cos µ
µ =38
STRAIGHT LINE GENERATORS:
24.What are straight line mechanisms? (Nov /Dec 12)
 One of the most common forms of the constraint mechanisms is that it permits only relative motion
of an oscillatory nature along a straight line. The mechanisms used for this purpose are called
straight line mechanisms. These mechanisms are of the following two types:
1. In which only turning pairs are used, and
2. In which one sliding pair is used.

25.Sketch the peaucellier straight-line motion mechanism and prove that the generating
point moves in a straight line? (Nov /Dec 12 & 16)

 It consists of a fixed link OO1 and the other straight links O1A, OC, OD, AD, DB, BC and CA are
connected by turning pairs at their intersections, as shown in Fig The pin at A is constrained to
move along the circumference of a circle with the fixed diameter OP, by means of the link O1A.

 It may be proved that the product OA × OB remains constant, when the link O1A rotates. Join CD
to bisect AB at R. Now from right angled triangles ORC and BRC, we have

 Since OC and BC are of constant length, therefore the product OB × OA remains constant. Hence
the point B traces a straight path perpendicular to the diameter OP.

26.Explain how a pantograph works. What are its uses? (May/Jun 12)
 A pantograph is an instrument used to reproduce to an enlarged or a reduced Scale and as exactly
as possible the path described by a given point. It consists of a Jointed parallelogram ABCD as
38
 shown in Fig. It is made up of bars connected by turning pairs. The bars BA and BC are extended
to O and E respectively, such that

 Thus, for all relative positions of the bars, the triangles OAD and OBE are similar and the points O,
D and E are in one straight line. It may be proved that point E traces out the same path as
described by point D. From similar triangles OAD and OBE, we find that

 Let point O be fixed and the points D and E move to some new positions D′ and E′. Then

 A little consideration will show that the straight line DD′ is parallel to the straight line EE′. Hence, if
O is fixed to the frame of a machine by means of a turning pair and D is attached to a point in the
machine which has rectilinear motion relative to the frame, then E will also trace out a straight line
path.
 Similarly, if E is constrained to move in a straight line, then D will trace out a straight line parallel
to the former. A pantograph is mostly used for the reproduction of plane areas and figures such as
maps, plans etc., on enlarged or reduced scales. It is, sometimes, used as an indicator rig in order
to reproduce to a small scale the displacement of the crosshead and therefore of the piston of a
reciprocating steam engine. It is also used to guide cutting tools. A modified form of pantograph is
used to collect power at the top of an electric locomotive.

27.Explain Approximate Straight Line Motion Mechanisms.

Watt’s mechanism:

 It is a crossed four bar chain mechanism and was used by Watt for his early steam engines to
guide the piston rod in a cylinder to have an approximate straight line motion In Fig. OBAO1 is a
crossed four bar chain in which O and O1 are fixed. In the mean position of the mechanism, links

39
 OB and O1A are parallel and the coupling rod AB is perpendicular to O1A and OB. The tracing point
P traces out an approximate straight line over certain positions of its movement, if PB/PA =
O1A/OB. This may be proved as follows :
 A little consideration will show that in the initial mean position of the mechanism, the
instantaneous centre of the link BA lies at infinity. Therefore the motion of the point P is along the
vertical line BA . Let OB′ A′O1 be the new position of the mechanism after the links OB and O1A
are displaced through an angle θ and φ respectively. The instantaneous centre now lies at I. Since
the angles θ and φ are very small, therefore
arc B B′ = arc A A′ or OB × θ = O1 A × φ

Modified Scott-Russel mechanism:

 This mechanism, as shown in Fig, is similar to Scott-Russel mechanism (discussed in fig), but in
this case AP is not equal to AQ and the points P and Q are constrained to move in the horizontal
and vertical directions. A little consideration will B show that it forms an elliptical trammel, so that
any point A on PQ traces an ellipse with semi-major axis AQ and semi minor axis AP. If the point A
moves in a circle, then for point Q to move along an approximate straight line, the length OA must
be equal (AP)2 / AQ. This is limited to only small displacement of P.
Grasshopper mechanism:

40
 This mechanism is a modification of modified Scott-Russel’s mechanism with the difference that the
point P does not slide along a straight line, but moves in a circular arc with centre O. It is a four
bar mechanism and all the pairs are turning pairs as shown in Fig.
 In this mechanism, the centres O and O1 are fixed. The link OA oscillates about O through an angle
AOA1 which causes the pin P to move along a circular arc with O1 as centre and O1P as radius. For
small angular displacements of OP on each side of the horizontal, the point Q on the extension of
the link PA traces out an approximately a straight path QQ′, if the lengths are such that OA= (AP)2
/ AQ.

Tchebicheff’s mechanism:

 It is a four bar mechanism in which the crossed links OA and O1B are of equal length, as shown in
Fig. The point P, which is the mid-point of AB traces out an approximately straight line parallel to
OO1. The proportions of the links are, usually, such that point P is exactly above O or O1 in the
extreme positions of the mechanism i.e. when BA lies along OA or when BA lies along BO1. It may
be noted that the point P will lie on a straight line parallel to OO1, in the two extreme positions and
in the mid position, if the lengths of the links are in proportions AB : OO1 : OA = 1 : 2 : 2.5.

41
Roberts mechanism:

 It is also a four bar chain mechanism, which, in its mean position, has the form of a trapezium. The
links OA and O1 B are of equal length and OO1 is fixed. A bar PQ is rigidly attached to the link AB
at its middle point P. A little consideration will show that if the mechanism is displaced as shown by
the dotted lines in Fig, the point Q will trace out an approximately straight line.

28.Explain Straight Line Motions for Engine Indicators:

Simplex indicator:

Cross-by indicator:

42
Thompson indicator:

Dobbie Mc Innes indicator:

43
29.Explain Ackerman Steering Gear.

 The Ackerman steering gear mechanism is much simpler than Davis gear. The difference
between the Ackerman and Davis steering gears are:
1. The whole mechanism of the Ackerman steering gear is on back of the front wheels;
whereas in Davis steering gear, it is in front of the wheels.
2. The Ackerman steering gear consists of turning pairs, whereas Davis steering gear
consists of sliding members.

30.Write short note on toggle mechanism. (Nov /Dec 13)

44
 Toggle mechanisms are used, where large resistances are to be overcome through short
distances. Here, effort applied will be small but acts over large distance. In the
mechanism shown in fig., 2 is the input link, to which, power is supplied and 6 is the
output link, which has to overcome external resistance. Links 4 and 5 are of equal length.
Considering the equilibrium condition of slider 6, For small angles of α, F (effort) is much
smaller than P (resistance). This mechanism is used in rock crushers, presses, riveting
machines etc.

Crank-rocker Mechanism:

 This mechanism is shown in Figure. In this case for every complete rotation of link 2
(called a crank), the link 4 (called a lever or rocker), makes oscillation between extreme
positions O4B1 and O4B2.
 The position of O4B1 is obtained when point A is A1 whereas position O4B2 is obtained when
A is at A2. It may be observed that crank angles for the two strokes (forward and
backward) of oscillating link O4B are not same. It may also be noted that the length of the
crank is very short. If l1, l2, l3 and l4 are lengths of links 1, 2, 3 and 4 respectively, the
proportions of the link may be as follows:

Rocker-Rocker Mechanism:

45
  In this mechanism, both the links 2 and 4 can only oscillate. This is shown in Link O2A
oscillates between positions O2A1 and O2A2 whereas O4B oscillates between positions O4B1
and O4B2. Position O4B2 is obtained when O2A and AB are along straight line and position

 O2A1 is obtained when AB and O4B are along straight line. This mechanism must satisfy
the following relations.
 It may be observed that link AB has shorter length as compared to other links. If links 2
and 4 are of equal lengths and l1 > l3, this mechanism forms automobile steering gear.

UNIVERSAL JOINT:

31. Sketch a Universal or Hooke’s Joint and derive the condition for equal speeds of driving
and driven shafts? (Nov /Dec 12)

46
 A Hooke’s joint is used to connect two shafts, which are intersecting at a small angle, as
shown in Fig. The end of each shaft is forked to U-type and each fork provides two
bearings for the arms of a cross.
 The arms of the cross are perpendicular to each other. The motion is transmitted from the
driving shaft to driven shaft through a cross. The inclination of the two shafts may be
constant, but in actual practice it varies, when the motion is transmitted.
 The main application of the Universal or Hooke’s joint is found in the transmission from
the gear box to the differential or back axle of the automobiles. It is also used for
transmission of power to different spindles of multiple drilling machines. It is also used as
a knee joint in milling machines.

47
PROBLEMS BASED ON QUICK RETURN MECHANISM:
32. In a crank and slotted lever quick return motion mechanism, the distance between the
fixed centers is 240 mm and the length of the driving crank is 120 mm. Find the
inclination of the slotted bar with the vertical in the extreme position and the time ratio
of cutting stroke to the return stroke. If the length of the slotted bar is 450 mm, find the
length of the stroke if the line of stroke passes through the extreme positions of the free
end of the lever. (NOV/DEC 2011 & 16)

Given: AC = 240 mm; CB1 = 120 mm; AP1 = 450 mm

48
 Inclination of the slotted bar with the vertical:

CAB1 = Inclination of the slotted bar with the vertical.

The extreme positions of the crank are shown in. We know that

Time ratio of cutting stroke to the return stroke:

Length of the stroke:

33.The length of the fixed link of a crank and slotted-lever mechanism is 250 mm and that
of the crank is 100 mm. Determine the(i) inclination of the slotted lever with the vertical
in the extreme position. (ii) ratio of the time of culling stroke to the time of return
stroke, and (iii) length of tile stroke, if the length of the slotted lever is 450 mm and the
line of stroke passes through the extreme positions of the free end of the lever.

49
 OA = 250 mm OP'= OP''= 100 mm
AR'= AR''= AR= 450 mm

34.In a crank and slotted lever quick return mechanism, the distance between the fixed
centres is 150mm and the driving crank is 75mm long. Determine the ratio of the time
taken on the cutting and return strokes.

Solution:
Time of cutting stroke 360  

Time of return storke 

  length of crank
sin  90   
 2  length of fixed link

= 75/150 = ½

50
 
90 - = sin –1(0.5) = 30º
2

= 90 – 30 = 60
2

 = 120º
360  120
 Stroke ratio =
120

= 2.

35.In a crank and slotted level quick return motion mechanism, the length of the fixed link
is 300m and that of the driving crank is 150 mm. Determine the maximum angle the
slotted lever will make with the fixed link. Also determine the ration of time of cutting
and return strokes. If the length of the slotted lever is 700mm, what would be the length
of the stroke assuming that the line of the stroke passes through the extreme positions
of the free end of the slotted lever?

Solution:

Given data:

AB = 300mm = 0.3

AE = 150mm = 1.15m

BP1 = 7==mm = 0.7m

Solution:

(i) Inclination of the slotted bar with the fixed link:

Let ABE = inclination of the slotted bar with the vertical

Fig. shows the extreme positions of the crank.

 
We know that, sin ABE = sin  90º  
 2

AE
=
AB
0.15
=  0.5
0.3

ABE = 90º –
2

= sin–1(0.5)

 = 30º Ans.
51
 (ii) Time ratio of cutting stroke to the return stroke:

We know that 90º – = 30º
2

or  = 120º
Time of cutting stroke  360º 
=   
=2
Time of return stroke

(iii) Length of the stroke:

Length of the stroke = P1 P2 = 2(P1 P)

 
= 2(BP) sin  90º  
 2

= 2 x 0.7 sin (90º – 60º)

L = 450 mm

Time of cutting stroke  360º 

=   
Time of return stroke
360º 96.4º
=  2.735
96.4º

36.A Hooke's joint connects two shafts whose axes intersect at 18°. The driving shaft
rotates at a uniform speed of 210 rpm. The driven shaft with attached masses has a
mass of 60 kg and the radius of gyration of 120 mm. Determine the torque required at
the driving shaft if a steady torque of 180 Nm resists rotation of the driven shaft and the
angle of rotation is 45° and angle between the shafts at which the total fluctuation of
speed of the driven shaft is limited to 18 rpm.(Nov/Dec 14)

52
53
Previous Year University Questions: (2 Marks)
1) Define Kinematic pair.[April/May-10]
2) Define Kinematic chain.[April/May-10]
3) Define sliding pair.[April/May-08]
4) Define degrees of freedom.[April/May-08]
5) Explain Grashoff’s law. (May/June 09)(Nov/Dec 12)
6) What is Inversion of mechanism. (May/June 06)
7) Define lower pair.(Nov/Dec 11)
8) Define higher pair.(Nov/Dec 11)
9) Define Link.[Nov/Dec-11]
10) Classify the Constrained motion?[May/June-14]
11) What is meant by transmission angle? What is the worst values of transmission angle?(April/may 10)
(May/June12)
12) Enumerate the difference between a Machine and a Structure. (May/June 14)
Define sliding connectors. (Nov /Dec 13)
13) Define rotation and translation. (Nov /Dec 13)
14) Classify the Constrained motion? (May/June 14)
15) Differentiate the machine and structure. (May/June 14)
16) Differentiate between rigid and resistant bodies. (Nov /Dec 14)
17) The ratio between the width of the front axle and that of wheel base of a steering mechanism is 0.44.
At the instant when the front inner wheel is turned by 18°, what should be the angle turned by the outer
front wheel for perfect steering? (Nov /Dec 14)

Previous Year University Questions: (16 Marks)

1. Find the maximum and minimum transmission angle for the mechanisms shown in fig. The figures
indicates the dimensions in standard units length. (Nov /Dec 13)
2.Determine the degree of freedom for following linkages. (Nov /Dec 13)
3. Explain Kutzbach criterion for the movability of a mechanism with suitable example?(May/Jun 13)
4. What are the Inversions of four bar chain? Explain (Nov/Dec 07) (May/June13,14)
5 .What are the Inversions of Double Slider Crank Chain? Explain. (Nov/Dec 11)(May/Jun 13)
6.In a crank and slotted lever quick return motion mechanism, the distance between the fixed centers is
240 mm and the length of the driving crank is 120 mm. Find the inclination of the slotted bar with the
vertical in the extreme position and the time ratio of cutting stroke to the return stroke. If the length of
the slotted bar is 450 mm, find the length of the stroke if the line of stroke passes through the extreme
positions of the free end of the lever. (NOV/DEC 2011)
7. Explain how a pantograph works. What are its uses? (May/Jun 12)
8. What are straight line mechanisms? (Nov /Dec 12)
9. Sketch the peaucellier straight-line motion mechanism and prove that the generating point moves in a
straight line?(Nov /Dec 12)
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