Kinematics lec. 1 Page 1 Engg Dept.

KINEMATICS OF MACHINE ELEMENTS

BASIC TERMS AND DEFINITION:

The science of mechanism
- treats of the law governing the motion of the part of a machine and the forces
transmitted by these parts.

Stages in Designing a Machine

1. Determine the use or purpose of the machine and the necessary motions involved.
2. Select the basic machine parts that will meet the required motion.
3. Calculate the forces and other factors that act on the machine parts.
4. Select appropriate material for various parts.
These should be:
a. Capable of withstanding forces that act on them.
b. Economical and can be produced easily.

Generally, forces and motion are considered separately.

Two Divisions of the Science of Mechanism

1. Pure mechanism or Kinematics of machines
- treats of the motion and forms of the parts of a machine and the manner of
supporting and guiding them independent of their strength.
2. Constructive mechanism or Machine Design
- involves calculation of forces acting on different parts of a machine, selection
of material based on strength, durability and others.

Machines - is an assemblage of part interposed between the source of power and the work
for the purpose of adapting one to the other.
- a combination of pats with specific motions and resistance to the forces that act
on them, altogether designed to transmit or transform energy.
No machine can move itself.

Structure - is a combination of resistant bodies capable of transmitting forces or carrying

loads but having no relative motion between parts.
Ex. Frame of a machine.

Frames - is a structure that supports the moving parts and regulates the path, or kind of
motion, of many of the parts.
Frames may be fixed or moving.

Rigid body - a body assumed not to suffer any distortion by the forces that may act on them.

Mechanism - a combination of rigid bodies so arranged that the motion of one compels the
motion of the others.

Note: A combination of parts is a mechanism if used to transmit or modify the motion, a

machine if energy is transferred or work is done.
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Drivers - a piece of a mechaism which causes the motion.

Followers - one whose motion is affected.

Drivers - a piece of a mechanism which causes the motion.

Follower - one whose motion is affected.

Modes of Transmission
Motions can be transmitted from driver to follower by direct contact, either by sliding or
rolling or by an intermediate connectors that may be rigid, flexible or fluid.

Links - an intermediate connector; a part of a machine or mechanism used to connect other

parts that may have relative motions with respect to it.

Classification of Links
1. Rigid links - capable of transmitting both push and pull.
2. Flexible links - capable of transmitting forces in one direction.
a. Tension links – flexible links that transmit pull but not thrust.
Example: belts, chains, ropes
b. Compression or pressure links – flexible links that can only carry thrust.
Ex. Hydraulic press

Pairs of elements
- in order to compel a body to move in a definite path, it must be paired with
another, the shape of which is determined by the nature of the relative motion of
two bodies.
Example: A shaft cannot rotate in a desired manner without attaching it to at least
two bearings.

Closed or lower pair - one element not only forms an envelop of the other element but encloses
it.

Higher pair - element bodies A and B do not enclose each aother

Examples: Rollers, ball bearings

Incomplete Pairs of Elements

- contact is initiated by other factors, like gravity and the likes.
Example: Railway wheels and rails.

Inversion of Pairs
- If the absolute motion of the moving pieces is the same which ever piece is
fixed.

Bearings - pertains to surfaces of contact between two pieces that have relative motion.

Bearing may be arranged according to the relative motions they will allow, in 3 classes.
1. For straight translation, bearing must have plane or cylindrical surfaces
Moving piece – slides
Fixed piece – guides
2. For rotation/ turning, surfaces of circular cylinders, cones or flat disks.
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Surfaces of solid or full pieces is called – journal, neck, spindle or pivot.

Hollow or opening piece – bearings, pedestal, plumber-block, pillow-block, bush or
step.
3. For rotation and translation, helical or screw shapes.

Collars and Keys - prevents pulleys, wheels etc. to have relative motion on their shaft.

Cranks - an arm rotating or oscillating about an axis.

- a link formed as a rod or bar which revolves about a fixed center.

Lever - a link formed as a bar which oscillates about an angle.

Note: Two arms lever whose angle between is greater than 90 degrees is called a rocker (these
two arms may not be on the same plane).

Links - may be defined as a rigid piece of a non-elastic substance which serves to

transmit force from one piece to another.

Linkage - consists of a number of pairs of elements connected by links.

- if the combination is such that relative motion of links is possible (the linkage
becomes a kinematic chain.)
- If the links of the kinematic chain is fixed, it becomes a mechanism.

THE FOUR-BAR LINKAGE

- consist of 2 cranks, a coupler or connecting rod and a fixed link.

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2 & 4 – cranks
1, 2, 3 & 4 – links

Schematics of a 4 bar linkage

Note: Crank 2 is the driver and 4 is the follower. The motion of the follower will depend
on the motion of the driver and the dimensions of the parts.

Example Problem:
Axes Q2 and Q4 are fixed. Q2A is 1 and ½ inches, AB = 3”, Q 2B = 2” and Q2Q4 = 3”.
Crank 2 is the driver turning counterclockwise. The proportions are such that while 2 makes a
complete revolution, 4 oscillates through a certain angle. Find the two extreme positions of the
centerline Q4B of crank 4.

FOUR-BAR LINKAGE WITH SLIDING MEMBERS

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-From the figure above, end of the connecting block carries a block, pivoted to its axis at B,
sliding back and forth.
-Crank Q2A revolves
-Q4 is the center of the curvature of the slot.

Note: We obtain the same motion if Q4B is a crank.

Now suppose that slot is made of greater radius until it be made straight such that Q4 be Q4-> ,
An infinite distance away. We still have a four bar linkage.
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Special form of the this mechanism is of the form:

lider-Crank mechanism

Slider-crank mechanism

Line diagram

Motion
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-defined as the change in position.

Motions may either be:
1. Relative motion
2. Absolute motion – motion with respect to the earth.

Path – a point moving in space describes a line called path.

a. Rectilinear
b. Curvilinear

Continuous motion
-when a point continues to move indefinitely in a given path without changing directions.

Reciprocating motions
-when a point traverses the same path and reverses its motion at the end of such path.

Oscillation – reciprocating circular motion.

Intermittent motion – when the motion of a point is interrupted by periods of rest.

Revolution and Rotation

- a point is revolving about an axis when it describes a circle of which the
center is the axis and the plane is perpendicular to the axis.

Axis of rotation/ revolution – a line whose direction is not changed by rotation

Plane of rotation – plane perpendicular to the axis of rotation.

Direction of rotation – may either be clockwise or counterclockwise.

Coplanar motion – when all bodies’ component particles are moving in the same plane or in
parallel planes.

Cycles of motion/kinematic cycle – when mechanism is set in motion and its parts go through
series of movements that are repeated over and over again.

Period of motion – time needed to complete a cycle.

Linear speed – time rate of motion of a point along its linear path.

Angular speed – time rate in turning a body about its axis or the rate at which a line on a
revolving body is changing direction; angular units/ time

Uniform speed – equal spaces are passed over in equal times.

Variable speed – unequal spaces are passed over in equal periods of time.

Velocity – speed with direction. Distance per unit time.

a. Linear
b. Angular

Linear acceleration – time rate of change of linear velocity.

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1. Tangential – change in speed takes place in a direction tangent to the path.

2. Normal – change in speed takes place normal to the path.

Acceleration may be uniform or variable.

Translation – when all its component particles have the same velocity.
1. Rectilinear
2. Curvilinear

Angular speed
Conversions: 1 revolution = 2π radians
Let: N = angular speed in rev. per unit time
w = angular speed in radians per unit time.

Then: w = 2πN

Illustration:

Consider bodies MN which is rigid and turns about C.

Note:
Since the body is rigid and the angle ACB is constant
Angular speed of CA is equal to the angular speed of BC
and is equal to AB.
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