Kinematics of Machinery
Teaching Scheme Credits Examination Scheme
TH : 3 Hrs/week 04 In-Semester : 30 Marks
PR : 2 Hrs/ week End-Semester : 70 Marks
TW : 25 Marks
Prerequisites: -
1. Systems in Mechanical Engineering
2. Engineering Mathematics
3. Engineering Physics
4. Engineering Mechanics
5. Computer aided drawing & drafting
Course Objectives:
1. To make the students conversant with kinematic analysis of mechanisms applied to real life and industrial
applications.
2. To develop the competency to analyze the velocity and acceleration in mechanisms using analytical and
graphical approach.
3. To develop the skill to propose and synthesize the mechanisms using graphical and analytical technique.
4. To develop the competency to understand & apply the principles of gear theory to design various
applications.
5. To develop the competency to design a cam profile for various follower motions.
Course Outcomes:
On completion of the course, learner will be able to –
CO1: Identify mechanisms in real life applications.
CO2: Apply kinematic analysis to simple mechanisms.
CO3: Analyze velocity and acceleration in mechanisms by vector and graphical method.
CO4: Synthesize a four bar mechanism with analytical and graphical methods.
CO5: Apply fundamentals of gear theory as a prerequisite for gear design.
CO6: Design cam profile given follower motions.
Course Contents
Unit I Fundamentals of Mechanism (7Hrs)
Kinematic link, Types of links, Kinematic pair, Types of constrained motions, Types of Kinematic pairs,
Kinematic chain, Types of joints, Mechanism, Machine, Degree of freedom, Mobility of Mechanism.
Inversion, Grashoff’s law, Four bar chain and its inversions, Slider crank chain and its inversions, Double slider
crank chain and its inversions. Mechanisms with Higher pairs, Equivalent Linkages and its Cases - Sliding Pairs in
Place of Turning Pairs, Spring in Place of Turning Pairs, Cam Pair in Place of Turning Pairs.
Unit II Kinematic Analysis of Mechanisms: Analytical Method (7Hrs)
Analytical method for displacement, velocity and acceleration analysis of slider crank Mechanism. Velocity and
acceleration analysis of four bar and slider crank mechanisms using vector and complex algebra methods.
Computer aided Kinematic Analysis of Mechanism like Slider crank and four bar mechanism. Analysis of Single
and Double Hook’s joint.
Unit III Kinematic Analysis of Mechanisms: Graphical Method (8Hrs)
Displacement, velocity and acceleration analysis mechanisms by relative velocity method (Mechanisms upto 6
Links), Instantaneous Centre of Velocity, Kennedy’s Theorem, Angular velocity ratio theorem, Analysis of
mechanism by ICR method (Mechanisms upto 6 Links), Coriolis component of acceleration (Theorotical treatment
only),
Unit IV Synthesis of Mechanisms ( 7Hrs)
Steps in Synthesis: Type synthesis, Number Synthesis, Dimensional synthesis, Tasks of Kinematic synthesis:
Path, function and motion generation (Body guidance). Precision Positions, Chebychev spacing, Mechanical and
structural errors.
Graphical Synthesis: Inversion and relative pole method for three position synthesis of four bar and single slider
crank mechanisms.
Analytical Synthesis: Three position synthesis of four bar mechanism using Freudenstein’s equation, Blotch
synthesis.
Unit V Kinematics of Gears (8Hrs)
Gear: classification, Spur Gear: terminology, law of gearing, Involute and cycloidal tooth profile, path of contact,
arc of contact, sliding velocity, Interference and under cutting, Minimum number of teeth to avoid interference,
force analysis (theoretical treatment only).
Helical and Spiral Gears: terminology, geometrical relationships, virtual number of teeth for helical gears
Bevel Gear & Worm and worm wheel: terminology, geometrical relationships,
Gear train: types , Analysis of epicyclic gear trains, Holding torque – simple, compound and epicyclic gear trains,
torque on sun And planetary gear train, compound epicyclic gear train.
Unit VI Cams and Automation (8Hrs)
Cams & Followers : Introduction, Classification of followers and cams, Terminology of cam Displacement
diagram for the Motion of follower as Uniform velocity, Simple Harmonic Motion (SHM), Uniform Acceleration
and Retardation Motion (UARM),Cycloid motion ,Cam profile construction for Knife edge follower and Roller
follower, Cam jump phenomenon.
Automation: introductions, types of Automation.
Method of work part transport: Continuous transfer, Intermittent or synchronous transfer, Asynchronous transfer,
Different type of transfer mechanisms: Linear transfer mechanisms and Rotary transfer mechanisms
Automated Assembly line: Types, Assembly line balancing Buffer Storages, Automated assembly line for car
manufacturing, Artificial intelligence in automation.
Books & Other Resources
Text Books
1. S. S. Rattan, Theory of Machines, Third Edition, McGraw Hill Education ( India) Pvt. Ltd.New Delhi.
2. Bevan T, Theory of Machines, Third Edition, Longman Publication.
3. A. G. Ambekar, Mechanism and Machine Theory, PHI.
4. 5. J. J. Uicker, G. R. Pennock, J. E. Shigley, Theory of Machines and Mechanisms, Third
Edition, International Student Edition, OXFORD
Reference Books
1. Paul E. Sandin, Robot Mechanisms and Mechanical Devices Illustrated, Tata McGraw Hill Publication.
2. Stephen J. Derby, Design of Automatic Machinery (2005, Marcel Dekker, 270 Madison Avenue, New
York.
3. Neil Sclater, Mechanisms and Mechanical Devices Sourcebook, Fifth Edition, Tata McGraw Hill
Publication.
4. Ghosh Malik, Theory of Mechanism and Machines, East-West Pvt. Ltd.
5. Hannah and Stephans, Mechanics of Machines, Edward Arnolde Publication.
6. R. L. Norton, Kinematics and Dynamics of Machinery, First Edition, McGraw Hill Education (India) P
Ltd. New Delhi
7. Sadhu Singh, Theory of Machines, Pearson
8. Dr. V. P. Singh, Theory of Machine, Dhanpatrai and sons.
9. C. S. Sharma & Kamlesh Purohit, Theory of Machine and Mechanism, PHI.
10. M.P. Groover, Automation, production systems and computer-integrated manufacturing, Prentice-Hall
of India Pvt. Ltd, New Delhi.
Guidelines for TW Assessment
There should be continues assessment for term work.
Assessment must be based on assessment of theory, attentiveness during practical and understanding
of the course.
Timely submission of journals.
The student shall complete following activities as a part of TW
Sr. Activity
No.
1. Group A : Assignments:
i. Identify a mechanisms in real life and Analyze for types and number of links, pairs, obtain degrees
of freedom, present and submit the working video of mechanism analysis.
ii. To make a model of any mechanism by using waste material by the group of 4 to 6 students and to
give presentation using PPTs.
iii. To solve two problems on velocity and acceleration analysis using relative velocity and
acceleration method.
iv. To solve two problems on velocity analysis using ICR method.
v. To draw conjugate profile for any general type of gear tooth.
vi. To study of various types of gearboxes.
vii. To draw a cam profile any two problems with combination of various follower motion with radial
and off-set cam.
2. Group B : Experiments:
i. To make a model of any mechanism by using waste material by the group of 4 to 6 students and to
give presentation using PPTs.
ii. Speed and torque analysis of epicyclic gear train to determine holding torque..
iii. To study and verify cam jump phenomenon
iv. To study manufacturing of gear using gear generation with rack as a cutter and to generate involute
profile.
3. Group C: Software based assignments:
i. To design a simple planer mechanism by using any software.(Geogebra, Sam, Working Model,
Any 3D modelling Software)
ii. To do computer programming on kinematic analysis of slider crank mechanism using Analytical
Method. (C, Python, Scilab, Matlab etc.)
iii. To do computer programming on kinematic analysis of hooke’s joint mechanism using Analytical
Method. (C, Python, Scilab, Matlab etc.)
iv. To generate a cam profile using any modelling software (MechAnalyser, Any Solid modelling
Software)
v. To synthesize the four bar and slider crank mechanism using relative pole and inversion method
with three accuracy points. (Geogebra, Sam, Any 2D/3D modelling Software)
vi. To do computer programming on synthesis of mechanism using Chebychevs spacing,
Freudensteins equation and function generation. (C, Python, Scilab, Matlab etc.)
4. Group D : Virtual Lab:
i. Mechanics-of-Machines Lab (All Experiments )
ii. Mechanisms and Robotics > Oldham Coupling Mechanism
iii. Mechanisms and Robotics > Quick Return Mechanism
iv. Mechanisms and Robotics > CAM Follower Mechanism
5. Group E: Industry/Workshop visit:
The Visit to the industries consisting automation like Assembly line, Sugar factory, Bottle feeling plants
etc is mandatory to provide awareness and understanding of the course.
6. Content beyond syllabus:
i. Forward and Inverse kinematics of 2R/ 2P/ RP/PR MANIPULATORS. (Geogebra, RoboAnalyser,
Vlab)
ii. Kinematics of 6 DOF industrial robot. (RoboAnalyser, Vlab
