KINEMATICS AND

MECHANISMS

Dr SUDHIR RAJ
 Mechanism
▪ A combination of a number of bodies assembled in
such a way that the motion of one causes constrained
and predictable motion to the others is known as a
mechanism.
▪ The function of a mechanism is to transmit and
modify a motion.
▪ A machine is a mechanism or a combination of
mechanisms which, apart from imparting definite
motions to the parts, also transmits and modifies the
available mechanical energy into some kind of
desired work.
 Slider Crank Mechanism
▪ A slider crank mechanism converts the reciprocating
motion of a slider into rotary motion of the crank or
vice-versa.
▪ When it is used as an automobile engine by adding
valve mechanism, it becomes a machine which
converts the available energy into the desired energy.
Single Slider Crank Chain
In a four bar kinematic chain there are four
revolute pairs. If one of this pairs is changed as
prismatic/sliding pair that kinematic chain is called
single slider crank chain.

Link 1 – Fixed Link Link 3 – Connecting Rod

Link 2 – Crank Link 4 – Slider / Piston
Inversions of Single Slider Crank Chain

As there are four links, fixing each link in

turn, four inversions can be obtained.

In the first inversion, where the link with

one revolute pair and one prismatic pair is
fixed.
Example: 1) I.C. Engine mechanism, in
which the fourth link piston is the input and the
crank is output. 2) In air compressor, in which
the second link crank is the input and the
piston is the output.
Second Inversion of Single Slider Crank Chain
Second link in the original chain, ie., crank with
two revolute pairs is fixed, second inversion is
obtained.
2
3

1
4

Link 2 is fixed
Examples for the Second Inversion:
1. Whitworth Quick Return Mechanism

2. Rotary Engine Mechanism

Third Inversion of Single Slider Crank Chain
Third link of the original chain, ie., Connecting
Rod with two revolute pairs (length of this link is
more than crank) is fixed to obtain third inversion.

Example: 1. Oscillating Cylinder Mechanism

2. Crank and slotted lever quick return
mechanism
Crank and Slotted Lever Quick Return Mechanism
Fourth Inversion of Single Slider Crank Chain
In the original chain, if the fourth link with revolute
pair and prismatic pair is fixed, then the fourth
inversion is obtained.
Example : Hand Pump
 Double Slider Crank Chain
This Chain has two revolute pairs and two
prismatic pairs. The first inversion is with a link
with revolute pair and prismatic pair is fixed.
Example: Scotch Yoke Mechanism, which is
also called as Sinusoidal Generator.
•
The Second inversion of the double slider
crank chain is obtained when the link with two
prismatic pairs is fixed.
Example : Elliptic Trammel
X = BC cosθ
Y = AC sinθ
(X / BC) = cosθ
(Y / AC) = sinθ

(X2 / BC2) = cos2θ

(Y2 / AC2) = sin2θ

(X2 / BC2) + (Y2 / AC2) = cos2θ + sin2θ
( =1
Equation for Ellipse.
•
Third inversion of the double slider crank
chain is obtained when the link two revolute
pairs is fixed.
Example: Oldham coupling, which is used to
connect two parallel misaligned shafts.
 Straight Line Mechanisms
1.Chebyshev Straight Line Mechanism
L1 = 2 Units, L 2 = L 4 = 2.5 Units, L 3 = 1 Unit
P is the mid-point of L 3
This is a Double-Rocker Mechanism
2. Hoekens Straight Line Mechanism
L 1 = 2 Units, L 2 = 1 Unit, L 3 =L 4 = 2.5 Units
Coupler point location from A is 5 units
This is a Crank-Rocker Mechanism

L3
 3.Roberts Straight Line Mechanism
L1 = 2 Units, L2 = L3 = L4 = 1 Unit
Coupler Point P is 1 unit each from both pin joint centres
of coupler. This is a non-Grashofian Double Rocker.

L 13
 4. Watt’s Straight Line Mechanism
L1 = L3 = 2 Units, L2 = 1 Units
Fixed link length is 4 units, and the coupler point P is mid
point of the coupler. This is, also, a non-Grashofian Double
Rocker mechanism.

L1
5.Peaucellier Exact Straight Line Mechanism
L1 = L2 , L3 = L4 , L5 = L6 = L7 = L8
Free end point of the Rhombus will trace Exact Straight Line
If, L1 ≠ L2 , then the same point will trace a circular arc with
very large radius, much larger than the link lengths.

L1
 Ratchet and Pawl
RATCHET is a device that allows rotary or linear motion
in only one direction. It can be used to move a toothed
wheel one tooth at a time. The part which is used to
move the ratchet is known as the PAWL. Motion
developed by a ratchet is intermittent motion. They are
also used in the freewheel mechanism of bicycle,
clocks, screwdrivers, jacks, and hoists.

ESCAPEMENTS are generally used in clocks with

mechanical motions. In clocks the escapement controls
the spring driven clock mechanism such that it moves in
regulated steps controlled by a pendulum or an
oscillating arm.
• Ratchets and Escapements
• Animation of Ratchet and Pawl Mechanism
• Indexing Mechanisms
• A simple index mechanism consists
• of a hold or a hook that catches a pin
on on an index wheel. The Clutch slips
• until a solenoid pulls the hold away,
• which frees the wheels to turn.

• Geneva Mechanisms are often used

• in machine tools. They are capable
• of indexing or partially rotating some
• part of a machine. In cinema
projectors Geneva stop is used to move the film on one
frame at a time.
 Animation of Indexing Mechanisms

External Geneva Wheel Internal Geneva Wheel

• Animation Contd…
•
• Double Slider Driven Geneva Mechanism

• The pin at the mid point of the green link, which moves in
a circular path, drives a Geneva mechanism – used to
provide intermittent motion.
 Rocking Mechanisms
• 1.Crank Rocker Mechanism
• 2.Quick Return Mechanism
• 3. Cam and Oscillating
• Follower Mechanism
• n 4. Toothed Rack System
(1) (2)

• (3) (4)
Offset Slider Mechanism
 Classification of Mechanisms

• Based on the nature of output speed

• Uniform motion mechanism

Shortcut to flat belt.lnk

• Non-uniform motion mechanism

 Uniform Motion Mechanisms
Uniform Motion – Equal Displacement For
Equal Time Interval

Examples : All Gear Drives

All Chain Drives
Belt Drives without slip
 Non-Uniform Motion
Mechanisms

Non-Uniform Motion – Unequal Displacement

For Equal Time Interval

Examples : Linkage Mechanisms

Cam Mechanisms
Geneva Wheel
Classification of mechanisms
Based on mobility (D.O.F) of the
mechanism
1. Considering the D.O.F. of output only
a) Constrained Mechanism
b) Unconstrained Mechanism
2. Considering the sum of the D.O.F. Of
input and output motions
a) Single (one) d.o.f. mechanism
b) Multi-d.o.f. mechanism
 Constrained Mechanism
• One independent output motion. Output
member is constrained to move in a
particular manner only.

• Example: Four-bar mechanism

Slider Crank Mechanism
Five-bar mechanism with two
inputs
 Constrained Mechanism
• When the motion between two elements of
a pair is in a definite direction irrespective
of the direction of force applied, it is known
as completely constrained motion.
• The constrained motion may be linear or
rotary.
 Unconstrained mechanism
• Output motion has more than one D.O.F.

• Example: Automobile Differential during

turning the vehicle on a curve

Five-bar mechanism with one

input
 Unconstrained mechanism
• When the motion between two elements of
a pair is possible in more than one
directions and depends upon the direction
of the force applied, it is known as
incompletely constrained motion.
 Single D.O.F Mechanism
Sum of the input and output D.O.F. is two.

Single D.O.F. Motion - One Independent

Input motion and one independent
output motion

Examples : Four-Bar Mechanism

Cam-Follower Mechanism
 Multi D.O.F. Mechanism
Sum of the input and output motion D.O.F. is
more than two.

Multi D.O.F. Motion – More than one

Independent Output / Input Motions
Examples : Automobile Differential
3-D Cam Mechanism
(Camoid)
Five-Bar Mechanism
 Classification of Mechanisms
• Based on position occupied in space

• Planar Mechanism
• Spherical Mechanism
• Spatial Mechanism
 Planar Mechanism
Planar Motion – Particles/Points of Members
move in parallel planes

Examples : Planar Four-Bar Mechanism

Slider Crank Mechanism
Cam-Follower Mechanism
Spur/Helical Gear Drives
Four-bar Crank Rocker and Coupler Curve
Two Stroke Engine
 Spherical Mechanism

Spherical Motion – Points maintain Constant

Distance w.r.t. a Common Centre Point
in any position during motion.

Examples : Universal Joint

Bevel Gear Drive
Spherical Four-Bar Mechanism
 Spatial Mechanism

• Spatial Motion – Points can occupy any

• Position in space

• Examples : Spatial Four-Bar Mechanism

• Worm Gear Drive
• Serial Manipulators
 Classification of mechanisms
• Based on the connection of the output
member

• Open mechanism
• Closed mechanism
 Open Mechanism
• Output member not connected to the fixed
link / frame

• Robot arms
• Arms of earth movers
 Closed Mechanism

• Output member connected to the frame.

• Four-bar mechanism
• Slider-crank mechanism
• Cam follower mechanism
 Components of Mechanisms

• Link / element

• Kinematic pairs / joints

• Kinematic chain
 Link / Element
A single resistant body / combination of resistant
bodies having relative motion with another resistant
body / combination of resistant bodies.
Rigid Body Flexible Body Liquid

A
• Link with one Node : Unary Link
• Link with two Nodes : Binary Link (a)
• Link with three Nodes : Ternary Link (b)
• Link with four Nodes : Quaternary Link (c)
 Kinematic Pairs / Joints

• Combination of two links kept in

permanent contact permitting particular
kind(s) of relative motion(s) between them
 Classification of Pairs
• BASED ON NATURE OF CONTACT BETWEEN LINKS:

1. Lower Pairs -- Surface Contact

2. Higher Pairs – Point or Line Contact
BASED ON HOW THE CONTACT IS MAINTAINED:

1. Self / Form Closed Pairs – Shape/Form of the links

maintain the contact. No external force.

2. Force Closed Pairs – External forces like

gravitational force, spring force etc., required to maintain the
contact.
• BASED ON THE DEGREE OF FREEDOM
1. Type I / Class I – One D.O.F
2. Type II / Class II – Two D.O.F
3. Type III / Class III – Three D.O.F
4. Type IV / Class IV – Four D.O.F
5. Type V / Class V – Five D.O.F

BASED ON THE NATURE OF CONSTRAINT

1. (Completely) Constrained Pair - 1 D.O.F
2. Unconstrained Pair – More than 1 D.O.F
3. Successfully Constrained pair – Unconstrained
pair converted as Constrained pair by some
means.
• Completely Constrained Pair

• Successfully
Unconstrained Pair Constrained Pair
• BASED ON THE POSSIBLE MOTIONS (Few
Important Types only)

Name of Pair Letter Symbol D.O.F

1. Revolute / Turning Pair R 1
2. Prismatic / Sliding Pair P 1
3. Helical / Screw Pair H 1
4. Cylindrical Pair C 2
5. Spherical / Globular Pair S (or) G 3
6. Flat / Planar Pair E 3
7. Cylindric Plane Pair Cp 4
8. Spheric Plane Pair Sp 5
 Kinematic Chain

• Assembly of links and pairs to produce

required / specified output motion(s) for
given input motion(s)
 Mechanism
▪ A kinematic chain with one link fixed /
stationary
▪ Each pair having one degree of freedom
imposes 5 constraints on the mechanism,
reducing its degree of freedom by 5P1
• Each pair having two degrees of freedom
imposes 4 constraints on the mechanism,
reducing its degree of freedom by 4P2
F=6(N-1)-5P1-4P2-3P3-2P4-P5
 Mobility / D.O.F of Mechanism
• No. of inputs required to get a constrained
mechanism (or) no. of position variables needed
to sketch the mechanism with all link lengths
known.

• KUTZBACH CRITERION FOR PLANAR

MECHANISM
• F = 3(n-1)-2P1-1P2
• F – D.O.F n – No. of links
• P1 – No. of kinematic pairs with 1 D.O.F.
• P2 – No. of kinematic pairs with 2 D.O.F.
• DETERMINATION OF D.O.F

• n=3
• P1= 3
• P2 = 0
• F=3 x(3 – 1) – 2 x2 – 1x 0
• =6–6–0=0
•

• This is a STRUCTURE
•
• n=4
• P1= 4
• P2= 0
• F = 3x(4 – 1) – 2x4 – 1x0
• =9–8–0
• =1

• This is a Constrained Mechanism.

•
•
• n =5
• P1= 5
• P2= 0
• F =3 x (5 – 1) – 2x5 – 1x0
• = 12 – 10 – 0
• =2

• This is an Unconstrained Mechanism.

•
• n =6
• P1= 7
• P2= 0
• F =3 x (6 – 1) – 2x7– 1x0
• = 15– 14 – 0
• =1

• This is a Constrained Mechanism.

•
•

• n =6
• P1= 7
• P2= 0
• F =3 x (6 – 1) – 2x7 – 1x0
• = 15 – 14 – 0
• =1

• This is a Constrained Mechanism.

• n = 11
• P1= 15
• P2= 0
• F =3 x (11 – 1) – 2x15 – 1x0
• = 30 – 30 – 0
• =0
• There are two pairs between Links (2,4,5); (3,4,6);
• (5,7,8); (8,10,11)

• This is a Structure.
 Gruebler’s Criterion
• This criterion is used to find out whether
an assembly of links with 1 d.o.f. lower
pairs is a constrained mechanism or not.

• 3n – 2l – 4 = 0
• n – no. of links l – no.of lower pairs with
one d.o.f
F <0 Pre-loaded structure
Super structure

F =0 Structure

F =1 Constrained Mechanism

F >1 Unconstrained Mechanism

• Constrained Mechanism

• Unconstrained Mechanism
 LINK / ELEMENT

KINEMATIC PAIR / JOINT

KINEMATIC CHAIN

MECHANISM

MACHINE
• Link / Element – A resistant body which has relative motion
with another resistant body of a system.
•
• Kinematic Pair / Joint - Combination / Assembly of two links
kept in permanent contact, permitting particular kind(s) of
definite relative motion(s) between them.

• Kinematic Chain – Combination / Assembly of links and pairs

such that each link has minimum two pairs, permitting
controlled definite output motion for a specified input motion.

• Mechanism – A kinematic chain with one link fixed / stationary.

• Machine – A device, which has one or more mechanisms,

transferring / transforming motion and energy to do required
useful work easily.
 MOBILITY OR DEGREE OF FREEDOM
• For a Link – Six in spatial motion, three in planar
motion.

• For a Kinematic Pair – Number of independent co-

ordinates/pair variables to specify the position of
one link with another link (OR) number of
independent relative motions possible between the
links. Maximum five and minimum one in spatial
motion. Maximum two and minimum one in planar
motion.

• For a Kinematic Chain/Mechanism – Number of

independent position variables to sketch the
configuration with known link lengths (OR) number
 Spatial D.O.F. Planar D.O.F.

R – Pair P – Pair C - Pair

 Kinematic Inversions
• Process of obtaining different mechanisms
from the same kinematic chain, by fixing
different links in turn, is known as
kinematic inversion.

Four inversions are possible from four-bar

kinematic chain.
 Formation of four-bar
mechanism
• No. of links – 4, No. of pairs – 4.
• All the pairs are revolute pairs.
• Links are :1. Fixed link or Frame
• 2. Input Link
• 3. Coupler
• 4. Output link or Follower
 Assembly Condition
• Lengths of links: Longest link - l
Shortest link - s
Intermediate links – p, q

l<s+p+q
Grashofian four-bar mechanism

• Atleast one link will have full rotation if

S+l≤p+q
 GRASHOF’ S LAW

In a planar four bar revolute pair kinematic chain if the sum

of the lengths of the shortest and the longest links is less
than or equal to the sum of the lengths of the other two
intermediate links at least one link will have full rotation.

Mechanisms obtained from the kinematic chain satisfying

these conditions are known as Grashofian Mechanisms.

Mechanisms obtained from the kinematic chain which are

not obeying these conditions are known as Non-Grashofian
Mechanisms.
 Inversions of four bar Mechanisms are named
based on the motions of input link and output link.

Crank - Link with 360 degree rotation

Rocker/Lever – Link with less than 360 degree

rotation
 Four- bar Inversions
• Crank – Rocker Mechanisms (Two)
• Drag Link / Double Crank Mechanism
• Double – Rocker Mechanism
• Above are Grashofian Inversions

• All four non-Grashofian inversions are

Double – Rocker mechanisms
 Rockers of Grashofian Mechanisms will have
less than 180 degree rotation.

Rockers of Non-Grashofian Mechanisms can

have greater than 180 degree rotation.
 One Link Fixed

KINEMATIC CHAIN MECHANISM

Inversion of the kinematic chain depends

upon which link is fixed.
 Conditions for Inversions
• POSITION OF F0UR – BAR INVERSION
SHORTEST LINK

• Adjacent to the fixed link Crank – Rocker

• Fixed link itself Drag Link (Double Crank)

• Opposite to fixed link Double Rocker

Examples for Crank – Rocker Mechanism
1. Wind shield wiper mechanism on Driver Side

2. Sewing Machine Treadle Mechanism

3. Grinding Wheel Treadle Mechanism

4. Pedaling action of a Bicycle

Example for Double Crank / Drag Link Mechanism
1.

2. Locomotive Wheels Mechanism

Example for Double Rocker Mechanism
1. Wind Shield wiper on Passenger Side

2. Ackerman's Steering Gear Mechanism

 Grashof’s law
▪ This law states that a four bar mechanism
has at least one revolving link if the sum
of the lengths of the largest and the
shortest links is less than the sum of
lengths of the other two links.
Four Bar chain

▪ A four bar chain is the most fundamental

of the plane kinematics chains.
▪ It consists of four rigid links which are
connected in the form of a quadrilateral
by four pin joints.
▪ When one of the link is fixed, it is known
as linkage or mechanism.
Slider Crank chain

▪ When one of the turning pairs of a four

bar chain is replaced by a sliding pair, it
becomes a single slider crank chain or
simply a slider crank chain.
▪ It is also possible to replace two sliding
pairs of a four bar chain to get a double
slider crank chain.
 FOUR-BAR MECHANISM
▪ A four-link mechanism with four revolute joints is commonly
called a four-bar mechanism.
First Inversion

▪ This inversion is obtained when link 1 is

fixed and links 2 and 4 are made the
crank and slider respectively.
▪ Its applications are Reciprocating engine
and reciprocating compressor.
Second Inversion

▪ Fixing of links 2 of a slider crank chain

results in the second inversion.
▪ Its applications are Whitworth quick
return mechanism and rotary engine.
Third Inversion

▪ Fixing of links 3 of a slider crank chain

results in the third inversion.
▪ Its applications are oscillating cylinder
engine, crank and slotted lever
mechanism.
Fourth Inversion

▪ Fixing of links 4 of a slider crank chain

results in the fourth inversion.
▪ Its applications are hand pump.
Double slider crank chain

▪ A four bar chain having two turning and

two sliding pairs such that two pairs of
the same kind are adjacent is known as a
double slider crank chain.
First Inversion

▪ This inversion is obtained when the link

1 is fixed and the two adjacent pairs 23
and 34 are turning pairs and the other two
pairs 12 and 41 sliding pairs.
▪ Its applications are elliptical trammel.
ELLIPTICAL TRAMMEL
 Second Inversion
▪ If any of the slide blocks of the first
inversion is fixed, the second inversion of
the double slider crank chain is obtained.
▪ When the link 4 is fixed, the end B of the
crank 3 rotates about A and the link 1
reciprocates in the horizontal direction.
▪ Its application is scotch yoke mechanism
which is used to convert the rotary motion
into a sliding motion.
 Third Inversion
▪ This inversion is obtained when the link 3
of the first inversion is fixed and the link 1
is free to move.
▪ Its applications are Oldham’s coupling.
OLDHAMS COUPLING
ALTERNATE SOLUTION
 Acceleration Analysis
Acceleration
Slider Crank Mechanism