Kinematics and Dynamics of Machines

(PRPC15, 3-1-0)
Section: B
4th Semester
Production Engineering

Matruprasad Rout, PhD

Assistant Professor
Dept. of Production Engineering
National Institute of Technology Tiruchirappalli
Tamil Nadu- 620015, India
Email: [email protected]
Simple Mechanisms and Inversions

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Simple Mechanism
• Mechanism: When one of the links of a kinematic chain is fixed and motion
of one of the movable link cause definite motion of other link then the chain
is known as mechanism.

• Simple Mechanism: A mechanism with four links is known as simple

mechanism.

• Compound Mechanism: A mechanism with more than four links is known

as compound mechanism

• Most commonly used mechanisms are

• Four bar chain

• Single slider crank chain

• Double slider crank chain

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Inversions of mechanism

• Mechanism is a kinematic chain in which one link is fixed.

• By fixing the kinematic links of a kinematic chain one at a time, we get as

many different mechanisms as the number of links in the chain.

• This method of obtaining different mechanisms by fixing different links of

the same kinematic chain, is known as inversion of mechanism.

• With inversion relative motion between the various links is not changed but
the absolute motion may get changed

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Four Bar Chain

• A Kinematic Chain consisting of four rigid links connected in the form of

quadrilateral by four revolute pairs is called four bar or quadric cyclic chain.

• A link that makes a complete evolution is called crank and the link opposite
to the fixed link is called the coupler. The fourth link is called lever or rocker.

• If the length of one of the links is greater than sum of the other three, it is
impossible to have four bar chain.
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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 smallest links is less than the sum of the
lengths of the other two links.

• Necessary conditions for the link “a” to be

a crank is,

1. The shortest link is fixed

2. the sum of the lengths of the largest and smallest links should be less than the
sum of the lengths of the other links

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Inversions of Four Bar Chain

Crank-Rocker

Rocker-Rocker

Crank-Crank

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Inversions of Four Bar Chain

• Ground the link adjacent to the shortest link and you get a crank-rocker, in
which the shortest link will fully rotate and the other link pivoted to ground
will oscillate.

• Ground the link opposite the shortest and you will get a double-rocker, in
which both links pivoted to ground oscillate

• Ground the shortest link and you will get a double-crank, in which both
links pivoted to ground make complete revolutions.

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The Slider Crank Chain

• When one of the turning pairs (R) of a four bar chain is replaced by a sliding
pair (P), chain is called Slider Crank Chain.

Turning Pairs – A (1 and 2), B (2 and 3), C (3 and 4)

Sliding Pair – D (4 and 1)

Slider Crank Chain e - offset

Offset Slider Crank Chain

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First Inversion

• Applications: Reciprocating engine and compressor

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Shaper Machine

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Second Inversion

• Applications: Whitworth quick return

mechanism and Rotary engine

Whitworth quick return mechanism

𝑇𝑖𝑚𝑒 𝑜𝑓 𝑐𝑢𝑡𝑡𝑖𝑛𝑔 𝛼
=
𝑇𝑖𝑚𝑒 𝑜𝑓 𝑟𝑒𝑡𝑢𝑟𝑛 𝛽
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Second Inversion

Rotary Engine

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Third Inversion

• Applications: Crank and slotted lever mechanism and

oscillating cylinder engine
Crank and Slotted Link Mechanism

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Crank and Slotted Link Mechanism

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Oscillating Cylinder Engine

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Fourth Inversion

• Applications: Hand pump

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The Double Slider Crank Chain
• A four bar chain having two revolute and two sliding pairs such that two pairs
of the same kind are adjacent is known as double slider crank chain.

First Inversion
Elliptical Trammel Used for generating an elliptical profile.

𝑥
𝑥 = 𝐵𝐶 𝑐𝑜𝑠 𝜃 = cos 𝜃
𝐵𝐶
𝑦
𝑦 = 𝐴𝐶 𝑠𝑖𝑛 𝜃 = sin 𝜃
𝐴𝐶
𝑥2 𝑦2
2 + 2 = 𝑐𝑜𝑠 2𝜃 + 𝑠𝑖𝑛2 𝜃 = 1
(𝐵𝐶) (𝐴𝐶)
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Second Inversion

Scotch Yoke

• Here the constant rotation of the crank produces harmonic translation of the
yoke.

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Third Inversion

Oldham’s Coupling

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Mechanical Advantages

𝑜𝑢𝑡𝑝𝑢𝑡
Mechanical Advantages (MA) = ൗ𝑖𝑛𝑝𝑢𝑡
Neglecting all the losses Crank-rocker mechanism
Power input = Power output

Transmission Angle

• Angle between the output link and the coupler

is known as Transmission angle

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 Applying cosine law

To find out maximum and minimum angle of μ

𝑑𝜇ൗ = 0
𝑑𝜃

• Sum of the lengths of the longest and the

shortest links is less than the sum of the
lengths of the other two links: Class I four-
bar linkage
• Sum of the lengths of the longest and the
shortest links is more than the sum of the
lengths of the other two links: Class II four-
bar linkage (1) (2)
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Crank-rocker mechanism

Rocker-rocker mechanism
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OA= 250 mm OP’= 100 mm
AR = 450 mm

Find out ratio of time of cutting to

time of return stroke and length of stroke

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the distance between the fixed centers, AC = 240 mm,
length of the driving crank, CB1 = 120 mm,
length of the slotted bar, AP1= 450 mm

ratio of time of cutting to time of return stroke ?

find the length of the stroke if the line of stroke passes

through the extreme positions of the free end of the
lever

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BC = 30 mm ; R1R2 = 120 mm ; Time ratio of working stroke to the return stroke = 1.7
determine the dimensions of AC and AP

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In a Whitworth quick return motion mechanism, as shown in figure, the distance
between the fixed centers is 50 mm and the length of the driving crank is 75 mm. The
length of the slotted lever is 150 mm and the length of the connecting rod is 135 mm.
Find the ratio of the time of cutting stroke to the time of return stroke.

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Books to Refer

1. Shigley, J.E. and Uicker, J.J., Theory of Machines and Mechanisms,

Oxford University Press, 3rd Edition, 2008.

2. Thomas Bevan, Theory of Machines, CBS Publishers. 3rd Edition, 2008.

3. Rattan S.S., Theory of Machines, Tata McGraw Hill Pub Co, 2nd Edition,
2008.

4. Khurmi, R.S. and Gupta, J.K., Theory of Machines, S. Chand &

Company Ltd., 13th Edition, 2000.

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