COURSE MATERIAL

THEORY OF MACHINES
Syllabus

Sub Code: 22ME52 CIE:50

Hrs/ Week: 05 SEE:50
Total Hrs: 50 Credits: 4

Course Objective: Provide knowledge to

CO1 Understand the relative motion between mechanical elements such as linkages, gears, and other
types of mechanisms.
CO2 To interpret and sketch velocity and acceleration diagrams of various types of mechanism.

CO3 Analyse the behaviour of mechanisms subjected to internal and external forces

CO4 Examine the stability of rotating machines under external disturbances.

CO5 Apply the knowledge of mathematics, science and engineering mechanics to find natural
frequency of a vibrating system
CO6 Analyse the parameters affecting the dynamic behavior of a mechanical system.

Module 1
Introduction: Mechanisms and machines, Kinematic pairs-types, degree of freedom, Kinematic chains and
their
classification, Four bar mechanism and its inversions, Single slider crank mechanism and its inversions, Quick
return motion mechanisms-Drag link mechanism, Whitworth mechanism and Crank and slotted lever
Mechanism. Intermittent Motion mechanisms -Geneva wheel mechanism and Ratchet and Pawl mechanism.
Pantograph,

Self Study: Mechanisms: Straight line motion mechanisms Peaucellier's mechanism and Robert's mechanism.
Toggle mechanism, Ackerman steering gear mechanism.
10 hours

Module 2
Gear Trains: Simple gear trains, compound gear trains. Epicyclic gear trains: Tabular method of finding
velocity ratio of epicyclic gear trains,
Cams: Types of Cams, Types of Followers. Disc Cam with Radial Reciprocating Follower Having Knife-Edge,
Roller Disc Cam, Follower Motions, Uniform velocity, UARM, SHM.
 Self Study : CAMS: Uniform Velocity, Uniform Acceleration and Retardation and Cycloidal Motion.

10 hours
Module 3
Static Force Analysis
Static Force Analysis: Introduction: Static equilibrium. Equilibrium of two and three force members. Members
with two forces and torque. Free body diagrams. Principle of virtual work. Static force analysis simple
mechanisms without friction.
Self Study: Static force analysis considering friction at pins.
12 hours
Module 4

Balancing of Machinery
Balancing of Rotating Masses: Static and dynamic balancing. Balancing of single rotating mass by balancing
masses in same plane and in different planes. Balancing of several rotating masses by balancing masses in
same plane and in different planes.

Self Study: Study of balancing in machines

12 hours

Module 5
Governors and Gyroscope
Types of governors; force analysis of Porter and Hartnell governors. Controlling force. Stability, sensitiveness.
Isochronism,. Gyroscope: Vectorial representation of angular motion. Gyroscopic couple. Effect of gyroscopic
couple on ship, plane disc, aeroplane, stability of two .
Self Study: Flywheels in presses and punches.
10 hours

NOTE:
1. Questions for CIE and SEE not to be set from self-study component.
2. Assignment Questions should be from self-study component only.

Text Books:
1. “Theory of Machines & Mechanisms", J.J. Uicker, , G.R. Pennock, J.E. Shigley. OXFORD 3rd Ed. 2009.
2. Theory of Machines, Thomas Bevan, Pearson Education. 3rd edition. 2009.

Reference Books:
1. Mechanism and Machine Theory,A.G.Ambekar PHI, 2007
2. Theory of Machines, Sadhu Singh, Pearson Education. 2nd edition. 2007.
3. Theory of Machines, Rattan S.S. Tata McGraw Hill Publishing Company Ltd., New Delhi, 3rd Edition,
2009.
 E-learning: http://www.elearning.vtu.ac.in/elearning/
http://nptel.ac.in

Laboratory Exercises

Exercise 1: Kinematic design of -Geneva wheel mechanism. (Using Microsoft excel)

Exercise 2: Velocity and Acceleration analysis of planar mechanisms Graphical method (Using
Autodesk Inventor)

Exercise 3: Velocity and Acceleration Analysis of Mechanisms (Analytical Method) (Using Microsoft
Excel)

Exercise 4: Kinematics of Spur Gear: Gear terminology, law of gearing, path of contact, arc
of contact, contact ratio of spur gear. Interference in involute gears, methods of avoiding
interference, condition and expressions for minimum number of teeth to avoid interference,
Exercises on Kinematics of Spur gear using Microsoft Excel.

Exercise 5: Cams: Displacement, Velocity & Acceleration Time Curves for Cam Profiles. (Using
Microsoft Excel)

Exercise 6: Flywheels: Turning moment diagrams and flywheels. Fluctuation of Energy.

Determination of size of flywheels. (Using Microsoft Excel)

Exercise 7: Balancing of Rotating Masses (Using Autodesk Inventor)

Exercise 8: Dynamic analysis of Mechanisms (Using Autodesk Inventor)

1.1 Machine and Mechanism:

 Mechanism:
 If a number of bodies are assembled in such a way that the motion of one causes
constrained and predictable motion to the others, it is known as a mechanism.
 Machine:
 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.
  Analysis:
 Analysis is the study of motions and forces concerning different parts of an existing
mechanism.
 Synthesis:
 Synthesis involves the design of its different parts.

1.2 Types of constrained motion:

1.2.1 Completely constrained motion:
 When the motion between a pair is limited to a definite direction irrespective of
the direction of force applied, then the motion is said to be a completely
constrained motion.
 For example, the piston and cylinder (in a steam engine) form a pair and the
motion of the piston is limited to a definite direction (i.e. it will only reciprocate)
relative to the cylinder irrespective of the direction of motion of the crank.

Fig. 1.1 fig. 1.2

 The motion of a square bar in a square hole, as shown in Fig. 1.1, and the motion
of a shaft with collars at each end in a circular hole, as shown in Fig. 1.2, are also
examples of completely constrained motion.
1.2.2 Incompletely constrained motion:
 When the motion between a pair can take place in more than one direction, then
the motion is called an incompletely constrained motion. The change in the
direction of impressed force may alter the direction of relative motion between
the pair. A circular bar or shaft in a circular hole, as shown in Fig. 1.3, is an
example of an incompletely constrained motion as it may either rotate or slide in a hole. These
both motions have no relationship with the other.

Fig. 1.3 FIG. 1.4

1.2.3 Successfully constrained motion:
 When the motion between the elements, forming a pair, is such that the
constrained motion is not completed by itself, but by some other means, then
the motion is said to be successfully constrained motion. Consider a shaft in a
foot-step bearing as shown in Fig. 1.4.
 The shaft may rotate in a bearing or it may move upwards. This is a case of
incompletely constrained motion. But if the load is placed on the shaft to prevent
axial upward movement of the shaft, then the motion of the pair is said to be
successfully constrained motion. The motion of an I.C. engine
1.3 Types of Links:
 A mechanism is made of a number of resistant bodies out of which some may have
motions relative to the others. A resistant body or a group of resistant bodies with
rigid connections preventing their relative movements is known as a link.
 A link may also define as a member or a combination of members of a mechanism,
connecting other members and having motion relative to them.
 Links may be classified into binary, ternary and quaternary.

FIG. 1.4 Types of link

1.4 Kinematic
Pair:
 When two kinematic links are connected in such a way that their motion is either
completely or successfully constrained, these two links are said to form a kinematic
pair.
 Kinematic pairs can be classified according to:
 1.4.1 Kinematic pairs according to nature of contact:
a. Lower Pair:
o A pair of links having surfaced or area contact between the members is
known as a lower pair. The contact surfaces of two links are similar.
o Examples: Nut turning on a screw, shaft rotating in a bearing.
b. Higher Pair:
o When a pair has a point or line contact between the links, it is known as a
higher pair. The contact surfaces of two links are similar.
o Example: Wheel rolling on a surface, Cam and Follower pair etc.
1.4.2 Kinematic pairs according to nature of contact:
a. Closed Pair:
o When the elements of a pair are held together mechanically, it is known
as a closed pair. The two elements are geometrically identical; one is solid
and full and the other is hollow or open. The latter not only envelops the
former but also encloses it. The contact between the two can be broken
only by destruction of at least one of the members.
b. Unclosed Pair:
o When two links of a pair are 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.
1.4.3 Kinematic pairs according to Nature of Relative Motion:
a. Sliding pair:
o When two links have a sliding motion relative to another; the kinematic
pair is known as sliding pair.
b. Turning pair:
o When one link is revolve or turn with respect to the axis of first link, the
kinematic pair formed by two links is known as turning pair.
c. Rolling pair:
o When the links of a pair have a rolling motion relative to each other, they
form a rolling pair.
d. Screw pair:
o If two mating links have a turning as well as sliding motion between them,
they form a screw pair.
e. Spherical pair:
o When one link in the form of sphere turns inside a fixed link, it is a
spherical pair.

1.5 Types of Joint:

 The usual types of joints in a chain are:
o Binary Joint
o Ternary Joint
o Quaternary Joint
 Fig1.5. Types of joint
a. Binary
Joint:
o If two links are joined at the same connection, it is called a binary joint.
For example, in fig. at joint B
b. Ternary Joint:
o If three links joined at a connection, it is known as a ternary
link. For example point T in fig.
c. Quaternary Joint:
o If four links joined at a connection, it is known as a quaternary
link. For example point Q in fig.
1.6 Degrees of Freedom:
 An unconstrained rigid body moving in space can describe the following independent
motion:
a. Translational motion along any three mutually perpendicular axes x, y and z.
b. Rotational motion about these axes

Fig.1.6 Degrees of freedom

  A rigid body possesses six degrees of freedom.
 Degrees of freedom of a pair is defined as the number of independent relative motions,
both translational and rotational, a pair can have.
 DOF = 6 – Number of Restraints

1.7 Kinematic chain

 Kinematic chain is defined as the combination of kinematic pairs in which each links
forms a part of two kinematic pairs and the relative motion between the links is
either completely constrained or successfully constrained.
 Examples: slider-crank mechanism
 For a kinematic chain
N = 2 P – 4 = 2 (j + 2) / 3
 Where N = no. of links, P = no. of Pairs and j = no. of joints
 When,
LHS > RHS, then the chain is locked
LHS = RHS, then the chain is constrained
LHS < RHS, then the chain is
unconstrained

1.8 Kutzbek Criterion

 DOF of a mechanism in space can be determined as follows:
 In mechanism one link should be fixed. Therefore total no. of movable links are in
mechanism is (N-1)
 Any pair having 1 DOF will impose 5 restraints on the mechanism, which reduces its
total degree of freedom by 5P1.
 Any pair having 2 DOF will impose 4 restraints on the mechanism, which reduces its
total degree of freedom by 4P2
 Similarly, the other pairs having 3, 4 and 5 degrees of freedom reduce the degrees
of freedom of mechanism. Thus,
 Thus,
F = 6 (N-1) – 5 P1 – 4 P2 – 3 P3 – 2 P4 – 1P5 –
 Hence, 0P6

F = 6 (N-1) – 5 P1 – 4 P2 – 3 P3 – 2 P4 – 1P5
 The above equation is the general form of Kutzbach criterion. This is applicable to any
type of mechanism including a spatial mechanism.

1.9 Grubler’s criterion

 If we apply the Kutzbach criterion to planer mechanism, then equation of Kutzbach
criterion will be modified and that modified equation is known as Grubler‟s Criterion
for planer mechanism.
 Therefore in planer mechanism if we consider the links having 1 to 3 DOF, the total
number of degree of freedom of the mechanism considering all restraints will

DEPARTMENT MECHANICAL ENGINEERING

becomes,

DEPARTMENT MECHANICAL ENGINEERING

 F = 3 (N-1) – 2 P1 – 1 P2
 The above equation is known as Grubler’s criterion for planer mechanism.
 Sometimes all the above empirical relations can give incorrect results, e.g. fig (a) has 5
links, 6 turning pairs and 2 loops. Thus, it is a structure with zero degree of freedom.

Fig. 1.7
 However, if the links are arranged in such a way as shown in fog. (b), a double
parallelogram linkage with one degree of freedom is obtained. This is due to the
reason that the lengths of links or other dimensional properties are not considered in
these empirical relations.
 Sometimes a system may have one or more link which does not introduce any extra
constraint. Such links are known as redundant links and should not be counted to
find the degree of freedom. For example fig. (B) has 5 links, but the function of the
mechanism is not affected even if any one of the links 2, 4 and 5 are removed. Thus,
the effective number of links in this case is 4 with 4 turning pairs, and thus 1 degree
of freedom.
 In case of a mechanism possessing some redundant degree of freedom, the effective
degree of freedom is given by,
F = 3 (N – 1) – 2 P1 – 1P2 – Fr
 Where F = no. of redundant degrees of freedom

1.10 The Four-Bar chain

 A four bar chain is the most fundamental of the plane kinematic chains. It is a much
proffered mechanical device for the mechanisation and control of motion due to its
simplicity and versatility. Basically, it consists of four rigid links which are connected
in the form of a quadrilateral by four pin-joints.
 When one of the link fixed, it is known as mechanism or linkage. A link that makes
complete revolution is called the crank. The link opposite to the fixed link is called
coupler, and the forth link is called a lever or rocker if it oscillates or another crank if
it rotates.
 It is impossible to have a four-bar linkage if the length of one of the link is greater
than the sum of other three. This has been shown in fig.
 Fig. 1.7 Four bar chain
1.11 Grashof’s
law:
 We have already discussed that the kinematic chain is a combination of four or more
kinematic pairs, such that the relative motion between the links or elements is
completely constrained The simplest and the basic kinematic chain is a four bar chain
or quadric cycle chain, as shown in Fig. 5.18. It consists of four links, each of them
forms a turning pair at A, B, C and D. The four links may be of different lengths.
 According to Grashof‟s ‟s law for a four bar mechanism, the sum of the shortest and
longest link lengths should not be greater than the sum of the remaining two link
lengths if there is to be continuous relative motion between the two links.

Fig. 1.8 Grashof’s law

 A very important consideration in designing a mechanism is to ensure that the input

crank makes a complete revolution relative to the other links. The mechanism in
which no link makes a complete revolution will not be useful. In a four bar chain, one
of the links, in particular the shortest link, will make a complete revolution relative to
the other three links, if it satisfies the Grashof‟s law. Such a link is known as crank or
driver. In Fig.5.18, AD (link 4) is a crank.
 The link BC (link 2) which makes a partial rotation or oscillates is known as lever or
rocker or follower and the link CD (link 3) which connects the crank and lever is
called connecting rod or coupler. The fixed link AB (link 1) is known as frame of the
mechanism.
1.12 Inversion of Mechanism:
 When the number of links in kinematic chain is more than three, the chain is known
as mechanism. When one link of the kinematic chain at a time is fixed, give the
different mechanism of the kinematic chain. The method of generating different
mechanism by fixing a link is called the inversion of mechanism.
 The number of inversion is equal to the numbers of links in the kinematic chain.
 The inversion of mechanism may be classified as:
a. Inversion of four-bar chain
b. Inversion of single slider crank chain
c. Inversion of double slider crank chain

1.13 Inversion of Four-Bar chain

1.13.1 First inversion: coupled wheel of locomotive
 The mechanism of a coupling rod of a locomotive (also known as double
crank mechanism) which consists of four links is shown in Fig.

Fig. 1.9 coupled wheel of locomotive

 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.

1.13.2 Second inversion: Beam Engine

 A part of the mechanism of a beam engine (also known as cranks and lever
mechanism) which consists of four links is shown in Fig. 1.10.
 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.
 Fig. 1.10 beam engine

 In other words, the purpose of this mechanism is to convert rotary motion into
reciprocating motion.
1.13.3 Third inversion: watts indicator 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 Fig.
 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.

Fig. 1.11 watts indicator mechanism

1.14 The 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. In a slider-crank chain, the straight line path of the slider may be
passing through the fixed pivot O or may be displaced.
 The distance e between the fixed pivot O and the straight line path of the slider is
called the offset and the chain so formed an offset slider-crank chain.
 Different mechanisms obtained by fixing different links of a kinematic chain are
known as its inversions.

1.14.1 First inversion

 This inversion is obtained when link 1 is fixed and links 2 and 4 are made
the crank and slider respectively. (fig.a)
 Applications:
a Reciprocating engine
b Reciprocating compressor

Fig. 1.12 first inversion

1.14.2 Second
inversion
 Fixing of the link 2 of a slider-crank chain results in the second inversion.
 Applications:
a Whitworth quick-return mechanism
b Rotary engine

1.14.3 Third Inversion

 By Fixing of the link 3 of the slider-crank mechanism, the third inversion
is obtained. Now the link 2 again acts as a crank and the link 4 oscillates.
 Applications:
a Oscillating cylinder engine
b Crank and slotted-lever mechanism

1.14.4 Fourth Inversion

 If the link 4 of the slider-crank mechanism is fixed, the fourth inversion is
obtained. Link 3 can oscillates about the fixed pivot B on the link 4. This makes
 the end A of the link 2 to oscillate about B and the end O to reciprocate along the
axis of the fixed link 4.
 Application: Hand Pump

Fig. 1.13 hand pump

 Fig.1.13 shows a hand-pump. Link 4 is made in the form of a cylinder and

a plunger fixed to the link 1 reciprocates in it.

1.15 Whitworth Quick-Return Mechanism:

 This mechanism used in shaping and slotting machines.
 In this mechanism the link CD (link 2) forming the turning pair is fixed; the driving crank
CA (link 3) rotates at a uniform angular speed and the slider (link 4) attached to the
crank pin at a slides along the slotted bar PA (link 1) which oscillates at D.
 The connecting rod PR carries the ram at R to which a cutting tool is fixed and the
motion of the tool is constrained along the line RD produced.

Fig. 1.14 Whitworth quick returns mechanism

  The length of effective stroke = 2 PD. And mark P1R1 = P2 R2 = PR.

𝜶 𝜶 𝟑𝟔𝟎° − 𝜷
= =
time of cutting stroke

𝒕𝒊𝒎𝒆 𝒐𝒇 𝒓𝒆𝒕𝒖𝒓𝒏 𝟑𝟔𝟎° − 𝜶 𝜷

=

1.16 Rotary engine

 Sometimes back, rotary internal combustion engines were used in aviation. But now-
a- days gas turbines are used in its place.

Fig. 1.15 rotary engine

 It consists of seven cylinders in one plane and all revolves about fixed center D, as
shown in Fig. 5.25, 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.

1.17 Oscillating cylinder engine

 The arrangement of oscillating cylinder engine mechanism, as shown in Fig. Is used
to convert reciprocating motion into rotary motion.
Fig. 1.16 oscillating cylinder engine
  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.

1.18 Crank and slotted-lever Mechanism

 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 Fig. 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 center 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.

Fig.1.17 Crank and slotted lever mechanism

 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 β) in the clockwise
direction. The return stroke occurs when the crank rotates from the position CB2 to
CB1 (or through angle α) in the clockwise direction. Since the crank has uniform
angular speed, therefore,

𝜷 𝜷 𝟑𝟔𝟎° − 𝜶
=
=
time of cutting stroke

𝟑𝟔𝟎° − 𝜷 𝜶
𝒕𝒊m𝒆 𝒐 𝒓𝒆𝒕𝒖𝒓𝒏 𝜶
=
1.19 Example based on Degrees of Freedom:
1 For the kinematic linkages shown in following fig. calculate the following:
The numbers of binary links (Nb)
The numbers of ternary links (Nt)
The numbers of other (quaternary) links (No)
The numbers of total links (n)
The numbers of loops (L)
The numbers of joints or pairs (P1)
The numbers of degrees of freedom
(F)

a Nb = 4; Nt = 4; N0 = 0; N = 8; L = 4; P1 = 11 (by
counting) P1 = (N + L – 1) = 11
F = 3 (N – 1) – 2P1
F = 3 (8 – 1) – 2×11 = -1 or,
v F = N – (2 L + 1)
F = 8 – (2 ×4 + 1) = -1
b Nb = 4; Nt = 4; N0 = 0; N = 8; L = 3; P1 = 10 (by
counting) P1 = (N + L – 1) = 10
Geneva mechanism

one of the most commonly used devices for producing intermittent rotary
motion, characterized by alternate periods of motion and rest with no
reversal in direction. It is also used for indexing (i.e., rotating a shaft
through a prescribed angle).

In the Figure the driver A carries a pin or roller R that fits in the four radial
slots in the follower B. Between the slots there are four concave surfaces
that fit the surface S on the driver and serve to keep the follower from
rotating when they are fully engaged. In the position shown, the pin is
entering one of the slots, and, on further rotation of the driver, it will move
into the slot and rotate the follower through 90°. After the pin leaves the
slot, the driver will rotate through 270° while the follower dwells—
i.e., stands still. The lowest practical number of slots in
a Geneva mechanism is 3; more than 18 are seldom used. If one of the slot
positions is uncut, the number of turns that the driver can make is limited.
It is said that the Geneva mechanism was invented by a Swiss watchmaker
to prevent the overwinding of watch springs. For this reason it is
sometimes called a Geneva stop.

Early motion-picture projectors used Geneva mechanisms to give the film a

quick advance while the shutter was closed, followed by a dwell period
with the shutter open.

Ratchet and Pawl mechanism

The purpose of a ratchet and pawl is to allow a shaft to rotate in one direction only.

A ratchet is a wheel with a shape similar to a circular saw blade or horizontal milling cutter. A ratchet fits
onto a shaft and is locked onto the shaft by a "key". The key fits into slots in the shaft and ratchet wheel.
These slots are called "keyways".
 Question Bank for Assignments

1. Explain inversions of a four bar chain in detail?

2. Explain the working of any two inversions of a single slider crank chain with neat

sketches.

3. What is inversion of mechanism? Describe various inversions of double slider crank

mechanism with sketches.

4. Explain with neat sketch the working of crank and slotted lever quick return motion

mechanism. Deduce the expression for length of stroke in terms of link lengths.

5. State and explain Whitworth quick return mechanism. Also derive an equation

for ratio of time taken for return strokes and forward strokes.

6. Define Kinematic pair and discuss various types of kinematic pairs with example

Tutorial Questions

1. What is a machine? Giving example, differentiate between a machine and a

structure.

2. Write notes on complete and incomplete constraints in lower and higher

 pairs, illustrating your answer with neat sketches.

3. Explain different kinds of kinematic pairs giving example for each one of
them.

4. Explain the terms: 1. Lower pair, 2. Higher pair, 3. Kinematic chain, and 4.
Inversion.

5. In what way a mechanism differ from a machine?

6. What is the significance of degrees of freedom of a kinematic chain when it

functions as a mechanism? Give examples.

7. Explain Grubler’s criterion for determining degree of freedom for

mechanisms. Using Grubler’s criterion for plane mechanism, prove that the
minimum number of binary links in a constrained mechanism with simple
hinges is four.

8. Sketch and explain the various inversions of a slider crank chain.

9. Sketch and describe the four bar chain mechanism. Why it is considered to
be the basic chain?

10. Show that slider crank mechanism is a modification of the basic four bar
mechanism.

11. Sketch slider crank chain and its various inversions, stating actual machines
in which these are used in practice.

12. Sketch and describe the working of two different types of quick return
mechanisms. Give examples of their applications. Derive an expression for the
ratio of times taken in forward and return stroke for one of these mechanisms.

13. Sketch and explain any two inversions of a double slider crank chain.
24