CH 5 Simple Mechanisms

September 28, 2013
Chapter 5
Simple
Mechanisms
1
Dr. Mohammad Suliman Abuhaiba, PE
September 28, 2013
5.2. Kinematic Link or Element
kinematic link (link) or element: Each part of a

machine, which moves relative to some other
part.
A link need not to be a rigid body

It must be a resistant body.
A resistant body: capable of transmitting

required forces with negligible deformation.
Thus a link should have the following two
characteristics:
1.
2.
It should have relative motion

It must be a resistant body
September 28, 2013
5.3. Types of Links

In order to transmit motion, the driver and the
follower may be connected by the following three
types of links:
1. Rigid link: does not undergo any deformation
while transmitting motion.
2. Flexible link: is partly deformed in a manner not
to affect the transmission of motion.
3.
Example: belts, ropes, chains and wires
Fluid link: is formed by having a fluid in a

container and the motion is transmitted through
the fluid by pressure or compression only
Example: hydraulic presses, jacks and brakes

September 28, 2013
5.4. Structure and a Machine
Structure: assembly of a number of resistant bodies

(members) having no relative motion between them and
meant for carrying loads having straining action.
Examples: A railway bridge, a roof truss, machine frames
Differences between a machine and a structure:

Machine
Structure
Parts move relative to one

another
members do not move relative to

one another
A machine transforms available

energy into some useful work
in a structure no energy is
transformed into useful work
links of a machine may transmit

both power & motion
members of a structure transmit

forces only
September 28, 2013
5.6. Kinematic Pair

a
pair: two links of a machine, in contact

with each other.
If the relative motion between them is
completely or successfully constrained
(i.e. in a definite direction), the pair is
known as kinematic pair.
September 28, 2013
5.7. Types of Constrained Motions

Three types of constrained motions:
1. Completely constrained motion
2. Incompletely constrained motion
3. Successfully constrained motion
September 28, 2013

Completely constrained motion
Motion between a pair is limited to a definite direction

irrespective of direction of force applied.
Example: piston and cylinder (in a steam engine) form a
pair and motion of piston is limited to a definite direction
relative to cylinder irrespective of direction of motion of
crank.
September 28, 2013

Incompletely constrained motion
Motion
between a pair can take place in more

than one direction.
September 28, 2013

Successfully constrained motion
When motion between elements,

forming a pair is such that the
constrained
motion
is
not
completed by itself, but by some
other means, then motion is said to
be
successfully
constrained
motion.
Fig. 5.5: shaft may rotate in a
bearing or it may move upwards.
a
case
of
incompletely
constrained motion.
If load is placed on shaft to
prevent axial upward movement
of shaft, then motion of pair is said
to be successfully constrained
motion.
Motion of piston reciprocating
inside an engine cylinder.
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September 28, 2013
5.8. Classification of Kinematic Pairs

1.
According to type of relative motion between elements

a.
b.
c.
d.
e.
2.
According to type of contact between elements

a.
b.
3.
Sliding pair
Turning pair
Rolling pair
Screw pair
Spherical pair
Lower pair
Higher pair
According to type of closure

a.
b.
Self closed pair

Force - closed pair
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September 28, 2013

a.
Sliding pair.
one
pair can only slide relative to the other.

A sliding pair has a completely constrained motion.
Examples:
The piston & cylinder
tail stock on lathe bed
b.
Turning pair.
one
pair can only turn or revolve about a fixed axis of another
link.
A turning pair has a completely constrained motion.
Examples:
A shaft with collars at both ends fitted into a circular hole

Crankshaft in a journal bearing in an engine
lathe spindle supported in head stock
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September 28, 2013

c.
Rolling pair.
d.
Screw pair.
e.
one pair rolls over another fixed link.

Example: Ball and roller bearings.
one element can turn about the other by screw threads.
Example: Lead screw of a lathe with nut.
Spherical pair.
one element (with spherical shape) turns or swivels about

the other fixed element.
Examples: Ball and socket joint, attachment of a car
mirror, pen stand.
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September 28, 2013
According to type of contact between the elements

a.
Lower pair.
b.
The two elements of a pair have a surface contact when

relative motion takes place
surface of one element slides over surface of the other.
Examples: Sliding pairs, turning pairs and screw pairs.
Higher pair.
The two elements of a pair have a line or point contact

when relative motion takes place
the motion between the two elements is partly turning and
partly sliding.
Examples: A pair of friction discs, toothed gearing, belt
and rope drives, ball and roller bearings, and cam and
follower.
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September 28, 2013

According to type of closure
a.
Self closed pair.
b.
The two elements of a pair are connected together

mechanically in such a way that only required kind of
relative motion occurs.
The lower pairs are self closed pair.
Force - closed pair.
The two elements of a pair are not connected

mechanically but are kept in contact by the action of
external forces.
Example: The cam and follower, as it is kept in contact by
the forces exerted by spring and gravity.
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September 28, 2013
5.9. Kinematic Chain
A kinematic chain:
a combination of kinematic pairs, joined in such a way

that each link forms a part of two pairs
Relative motion between the links or elements is
completely or successfully constrained.
Example:
crankshaft of an engine forms a kinematic pair with the

bearings which are fixed in a pair,
connecting rod with crank forms a second kinematic
pair,
piston with connecting rod forms a third pair
piston with cylinder forms a fourth pair.
The total combination of these links is a kinematic chain.
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September 28, 2013
If each link is assumed to form two pairs with two

adjacent links, then the relation between number of pairs
(p) forming a kinematic chain and number of links (l) may
be expressed as:
l=2p4
Relation between number of links (l) and number of joints
(j) which constitute a kinematic chain is given by:
Equations (i) and (ii) are applicable only to kinematic
chains, in which lower pairs are used.
These equations may also be applied to kinematic
chains, in which higher pairs are used.
each higher pair may be taken as equivalent to two lower

pairs with an additional element or link.
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September 28, 2013

Examples
Fig. 5.6: arrangement of three links AB, BC and CA with

pin joints at A, B and C
it is not a kinematic chain and hence no relative motion
is possible.
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September 28, 2013

Examples constrained kinematic chain of one DOF
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September 28, 2013

Examples
it is not a kinematic chain

unconstrained chain
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September 28, 2013
Examples compound kinematic chain
A chain having more than four links is

known as compound kinematic chain
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September 28, 2013
5.10. Types of Joints in a Chain

1. Binary joint
Two links are joined at the same connection.

Fig. 5.10: four links and four binary joins at A, B, C and D.
To determine nature of chain, i.e. whether chain is a
locked chain (structure) or kinematic chain or
unconstrained chain, the following relation between
number of links and number of binary joints, as given by
A.W. Klein, may be used :
j = Number of binary joints
h = Number of higher pairs
l = Number of links
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September 28, 2013

2. Ternary joint
Three links are joined at the

same connection.
Fig. 5.11:
six links
three binary joints at A, B & D
two ternary joints at C & E
One ternary joint is equivalent to
two binary joints
Equivalent binary joints = 3 + 2
2=7
l = 6 and j = 7
kinematic chain or
constrained chain
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September 28, 2013

3. Quaternary joint
Four links are joined at the same connection

It is equivalent to three binary joints
When l number of links are joined at same
connection, joint is equivalent to (l 1) binary
joints.
Fig. 5.12 (a):
one binary joint at D
four ternary joints at A, B, E and F equivalent to
8 binary joints
two quaternary joints at C & G equivalent to 6
binary joints
total number of binary joints in chain are
Since LHS is greater than RHS, chain, is not a kinematic chain

locked chain and forms a rigid frame or structure.
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September 28, 2013

3. Quaternary joint
total
number of binary
joints are 1 + 2 6 = 13
Since
LHS is equal to RHS,

chain is a kinematic chain
or constrained chain
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September 28, 2013
5.11. Mechanism
When
one of the links of a kinematic chain is

fixed, the chain is known as mechanism.
It may be used for transmitting or transforming
motion e.g. engine indicators, typewriter etc.
simple mechanism: four links
compound mechanism: more than four links
When a mechanism is required to transmit
power or to do some particular type of work, it
becomes a machine.
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September 28, 2013
5.12. Number of DOF for Plane Mechanisms

DOF:
number of input parameters which

must be independently controlled in order
to bring the mechanism into a useful
engineering purpose.
It is possible to determine number of DOF
of a mechanism directly from:
number of links
number and types of joints
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September 28, 2013

Fig. 5.13 (a)
Only one variable
is
needed to define the
relative positions of all
the links.
number of DOF of a
four bar chain is one.
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September 28, 2013

Fig. 5.13 (b).
Two variables q1 and q2
are needed to define
completely the relative
positions of all the links.
Number of DOF is two.
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September 28, 2013
Fig. 5.14 (a): two links AB

and CD in a plane motion,
each link of a mechanism
has 3 DOF before it is
connected to any other
link
when link CD is connected
to link AB by a turning pair
at A, the position of link
CD is now determined by
a single variable and thus
has one DOF
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September 28, 2013

when
a link is connected to a fixed link by a

turning pair (i.e. lower pair), two DOF are
destroyed
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September 28, 2013
Consider a plane mechanism with l number of links.

Since in a mechanism, one of the links is to be fixed,
therefore:
number of movable links = (l 1)

total number of DOF = 3 (l 1) before they are
connected to any other link.
A mechanism with l number of links connected by j

number of binary joints or lower pairs (single DOF pairs)
and h number of higher pairs (two DOF pairs), then
number of DOF of a mechanism is given by
Kutzbach criterion for movability of a mechanism

having plane motion
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September 28, 2013
5.13. Application of Kutzbach

Criterion to Plane Mechanisms
a structure and no relative motion between the
links is possible
there are redundant constraints in the

chain and it forms a statically
indeterminate structure
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September 28, 2013

Fig. 5.17 (a): three links, two binary joints and one higher pair, i.e. l = 3,
j = 2 and h = 1.
Fig. 5.17 (b): four links, three binary joints and one higher pair, i.e. l = 4, j
= 3 and h = 1
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September 28, 2013
5.14. Grublers Criterion for

Plane Mechanisms
Grublers criterion applies to mechanisms with only

single DOF joints
Substituting n = 1 and h = 0 in Kutzbach equation, we
have
1 = 3 (l 1) 2 j or 3l 2j 4 = 0
This equation is known as the Grubler's criterion for
plane mechanisms with constrained motion.
A plane mechanism with a movability of 1 and only
single DOF joints can not have odd number of links.
The simplest possible mechanisms of this type are a
four bar mechanism and a slider-crank mechanism in
which l = 4 and j = 4.
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September 28, 2013
5.15. Inversion of Mechanism
We can obtain as many mechanisms as the number of

links in a kinematic chain by fixing different links in a
kinematic chain.
Inversion of the mechanism: method of obtaining
different mechanisms by fixing different links in a
kinematic chain.
Relative motions between various links is not changed in

any manner through the process of inversion, but their
absolute motions may be changed drastically.
Driver: part of a mechanism which initially moves with

respect to the frame or fixed link
Follower: part of mechanism to which motion is
transmitted.
Most of mechanisms are reversible, so that same link
can play the role of a driver and follower at different
times.
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September 28, 2013
5.16. Types of Kinematic Chains
The most important kinematic chains are

those which consist of four lower pairs, each
pair being a sliding pair or a turning pair.
The following three types of kinematic chains
with four lower pairs are important from the
subject point of view :
1. Four bar chain or quadric cyclic chain
2. Single slider crank chain
3. Double slider crank chain
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September 28, 2013
5.17. Four Bar Chain or

Quadric Cycle Chain
Four links, each of them

forms a turning pair at A, B,
C & D.
The four links may be of
different lengths.
Grashof s law for a four bar
mechanism: sum of shortest
and longest link lengths
should not be greater than
the sum of remaining two
link lengths if there is to be
continuous relative motion
between the two links.
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September 28, 2013
5.17. Four Bar Chain or

Quadric Cycle Chain
Input crank makes a complete

revolution relative to other links.
The mechanism in which no link
makes a complete revolution will not
be useful.
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.
Link BC (link 2) which makes a partial
rotation or oscillates is known as lever
or rocker or follower and link CD (link
3) which connects crank and lever is
called connecting rod or coupler. The
fixed link AB (link 1) is known as frame
of mechanism.
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September 28, 2013
5.18. Inversions of Four Bar Chain
1. Beam engine (crank and lever mechanism)
When crank rotates

about
the
fixed
center A, the lever
oscillates about a
fixed center D. The
end E of the lever
CDE is connected to
a piston rod which
reciprocates due to
the rotation of the
crank.
The purpose of this
mechanism
is
to
convert rotary motion
into
reciprocating
motion.
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September 28, 2013

2. Coupling rod of a locomotive (Double crank mechanism)
links AD and BC (having equal length) act as cranks and

are connected to the respective wheels.
link CD acts as a coupling rod and link AB is fixed in order
to maintain a constant center to center distance
between them. This mechanism is meant for transmitting
rotary motion from one wheel to the other wheel.
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September 28, 2013

3. Watts indicator mechanism (Double lever mechanism)
Watt's straight line mechanism

consists of four links:
fixed link at A
link AC
link CE
link BFD.
Links CE & BFD act as levers

Displacement of link BFD is
directly proportional to pressure
of gas or steam which acts on
the indicator plunger.
On any small displacement of
mechanism, the tracing point E
at end of link CE traces out
approximately a straight line.
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September 28, 2013
5.19. Single Slider Crank Chain
It is a modification of the basic four bar chain.

one sliding pair and three turning pairs.
It converts rotary motion into reciprocating motion
and vice versa.
Links 1 & 2, links 2 & 3, and links 3 & 4 form three
turning pairs while links 4 and 1 form a sliding pair.
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September 28, 2013
5.20. Inversions of Single Slider Crank Chain

1. Pendulum pump or Bull engine
Fixing cylinder or link 4 (sliding

pair)
When crank (link 2) rotates,
connecting rod (link 3)
oscillates about a pin pivoted
to the fixed link 4 at A and
the piston attached to piston
rod (link 1) reciprocates.
The duplex pump which is
used to supply feed water to
boilers have two pistons
attached to link 1, as shown
in Fig. 5.23.
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September 28, 2013

2. Oscillating cylinder engine
Used
to
convert
reciprocating motion
into rotary motion.
Link 3 forming the
turning pair is fixed.
When crank (link 2)
rotates, the piston
attached to piston
rod
(link
1)
reciprocates
and
cylinder
(link
4)
oscillates about a pin
pivoted to the fixed
link at A.
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September 28, 2013

3. Rotary internal combustion engine or Gnome engine
It consists of seven
cylinders in one
plane
and
all
revolves
about
fixed center D,
while crank (link 2)
is fixed.
when connecting
rod (link 4) rotates,
piston
(link
3)
reciprocates
inside
the
cylinders forming
link 1.
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September 28, 2013

4. Crank and slotted lever quick return motion mechanism
used in shaping machines, slotting

machines and in rotary internal
combustion engines.
Link AC (link 3) is fixed. Link 3
corresponds to the connecting rod of
a reciprocating steam engine.
Driving crank CB revolves with uniform
angular speed about fixed center C.
A sliding block attached to 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 motion from
AP to ram which carries tool and
reciprocates along line of stroke R1 R2.
The line of stroke of ram is
perpendicular to AC.
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September 28, 2013

AP1
& AP2 are tangential to the circle and cutting

tool is at the end of the stroke.
Forward or cutting stroke occurs when crank
rotates from position CB1 to CB2 (angle b) in the
cw direction.
Return stroke occurs when crank rotates from
position CB2 to CB1 (angle a) in cw direction.
Since crank has uniform angular speed, therefore,
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September 28, 2013

Since tool travels a distance of R1 R2 during cutting

and return stroke, therefore travel of tool or length
of stroke
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September 28, 2013

5. Whitworth quick return motion mechanism
Used in shaping and slotting machines.

Link CD (link 2) is fixed. Link 2 corresponds to a crank in
a reciprocating steam engine.
Driving crank CA (link 3) rotates at a uniform angular
speed.
Slider (link 4) attached to crank pin at A slides along
the slotted bar PA (link 1) which oscillates at a pivoted
point D.
Connecting rod PR carries ram at R to which a cutting
tool is fixed.
Motion of tool is constrained along line RD
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September 28, 2013

When
driving crank CA moves from position CA1

to CA2 (or link DP from position DP2 to DP1)
through an angle a in cw direction, tool moves
from left hand end of its stroke to right hand end
through a distance 2 PD.
When driving crank moves from position CA2 to
CA1 (link DP from DP1 to DP2) through an angle b
in cw direction, tool moves back from right hand
end of its stroke to left hand end.
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September 28, 2013

Time taken during left to right movement of ram (cutting stroke)

will be equal to time taken by driving crank to move from CA1 to
CA2.
Time taken during right to left movement of ram (return stroke) will
be equal to time taken by driving crank to move from CA2 to CA1.
Since crank link CA rotates at uniform angular velocity therefore
time taken during cutting stroke is more than time taken during
return stroke.
Mean speed of ram during cutting stroke is less than mean speed
during return stroke.
Ratio between time taken during cutting & return strokes is given
by
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September 28, 2013
Example 5.1
A crank and slotted lever
mechanism used in a shaper
has a center distance of 300
mm between the center of
oscillation of the slotted lever
and the center of rotation of
the crank. The radius of the
crank is 120 mm. Find the ratio
of the time of cutting to the
time of return stroke.
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September 28, 2013
Example 5.2
In a crank and slotted lever quick return motion
mechanism, distance between the fixed
centers is 240 mm and the length of driving
crank is 120 mm. Find the inclination of the
slotted bar with the vertical in the extreme
position and the time ratio of cutting stroke to
the return stroke.
If the length of the slotted bar is 450 mm, find
the length of the stroke if the line of stroke
passes through the extreme positions of the free
end of the lever.
Example 5.2
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September 28, 2013
Example 5.3
Fig. 5.30 shows the layout of a
quick return mechanism of
oscillating link type, for a special
purpose machine. The driving
crank BC is 30 mm long and time
ratio of the working stroke to the
return stroke is to be 1.7. If the
length of the working stroke of R
is 120 mm, determine the
dimensions of AC and AP.
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September 28, 2013
Example 5.3
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September 28, 2013
Example 5.4
In a Whitworth quick return motion mechanism, Fig.
5.32, distance between the fixed centers is 50 mm and
length of driving crank is 75 mm. The length of slotted
lever is 150 mm and length of connecting rod is 135
mm. Find the ratio of time of cutting stroke to time of
return stroke and also the effective stroke.
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September 28, 2013
Example 5.4
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September 28, 2013
5.21. Double Slider Crank Chain

It
is a kinematic chain which consists of

two turning pairs and two sliding pairs.
Link 2 & link 1 form one turning pair and
link 2 & link 3 form the second turning
pair.
Link 3 & link 4 form one sliding pair and
link 1 & link 4 form the second sliding
pair.
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September 28, 2013
5.21. Double Slider Crank Chain
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September 28, 2013
5.22. Inversions of Double Slider Crank Chain

1. Elliptical trammels
When
links 1 and 3 slide along their

respective grooves, any point on link 2
such as P traces out an ellipse on the
surface of link 4, Fig. 5.34 (a).
AP and BP are semi-major axis and semiminor axis of the ellipse respectively.
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September 28, 2013

1. Elliptical trammels
Link
BA is inclined at an angle q with the

horizontal, Fig. 5.34 (b).
Coordinates of point P on link BA will be
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September 28, 2013

2. Scotch yoke mechanism
Used for converting

rotary motion into a
reciprocating motion.
Inversion is obtained by
fixing either link 1 or link
3.
When
Link2
(crank)
rotates about B as
center, link 4 (frame)
reciprocates.
The fixed link 1 guides
the frame.
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September 28, 2013

3. Oldhams coupling
Used
for connecting two parallel shafts

whose axes are at a small distance apart.
The shafts are coupled in such a way that if
one shaft rotates, the other shaft also rotates
at the same speed.
This inversion is obtained by fixing link 2, Fig.
5.36 (a).
The shafts to be connected have two
flanges (link 1 and link 3) rigidly fastened at
their ends by forging.
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September 28, 2013

3. Oldhams coupling
If distance between the axes of the shafts is constant, the center of

intermediate piece will describe a circle of radius equal to the distance
between the axes of the two shafts.
Max sliding speed of each tongue along its slot

center of the disc along its circular path.
peripheral velocity of the
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September 28, 2013

3. Oldhams coupling
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September 28, 2013
Homework
All
questions at the end of chapter

Homework
assignment
should
be
submitted
However, a quiz will be held after finishing
the chapter
1st quiz will be held on 22/9/2013 @ 14:00

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September 28, 2013

Dr. Mohammad Suliman Abuhaiba, PE

September 28, 2013

5.2. Kinematic Link or Element

kinematic link (link) or element: Each part of a

A link need not to be a rigid body

A resistant body: capable of transmitting

It should have relative motion

Dr. Mohammad Suliman Abuhaiba, PE

September 28, 2013

5.3. Types of Links

Example: belts, ropes, chains and wires

Fluid link: is formed by having a fluid in a

Example: hydraulic presses, jacks and brakes

September 28, 2013

5.4. Structure and a Machine

Structure: assembly of a number of resistant bodies

Examples: A railway bridge, a roof truss, machine frames

Differences between a machine and a structure:

Parts move relative to one

members do not move relative to

A machine transforms available

links of a machine may transmit

members of a structure transmit

September 28, 2013

5.6. Kinematic Pair

pair: two links of a machine, in contact

Dr. Mohammad Suliman Abuhaiba, PE

September 28, 2013

5.7. Types of Constrained Motions

Dr. Mohammad Suliman Abuhaiba, PE

September 28, 2013

5.7. Types of Constrained Motions

Motion between a pair is limited to a definite direction

Dr. Mohammad Suliman Abuhaiba, PE

September 28, 2013

5.7. Types of Constrained Motions

between a pair can take place in more

Dr. Mohammad Suliman Abuhaiba, PE

September 28, 2013

5.7. Types of Constrained Motions

When motion between elements,

Dr. Mohammad Suliman Abuhaiba, PE

September 28, 2013

5.8. Classification of Kinematic Pairs

According to type of relative motion between elements

According to type of contact between elements

According to type of closure

Self closed pair

September 28, 2013

5.8. Classification of Kinematic Pairs

According to type of relative motion between elements

pair can only slide relative to the other.

pair can only turn or revolve about a fixed axis of another

A shaft with collars at both ends fitted into a circular hole

Dr. Mohammad Suliman Abuhaiba, PE

September 28, 2013

5.8. Classification of Kinematic Pairs

According to type of relative motion between elements

one pair rolls over another fixed link.

one element (with spherical shape) turns or swivels about

September 28, 2013

5.8. Classification of Kinematic Pairs

According to type of contact between the elements