JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY,
KINEMATICS OF MACHINERY
UNIT – I
MECHANISMS : Elements or Links – Classification – Rigid Link, flexible and fluid link – Types of
kinematic pairs – sliding, turning, rolling, screw and spherical pairs – lower and higher pairs – closed and
open pairs – constrained motion – completely, partially or successfully constrained and incompletely
MACHINES : Mechanism and machines – classification of machines – kinematic chain – inversion of
mechanism – inversion of mechanism – inversions of quadric cycle, chain – single and double slider crank
UNIT - II
STRAIGHT LINE MOTION MECHANISMS : Exact and approximate copiers and generated types –
Peaucellier, Hart and Scott Russul – Grasshopper – Watt T. Chebicheff and Robert Mechanisms and
straight line motion, Pantograph.
UNIT – III
KINEMATICS : Velocity and acceleration – Motion of link in machine – Determination of Velocity and
acceleration diagrams – Graphical method – Application of relative velocity method four bar chain.
Analysis of Mechanisms : Analysis of slider crank chain for displacement , velocity and acceleration of
slider – Acceleration diagram for a given mechanism, Kleins construction, Coriolis acceleration,
determination of Coriolis component of acceleration.
Plane motion of body : Instantaneous center of rotation, centroids and axodes – relative motion between
two bodies – Three centres in line theorem – Graphical determination of instantaneous centre, diagrams for
simple mechanisms and determination of angular velocity of points and links.
UNIT – IV
STEERING Mechanisms : Conditions for correct steering – Davis Steering gear, Ackermans steering
gear – velocity ratio.
HOOKE’S JOINT : Single and double Hooke’s joint – Universial coupling – application – problems.
UNIT – V
CAMS : Definitions of cam and followers – their uses – Types of followers and cams – Terminology –
Types of follower motion - Uniform velocity – Simple harmonic motion and uniform acceleration. Maximum
velocity and maximum acceleration during outward and return strokes in the above 3 cases.
Analysis of motion of followers : Roller follower – circular cam with straight, concave and convex
UNIT – VI
Higher pairs, friction wheels and toothed gears – types – law of gearing, condition for constant velocity ratio
for transmission of motion, Form of teeth: cycloidal and involute profiles. Velocity of sliding – phenomena
of interferences – Methods of interference.
Condition for minimum number of teeth to avoid interference, expressions for arc of contact and path of
contact – Introduction to Helical, Bevel and worm gearing.
UNIT – VII
Belt Rope and Chain Drives : Introduction, Belt and rope drives, selection of belt drive- types of belt
drives,V-belts, materials used for belt and rope drives, velocity ratio of belt drives, slip of belt, creep of belt,
tensions for flat belt drive, angle of contact, centrifugal tension, maximum tension of belt, Chains- length,
angular speed ratio, classification of chains.
UNIT – VIII
GEAR TRAINS: Introduction – Train value – Types – Simple and reverted wheel train – Epicyclic gear
Train. Methods of finding train value or velocity ratio – Epicyclic gear trains.
Selection of gear box-Differential gear for an automobile.
TEXT BOOKS :
1. Theory of Machines and Mechanisms-S.S.Rattan, Tata McGraw Hill Publishers
2. Theory of Machines R.S Khurmi & J.K Gupta