INDIAN INSTITUTE OF TECHNOLOGY, GUWAHATI

Department of Mechanical Engineering

THEORY OF MACHINES LABORATORY

Students manual

Table of Contents
Experiment /Test No.1: To make some simple mechanisms (such as quick return
mechanism, six bar crank and rocker arm mechanism) using the parts available in the model-
building kit using the concept of Kinematic links, pairs, chains and mechanisms.

Experiment /Test No.2: To make some complex mechanisms (such as Hoekens linkage
mechanism) using the parts available in the model-building kit using the concept of
Kinematic links, pairs, chains and mechanisms.

Experiment /Test No.3: Study of models of various mechanisms such as different types of
gears, cams, clutches, drives, joints etc.

Experiment /Test No.4: Experiment on JIB CRANE, SCREW JACK and WORM AND
WORM WHEEL apparatus.
 Experiment /Test No.1:
AIM OF EXPERIMENT: To make some simple mechanisms (such as quick return
mechanism, six bar crank and rocker arm mechanism) using the parts available in the model-
building kit using the concept of Kinematic links, pairs, chains and mechanisms

DEFINITION OF SOME IMPORTANT TERMS:

Kinematics Link or Element

Each part of a machine, which moves relative to some other parts, is known as Kinematic link
or element. Thus a link should have the following two characteristics:

1. It should have relative motion.

2. It must be a resistant body.

Kinematics Pair

The two links or elements of a machine, when in contact with each other, are said to form a
pair. If the relative motion between them is completely or successfully constrained (i.e. in a
definite direction), the pair is known as Kinematics pair.

Kinematics Chain

When the kinematics pairs are coupled in such a way that the last links is joined to the first
link to transmit definite motion (i.e. completely or successfully constrained motion),it is
called a kinematics chain.

Relation between the number of links (l) and the number of joints (j) which constitute a
kinematic chain is given by the expression:

j = (3/2)l-2

Mechanism

When one of the links of a kinematics chain is fixed, the chain is known as mechanism. It
may be used for transmitting or transforming motion.

Inversion of Mechanism

We can obtain as many mechanisms as the number of links in a kinematic chain by fixing, in
turn, different links in a kinematic chain. This method of obtaining different mechanisms
by fixing different links in a kinematics chain is known as inversion of the mechanism.

FIGURES OF SOME SIMPLE MECHANISMS:

 Fig 1. Four bar mechanism Fig 2. Six bar mechanism

Fig 3. Single slider–crank mechanism

VIVA-QUESTIONS:

a) Define machine & structure.

b) Concept of kinematics links, pairs, chains & mechanism.
c) Classification & examples of all the kinematics links, pairs, chains & mechanism.
d) Types & examples of constrained motion.
 Experiment /Test No.2:
AIM OF EXPERIMENT: To make some complex mechanisms (such as Hoekens linkage
mechanism) using the parts available in the model-building kit using the concept of
Kinematic links, pairs, chains and mechanisms.

DEFINITION OF SOME IMPORTANT TERMS:

Degrees of Freedom:
It is defined as the number of input parameters which must be independently controlled in
order to bring the mechanism in to useful engineering purposes. It is also defined as the
number of independent relative motions, both translational and rotational, a pair can have.

Degrees of freedom = 6 – no. of restraints.

To find the number of degrees of freedom for a plane mechanism we have Grubler’s
equation given by

F = 3 (n – 1) – 2 j1 – j2

F = Mobility or number of degrees of freedom

n = Number of links including frame
j1 = Joints with single (one) degree of freedom
j2 = Joints with two degrees of freedom
F > 0, results in a mechanism with ‘F’ degrees of freedom
F = 0, results in a statically determinate structure
F < 0, results in a statically indeterminate structure.

INVERSION OF FOUR BAR MECHANISM:

Grashof's theorem states that a four-bar mechanism has at least one revolving link if

s + l <= p + q

 s = length of shortest bar

 l = length of longest bar
 p, q = lengths of intermediate bar

Mechanisms satisfying this condition fall into the following three categories:

1. When the shortest link is a side link, the mechanism is a crank-rocker mechanism.
The shortest link is the crank in the mechanism (Figure 1.2).
2. When the shortest link is the frame of the mechanism, the mechanism is a double-
crank mechanism (Figure 1.3).
3. When the shortest link is the coupler link, the mechanism is a double-rocker
mechanism (Figure 1.4).
 Fig 4. Inversion of four bar mechanism

INVERSIONS OF SINGLE SLIDER–CRANK CHAIN

A single slider crank chain is a modification of the basic four bar chain. It consists of one
sliding pair and three turning pairs. A slider –crank chain has the following inversions:

 First inversion (i.e; Reciprocating engine and compressor)

 Second inversion (i.e., Whitworth quick return mechanism and Rotary engine)
 Third inversion (i.e., Oscillating cylinder engine and crank & slotted – lever
mechanism)
 Fourth inversion (Hand pump)

INVERSIONS OF 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. The following are its inversions:

 First inversion (i.e., Elliptical trammel)

 Second inversion (i.e., Scotch yoke)
 Third inversion (i.e., Oldham’s coupling)

FIGURES OF SOME INVERIONS OF SLIDER CRANK MECHANISMS:

Fig 5. Crank & slotted – lever mechanism Fig 6. Elliptical trammel

VIVA QUESTIONS:

1. What are the inversions of four bar mechanism & give their applications also?
2. What are the Inversions of single slider crank mechanism & give their applications
also?
3. What are the of Inversions of Double slider crank mechanism & give their
applications also?
4. Define degree of freedom & give examples?
5. Define Kutzbach & Grubler’s criterian.
 Experiment /Test No. 3:
AIM OF EXPERIMENT: Study of models of various mechanisms such as different types
of gears, cams, clutches, drives etc.

GEARS:

A gear is a rotating machine part having cut teeth, or cogs, which mesh with another toothed
part in order to transmit torque. Two or more gears working in tandem are called a
transmission and can produce a mechanical advantage through a gear ratio and thus may be
considered a simple machine.

CAM & FOLLOWER:

A cam is a rotating machine element, which gives reciprocating or oscillating motion to

another element known as follower. The cam and the follower have a line contact and
constitute a higher pair.

CLUTCHES

A Clutch is a machine member used to connect the driving shaft to a driven shaft, so that the
driven shaft may be started or stopped at will, without stopping the driving shaft. A clutch
thus provides an interruptible connection between two rotating shafts.

BELT DRIVE:

Belt drives are called flexible machine elements. Flexible machine elements are used for a
large number of industrial applications, some of them are as follows.

1. Used in conveying systems (Transportation of coal, mineral ores etc. over a long
distance)
2. Used for transmission of power (Mainly used for running of various industrial
appliances using prime movers like electric motors, I.C. Engine etc.)
3. Replacement of rigid type power transmission system (A gear drive may be replaced
by a belt transmission system)

SOME SIMPLE MECHANISM AND THEIR INVERSIONS

i. Four bar link mechanisms

ii. Slider crank mechanism
iii. Crank and slotted link drive (oscillator)
iv. Watt mechanism
v. Oldham’s coupling
vi. Geneva mechanism (Maltese Cross)
vii. Ellipse Tracer
viii. Scotch Yoke mechanism
ix. Crank and connecting rod
x. Allen link motion
 xi. Crank drive to oscillating link
xii. Shaper mechanism

IMAGES:

Four bar mechanism Slider crank mechanism

Oldham coupling

DIFFERENT GEARS AND RELATED MECHANISMS:

i. Friction wheels
a. Circumference
b. Variable speed
ii. Spur gear
a. single stage spur gear
b. single stage with intermediate gear
c. two stage spur gear
d. three stage spur gear
iii. Helical gear
iv. Herringbone gear
v. Bevel gear
 vi. Bevel gear type reversing mechanism
vii. Worm gear
viii. Spiral gear
ix. Rack and quadrant gear drive
x. Reversing gear (tumbler type)
xi. Three speed and reverse gear
xii. Internal rolling gear drive
xiii. Internal gear and pinion drive
xiv. Cycloidal motion demonstration
xv. Sliding wedge gear with straight-line and accurate output.
xvi. Epicyclic gear train
xvii. Differential gear

IMAGES:

Helical gear Rack and quadrant gear drive

VARIOUS TYPES OF CAMS, CLUTCHES AND DRIVES

i. Face cam drive(Single sided, Double sided)

ii. Cam with straight line and lever follower
iii. Cone clutch drive (single sided)
iv. Cone clutch drive- two speed
v. Dog clutch drive (single sided)
vi. Dog clutch drive- two speed
vii. Centrifugal mechanism and clutch drive
viii. Belt drives
a. Contra rotation
b. Two stage
c. Toothed
 d. Single speed
e. Multispeed

IMAGES:

Cone clutch drive (single sided) Centrifugal mechanism and clutch drive

VIVA-QUESTIONS:

i. Define cam & follower, classification of cam & follower, advantage & disadvantages
and its applications.
ii. Define gears with classification, advantage and disadvantage. Application.
iii. Gear terminology and Law of gearing.
iv. Write down the formulae for length of path of contact, length of arc of contact,
contact ratio.
v. Study of gear teeth profile.
vi. How interference of gear occurs and what are the methods to prevent interference?
vii. Various types of clutches, their applications and advantage & disadvantages.
viii. Belt drive application and belt tension calculation.