Kinematics of Machines

UNIT-I
Definition of link, element, pair, kinematic chain, mechanism and machine, Grubler's criterion, single and double slider chains, inversions of quadratic cycle chain, inversions of single and double slider crank chains. Fundamentals of coupler curves, Robert's law, mechanism with lower pairs and straight line motion mechanism, Pantograph, Peaucerlier, Hart, Davis and Ackerman's Steering gear mechanisms
UNIT-II
Analysis of mechanisms: Graphical methods to find velocities of mechanisms, instantaneous centre, body centre and space centre, Kennedy's theorem, Graphical determination of acceleration of different mechanisms including Coriolis component of acceleration. Analytical method to find the velocity and acceleration, analysis of four bar mechanism with turning parts, Freudenstein's method for four bar linkage synthesis.
UNIT-III
Laws of Friction: Friction in screw threads, pivots, collars and clutches, friction axis of link and friction circle
Belts and Ropes: Open and closed belt drives, length of belt, ratio of tensions, effect of centrifugal tension and initial tension over power transmission, condition for maximum power
Brakes and Dynamometers: Block or shoe, band and block, internal expanding shoe brake, Prony, Rope brake, belt transmission, Torsion dynamometers.