Unit - I Mechanisms : Elements or Links - Classification - Rigid Link, flexible and fluid link - Types of kinematics pairs - sliding, turning, rolling, screw and spherical pairs - lower and higher pairs - closed and open pairs - constrained motion - completely, partially or successfully and incompletely constrained. Mechanism and Machines - Mobility of Mechanisms : Grubler’s criterion, classification of machines - kinematics chain - inversions of mechanism - inversions of quadric cycle chain, single and double slider crank chains, Mechanical Advantage. (Chapter - 1) UNIT - II Kinematics : Velocity and acceleration - Motion of link in machine - Determination of Velocity and acceleration - Graphical method - Application of relative velocity method. Plane motion of body : Instantaneous center of rotation- centrodes and axodes - Three centers in line theorem - Graphical determination of instantaneous center, determination of angular velocity of points and links by instantaneous center method. Kliens construction - Coriolis acceleration - determination of Coriolis component of acceleration. Analysis of Mechanisms : Analysis of slider crank chain for displacement- velocity and acceleration of slider - Acceleration diagram for a given mechanism. (Chapter - 2) UNIT - III Straight-line motion mechanisms : Exact and approximate copied and generated types - Peaucellier - Hart - Scott Russel - Grasshopper - Watt -Tchebicheff’s and Robert Mechanism - Pantographs. Steering gears : Conditions for correct steering - Davis Steering gear, Ackerman’s steering gear. Hooke’s Joint : Single and double Hooke’s joint -velocity ratio - application - problems. (Chapter - 3) UNIT - IV Cams UNIT - V Higher pair
