Kinematics and Dynamics of Machinery

Kinematics and Dynamics of Machinery is a foundational subject within mechanical engineering that analyzes the motion of machine components. It is comprised of two distinct but related areas: kinematics, which focuses on the geometry of motion—including the position, velocity, and acceleration of parts like linkages, gears, and cams—without considering the forces that cause it; and dynamics, which investigates the forces and torques that produce or result from that motion, accounting for properties like mass and inertia. A thorough understanding of both is critical for the design, analysis, and synthesis of any mechanical system, from a simple engine to a complex robotic arm, ensuring it operates with the desired motion and can withstand the resulting forces.

1. Introduction to Mechanisms and Kinematics
   1. Fundamental Concepts and Definitions
      1. Mechanism and Machine
         1. Definition of Mechanism
         2. Definition of Machine
         3. Differences between Mechanism and Machine
         4. Applications and Examples
      2. Kinematic Link or Element
         1. Definition of Links
         2. Types of Links by Material Properties
            1. Rigid Link
            2. Flexible Link
            3. Fluid Link
         3. Classification by Function
            1. Frame or Fixed Link
            2. Input Link or Driver
            3. Output Link or Driven Link
            4. Coupler or Connecting Link
         4. Link Geometry and Representation
      3. Kinematic Pair
         1. Definition of Kinematic Pair
         2. Classification by Nature of Contact
            1. Lower Pair
               1. Revolute Pair (Pin Joint)
               2. Prismatic Pair (Sliding Joint)
               3. Helical Pair (Screw Joint)
               4. Cylindrical Pair
               5. Spherical Pair (Ball Joint)
               6. Planar Pair
            2. Higher Pair
               1. Point Contact Pairs
               2. Line Contact Pairs
               3. Cam and Follower Pair
               4. Gear Tooth Pair
         3. Classification by Nature of Mechanical Constraint
            1. Closed Pair (Form Closed)
            2. Unclosed Pair (Force Closed)
         4. Classification by Nature of Relative Motion
            1. Sliding Motion
            2. Rolling Motion
            3. Turning Motion
            4. Screw Motion
            5. Spherical Motion
      4. Kinematic Chain
         1. Definition and Characteristics
         2. Simple Kinematic Chain
         3. Compound Kinematic Chain
         4. Constrained Kinematic Chain
         5. Structure versus Mechanism
      5. Degrees of Freedom (Mobility)
         1. Definition of Degrees of Freedom
         2. Kutzbach's Criterion for Planar Mechanisms
         3. Gruebler's Criterion for Spatial Mechanisms
         4. Calculation Examples
         5. Exceptions and Special Cases
            1. Paradoxical Mechanisms
            2. Overconstrained Mechanisms
            3. Redundant Constraints
      6. Inversion of Mechanisms
         1. Definition and Concept
         2. Purpose of Inversion
         3. Systematic Approach to Inversion
         4. Examples of Common Inversions
   2. Classification of Mechanisms
      1. By Motion Type
         1. Planar Mechanisms
         2. Spatial Mechanisms
      2. By Input-Output Relationship
         1. Function Generation Mechanisms
         2. Path Generation Mechanisms
         3. Motion Generation Mechanisms
      3. By Complexity
         1. Simple Mechanisms
         2. Compound Mechanisms
   3. Common Planar Mechanisms
      1. Four-Bar Linkage
         1. Structure and Components
         2. Nomenclature and Terminology
         3. Grashof's Law and Classifications
            1. Grashof's Law Statement
            2. Crank-Rocker Mechanism
            3. Double-Crank Mechanism
            4. Double-Rocker Mechanism
            5. Change Point Mechanism
         4. Special Cases of Four-Bar Linkage
            1. Parallelogram Linkage
            2. Antiparallelogram Linkage
            3. Isosceles Linkage
         5. Applications and Examples
      2. Slider-Crank Mechanism
         1. Structure and Components
         2. Kinematic Analysis Fundamentals
         3. Inversions of Slider-Crank
            1. First Inversion (Reciprocating Engine)
            2. Second Inversion (Whitworth Quick Return)
            3. Third Inversion (Oscillating Cylinder Engine)
            4. Fourth Inversion (Hand Pump)
         4. Applications in Machinery
      3. Scotch Yoke Mechanism
         1. Structure and Operation
         2. Motion Characteristics
         3. Applications and Limitations
      4. Quick Return Mechanisms
         1. Purpose and Applications
         2. Whitworth Quick Return Mechanism
            1. Structure and Operation
            2. Time Ratio Analysis
         3. Crank and Slotted Lever Mechanism
            1. Structure and Operation
            2. Time Ratio Analysis
         4. Drag Link Quick Return Mechanism
         5. Comparison of Quick Return Mechanisms
      5. Toggle Mechanism
         1. Structure and Function
         2. Mechanical Advantage
         3. Applications in Presses and Clamps
      6. Pantograph
         1. Structure and Principle
         2. Scaling Properties
         3. Applications in Drawing and Manufacturing
      7. Straight Line Mechanisms
         1. Peaucellier Mechanism
         2. Hart Mechanism
         3. Scott Russell Mechanism
         4. Watt Mechanism
      8. Intermittent Motion Mechanisms
         1. Geneva Mechanism
         2. Ratchet and Pawl Mechanism
         3. Escapement Mechanisms