Unit I Introduction: mechanism and machines, kinematic links, kinematic pairs, kinematic
chains, plane and space mechanism, kinematic inversion, equivalent linkages, four link
planar mechanisms, mobility and range of movement, straight line mechanisms, steering
mechanisms, pantograph, problems.
Unit II Kinematic Analysis of Plane Mechanisms: displacement analysis, general plane motion,
instantaneous center of velocity, graphical and analytical methods of velocity and
acceleration analysis, problems.
Unit III Cams: classification of cams and followers, disc cam nomenclature, construction of
displacement, velocity and acceleration diagrams for different types of follower motions,
analysis of follower motions, determination of basic dimension, synthesis of cam profile
by graphical and analytical approaches, cams with specified contours, tangent and
circular are cams, problems.
Unit IV Gears: fundamental law of gearing, involute spur gears, characteristics of involute action,
Interference and undercutting, center distance variation, involutometry, non standard gear
teeth, helical, spiral bevel and worm gears, problems.
Unit V Gear Trains: synthesis of simple, compound and reverted gear trains, analysis of epicylic
gear trains, problems.
Unit VI Kinematic synthesis of Mechanisms. Type, number and dimensional synthesis, function
generation, path generation and body guidance two and three position synthesis of four
bar and slider crank mechanisms by graphical and analytical methods, Freudenstein’s
equation, precision positions, structural error; Chebychev spacing, transmission angle,
problems.
Unit VII Kinematics of Spatial Mechanisms: introduction, link coordinate system, homogeneous
transformation matrix, loop closure equation, kinematics of robotic manipulators,
problems.