LECTURE NOTES

ENT348
MECHANICAL SYSTEM DESIGN
Lecture 1
15/2/2016
KINEMATICS OF MECHANISMS
Dr. HAFTIRMAN
MECHANICAL ENGINEEERING PROGRAM
SCHOOL OF MECHATRONIC ENGINEERING
UniMAP

COPYRIGHTRESERVED 2016

ENT348 Mechanical System DR. HAFTIRMAN 1

Design Sem 2-2015/2016 Mechanical Engineering Program School of
Mechatronic Engineering UniMAP
 CO1:
Ability to design a mechanical
system based on kinematics
analysis.

ENT348 Mechanical System DR. HAFTIRMAN 2

Design Sem 2-2015/2016 Mechanical Engineering Program School of
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 Outline
1. INTRODUCTION
2. KINEMATICS FUNDAMENTAL
3. GRAPHICAL LINKAGE
SYNTHESIS
4. ANALYTICAL LINKAGE
SYNTHESIS

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 Introduction
Kinematics and Kinetics

Kinematics : the study of motion without regard

to forces.

Kinetics : the study on systems in motion.

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Mechanism is the mechanical portion of
a machine that has the function of
transferring motion and force from a
power source to an output. Mechanism
is the heart of a machine.

A mechanism is a device that transforms

motion to some desirable pattern and
typically develops very low forces and
transmits little power.

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 Machines are devices used to alter,
transmit, and direct forces to accomplish a
specific objective.

A machine typically contains mechanisms

that are designed to provide significant
forces and transmit significant power.

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 KEIVAN TOWFIGH

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 KEIVAN TOWFIGH

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 APPLICATIONS OF
KINEMATICS

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 APPLICATIONS OF
KINEMATICS

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ENT348 Mechanical System DR. HAFTIRMAN 11
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ENT348 Mechanical System DR. HAFTIRMAN 12
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ENT348 Mechanical System DR. HAFTIRMAN 13
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 Kinematics Fundamentals
A mechanical systems mobility (M) can be
classified according to the number of degree of
freedom (DOF) that it possesses.
The systems DOF is equal to the number of
independent parameters (measurements) that are
needed to uniquely define its position in space at
any instant of time.
DOF is defined with respect to a selected frame of
reference.

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 Kinematics Fundamentals
Degrees Of Freedom (DOF) or Mobility
Mobility can be classified according to the number
of degrees of freedom (DOF) that it possesses.
DOF is equal to the number of independent
parameters (measurements) that are needed to
uniquely define its position in space at any instant
of time.

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The pencil has
three (3) DOF
x, y, and

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 Kinematics Fundamentals
The minimum number of measurements needed to
define its position are shown in figures as x, y, and .
This system of the pencil in plane then has three
DOF.
This case there must be three parameters per set,
such as two lengths and an angle.
The pencil in these examples represents a rigid body
or link, which for purposes of kinematic analysis we
will assume to be incapable of deformation.

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 Types of motion
A rigid body free to move within a referenced
frame will, in general case, have complex motion,
which is a combination of rotation and
translation.
Pure rotation: the body possesses one point
(center of rotation) that has no motion with respect
to the stationary frame of reference. All other
points on the body describe arcs about the center.
A reference line drawn on the body through the
center changes only its angular orientation.

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 Types of motion
Pure translation : all points on the body describe
parallel (curvilinear or rectilinear) paths.
A reference line drawn on the body changes its line
position but does not change its angular orientation.
Complex motion: a simultaneous combination of
rotation and translation.
Any reference line drawn on the body will change
both its linear position and its angular orientation.
Points on the body will travel nonparallel paths, and
there will be, at every instant, a center of rotation,
which will continuously change location.
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 Links, Joints, Kinematics Chains
Linkages are the basic building blocks of all
mechanisms.
A link is an assumed rigid body that possesses at
least two nodes that are points for attachment to
other links.
Binary link one with two nodes..
Ternary link one with three nodes.
Quaternary link -one with four nodes.

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 Links, Joints, Kinematics Chains

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Joints of various types

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 Links, Joints, Kinematics Chains
A joint is a connection between two or
more links, which allows some motion, or
potential motion, between the connected
links.
Lower joint : joints with surface contact (as
with a pin surrounded by a hole).
Higher pair : joints with point or line
contact.
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 Links, Joints, Kinematics Chains

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 Links, Joints, Kinematics Chains

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 Links, Joints, Kinematics Chains

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 Links, Joints, Kinematics Chains

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 Links, Joints, Kinematics Chains

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 Links, Joints, Kinematics Chains
A kinematic chain is defined as an assemblage of
links and joints, interconnected in a way to
provide a controlled out-put motion in response to
a supplied input motion.
A mechanism is defined as a kinematic chain in
which at least one link has been grounded or
attached, to the frame of reference (which itself
may be in motion).
A machine is defined as a combination of
resistant bodies arranged to compel the
mechanical forces of nature to do work
accompanied by determinate motions.
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 Links, Joints, Kinematics Chains
A crank is defined as a link that makes a complete
revolution and is pivoted to ground.
A rocker is defined as a link that has oscillatory
(back and forth) rotation and is pivoted to ground.
A coupler (or connecting rod) is defined as a link
that has complex motion and is not pivoted to
ground.
Ground is defined as any link or links that are
fixed (nonmoving) with respect to reference
frame.

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 ROCKER
CRANK

GROUND LINK

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Determining degree of freedom or mobility

The concept of degree of freedom (DOF) is

fundamental to both the synthesis and analysis of
mechanisms.
Degree of freedom also called the mobility M.
Degree of freedom of system cab be defined as:
the number of inputs that need to be provided in
order to create a predictable output.
Kinematic chains or mechanisms may be either
open or closed.
An open kinematic chain of two binary links and
one joint is called a dyad. (Fig 2-3a).
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Determining degree of freedom or mobility

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 GRUEBLERS EQUATION

Grueblers equation:
M = 3(L 1)- 2J
Kutzbachs modification of Grueblers equation:
M = 3(L 1)- 2J1 J2
Where M = degree of freedom of mobility
L = number of links
J1 = number of full joints (pin, sliding)
J2 = number of half joints (gear, cam)

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 Joint Type DOF Description

A First order pin joint 1 two binary links joined at a

common point
B Second order pin 2 three binary links joined at a
joint common point
C Half Joint 1or2 Rolling or sliding or both
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 Fivebar Linkages

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Degree of freedom in planar mechanisms

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 Mechanisms and Structures
The degree of freedom of an assembly of links
completely predicts its character. There are only
three possibilities.
If the DOF is positive, it will be a mechanisms,
and the links will have relative motion.
If the DOF is exactly zero, then it will be a
structure, and no motion is possible.
If the DOF is negative, then it is a preloaded
structure, which means that no motion is possible
and some stresses may also be present at the time
of assembly.

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 Mechanisms and Structures

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 9 DOF flight dynamic model of a helicopter
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Example Problem 1
Figure shows a shear that is used to cut and trim
electronic circuit board laminates.
Draw a kinematic diagram.

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Solution
1. Identify the frame
The first step in constructing a kinematic diagram is to decide the part that will
be designated as the frame. The motion of all other links will be determined
relative to the frame. The motion of all other links is determined relative to the
base. The base is numbered as link 1.
2. Identity all other links
Careful observation reveals three other moving parts:
Link 2 : Handle
Link 3 : Cutting Handle
Link 4 : Bar that connects the cutter with the handle
3. Identity the joints
Pin joints are used to connect these three different parts. These joints are
lettered A through C. In addition, the cutter slides up and down, along the
base. This sliding joint is lettered D.
4. Identity any points of interest
Finally, the motion of the end of the handle is desired. This is designated as
point of interest X.
5. Draw the kinetic diagram
The kinematic diagram is given in Figure.

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Kinematic diagram for example problem

B
2 B

4
3 A
C 1
D

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 L=8
J1=10
J2=0
DOF =M
=3(L-1)-2J1-J2
=3(8-1)-2(10)-0
=1

L=6
J1=7
J2=0.5
DOF =M
=3(L-1)-2J1-J2
=3(6-1)-2(7)-0.5
=0

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L =..
J1=..
J2=..
DOF =

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 Paradoxes

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 Isomers
The word isomer is from the Greek and means
having equal parts.
Isomers in chemistry are compound that have the
same number and type of atoms but which are
interconnected differently and thus have different
physical properties.

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 Isomers
The Stephensons chain and The Watts chain isomer has the 6-link case of 4
binaries and 2 ternaries has only two valid isomers.

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 Linkage transformation

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 LINKAGE TRANSFORMATION

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 LINKAGE TRANSFORMATION

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E-quintet
5 links, including the ground

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 Menyusut

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INTERMITTEN
MOTION
Intermittent motion
is a sequence of
motions and dwells.
A dwell is a period in
which the output
link remains
stationary while the
input link continues
to move.

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 INVERSION
An inversion is created by grounding a different link
in the kinematic chain.

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 THE GRASHOF CONDITION

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 THE GRASHOF CONDITION

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 THE GRASHOF CONDITION

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S+L <P+Q

S+L > P+Q

THE GRASHOF CONDITION

S+L= P+Q S+L P+Q

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 The Grashof condition is a very simple
relationship that predicts the rotation
behavior or rotatebility of a fourbar linkages
inversions based only on the link lengths.
S= length of shortest link
L= length of longest link
P= length of one remaining link
Q= length of other remaining link
S+L P+Q

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 The Grashof Condition

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 The Grashof Condition

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 The Grashof Condition

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 The Grashof Condition

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 THE GRASHOF CONDITION

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 THE GRASHOF CONDITION

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 THANK YOU

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