Introduction To Mechanism and Kinematics

EME2056 Theory of Machines LBK/1/2010/11
Introduction to Mechanisms and Kinematics
 Machines are defined as the devices used to alter, transmit, and direct forces to
accomplish a specific objective.
 A chain saw is a familiar machine that directs forces to the chain with the objective of
cutting wood.
 Mechanism is the mechanical portion of a machine that has the function of transferring
motion and forces from a power source to an output. It is the heart of a machine.
 For the chain saw, the mechanism takes power from a small engine and delivers it to the
cutting edge of the chain.
 Another example is an adjustable height platform that is driven by hydraulic cylinder is
called a machine.
 The mechanism for this case is the part that takes the power from the cylinder and drives
the raising and lowering of the platform.
 Therefore from these two examples, a mechanism can be defined as an assemblage of
rigid parts that are arranged and connected so that they produce the desired motion of the
machine.
 To ensure that the motion of a machine will exhibit the desired motion, the mechanism
analysis of the machine is required.
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Kinematics
 Kinematics deals with the way things move. Formally defined, it is a study of the
geometry of motion, which involves determination of position, displacement, rotation,
speed, velocity and acceleration.
 Consider the lift platform above. Kinematics analysis provides insight into significant
design questions, such as:
o What is the significance of the length of the legs that support the platform?
o Is it necessary for the support legs to cross and be connected at their midspan, or
is it better to arrange them so that they cross closer to the platform?
o How far must the cylinder extend to raise the platform 10cm?
o How fast the platform will raise if the cylinder is extended at the rate of 0.3 m/s?
o ……
 As a second step, dynamic force analysis of the platform could provide insight into
another set of important design questions:
o What capacity (maximum force) is required of the hydraulic cylinder?
o Is the platform free of any tendency to tip over?
o What cross-sectional size of legs and material is required of the support legs so
that they don’t fail?
o ……
 A majority of mechanisms exhibit motion such that the parts move in parallel planes,
called planar mechanism because their motions are limited to two-dimensional space.
 Planar mechanisms are the focus in this subject.
Terminologies
 A linkage is a mechanism where all parts are connected together to form a closed chain.
 One part is designated the frame because it serves as the frame of reference for the motion
of all other parts. The frame is typically a part that exhibits no motion.
 Links are individual parts of a mechanism. They are assumed to be completely rigid and
are connected with other links to transmit motion and forces from the input link (driver)
to the output link (follower). But in real life, a true rigid body does not exist, therefore
mechanism links that are designed to have minimal deformation can be considered as
rigid body.
 A simple link is a rigid body that contains only two joints. A crank is a simple link that is
able to complete a full rotation about a fixed centre. A rocker is a simple link that
oscillates through an angle, reversing its direction at certain intervals.
 A complex link is a rigid body that contains more than two joints. A rocker arm is a
complex link, containing three joints, that is pivoted near its centre.
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 A joint is a movable connection between links and allows relative motion between the
links. The two primary joints, called full joints, are the revolute and sliding joint. The
revolute joint is also called a pin or hinge joint and it allows pure rotation between the
two links that it connects. The sliding joint is also called a piston or prism joint. It allows
linear sliding between the links that it connects.
 Cam joint and gear joint are called higher-order joint or half-joint. They allow both
rotation and sliding between the two connected links or meshed gears.
 A point of interest is a point on a link where the motion is of special interest. Once
kinematic analysis is performed, the displacement, velocity and accelerations of that point
are determined.
 An actuator is the component that drives the mechanism. Common actuators include
motors (electric and hydraulic), engines, cylinders (hydraulic and pneumatic) and
solenoids.
 A common component used to drive a mechanism is a hydraulic or pneumatic cylinder.
The unit typically contains a rod and piston assembly that slides in a cylinder. Thus
forming a sliding joint. And at both ends of the unit usually has provisions for pin joints.
 The kinematic representation of the unit is shown as below.
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4
Identify all the connections used in the slider crank mechanism of a vertical compressor.
 Bearings (represented by a revolute joint) connect the casing (frame) and crank.
 The crank pin (another revolute joint) connects the crank and the connecting rod.
 The connecting rod and crosshead are joined at the wrist pin (a third revolute joint).
 The piston and cylinder (frame) constitute a sliding connection (sliding joint).
 A simple link is a rigid body that contains only two joints, which connect the link to other
links. The simple link is also called a binary link.
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Kinematic Diagrams
 In analyzing the motion of a machine, it is often difficult to visualize the movement of the
components in a full assembly drawing.
 It is easier to represent the parts in skeleton form so that only the dimensions that
influence the motion of the mechanism are shown. These “stripped down” sketches of
mechanisms are often referred to as kinematic diagrams.
 A kinematic diagram should be drawn to a scale proportional to the actual mechanism.
 For convenient reference, the links are numbered, starting with the frame as link number
1. To avoid confusion, the joints should be lettered.
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Example 1
Figure shows a shear that is used to cut and trim electronic circuit board laminates. Draw a
kinematic diagram.
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. In some cases, its selection is obvious as the frame is firmly attached to the
ground. In this problem, the large base that is determined as the frame. The motion of
all other links is determined relative to the base. The base is numbered as link 1.
2. Identify All Other Links
Careful observation reveals three other moving parts:
Link 2: Handle
Link 3: Cutting blade
Link 4: Bar that connects the cutter with the handle
3. Identify 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. Identify 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 Kinematic Diagram. The kinematic diagram is given
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Example 2
Figure shows a pair of vice grips. Draw a kinematic diagram.
Solution:

The first step is to decide the part that will be designated as the frame. In this problem,
no parts are attached to the ground. Therefore, the selection of the frame is rather
arbitrary. The top handle is designated as the frame. The motion of all other links is
determined relative to the top handle. The top handle is numbered as link 1.
2. Identify All Other Links
Link 2: Bottom handle
Link 3: Bottom jaw
Link 4: Bar that connects the top and bottom handle
3. Identify the Joints
Four pin joints are used to connect these different parts. These joints are lettered A
through D.
4. Identify Any Points of Interest
The motion of the end of the bottom jaw is desired. This is designated as points of
interest X. Finally, the motion of the end of the lower handle is also desired. This is
designated as point of interest Y.
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5. Draw the Kinematic Diagram. The kinematic diagram is given
Mobility
 An important property in mechanism analysis is the number of degrees of freedom of the

mechanism.
 It is defined as the number of independent inputs required to precisely position all links of
the mechanism with respect to the ground.
 Since input to a mechanism is an actuator, therefore DOF also yields the information
regarding the number of actuators needed to use to drive the mechanism to yield a desired
motion.
 The number of degree of freedom of a mechanism is also called the mobility and is given
by the symbol F.
 It is possible to determine the mobility of a mechanism directly from the number of links
and the number of joints used to connect the links.
 Consider we have a system of n unconnected links in a plane. Each link will have 3 DOF,
two translations and one rotation. Since in a mechanism, one link must be chosen as a
frame, therefore all three of its DOF will be removed. Thus we have 3n-3 = 3(n-l) DOF
before any joints are connected. If the links are connected by jp of primary joints and jh of
higher-order joints, each primary joint will remove 2 DOF from the system and each
higher-order joint will remove 1 DOF from the system. Because primary joint has 1 DOF
and higher-order joint has 2 DOF.
 Therefore the remaining DOF of the mechanism is
F = 3(n - 1) - 2jp - jh
 This equation is called Gruebler's Equation. It is used to calculate DOF of a planar

mechanism.
 Mechanism with 1 DOF is called constrained mechanisms. Most mechanisms used in
machines are constrained. A constrained mechanism is shown below.
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 Mechanisms with zero or negative DOF are called locked mechanisms. These
mechanisms are unable to move and thus form a structure.
 Mechanisms with more than 1 DOF are called unconstrained mechanism. These
mechanisms need more than one actuator to operate them. Real life examples of
unconstrained mechanisms are commonly referred to as open-loop linkages/mechanisms.
Example 3
Figure shows a toggle clamp. Draw a kinematic diagram, using the clamping surface and the
handle as points of interest. Also compute the degrees of freedom for the clamp.
Solution:

The component that is bolted to the table is designated as the frame. The motion of all
other links is determined relative to this frame. The frame is numbered as link 1.
2. Identify all other links
Link 2: Handle
Link 3: Arm that serves as the clamping surface
Link 4: Bar that connects the clamping arm and handle
3. Identify the joints
Four pin joints are used to connect these different parts. These joints are lettered A
through D.
4. Identify any points of interest
The motion of the clamping surface is desired. This is designated as point of interest
X. Finally the motion of the end of the handle is also desired. This is designated as
point of interest Y.
5. Draw the kinematic diagram
The kinematic diagram is detailed as follows:
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6. Calculate Mobility
It is seen that there are four links. There are also four pin joints. Therefore,
n = 4; jp = 4 pins; jh = 0
F = 3(n-1) – 2jp – jh = 3(4-1) – 2(4) – 0 = 1
With one degree of freedom, the clamp mechanism is constrained. Moving only one link, the
handle, precisely positions all other links in the clamp.
Example 4
Figure shows a beverage can crusher used to reduce the size of cans for easier storage prior to
recycling. Draw a kinematic diagram, using the end of the handle as a point of interest. Also
compute the degrees of freedom for the device.
Solution:

The back portion of the device serves as a base and can be attached to a wall. This
component is designated as the frame. The motion of all other links is determined
relative to this frame. The frame is numbered as link 1.
Link 2: Handle
Link 3: Block that serves as the crushing surface
Link 4: Bar that connects the crushing block and handle
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Three pin joints are used to connect these different parts. One pin connects the handle
to the base. This joint is labelled as A. A second pin is used to connect link 4 to the
handle. This joint is labelled B. The third pin connects the crushing block and link 4.
This joint is labelled C. The crushing block slides vertically during operation.
Therefore, a sliding joint connects the crushing block to the base. This joint is labelled
D.
The motion of the handle is desired. This is designated as point of interest X.
The kinematic diagram is given:
It is seen that there are four links. There are also three pin joints and one slider joint.
Therefore,
n = 4; jp = 3 pins + 1 slider = 4; jh = 0
F = 3(n-1) – 2jp – jh = 3(4-1) – 2(4) – 0 = 1
With one degree of freedom, the can crusher mechanism is constrained. Moving only one link,
the handle, precisely positions all other links and crushes a beverage can placed under the
crushing block.
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Example 5
Figure shows another device that can be used to shear material. Draw a kinematic diagram,
using the end of the handle and the cutting edge as points of interest. Also, compute the
degrees of freedom for the shear press.
Solution:

The base is bolted to a working surface and can be designated as the frame. The
motion of all other links is determined relative to this frame. The frame is numbered
as link 1.
Careful observation reveals two other moving parts:
Link 2: Gear/Handle
Link 3: Cutting lever
Two pin joints are used to connect these different parts. One pin connects the cutting
lever to the frame. This joint is labelled as A. A second pin is used to connect the
gear/handle to the cutting lever. This joint is labelled B. The gear/handle is also
connected to the frame with a gear joint. This joint is labelled C.
The motion of the handle end is desired. This is designated as point of interest X. The
motion of the cutting surface is also desired. This is designated as point of interest Y.
The kinematic diagram is detailed as follows:
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It is seen that there are three links. There are also two pin joints and one gear joint.
Therefore,
n = 3; jp = 2 pins; jh = 1
F = 3(n-1) – 2jp – jh = 3(3-1) – 2(2) – 1 = 1
With one degree of freedom, the shear press mechanism is constrained. Moving only one link,
the handle, precisely positions all other links and brings the cutting edge onto the work piece.
Example 6
Figure shows an outrigger foot to stabilize a utility truck. Draw a kinematic diagram, using
the bottom of the stabilizing foot as a point of interest. Also compute the degrees of freedom.
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Solution:

During the operation of the outriggers, the utility truck is stationary. Therefore the
truck is designated as the frame. The motion of all other links is determined relative to
this frame. The frame is numbered as link 1.
Link 2: Outrigger leg
Link 3: Cylinder
Link 4: Piston/rod
Three pin joints are used to connect these different parts. One pin connects the
outrigger leg to the truck frame. This joint is labelled as A. A second pin is used to
connect outrigger leg to the cylinder rod. This joint is labelled B. The third pin
connects the cylinder to the truck frame. This joint is labelled C. One sliding joint is
present in the cylinder unit. This connects the piston/rod with the cylinder. This joint
is labelled D.
The stabilizer foot is part of link 2 and a point of interest located on the bottom of the
foot is labelled as point of interest X.
It is seen that there are four links. There are also three pin joints and one slider joint.
Therefore,
F = 3(n-1) – 2jp – jh = 3(4-1) – 2(4) – 0 = 1
With one degree of freedom, the outrigger mechanism is constrained. Moving only one link,
the piston, precisely positions all other links in the outrigger, placing the stabilizing foot on
the ground.
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Special Cases of the Mobility Equation
a) Coincident Joints
 Some mechanisms have three links that are all connected at a common pin joint. This situation
may bring some confusion of using the equation. Physically, one pin may be used to
connect all three links. However, by definition, a pin joint connects only two links. Thus,
in analysis this commonly pinned configuration must be modeled as two separate joints.
One joint will connect the first and second links. The second joint will then connect the
second and third links.
Three rotating links Two rotating and one sliding link
b) Exception due to link sizes or shapes

 Because of mobility equation does not account for link sizes or shapes, it can give
misleading. For example, figure shows a structure (DOF=0) with complex link of
arbitrary shape. This linkage contains five links and six pin joints. The mobility equation,
F=3(n-l)-2jp-jh = 3(5-1)-2(6) = 0, predicts 0 DOF as expected for a structure. However, if
all pivoted links were the same size, and the distance between the joints on the frame and
coupler were identical, then this mechanism would be able to move with 1 DOF as
contrary to predicted value. There are other examples of mechanisms that violate the
Gruebler equation because of unique geometry. Thus, a designer must be aware that the
mobility equation can, at times, lead to inconsistencies.
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Example 7
Figure shows a mechanical press used to exert large forces to insert a small part into a larger
one. Draw a kinematic diagram, using the end of the handle as a point of interest. Also
compute the degrees of freedom.
Solution:

The bottom base for the mechanical press sits on a workbench and remains stationary
during operation. Therefore this bottom base is designated as the frame. The motion
of all other links is determined relative to this frame. The frame is numbered as link 1.
Link 2: Handle
Link 3: Arm that connects the handle to the other arms
Link 4: Arm that connects the base to the other arms
Link 5: Press head
Link 6: Arm that connects the head to the other arms
Pin joints are used to connect the several different parts. Once connects the handle to
the base and is labelled as joint A. Another connects link 3 to the handle and is
labelled as joint B. Another connects link 4 to the base and is labelled as C. Another
connects link 6 to the press head and is labelled as D.
It appears that a pin is used to connect the three arms – link 3, 4 and 6 – together.
Because three separate links are joined at a common point, this must be modelled as
two separate joints. They are labelled as E and F.
A sliding joint connects the press head with the base. This joint is labelled as G.
The motion of the end of the handle is desired and is labelled as point of interest X.
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It is seen that there are six links as well as six pin joints and one slider joint. Therefore,
F = 3(n-1) – 2jp – jh = 3(6-1) – 2(7) – 0 = 1
With one degree of freedom, the mechanical press mechanism is constrained. Moving only
one link, the handle, precisely positions all other links in the press, sliding the press head onto
the work piece.
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The Four-Bar Mechanism
 The simplest and most common linkage is the four-bar linkage.

 It is a combine of four links, one being designated as the frame, and connected by four
pin joints.
 The mechanism for an automobile window wiper system is an example of 4-bar linkage.
 It has mobility of one

n = 4; jp = 4; jh = 0
F = 3(n-l) - 2jp - jh = 3(4-1) -2(4) - 0 = 1
 Because the mechanism has 1 DOF, it is fully operated with one driver (DC electric
motor)
 In mechanism, the pivoted link that is connected to the driver or power source is called
the crank or input link. The other pivoted link that is attached to the frame is designated
as output link, follower, rocker or lever. And the link that connects the crank and the lever
is called connecting rod or coupler.
Depending on the arrangement and the lengths of the links, a four-bar mechanism can be
classified as double crank, crank-rocker, double rocker, change point mechanism or triple
rocker mechanism.
Double Crank
The crank-crank or double crank has the shortest link of the 4 bar mechanism configured as
the fixed link or frame. When one of the pivoted links rotates continuously, the other pivoted
link also rotates continuously. Thus, the two pivoted links are both able to rotate through a
full revolution. Usually the shorter links is chosen as an input link. The crank-crank
mechanism is also called a drag link mechanism.
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Crank-Rocker
For a crank-rocker mechanism, the shortest link of the mechanism is a driver. When this
shortest link continuously rotates, the output link oscillates between limits. The wiper system
as shown above is designed to be a crank-rocker. As the motor continuously rotates the input
link, the output link oscillates or rock. The wiper arm and blade are firmly attached to the
output link, oscillating the wiper across a windshield.
Double Rocker
The rocker-rocker or double rocker has the link opposite to the shortest link of the four bar
mechanism configured as the frame. In this configuration, neither link connected to the frame
is able to complete a full revolution. Thus both input and output links are constrained to
oscillate or rock between limits.
Change Point Mechanism

A change point mechanism can be positioned such that all the links become collinear. The
most familiar type of change point mechanism is a parallelogram linkage. The frame and
coupler are the same length, and the two pivoting links are the same length.
Triple Rocker
None of the links in triple rocker are able to complete a full revolution. All three moving
links rock.
Categories of four-bar mechanisms
In addition to the condition given above, a four-bar mechanism behaves either as a crank-
rocker, crank-crank or rocker-rocker must also meet Grashof's criteria.
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Where s = length of shortest link
l = length of longest link
p = length of one of the intermediate length links
q = length of the other intermediate length links
Example 8
A nose wheel assembly for a small aircraft is shown. Classify the motion of this four-bar
mechanism based on the configuration of the links.
Solution:
1. Distinguish the links based on length
In an analysis that focuses on the landing gear, the motion of the wheel assembly is
determined relative to the body of the aircraft. Therefore, the aircraft body is
designated as the frame. Figure shows the kinematic diagram for the wheel assembly,
numbering and labelling the links. The tip of the wheel was designated as point of
interest X.
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The lengths of the links are: s = 12in, l = 32 in, p = 30 in, q = 26 in
2. Compare to Criteria
The shortest link is a side, or adjacent to the frame. Therefore this mechanism can be
either a crank-rocker, change point or a triple rocker.
3. Check the Crank-Rocker Criteria
s+l<p+q
12 +32 < 26 + 30 (O.K)
Because the criteria for a crank-rocker is valid, the nose wheel assembly is a crank-rocker
mechanism.
Slider-Crank Mechanism
 Another mechanism that is commonly encountered is a slider-crank.

 This mechanism also consists of combination of four links with one being designated as
the frame.
 However, it is connected by 3 pin joints and one sliding joint.
 An example of this mechanism is manual water pump.
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 The mobility of the mechanism is
F = 3(n-l) - 2jp-jh
n = 4 jp= 3 pins + 1 sliding = 4, jh = 0
F = 3(4-1) - 2(4) - 0 = 1
 Because the mechanism has 1 DOF, it is fully operated with one driver. The pump is
activated manually by pushing on the handle.
 In general, the pivoted link connected to the frame and activated by driver is called crank.
 This link is not always capable of completing a full revolution. The link that translates is
called the slider. This is represented by piston/rod of the pump. The coupler or connecting
rod couples the motion of the crank to the slider.
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Introduction To Mechanism and Kinematics

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EME2056 Theory of Machines LBK/1/2010/11

Introduction to Mechanisms and Kinematics

1. Identify the Frame

Figure shows a pair of vice grips. Draw a kinematic diagram.

1. Identify the Frame

5. Draw the Kinematic Diagram. The kinematic diagram is given

 An important property in mechanism analysis is the number of degrees of freedom of the

 This equation is called Gruebler's Equation. It is used to calculate DOF of a planar

1. Identify the Frame

1. Identify the Frame

3. Identify the joints

1. Identify the Frame

1. Identify the Frame

Special Cases of the Mobility Equation

Three rotating links Two rotating and one sliding link

b) Exception due to link sizes or shapes

1. Identify the Frame

The Four-Bar Mechanism

 The simplest and most common linkage is the four-bar linkage.

 It has mobility of one

Change Point Mechanism

Categories of four-bar mechanisms

Where s = length of shortest link

l = length of longest link

p = length of one of the intermediate length links

q = length of the other intermediate length links

The lengths of the links are: s = 12in, l = 32 in, p = 30 in, q = 26 in

 Another mechanism that is commonly encountered is a slider-crank.

 The mobility of the mechanism is

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