Kinematics Fundamentals

Theory of Machines
Mechatronics Engineering
Dr. Mohammad Hayajneh

Theory of Machines , Dr. Mohammad Hayajneh

 Mechanisms and Structures
• The character of any assembly of links is
predicted by its DOF:
• Three possibilities
• +ve number of DOF = Mechanism
• Zero number of DOF =Structure
• -ve number of DOF = Preloaded
structure.
Mechanism Structure Preloaded
DOF =? DOF =? Structure
• True structure of zero DOF is in rare in DOF =?
engineering practice. L= 4 L= 3
L= 2
• Most buildings, bridges, and machine frames J1= 4 J1= 3
J1= 2
are preloaded structures due to the use of M=3(4-1)-2(4) M= 0
M= -1
welded and riveted joints rather than pin M=+1
joints.

Theory of Machines , Dr. Mohammad Hayajneh

 Pin and riveted joints
• Which one of the following is
• Mechanism? L= 4
• Structure J1= 4
• Preloaded structure M= +1
Pin joints

Riveted joints L= 2
J1= 2 L= 1
M= -1 J1= 0
M=0

Theory of Machines , Dr. Mohammad Hayajneh

 Number synthesis
• Has been coined to mean the determination of the number and
order of links and joints necessary to produce motion of a
particular DOF.
• Link order (here) refers to the number of nodes per link
• Binary  2nd order
• Ternary  3rd order
• Quaternary  4th order

• All possible combinations of links for a particular DOF is given by

L-3-M= T+ 2Q+ 3P+ 4H L= B+T+Q+P+H

Hexagonal Find out the combinations of links for

1 DOF mechanism.
Pentagonal

Theory of Machines , Dr. Mohammad Hayajneh

 Number synthesis
Case two: L=4
• Note: For odd DOF, L must be even
L-3-M= T+ 2Q+ 3P+ 4H
• All possible combinations of links for a 1 DOF
L-4= T+ 2Q+ 3P+ 4H
0= T+ 2Q+ 3P+ 4H
L-3-M= T+ 2Q+ 3P+ 4H

Case one: L=2 0  no link from higher order is possible with

this combination.
L-3-M= T+ 2Q+ 3P+ 4H
L-3-1= T+ 2Q+ 3P+ 4H Then, by using equation 2
-2= T+ 2Q+ 3P+ 4H L=B+0=4
This case is impossible to happen,
that is means we can’t have 1 DOF The simplest 1 DOF is four binary
mechanism with two links only. links

Theory of Machines , Dr. Mohammad Hayajneh

 Number synthesis
Case Three: L=6 Possibility 2
5 binary links + 1 quaternary link
L-4= T+ 2Q+ 3P+ 4H=2
L=B+0+1=6
2  links from higher order are required in the
combination (Total sum =2)

T+ 2Q+ 3P+ 4H=2

Possibility 1

4 binary links + 2 Ternary links

L=B + T =4+2=6

Theory of Machines , Dr. Mohammad Hayajneh

Number synthesis
Case Three: L=8
L-4 =T + 2Q + 3P + 4H=4
B + T + Q + P + H =8

H=1 H=0

B=7, T= 0 T + 2Q + 3P =4
Q=0 , P=0 B + T + Q + P =8
T + 2 Q =4 H=1
B + T + Q=8
P=0 P=1
Q=2 Q=1 Q=0
T + 2Q= 1  T=1
B + T + Q =7
Q = 2 Q = 1 T = 4
T = 2 B=6, T= 1, Q=0, P=1
T = 0 B = 4
B = 6 B = 5 Theory of Machines , Dr. Mohammad Hayajneh
 Paradoxes
• Because Gruebler criterion pays no attention to link
sizes or shapes, it can give misleading results in the face
of unique geometric configurations.

Theory of Machines , Dr. Mohammad Hayajneh

 Isomers
• Possible isomers in Six linkage mechanism
• Means having equal parts
• In linkage isomers, different motion properties
will be created from the particular connections
of available links. 2 isomers

• Possible isomers in four linkage mechanism

Only 1 isomer

• Possible isomers in 8 linkage mechanism

16 isomers
• Possible isomers in 10 linkage mechanism
230 isomers
Theory of Machines , Dr. Mohammad Hayajneh
 Linkage Transformation
Cam follower
mechanism has an
effective four bar
Transforming a equivalent
four bar crank
rocker to a
slider crank

Transforming
a slider crank
to the scotch
yoke

Theory of Machines , Dr. Mohammad Hayajneh

Intermittent motion

Is a sequence of motions and dwells

Four-stop Linear intermittent motion

Geneva Ratchet and pawl mechanism
“Geneva” mechanism
Mechanism
Theory of Machines , Dr. Mohammad Hayajneh