Chapter 1

INTRODUCTION TO
KINEMATICS AND
MECHANISMS

1.5

a) The task is Motion generation. Because the output link is not adjacent
to ground. Also, the orientation of the window during its motion is of interest,
it must move straight out away from the sill before it can rotate to its final
position.
b) There are 6 links and 7 f1 pin joints.
F = 3(6 − 1) − 2(7) = 15 − 14 = +1
c) This six-bar is Stepheson 1, the two ternary links are not adjacent to
each other. Also, the ground link is a binary connected to two ternary links.

1.10

a) The unscaled kinematic diagram is drawn in Figure 1.1

b) This is a Function generator because the input and output links are
pinned to ground.
c) We can use the slider-crank four-bar chain to do this task in Figure
1.2

1
Figure 1.1: The unscaled kinematic diagram

Figure 1.2: The slider-crank diagram

2
 Figure 1.3: The scaled kinematic diagram

1.15

a) The scaled kinematic diagram is drawn in Figure 1.3

b)
By Gruebler’s equation:
n=8
f1 =10
F = 3(8 − 1) − 2(10) = 21 − 20 = +1
By Intuition:
Links 1 through 4 form a four-bar linkage which has a single degree of
freedom. Once the input rotation of link 2 is specified, the position of point
B is known with respect to A0 , B0 , C0 and D0 . BCC0 and BDD0 form two
“rigid” triangles respectively and the mechanism is entirely specified.

1.20

a) If the open chain retractor ends are neglected the kinematic diagram
would be in the Figure 1.4
Joint A is a screw pair, so it has 1 DOF
Joint B is a revolute pair, it also has 1 DOF
Due to the screw pair, this mechanism is not back-driven.
From the Figure 1.3 we can calculate the degree of freedom of this mech-
anism:
F = 3(7 − 1) − 2(8) = 18 − 16 = +2

3
 Figure 1.4: The kinematic diagram

This is actually a 21 /2 dimension linkage, 2-D joints are distributed in the

3-D manner. The two degree of freedom come from using the 2-D Gruebler
’s equation in 21 /2 D space. One DOF reflects the internal planar motion
and the second is from the out of plane motion.
b) and c)
There are no six-bar mechanism in this 7-bar “Watson” topology regard-
less of which links are grounded, either link 1 or link 4 or any other.

1.25

a) This is the Stephesen 3 linkage.

b) The kinematic diagram is drawn in Figure 1.5: the range of rotation
of the input link is ∆φ
c) This type of linkage is the good is a good choice for this task because
it can satisfy the requirements of motion with a minimum number of links.
Others it is easy to control because it just has 1 DOF:
F = 3(6 − 1) − 2(7) = 1
d) If |L3 − L2 | < (SAo−Di )min the range of the rotation of the input link
would be changed. If |L3 − L2 | > (SAo−Di )min the linkage would not hit the
ink pad.
.
.

4
Figure 1.5: The kinematic diagram

5
 Figure 1.6: The unscaled kinematic diagram

1.30

a) An unscaled kinematic diagram of the entire tool is drawn in Figure

1.6
b) The degree of freedom: F = 3(12 − 1) − 2(16) = 1
Link 2 is the input link and links 7 and 11 are the output link. Note that
link 4 slides on link 1. This is to not allow the dilator blades to be forced
as a complete unit into a sideways motion while in use. Also the slot in link
4 is to allow link 5 and link 9 to collapse into a smaller volume, it is only a
dearence slot, not a f2 slider slot.

1.36

a) Figure P1.48:
n = 9, f1 = 11
F = 3(9 − 1) − 2(11) = 2

6
 HGC is a slider crank with one degree of freedom. FEDCBAJ is a Watt
2 linkage with one degree of freedom. So total is two degree of freedom.
b) Figure P1.49:
n = 8, f1 = 8, f2 = 1
F = 3(8 − 1) − 2(8) − 1 = 4
ABCEFG is a single loop with 7 links. It has 4 degrees of freedom. When
the positions of points C and E are known, the position of slider D is known.
Therefore, the entire mechanism has 4 degrees of freedom.
c) Figure P1.50:
n = 8, f1 = 10
F = 3(8 − 1) − 2(10) = 1
We replace the belt by a binary link between pulley A and B forming
a four-bar linkage. Then, when the rotation of pulley A is specified, the
positions of point C and G are known. Then, rigid triangle DEF is specified.
Therefore the mechanism has one degree of freedom.
d) Figure P1.51:
n = 6, f1 = 7
F = 3(6 − 1) − 2(7) = 1
FED is a slider crank with one degree of freedom. When the rotation of
crank FE is specified, the position of point C is known . CAB forms a rigid
triangle. Then the linkage is entirely specified.
e) Figure P1.52:
n = 12, f1 = 15
F = 3(12 − 1) − 2(15) = 3
ABCD and FEGH are the four-bar linkages with one degree of freedom
each. DIMNJKL is a Stepheson 3 linkage with one degree of freedom. Total
is three degrees of freedom.
f) Figure P1.53:
n = 14, f1 = 18 so F = 3(14 − 1) − 2(18) = 3
or n = 12, f1 = 15 so F = 3(12 − 1) − 2(15) = 3
IJK is a rigid triangle which can rotate about pivot K. GHJI is a four-bar
linkage with one degree of freedom. We have found two degrees of freedom
so far. Furthermore when IJK and GHIJ are fixed and the position of slider
D is specified, DFG, DFE, DCE and then ABC form four rigid triangles.
Therefore, total is three degrees of freedom.
g) Figure P1.54:
n = 10, f1 = 12
F = 3(10 − 1) − 2(12) = 3
ABCDE is a single loop with five links. It has two degrees of freedom.
FIJK is a four-bar linkage with one degree of freedom. CGH now forms a
rigid triangle. Therefore, the entire linkage has three degrees of freedom.

7
 h) Figure P1.55:
n = 10, f1 = 12
F = 3(10 − 1) − 2(12) = 3
Slider A has one degree of freedom itself. ABC and CDE are are slider
cranks with one degree of freedom for each. BFE is now locked. Total are
three degrees of freedom.
i) Figure P1.56:
n = 8, f1 = 8, f2 = 1
F = 3(8 − 1) − 2(8) − 1 = 4
Slider H has one degree of freedom itself. Point A has two degrees of
freedom: one is the translation along the fork, the other is the rotation about
the pivot B. ACDEFGH is a Watt 1 linkage with one degree of freedom. So
that total is four degrees of freedom.
j) Figure P1.57:
n = 9, f1 = 11, f2 = 1
F = 3(9 − 1) − 2(11) − 1 = 1
DBFH is a four-bar linkage with one degree of freedom. When DBFH is
specified, the position of the rest of the mechanism are known. Therefore,
the linkage has only one degree of freedom.

1.41

a) The unscaled kinematic diagrams and the basic kinematic diagram of

the mechanism in the figures P1.61 and P1.62 are drawn in the Figure 1.7
and Figure 1.8
.
b) The degree of freedom:
F = 3(15 − 1) − 2(20) = 2
The two degrees of freedom are the control cylinders which move the
linkage between the deployed and stowed positions, modeled by links 12 and
13, and the four-bar slider crank shock absorber linkage on the landing wheel,
modeled y links 2, 3, 4 and 5.
.
c) There are two Watt2 linkages, they consist the links: 1, 2, 6, 7, 8, 9
and 1, 2, 6, 7, 14, 15

8
Figure 1.7: The unscaled kinematic diagram

9
Figure 1.8: The basic kinematic diagram

10
 Figure 1.9: The unscaled kinematic diagram

1.49

a) Here we essentially have two independent four-bar. By intuition, one

four-bar has one DOF, so two four-bar will have two DOF.
We can check by using Greubler ’s equation:
n = 7, f1 = 8 so F = 3(7 − 1) − 2(8) = 2
b) The task of embedded four-bar is Motion generation. The diagram is
in Figure 1.9

1.52

a) The task of the mechanisms are function generation because we are

concerned with the relationship of the input (a bump in the road at the
wheel) to the output (the frame of the motorcycle)
.

11
 Figure 1.10: The unscaled kinematic diagram

b) The unscaled kinematic diagram are drawn in the Figure 1.10, Figure
1.11 and Figure 1.12
c) We calculate the degree of freedom to each mechanism:

• In Figure P1.95: n = 6, f1 = 7 so DOF = 3(6 − 1) − 2(7) = 1

• In Figure P1.96: n = 6, f1 = 7 so DOF = 3(6 − 1) − 2(7) = 1

• In Figure p1.97: n = 6, f1 = 7 so DOF = 3(6 − 1) − 2(7) = 1

d) The type of six-bar linkage:

• In Figure P1.95: Stepheson 3

• In Figure P1.96: Stepheson 1

• In Figure P1.97: Watt 2

12
Figure 1.11: The unscaled kinematic diagram

13
Figure 1.12: The unscaled kinematic diagram

14