MCL111

Tutorial sheet -1
1. A linkage used for a drum foot pedal is shown in Fig. 1. Identify the linkage type. Why is this
linkage used for this task? Can you design another simple mechanism for this task?

Fig. 1 Fig. 2
2. Fig. 2 shows a pair of locking toggle pliers. Identify the type of linkage (four bar, slider-crank
etc.), its task, and why this type of linkage is used for the task. Notice that there is an adjusting
screw on the mechanism. What is its function? Why is it located where it is?
3. As steam enters into a steam trap, it is condensed and allowed to flow out of the trap in liquid
form. The linkage in Fig. 3 has been suggested to be a feedback control valve for the steam trap.
The float senses the level of the condensate while the linkage adjusts the exit valve.
(a) Draw the unscaled kinematic diagram for this linkage.
(b) Is this a function, path, or motion generator?
(c) Can you design another simple linkage for this task?

Fig. 3
4. In converting x-ray film from the raw material to a finished product, a multi-loop mechanism was
designed to transport the film from the sheeting operation to the stenciling operation, to a
conveyor belt.
The linkage shown in Fig. 4 must pick up the film from beneath the stenciling and sheeting
devices with vertical or nearly vertical motion to prevent sliding between the film and the
mechanism. The mechanism flows a horizontal path (with no appreciable rotation) slightly above
the stenciling and sheeting devices while transporting the film from pickup to delivery.
Although the double parallelogram based linkage in Fig. 4 accomplished the task adequately, a
simpler linkage shown in Fig. 5 was synthesized for the same task.
(a) Draw the unscaled kinematic diagrams of both linkages.
(b) What type of six bar is shown in figure 5?

Fig. 4 Fig. 5
5. An idea came to mind to design and build a mechanism inside a box that, once turned on, would
send a finger out of the box, turn itself off, and return back into the box. The linkage shown in
Fig. 6 was created by D. Harvey. (Note that the external switch and the internal limit switch are in
parallel, so that the latter keeps the motor running until the finger has been withdrawn into the
box.)
(a) Draw the kinematic diagram of the linkage.
(b) Show that the mechanism has single degree of freedom. (by intuition or Gruebler’s criterion)
(c) What type of six bar linkage is this? What is its task?
 Fig. 6
6. An agitator linkage for washing machine is shown in Fig. 7. (ground pivots are identified by G)
(a) What type of six bar is this?
(b) What task does this link fulfill (motion, path or function generation)?
(c) Why use a six bar linkage for this application?

Fig. 7
7. Double boom cranes and excavation devices are commonly used in the building construction
industry. Their popularity is due primarily to their versatility, mobility and high load lifting
capacity. This type of equipment is typically actuated by means of hydraulic cylinders. Fig. 8
shows a typical knuckle boom crane.
(a) Draw the unscaled kinematic diagram for the mechanism.
(b) Determine degree of freedom for the mechanism.

Fig. 8
8. For the figures 9-18 determine degrees of freedom of the mechanisms by intuition and by
Gruebler’s criterion.

Fig .9 Fig . 10

Fig. 11 Fig. 12
 Fig. 13

Fig. 14

Fig. 15 Fig. 16
Fig .17 fig .18