SRI KRISHNA COLLEGE OF ENGINEERING AND TECHNOLOGY

DEPARTMENT OF MECHATRONICS ENGINEERING

Module 1
Session: Kinematic Diagrams

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SESSION OBJECTIVES

❑ On the completion of this session, the students might

be able to understand,

▪ Draw kinematic diagrams for real time mechanisms

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Topics

❑ Need

❑ Procedures

❑ Sample problems

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Need

❑ When analyzing a machine, it is often

difficult to visualize the movement

❑ Easier to represent the parts in

skeleton form

❑ These “stripped down” sketches of

mechanisms are referred to as
kinematic diagrams
6 Axis Robot

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Kinematic Diagrams

❑ Illustrates the connectivity of links

and joints of a machine or a
mechanism rather than the
dimensions or shape

❑ Often presented as lines, triangles

or squares

❑ Sometimes called as joint map or

skeleton diagram

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Kinematic Diagrams
❑ Can be formulated as a graph by representing links as vertices and
joints as edges of a graph

Piston

Piston
pin
Connecting
rod
Crankshaft

Bearing Pin

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Skeleton Representations

Simple link

Simple link
with point of
interest

Complex link

Pin Joint

Slider Joint

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Skeleton Representations
Link 1

Cam joint Link 2

Gear Joint

Pin in a slot
Joint

Screw Joint

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Basic Procedure
Identify the ❑ Select the member firmly attached to the ground
frame ❑ The motion of other links depends on the frame

Identify all
other links

Identify joints ❑ Pin, Sliding, Screw, etc.

Identify any
points of ❑ Primary forces applied or region of interest
interest

Draw the
kinematic
diagram

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Sample Problem
Identify the 1. Bolted to the table
frame

2. Handle
Identify all 3. Cutting Blade
other links 4. Link connecting the handle
and cutter
5. Pin joints
Link 1 to 2
Identify joints
Link 2 to 3
Link 3 to 4
X Sliding joint – Link 4 to 1
B
② Identify any
points of
6. Point of interest is handle
marked X
③ ④ A interest

C ① Draw the
kinematic
D diagram
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Sample Problem
Identify the 1. No parts attached to the
ground. So selection is
frame
arbitrary

2. Bottom Handle
Identify all 3. Bottom jaw
other links 4. Bar connecting the two

5. Pin joints
Link 1 to 2
Identify joints
Link 2 to 3
Link 3 to 4
Link 4 to 1
D ①A
Identify any
6. Motion of the end of the
④ ③ points of
bottom jaw is desired
interest

C② B Draw the
kinematic
diagram
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Sample Problem
Identify the 1. Bolted to a working surface
frame

2. Gear Handle
Identify all 3. Cutting lever
other links

4. Pin joints
Cutting lever to frame
X Identify joints Gear handle to lever
Gear joint(higher order)
②
B C Identify any
points of 5. Motion of handle and the
interest cutting surface is desired
①
③ Draw the
A Y kinematic
diagram

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Sample Problems – To find DOF
Can Crusher Identify the 1. Back frame can be attached
frame

2. Handle
Identify all 3. Crushing block
4. Connecting bar b/w block
other links and handle

5. Pin joints
Handle to base
Identify joints Link 4 to handle
Kinematic Link 4 and crushing block
Diagram Sliding joint - crushing block
Identify any
points of
6. Motion of handle is desired
interest

Draw the
kinematic
diagram

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Sample Problems – To find DOF
Mechanical Identify the 1. Bottom base
press
frame

2. Handle
Identify all 3. Arm - handle to arms
4. Arm - base to arms
other links 5. Press head
6. Arm – head to arms
7. Pin joints
Identify joints Handle to base
Kinematic Link 3 to handle
Diagram Link 4 to base
Identify any Link 6 to press head
points of Sliding joint – press head to
interest base

6. Motion of handle is desired

Draw the
kinematic
diagram

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Try it yourself!
Lift Identify the 1. Bottom base
frame

2. Nut
Identify all 3. Arm – nut to table
4. Arm – bearing to slot
other links 5. Table
6. Link to model pin in slot
Kinematic
Diagram 7. Pin joints
Identify joints Nut to support arm
Link 3 to Link 4
Link 3 to Link 6
Identify any Table to support arm
points of Base to support arm
interest Sliding joint – screw and nut
Sliding joint – Link 6 to table
Draw the
kinematic 8. Motion of table is desired
diagram

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 END

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