INTRODUCTION TO

MECHANISMS AND

KINEMATICS
ESPEJO, DELA CRUZ,

BRENCHES, CASPERES
 When we were kids, we once tried drawing cars in our notebooks, we draw everything

imagine that was cool and looks nice like big wheels, big spoilers, fire spitting exhausts,

and more.

 But as we grow up, we realized

that things like that in a car are

possible, like this car. But is not

practical for daily use, it might

also be unsafe for the person

driving it and the persons around

it. Example, the wheels might be

too big for the tire to absorb

bumps, which might cause an

accident.

 But engineers, they design cars to be safe, perform well, and still make them look nice. They

design and analyze each and every element of the machine, in this case the car, to have

proper operation, to withstand the different situations that it must face, and to make sure that

the machine lasts for a long period of time. This is why we study MACHINE ELEMENTS.
 MACHINES

AND

MECHANISM
 Machine
are devices used to alter, transmit, and direct forces to accomplish a specific

objective.

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 the machine.
Example
Machine (Car)

Mechanism (Drivetrain)
 A mechanism can be considered rigid parts that

are arranged and connected so that they

produce the desired motion of the machine.

Important
Synthesis is the process of developing a

mechanism to satisfy a set of performance

Notes requirements for the machine

Analysis ensures that the mechanism will

exhibit motion that will accomplish the set of

requirements.
 KINEMATICS
is the study of the geometry of motion. Simply put, it deals the way things move.
 Kinematic Analysis
Involves determination of position, displacement, rotation, speed, velocity and

acceleration of a mechanism.

It provides insight into significant design questions of machines.

 Examples of Kinematic Insights

questions for a car:

-What engine
-How low does the
-What transmission

displacement does
car’s suspension
should the car come

this car should use to

must be for it to be
with to be fuel-

perform well? safe? efficient?

 Dynamic Force Analysis

is the much specific analysis of each individual parts of the kinematic analysis.

Note that most mechanisms are planar mechanisms, meaning that their motion is

limited to a two-dimensional space.

 MECHANISM TERMINOLOGIES
Mechanisms consists of connected parts which transfer motion from a power

source to an output. Here are some:

 Linkage- a mechanism where rigid parts are

connected to form a chain.

2 Main Parts

of a

Mechanism Frame- serves as the frame of reference for

the motion of all other parts. This part does

not move.

Example
in a car’s engine, the engine

block is the frame, and the rest

are the linkage that produces

power.

 Links- are the individual parts of the

mechanism. Also considered as rigid bodies,

they are connected with other links to

transmit motion and forces. Also, they are

Parts of a
designed to minimally deform.

Mechanism Elastic parts- are parts that is not rigid and

has no effect on the kinematics of

mechanisms. They are not part of kinetic

analysis but since they supply forces, they are

part of dynamic force portion analysis.

Example
Examples of links in the car’s

engine is the pistons, valves,

connecting rods, the camshaft,

and the crankshaft.

Examples of elastic parts in the

car’s engine is the timing belt,

and the valve springs.

 Parts of Mechanisms
Joint- movable
Revolute joint- allows
Sliding Joint- allows linear

connection
pure rotation between
sliding between the links it

between links and

the two links it connects.
connects, also called piston

allows relative
Also called pin or hinge
or prismatic joint.
motion between
joint.

the links.

It has two types:

 Parts of Mechanisms
Cam joint- allows for
Gear Connection- also
Simple Link- rigid

both rotation and

allows rotation and
body that contains

sliding between two

sliding between two
only two joints, for

links that it connects gears when their teeth

example, a crank.

mesh.

 Parts of Mechanisms
Complex Link- rigid
Point of Interest- point
Actuator- component

body that contains

of a link where the
that drives the

more than two joints, motion is at a special

mechanism, it can be

for example, a rocker

interest. An example is
motorized or

arm. a the end of car’s

manually operated.

windshield, where the

focus of the wipers is.

KINEMATIC INVERSION
the utilization of alternate links to serve at the fixed link.
 Absolute motion- measured with respect

to a stationary frame.

Two types of

motion:
Relative motion- measured for one point

to or link with respect to the other link.

 PAMANTASAN NG LUNGSOD NG MAYNILA

1.5 Kinematic

Diagram
 Kinematic Diagram

In analyzing the motion of a machine, it

is often difficult to
visualize the movement of the

components in a full assembly

drawing.
 Key term to remember

LINK
a link may be defined as a member or a

COMBINATION of members of a mechanism,

connecting other members and having motion

relative to them. A link is also known as

kinematic link or element

 Key term to remember

Kinematic pair
a kinematic pair or simply a pair is a joint of two

links having relative motion between them

 Key term to remember

Pin/revolute joint
is a joint constrain the motion of two bodies to

pure rotation

 Key term to remember

Point of interest
this is usually the main or necessary part of the

mechanism, where the power/energy are

applied or released; where the motion is of

special interest

 Simple link

Simple link with

point of interest
Complex

Links

Pin joint
Slider joint

Cam joint
Gear joint
 HOW TO DRAW

KINEMATIC DIAGRAM?
1. Know the purpose of the mechanism, Example: is it for cutting,

crushing, or etc, to have a basic Idea on how the mechanism works

and move
2. Identify the Frame, the frame is the part that does not

move, because the rest of the mechanism moves on the

frame
 HOW TO DRAW

KINEMATIC DIAGRAM?

3. Draw the Links from the diagram

4. Identify the links, pair, and point of interest

(if any)

 PAMANTASAN NG LUNGSOD NG MAYNILA

1.7 MOBILITY
 An important property in mechanism
analysis is the number of degrees of
freedom of the linkage. The degree of
freedom is the number of independent
inputs required to precisely position all links
of the mechanism with respect to the
ground.
MOBILITY The number of degrees of freedom of a
mechanism is also called the mobility, and it
is given the symbol M.
 1.7.1 THE GUEBLER'S
EQUATION
M = degrees of freedom = 3(n - 1) - 2jp - jh

WHERE:
n = total number of links in the mechanism
jp = total number of primary joints (pins or sliding joints)
jh total number of higher-order joints (cam or gear joints)
 SIMPLE DEGREE OF
FREEDOM
LOCKED MECHANISM
MULTIPLE DEGREE OF
FREEDOM

DEGREE OF A
FREEDOM

B C
1. Identify the Frame
2. Identify All Other Links
3. Identify the Joints
4. Identify Any Points of Interest
5. Draw kinematics Diagram
6. Calculate mobility
 CALCULATE
GIVEN
n = 4,
jp = 4 pins,
jh = 0

M = 3(n - 1) - 2jp - j h
= 3(4 - 1) - 2(4) - 0
=1
1. Identify the Frame
2. Identify All Other Links
3. Identify the Joints
4. Identify Any Points of Interest
5. Draw kinematics Diagram
6. Calculate mobility
 CALCULATE
GIVEN
n=3
jp = (2 pins) = 2
jh = (1 gear connection) = 1

M = 3(n - 1) - 2jp - jh
= 3(3 - 1) - 2(2) - 1
=1
 1.7.2 Actuators and Drivers

In order to operate a mechanism, an actuator, or driver

device, is required to provide the input motion and
energy.To precisely operate a mechanism, one driver is
required for each degree of freedom exhibited.
 Electric motors (AC / DC)
Engines
Example of Servomotors
Air or hydraulic motors
Actuators and Hydraulic
cylinders
or pneumatic

Drivers Screw actuators

Manual
1. Identify the Frame
2. Identify All Other Links
3. Identify the Joints
4. Identify Any Points of Interest
5. Draw kinematics Diagram
6. Calculate mobility
 CALCULATE
GIVEN
n = 4,
jp = (3 pins + 1 slider) = 4,
jh = 0

M = 3(n - 1) - 2jp - jh
= 3(4 - 1) - 2(4) - 0
=1
 1.8.1 ECCENTRIC CRANK
This is the design used in most

1.8 MOST
engines and compressors.

COMMONLY 1.8.2 PIN IN A SLOT JOINT

The pin-in-a-slot joint becomes a combination of

USED LINKS
a pin joint and a sliding joint,it permits the two
links to rotate and slide relative to each other.

AND JOINTS 1.8.3 SCREW JOINT

a screw joint permits two relative, but dependent,
motions between the links being joined. A specific
rotation of one link will cause an associated relative
translation between the two links.
 ECCENTRIC CRANK
PIN IN A SLOT JOINT
SCREW JOINT

MOST COMMONLY
A
USED LINKS AND
JOINTS

B C
1. Identify the Frame
2. Identify All Other Links
3. Identify the Joints
4. Identify Any Points of Interest
5. Draw kinematics Diagram
6. Calculate mobility
 CALCULATE
GIVEN
n=6
jp = (5 pins + 2 sliders) = 7
jh = 0
M = 3(n - 1) - 2jp - j h
= 3(6 - 1) - 2(7) - 0
= 15 - 14
=1
 1.9 SPECIAL CASE OF THE
MOBILITY EQUATION
Mobility is an extremely important property of a
mechanism.it gives insight into the number of actuators
required to operate a mechanism. However, to obtain
correct results, special care must be taken in using the
Gruebler’s equation.
 1.9.1 COINCIDENT
JOINT
Some mechanisms have three links
that are all connected at a common pin
joint This situation brings some
confusion to kinematic modeling.
Physically, one pin may be used to
connect all three links. However, by
definition, a pin joint connects two
links.
1. Identify the Frame
2. Identify All Other Links
3. Identify the Joints
4. Identify Any Points of Interest
5. Draw kinematics Diagram
6. Calculate mobility
 CALCULATE
GIVEN
n = 6,
jp = (6 pins + 1 slider) = 7
jh = 0 M = 3(n - 1) - 2jp - jh
= 3(6 - 1) - 2(7) - 0
= 15 - 14
=1
 1.9.2 EXEMPTION TO GRUEBLER'S
EQUATION

Another special mobility situation must be

mentioned. Because the Gruebler’s
equation does not account for link
geometry.
 EXAMPLE

NOTE
There are mechanisms that violate
Using Gruebler’s equation, this linkage has zero
degrees of freedom. Of course, this suggests that the
the Gruebler’s equation because
mechanism is locked. However, if all pivoted links were
of unique geometry. designer
must be aware that the mobility the samesize, and the distance between the joints on the
equation can, at times, lead to
frame and coupler were identical, this mechanism would
inconsistencies.
be capable of motion, with one degree of freedom.
 1.9.3 IDLE DEGREES OF FREEDOM
In some mechanisms, links exhibit motion which
does not influence the input and output
relationship of the mechanism. These idle
degrees of freedom present another situation
where Gruebler’s equation gives misleading
results.
 1.9.3 IDLE DEGREES OF
FREEDOM
the pivoted link oscillates while the roller
follower rotates about its center. Yet,
only the motion of the pivoted link serves
as the output of the mechanism.The
roller rotation is an idle degree of
freedom and not intended to affect the
output motion of the mechanism.

however the gruebler's equations

specifies that the mechanism has a
mobility of 2. the mechanism is just
interested in a single degree of freedom.
The Four-Bar Mechanism

The simplest and most common linkage is

the four-bar linkage. One being designated
as the frame and connected by four pin
joints.

Frame - The link that is unable to

move
Input link – pivoted link that’s
connected to the power source
Output link – pivoted link attached
to the frame
Coupler – connects the motion of
the input link to the output link

Oscillates – Rocker
Complete Revolution - Crank
 If the sum of the shortest and longest link of

a planar quadrilateral linkage is less than or

Grashof
equal to the sum of the remaining two links,

then the shortest link can rotate fully with

Criterion respect to a neighboring link.

S+L ≤ P+Q

 Slider Crank Mechanism

Another commonly encountered mechanism
is the slider crank. It consists of four links with
one being designated as the frame. It is
connected by three pin joints and one sliding
joints

 Special Purpose Mechanisms

Straight line Mechanisms - cause a

point to travel in a straight line
without being guided by a flat
surface.
 Special Purpose Mechanisms

Parallelogram Mechanism – links

that form parallelograms to move
an object without altering its pitch.
 Special Purpose Mechanisms

Quick Return Mechanism –

Exhibits a faster stroke in one
direction than the other when
driven at constant speed. Used
on machines with slow cutting
stroke and a fast return stroke.
Special Purpose Mechanisms

Scotch Yoke Mechanism –

Converts rotational motion to
linear motion or vice versa. The
scotch yoke is similar to a slider
crank, but the linear motion is pure
sinusoidal.
 PAMANTASAN NG LUNGSOD NG MAYNILA

1.13 TECHNIQUES OF

MECHANISM

ANALYSIS
 is the study of motion of different members
constituting a mechanism and the

Analysis of

mechanism as a whole entity while it is

being operated or run. This study of motion
involves linear as well as angular position,
mechanisms velocity and acceleration of different points
on members of mechanisms
 PAMANTASAN NG LUNGSOD NG MAYNILA

1.13.1 - 1.13.4
Methods and techniques

of mechanism analysis
 Traditional or

manual drafting
Cad systems
 Analytical

Techniques
Computer

methods
Thank You!
ACTIVITY