Department of Mechanical and Industrial Engineering

Indian Institute of Technology, Roorkee

MIN-201: Kinematics of Machines
Tutorial Sheet – 1
1. What is the difference between a linkage and a mechanism?
2. What is the difference between a mechanism and a structure? Explain with Example.
3. Assume that a linkage has N DOF. If one of the links is made a frame, how will it affect the
number of DOF of the mechanism?
4. Comment on following as Complete constraint, Successful constraint, Rigid frame,
Incomplete constraint
1. 4 links, 4 turning pairs
2. 3 links, 3 turning pairs
3. 5 links, 5 turning pairs
4. The connection between the piston and cylinder in a reciprocating engine

5. Use Gruebler-Kutzbach criterion to determine the mobility of the following mechanisms:

1. 2. 3.

4. 5.

6. Comment on following as higher pair, lower pair:

1. Pair of gear in mesh 2. Belt and pulley
3. Cylinder and piston 4. Cam and follower

7. In Figure a pair of locking toggle pliers is shown.

a. Identify the type of linkage (four-bar, slider-crank, etc.).
b. What link is used as a driving link?
c. What is the function of this mechanism?
d. How does the adjusting screw affect this function?
8. An adjustable slider drive mechanism consists of a crank-slider with an adjustable pivot,
which can be moved up and down
a. How many bodies (links) can be identified in this mechanism?
b. Identify the type (and corresponding number) of all kinematic joints.
c. What is the function of this mechanism and how will it be affected by moving the
pivot point up and down?

9. What do you mean by the inversion of a mechanism? Explain with sketches all the
inversions of single slider crank mechanism. Give their applications also.

10. Calculate the Grashof condition of the four bar mechanisms defined below. Link lengths
are in millimeters.
a. 20, 45, 70, 90
b. 20, 35, 70, 90
c. 20, 40, 60, 80