ME2012D Kinematics of Mechanisms

Lecture-5 Mobility- Kinematic Diagram

Date: 11.01.2023

Dr. Ashesh Saha

Assistant Professor
Email: ashesh@nitc.ac.in
Department of Mechanical Engineering
National Institute of Technology Calicut
 Kinematic Diagram
 Schematic line diagram showing the arrangement of links and their inter-
connection
 A stripped-down (simplified) drawing showing the essentials needed for
kinematic analysis
 Reveals the kinematic chain
 Dimensions are secondary
 All links are numbered while the joints are lettered
 A kinematic diagram should be drawn to a scale proportional to the actual
mechanism
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
 Kinematic Diagram

Clamping Jaw
 Kinematic Diagram

Clamping Jaw
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
Kinematic Diagram
 Kinematic Inversion
 Process of fixing different links of the same kinematic chain to produce
distinct mechanisms is called kinematic inversion.
 When different links are chosen as a frame (fixed link) for a given
kinematic chain, the relative motions between the various links are not
altered, but their absolute motions may be changed drastically.
 An n-link kinematic chain can have n inversions i.e. n different
mechanisms are possible.
 Kinematic Inversion of Slider-Crank Chain
First Inversion

 Applications:
1. Reciprocating Engine
2. Reciprocating Compressor
Kinematic Inversion of Slider-Crank Chain
First Inversion
Kinematic Inversion of Slider-Crank Chain
First Inversion
 Kinematic Inversion of Slider-Crank Chain
Second Inversion
 Applications:
1. Whitworth quick-
return mechanism
2. Rotary Engine
Kinematic Inversion of Slider-Crank Chain
Second Inversion

Whitworth quick-return mechanism

 Kinematic Inversion of Slider-Crank Chain
Third Inversion

 Applications:
1. Oscillating Cylinder Engine
2. Crank and Slotted-Lever Mechanism
Kinematic Inversion of Slider-Crank Chain
Third Inversion

Oscillating Cylinder Engine

Kinematic Inversion of Slider-Crank Chain
Third Inversion

Crank and Slotted-Lever Mechanism

Kinematic Inversion of Slider-Crank Chain
Third Inversion

Crank and Slotted-Lever Mechanism

 Kinematic Inversion of Slider-Crank Chain
Fourth Inversion

 Applications:
1. Hand Pump
Kinematic Inversion of Slider-Crank Chain
Fourth Inversion

Hand Pump
 Grashof’s Law
 “For a planar four bar linkage, the sum of the shortest and longest link
lengths cannot be greater than the sum of the remaining two link lengths, if
there is to be continuous relative motion between two members.”
 Grashof’s Law: 𝑠 + 𝑙 ≤ 𝑝 + 𝑞
𝑙 → length of the longest link
𝑠 → length of the shortest link
𝑝, 𝑞 → lengths of the other links

 The law doesn’t specify the order in which the links are connected
 So in all the four inversions the link s can make complete revolution relative
to the other links, if Grashof’s law is satisfied
Grashof’s Law
Grashof’s Law