Assignment-2

Kinematics and Dynamics of Machines (AMN13106)

B. Tech. (3rd Semester) Production Engineering
Session 2023-24
1.
i. What is the degree of freedom of a link in 3-D space? What is Gruebler’s criteria? How is it different from
Kutzbach’s criteria of degree of freedom determination?
ii. Describe the difference between a cam-follower (half) joint and a pin joint.
2.
i. Determine the mobility of each of the planar linkages shown below in Fig.1. Show the equations used to
determine your answers.

Fig.1
ii. Determine the mobility of the spatial linkages shown below in Fig.2. Show the equations used to determine your
answers.

Fig.2
3. (i) If the link lengths of a four-bar linkage are L1 = 1 mm, L2 = 3 mm, L3 = 4 mm, and L4 = 5 mm and link 1 is fixed,
what type of four-bar linkage is it? Also, is the linkage a Grashof type 1 or 2 linkage?
(ii) Find a planar mechanism with a mobility of one that contains a moving quaternary link. How many distinct
variations of this mechanism can you find?