Activity 4.1.

3 Mechanisms Reference
Introduction to Engineering Design

Activity 4.1.3 Mechanisms Reference

Motion
Two fundamental types of motion are represented in the mechanisms in this course:
rotational and translational.
Rotation is motion of an object around a point or an axis. As shown in Figure 1,
rotational motion indicated by the red arrows can be described as rotation in the X-Y
plane around the Z-axis.

Figure 1. Rotation Motion Figure 2. Translation Motion Figure 3. Axis

Translation is motion in a linear direction. As shown in Figure 2, translational motion
indicated by the red arrows, can be described as translation along the x-axis.

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Pulleys and Gears
Several pulleys and gears are used in the mechanisms in this course, as shown in
Figures 4 through 7.
 Figure 4 Pulley Motion: The pulley rotates in the X-Y plane around the Z-axis.
 Figure 5. Spur Gear Motion: The spur gear rotates in the Y-Z plane around the X-
axis
 Figure 6. Rack Gear Motion: The rack gear translates along the X-axis.
 Figure 7. Worm Gear Motion: The worm gear rotates around the Y-axis
producing translational motion of the gear teeth in the Y-axis.

Figure 4. Pulley Motion Figure 5. Spur Gear Motion

Figure 6. Rack Gear Motion Figure 7. Worm Gear Motion

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VEX IQ Equipment
The VEX IQ equipment geometry is based on a pitch of ½ inch, where pitch is the
spacing between part holes and pin connections. Many part names include the
number of pitch spacings to indicate the size of the part. For example, a 2x8 Beam
shown in Figure 8 is one inch wide (2 pitch units x ½ inch/pitch unit = 1 inch) and four
inches long (8 pitch units x ½ inch/pitch unit = 4 inches).
Similarly, a 1x6 Beam shown in Figure 9 is ½ inch wide (1 pitch units x ½ inch/pitch
unit = ½ inch) and 3 inches long (6 pitch units x ½ inch/pitch unit = 3 inches). Note
that the 1x6 Beam has an extra hole in the center to allow a shaft to pass through if
needed for the assembly. To assist you to identify individual parts, refer to the VEX IQ
IED Kit list.

Figure 8. 2x8 Beam Figure 9. 1x6 Beam

The parts are designed to snap into position with mild force. To remove one part from
another, pull apart by hand. Some connections that are difficult to grip can be
separated by pushing with your thumb nail or the end of a shaft from the opposite side
where a pin was inserted, as shown in Figure 10.
Needle Nose pliers can also be used as shown in Figure 11; however, there is a risk
of part damage. Do not use your teeth to pull parts apart: “Tools, not teeth.”

Figure 10. Removing a Pin with a Shaft Figure 11. Removing a Pin with Pliers

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To separate a chain into sections, pry the widest part of a link from the adjacent chain
with a thumb nail as shown in Figure 12.

Figure 12. Separating Adjacent Chain Links

To join chain segments, insert a pin from one chain section into the hole in the second
chain segment. Then twist the two ends together as shown in Figures 13–15.

Figure 13. Joining Chain Figure 14. Chain Pin Inserted Figure 15. Chain Segments
Segments Ready to Join into Hole Joined

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