BITS Pilani

Pilani Campus

Introduction to Kinematics

Lecture – 2 12 Jan, 2024

Dr J S Rathore
Terminology

1. Structure, mechanism and machine

2. Kinematic chain
3. Links
4. Kinematic pairs/joints
5. Four link planar mechanism/Slider-crank mechanism
6. Mobility and Degree of freedom : Kutzbach equation
7. Range of motion : Grashof’s law
 Crank - crank
 Crank - rocker
 Rocker - rocker

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Introduction
Dynamics
 Kinematics : Study of motion (without system inertia/ forces involved)
 Kinetics : Study of forces (due to motion)

1. Separation of dynamics into kinematics and kinetics :

Rigid body assumption (Euler)
2. Actual shape does not matter

For Flexible bodies Shape and motion?

 Study of motion and forces take
place simultaneously

Punch Mechanism
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Watt’s mechanism
Science of mechanism was started with James Watt (1784)

 Watt's linkage is an example of four-bar mechanism.

 Invented by James Watt in which, a point of the linkage is constrained to travel
on an approximation to a straight line.
 Described in Watt's patent specification of 1784 for the Watt steam engine.

Watt’s mechanism is a simple four bar mechanism of double-rocker type

https://en.wikipedia.org/wiki/Watt's_linkage
Watt’s approximate straight line mechanism
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Kinematics and Dynamics of machines
Structure Machine
F

2 3 4-link mechanism

 Combination of mechanisms
 Forces/energy transmitted are
significant

Combination of rigid bodies

with definite relative motion
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Kinematic chain
 Interconnected system of links, in which, not a single link is fixed.
 Closed chain: If every link is connected to at least 2 other links
 Open chain

A
CLOSED CHAIN OPEN CHAIN

 Mechanism When one of the links in chain is fixed. B

(Constrained kinematic chain)

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Link
A material body OR part of a chain, which moves relative to some
other part

Binary link : If a link is connected to two other links OR a link with two nodes.

Ternary link Nodes

Quaternary link and so on…

Binary link Ternary link Quaternary link

 Are assumed to be rigid

 Can be any shape (not just those shown)
 Have nodes for attachment

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Kinematic pairs/joints
 Connection between links
 Can be classified in several ways
1. Based on type of contact between links (surface, line or point)
2. Based on the number of degrees of freedom allowed at the joint

Lower pair : Surface or area contact between links

Kinematic pairs
(by Reuleaux) Higher pair : line or point contact

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Kinematic pairs/joints

Sliding (prismatic) pair

Turning (revolute) pair

Cylindrical pair
Ball and socket pair
(Spherical pair)

Screw pair
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Four-link nomenclature
B
Turning (revolute) pair

A Coupler Four bar mechanism with 4

Follower Revolute (Turning) pairs (4R)
Crank
Link 1
Ground Link
Pivot 02 Pivot 04

 Ground Link : Fixed wrt reference frame 3R1P

 Links pivoted to ground:
− Crank : Makes complete revolutions
− Follower : crank/rocker (Oscillatory motion)
 Coupler : complex motion, not attached to ground
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Mobility and DOF
Degrees of freedom (DOF)
 The number of independent coordinates required to specify mechanism’s
configuration
 Or the number of inputs that need to be provided in order to create a predictable
output
∆y2 ∆y
∆y1
∆x2 ∆x
∆x1

∆θ1
∆θ1 ∆θ2
∆θ2

 By connecting two previously disconnected links by a revolute joint, two

DOF are eliminated.

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Mobility and DOF
Degrees of freedom (DOF)
 The number of independent coordinates required to specify mechanism’s
configuration
 Or the number of inputs that need to be provided in order to create a predictable
output ∆y ∆y
∆y1 2

∆x2 ∆x
∆x1

∆θ1
∆θ1
∆θ2 ∆θ2

1. By connecting two previously disconnected links by a revolute/sliding joint,

two DOF are eliminated.
2. Since the revolute and prismatic joints make up all low-pair joints in planar
mechanisms, the above results can be expressed as a rule: a low-pair joint
reduces the mobility of a mechanism by two DOF.
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Mobility and DOF
∆y2
∆y1
∆x2
∆x1 3(n)

∆θ1 3(n-1)
∆θ2

3(n-1)-2P1

∆y P1= Number of pairs with 1 DOF

∆x P2= Number of pairs with 2 DOF

∆θ1 F = 3(n-1) - 2P1 -1P2

∆θ2
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Degree of Freedom
Kutzbach equation
P1= Number of pairs with 1 DOF
F = 3(n-1) - 2P1 -1P2
P2= Number of pairs with 2 DOF

For spatial mechanism

F = 6(n-1) - 5P1 - 4P2 - 3P3 - 2P4 - 1P5

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 Exercise : DOF ?
F = 3(n-1) - 2P1 -1P2

Wiper mechanism 15
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 BITS Pilani
Pilani Campus

Introduction to Kinematics
Lecture – 3 17 Jan, 24
Contents
1. First evaluative tutorial: 1 Feb

2. Three classes will be engaged by Kartik Joshi and Sahejpal Singh on

AutoCAD in Feb first week

3. Review of few key points from last class

4. Approximate straight line mechanisms

5. Degree of freedom : Kutzbach equation / Gruebler criterion

6. Range of motion : Grashof’s law

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Rigid body assumption
 Kinematics : Study of motion (without system inertia/ forces involved)
 Kinetics : Study of forces (due to motion)

1. Separation of dynamics into kinematics and kinetics :

Rigid body assumption (Euler)
2. Actual shape does not matter

The specific shape of links does not

affect the function. The function
depends only on locations of points O,
A, and B.

Punch Mechanism
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Link
Binary link : If a link is connected to two other links OR a link with two nodes.

Nodes

Binary link Ternary link Quaternary link

 Are assumed to be rigid

 Can be any shape (not just those shown)

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Kinematic pairs/joints
 Can be classified
1. Based on type of contact between links (surface, line or point)
2. Based on the number of degrees of freedom allowed at the joint

Lower pair : Surface or area contact between links

Kinematic pairs
(by Reuleaux)
Higher pair : line or point contact

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Lower pairs/joints

Sliding (prismatic) pair = P

Turning (revolute) pair = R

Ball and socket pair

Cylindrical pair
(Spherical pair)

Screw pair
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Higher pairs/joints

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Degree of Freedom
Kutzbach equation (for planar mechanism)

 P1: number of pairs with 1 DOF

F = 3(n-1) - 2P1 -1P2
 P2: number of pairs with 2 DOF

F 0 Mechanism

F 0 Structure (Statically Determinate)

F 0 Structure (Statically Indeterminate)

Gruebler criterion 1 = 3(n-1) - 2P1  3n - 2P1 = 4

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Three or more links at a joint

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Mechanisms to explore :
Home assignment
1. Watt’s mechanism
2. Roberts’ mechanism Approximate Straight line mechanisms
3. Chebychev mechanism
4. Peaucillier mechanism

5. Theo Janson walking mechanism

https://en.wikipedia.org/wiki/Jansen%27s_linkage

The Strandbeest by Theo Janson

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Approximate straight line mechanisms

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Approximate straight line mechanisms

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Hoeken’s straight line mechanisms

AC = L
AB = 2L
BD = 2.5L
CD = DM = 2.5 L

http://mechanical-design-handbook.blogspot.com/2011/02/hoekens-straight-line-mechanism.html
Hoeken Mechanism application
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Approximate straight line mechanisms

Post-hole boring mechanism, 1956, German design,

capable of boring a vertical hole 6 ft deep

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Exact straight line mechanism

 invented in 1864, was the first true planar

straight line mechanism
 the first planar linkage capable of
transforming rotary motion into perfect
straight-line motion, and vice versa
 named after Charles-Nicolas Peaucellier,
and Yom Tov Lipman Lipkin
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Watt’s mechanism

 Watt's engine, 1784, the first engine

to produce power directly on a shaft
without the intervention of a water
fed by a reciprocating pumping
engine.
 The coupler point M describes the
figure-eight shaped coupler point
curve possessing two nearly straight
line segments
 The vertical segment was used for
piston rod guidance
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Watt’s mechanism
 Watt's linkage is used to prevent axle movement in the longitudinal direction
of the train.
 Watt's linkage is used in the rear axle of some car suspensions as an
improvement over the Panhard rod
 Prevent relative sideways motion between the axle and body of the car.

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Watt's linkage in a 1998 Ford RangerBITS
EVPilani,
suspension
Pilani Campus
Exercise : Structure or a mechanism ?

F = 3(n-1) - 2P1 -1P2

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Exercise : DOF ?

F = 3(n-1) - 2P1 -1P2

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Exercise : DOF ?

R R

F = 3(n-1) - 2P1 -1P2

R

R
R R

Drum - brake mechanism

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 Exercise : DOF ?
The Fig is a schematic of the entire linkage for a large power shovel used in mining.
Determine the number of degrees of freedom associated with this mechanism.

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7 F = 3(n-1) - 2P1 -1P2

8
16 6
12 10
5
14 3
15 17 4
9 2
18
1
13
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Exercise : DOF ?

F = 3(n-1) - 2P1 -1P2

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Exercise : DOF ?

(3)

(4) F = 3(n-1) - 2P1 -1P2

(2)
(P2)

(5) (1)

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Dump truck mechanisms

Skelton of dump truck mechanism

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Approximate straight line mechanisms

Transport mechanism for material handling

 Point C on the coupler of four-bar linkage
OAABOB describes path c as crank rotates
through 360˚
 This motion is transferred to the transport
member 5 by means of parallelogram
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linkage BITS Pilani, Pilani Campus
 BITS Pilani
Pilani Campus

Introduction to Kinematics
Lecture – 4 18 Jan, 24
Outline
1. Review : Degree of freedom : Kutzbach equation / Gruebler criterion
2. Range of motion : Grashof’s law
 Four bar mechanism with 4 Revolute (Turning) pairs (4R)
− Crank – crank
− Crank – rocker
− Rocker – rocker
3. Kinematic Inversions of
 Four bar mechanism with 3 Revolute + 1 Prismatic pairs (3R-1P)
 Four bar mechanism with 2 Revolute + 2 Prismatic pairs (2R-2P)
 Home assignment
4. World of Mechanisms
5. Velocity analysis: Vector polygon method
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Limitation : Kutzbach equation
F = 3(n-1) - 2P1 -1P2

F = 3(5-1) – 2(6) = 0

 No consideration given to lengths of links or

specific geometry.
 Kutzbach criterion can be violated due to non-
uniqueness of geometry for a given connectivity
of links.
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 Limitation : Kutzbach equation F = 3(n-1) - 2P1 -1P2

Due to over-constrained portion

Replace the portion of the

mechanism with a single rigid
body

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Kinematic Inversion

1. Different mechanisms behavior can be obtained by fixing different

links of the same kinematic chain.
The process of choosing different links in the chain as frames known as
Kinematic inversion.
coupler
Follower
crank

 Inversions result from grounding different links in the chain.

 So, there are as many inversions as links.
 Not all inversions will have unique kinds of motion.
 A Four-bar (4R) has only 3 distinct inversions, 2 crank-rockers, 1 double-crank,
and 1 double-rocker.
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Grashof conditions Or Grashof’s rules
 Grashof condition predicts behavior of linkage based only on length of links
 Identify the four bar linkages that have continuously rotatable joints
S = length of shortest link
L = length of longest link
P,Q = length of two remaining links

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Grashof conditions Or Grashof’s rules
 Grashof condition predicts behavior of linkage based only on length of links
 Identify the four bar linkages that have continuously rotatable joints
S = length of shortest link
L = length of longest link
P,Q = length of two remaining links

 If S + L ≤ P + Q the linkage is Grashof : At least one link is capable of making a

complete revolution
(class I kinematic chain)

 Otherwise the linkage is non-Grashof : No link is capable of making a complete

revolution (class II kinematic chain)
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 For S + L < P + Q

 Crank-rocker if either link adjacent to shortest is grounded

P P
Q Q
S S
L L

Q
S

At least one link is

Double crank
(if shortest link is grounded)
capable of making a
complete revolution Double rocker if link opposite
to shortest is grounded
Grashof’s inversions 48
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For S + L = P + Q (Grashof neutral linkage)
 Four inversions result in mechanisms similar to those obtained when S+L < P+Q

 The situation is also true when a

linkage has two pairs of equal lengths.
This results in 2 special mechanisms:

Case 1: Parallelogram form

1. Equal links are not adjacent
2. All 4 inversions lead to double-crank
mechanisms

S L
S

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For S + L = P + Q

Case 2: Equal links are adjacent

L

S L

1. Any longer links (L) is fixed two crank –rocker mechanisms

2. If any of the shorter link (s) is fixed two double crank mechanisms

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For S + L > P + Q

 All inversions will be double rockers

 No link can fully rotate

Inversions of non-Grashof’s law

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Grashof condition
Check Grashof’s condition and identify the mechanism.

Grashof If SL < PQ
Special Grashof If SL = PQ
Non- Grashof Otherwise

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Slider-crank mechanism: 3R1P

Prismatic pair is a limiting case of revolute pair with center at infinity

Center of rotation at a very large distance

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4-bar mechanism : 3R1P
4-link kinematic chain (3R1P) lead to
four different types of mechanism

Slider-crank mechanism Hand pump mechanism

Oscillating cylinder mechanism

Quick-return mechanism
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4-bar mechanism : 2 R- 2 P

Scotch-yoke mechanism
 converting the linear motion of a slider into rotational motion, or vice versa

Why is slider-crank preferable than scotch-

yoke mechanism in Internal Combustion
Engines ?

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Home assignment
Elliptical trammel
 Trammels were used for curve drawing
in earlier days
 Used to draw /cut or machine ellipses
on wood or other sheet materials
Oldham’s coupling
The Oldham Coupler is named for Irish
engineer John Oldham who invented the
three disc coupler in 1821, to resolve a
paddle placement problem in a paddle
steamer design
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World of mechanisms:

Computational Design of Mechanical Characters

by
Disney Research

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 BITS Pilani
Pilani Campus

Kinematics analysis
Lecture – 5 19 Jan, 2024
Outline
1. Analysis of Kinematic quantities of mechanisms
 Position or Displacement (y)
 Velocity ( y )
 Acceleration ( y )

Graphical method (6 Lectures)

– It gives better visualization
 Vector polygon method
First Evaluative Tutorial
 Instantaneous center method
Analytical method (2 lectures)
– It gives more accurate results
Second Evaluative Tutorial
will be based on
 Analytical equations AUTOCAD
 Vector method
 Complex algebra method 59
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Next 5 - 6 classes

The following drawing instruments required in the lecture as well

as tutorial classes for practice

 Two set squares (one 30-60-90, and one 45-45-90)

 Pencil
 Scale
 Divider
 Compass

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-
y
y

-

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Kinematic analysis : Position
To determine the location of all links as the
driving link of the mechanism is moved into
another position.

3 , 4  f ( 2 ) Known: Geometry, θ2

l3
l2
1. Relative position of the links l4
θ2
2. Path of the different components during
the process l1
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Motion of a link

Velocity of point A wrt O

VAO  ω  (rOA )  (OA)

B’
A’ O’

OA

OB OB
 
OA OA

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Velocity analysis

Displacement and velocity diagram Determine

1. Angular velocity of link 4
2. Velocity of CG of link 3

VCA  VCD
l3 × VCA  VCB  VBA
l2
ω2 l4
θ2
CD
l1
A’, D’
× C’

B’
Given: l1, l2, l3 , l4, θ2 and ω2
BC64
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 Ex

Given : All link lengths and angle θ2

Draw the velocity diagram.
Determine the velocity of offset point F.

VFA  VBA  VFB VFD  VCD  VFC

CF CD
BF
C’
CD
A’, D’
BC E’ BC
AB F’
θ2
B’
AB 65
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Slider-crank mechanism
Given : All link lengths and angle θ1 O’, G’ B’

Determine the velocity of slider B.

A’

OA B’
O’, G’
AB
A’

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