Chapter 1. Structure of Mechanism

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM
CHAPTER 1
STRUCTURE OF MECHANISM
Dr. Le Thanh Long
ltlong@hcmut.edu.vn
Department of Machine Design - Faculty of Mechanical Engineering

OUTLINE
1. Basic Definitions.
2. Degree of Freedom of Mechanisms
3. Assur Group
4. All low pair planar mechanism, four bar linkage mechanism.
5. Special structures.

1. Basic Definitions
1.1 Machine Element and Link.

1.2 Kinematic Pair and Pair element.
1.3 Classifications of Kinematic Pairs.
1.4 Kinematic Diagram of a Mechanism.
1.5 Kinematic chain and classification of kinematic chain

1.1 Machine Element and Link
Machine element: all the machines are made up of elements or parts and units, each
element can be separated but still own its functions is called machine element
Link: during working, all of parts has relative motion with respect to others is called a
link

Degree of Freedom of a link
• One independent movability of a link with respect to a reference frame is called

one degree of freedom

Degree of Freedom of a link
• Between 2 links in a plane  3 dof : Tx, Ty, Qz

• Between 2 links in a space  6 dof : Tx, Ty, Tz, Qx, Qy, Qz

Kinematic pair : connection between two links to limit their relative movement.
All points of contact between two links is called a Pair element.
pair element of the right hinges
pair element of the left hinges

1.3 Classifications of Kinematic Pairs

a. By the number of constrains: type k joint has k constrains
Type 1


Type 2


Type 3
10


Type 4
11


Type 5
12


a. By the contact:
• Higher pair: pair elements are points or lines
• Lower pair: pair elements are surfaces
13


a. By the contact : type k joint has k constrains
• Lower pair: pair elements are surfaces
14


a. Kinematic Diagram of a joint
For the convenience of research, joints are represented by kinematic

diagrams
15

b. Kinematic diagram of link.
Links are represented by kinematic diagram.
In the kinematic diagram of links:
- All pairs must be presented.
- All dimensions effect to the motion of the mechanism must be presented
16

Kinematic chain: the combination of links and pairs
Classification of kinematic chains:

- Closed kinematic chain.
- Open kinematic chain.
- Planar kinematic chain.
- Spatial kinematic chain.
17

- Closed kinematic chain : Links are connected together into one or more closed
perimeters (each link must participate in at least 2 dynamic joints)
18

- Open kinematic chain : Links aren’t connected together into one or more closed
perimeters (some links only participate in one dynamic joint)
19

- Planar kinematic chain : Links move in the same plane or parallel planes.
20

- Spatial kinematic chain: Links move in non-parallel planes.
21

2.1 Definition
2.2 Caculate Degree of Freedom of Spatial Mechanisms
2.3 Caculate Degree of Freedom of Planar Mechanisms
2.4 Meaning of dof – Driving Link and Driven Link
22


2.1 Definition:
Degree of Freedom of a Mechanism is the number of :
- Independent parameters needed to define uniquely the locations of all moving
links within a mechanism.
- The independent motions of a mechanism.
2.2 Caculate Degree of Freedom. of Spatial Mechanisms:
:the number of dof of all moving links if separated
W  W0  R :the number of constraints of all pairs
:dof of the mechanism
A. The number of dof of all moving links
One separated moving link has 6 dof → n moving links have =6n dof
B. The number of constraints of all pairs
Type k joint has k constrains. is the number of type k pair in mechanism.
 The number of constraints by type k pair is k.  By all pairs :
5
In practice, the number of constraints is smaller the above
R   pk k number because there is common constraints in mechanism
k 1
23

Ex.: Consider the four bar linkage
• Direct constraint: constraints exist between two links by

direct connected pair
• Indirect constraint: When link 1 and link 4 are not connected by pair A , there are indirect constraints
(1) TOz (2) QOx (3) Qoy
• Common constraint: connect link 1 and 4 by pair A, there are direct constraints
(1) TOz (2) QOx (3) Qoy (4) TOx (5) TOy
There are 3 common constraints. - Common constraints only exit at closing pair in closed
mechanism. 5
Call is the number of common constraint  R   kpk  R0

k 1
24


 5 
Calculation formula for a spatial mechanism W  6n    kPk  R0 
Ex : Calculate the dof of the four bar linkage  k 1 
Number of moving link n=3

Number of type 5 pair =4
Number of common constraint =3
 Dof of mechanism
= 6 × 3 − 5 × 4 − 3 = 1 dof
Ex : Calculate the dof of the spatial manipulator
Number of moving link n=5

Number of type 5 pair =5
Number of common constraint =0
 Dof of mechanism
= 6 × 5 − 5 × 5 − 0 = 5 dof
25

2.3 Caculate Degree of Freedom of Planar Mechanisms
a. The number of dof of all moving links:
One separated moving link has 3 dof in plane
→ n moving links have = 3n dof
b. The number of constraints of all pairs
The planar mechanism has two pair types
• Type 4 pair has 1 constraint
• Type 5 pair has 2 constraint
The number of constraints = 1 + 2 −
Ex.: Calculate the dof of the given wedge mechanism
26


There are all type 5 pairs, with =2, =3
Link 1 has motion when:

- Without pair A : (1) TOx (2) TOy (3) Qoz
- With pair A : (1) TOx (2) TOy (3) Qoz
The dof of mechanism W = 3 x 2 – (2 x 3 – 1) = 1
27


Ex.: Calculate the dof of the double-parallelogram linkage
There are all type 5 pairs, with = 4 , = 6

The dof of mechanism : W = 3 x 4 – (2 x 6) = 0
Zero dof means that the kinematic chain can not move.
In fact, the linkage can still move because of the doubleparallelogram structure
→ What happen?
28

- Link 5 has no effect on the motion of the mechanism.

- Without link 5, is four bar linkage with 1 dof.
- Add link 5 and tow pairs E, F:
+ add link 5  add 3 dofs
+ add pair E and F  add 4 constraints
 Add 1 constraint
- Call r is the redundant constraints  The dof of mechanism:
W = 3n – (2p5 + p4 – r)
- In this mechanism, r = 1 and W = 3 x 4 – (2 x 6 – 1) = 1
29


Ex.: Calculate the dof of the given cam mechanism
n = 3 ; k = 4, 5
p4 = 1 ; p5 = 3
W = 3 x 3 – (2 x 3 + 1) = 2 dof ???
- In fact, the given cam mechanism has only 1 dof, because the
revolute motion of roller 2 do not effect on the output motion of
the mechanism, then it must not be counted.
- The dof which do not change the output motion of the
mechanism is called passive/local/redundant dof (s)
 The dof W = 3 x 3 – (2 x 3 + 1 - 0) – 1 = 1
30


Note : To consider the redundant degrees of freedom, we must consider
the effection of the movement of each link on the output motion of the
mechanism. The redundant dof is often found in links with Pair element
symmetrical through the center of Kinematic Pair.
31


The formula for calculation of dof of mechanism:
- Spatial mechanism
 5 
W  6n    kPk  R0 
 k 1 
- Planar mechanism
W = 3n – (2p5 + p4 – R0 - r) - s
Where n: the number of moving links
k: pair type
: the number of type k pair
: the number of common constraint
r : the number of redundant constraint
s : the number of redundant DOF
32


2.4 Meaning of dof - Driver Link and Driven Link
a. The four bar linkage mechanism :
- Need one independent parameter needed to define the locations of all
moving links within a mechanism.
- The mechanism has only 1 independent motion capability, if this motion is
stopped, the mechanism will be stopped.
- When we know law of change of φ1, the law of changing the position of the
mechanism is completely deterministic.
33


b. The five bar linkage mechanism :
- Need two independent parameter needed to define the locations of all moving
links within a mechanism.
- The mechanism has 2 independent motions capability, if this motions is stopped,
the mechanism will be stopped.
- When we know laws of change of φ1 and φ4 , the law of changing the position of
the mechanism is completely deterministic.
34


Note :When the number of independent laws of motion is equal to the

number of degrees of freedom of the mechanism, the mechanism has
definite motion
C. Driving Link and Driven Link :

- The links called Driving Link are links we know its law of
motion. The others are Driven Link.
- To have definite motion, the number of Driving link must be
equal to the number of dof of mechanism.
35

3. Assur Group
3.1 Definition
3.2 Extract Assur Group
3.3 Replace high pair by low pair

3. Assur Group
3.1 Definition
- A W dof mechanism is the mechanism combined W driver links and zero-dof

groups.
W = W + 0+…+0
Driver link Zero-dof groups
- Assur Group is a kind of link group whose dof is zero and no

group can be divided further into smaller zero-dof groups
37

3. Assur Group
3.1 Definition
- In a lower-pair planar mechanism, the condition for satisfying the Assur group :
W = 3n -2p5 = 0
n 2 4 6 …
p5 3 6 9 …
- Assur Groups : group has 2 links and 3 pairs, 4 links and 6 pairs,
6 links and 9 pairs,…
38

3. Assur Group
3.2 Extract Assur Group:
When you separate Assur Group :

- Set the frame and the drivers.
- Links and pairs in a group must satisfy Assure Group condition.
- After extraction the Assur group, the left must be complete
mechanisms or drivers.
- Try to extract the simple group first
39

3. Assur Group
Structure analysis of the:
• diesel engine mechanism
• oxy pump mechanism
40

3. Assur Group
41

3. Assur Group
42

3. Assur Group
- In a planar mechanism, it often has high pair. To extract Assur Group as a all-low pair
planar mechanism  replace high pair by low pair, but the law of motion must be same
as the original mechanism.
43

3. Assur Group
In the motion of mechanism, A and B:
- Constant distance.
- The relative motion of A relative to B is rotation around B and vice versa.
- AB is always the common normal of two high pairs at C.
44

3. Assur Group
- Put at A and B two bar linkage pairs và connect them with link 3, its length l = r1 + r2
The law of motion are the same as the original mechanism.
- The law of motion aren’t changed when we add one link and two low pairs. When we
add one constraint, the mechanism has one redundant constraint. To the dof of mechanism
isn’t changed, we have to remove the high pair at C and get a four bar linkage mechanism
O1ABO2
45

3. Assur Group
Before replace: After replace:

W = 3 x 2 – (1 + 2 x 2) = 1 W = 3 x 3 – (2 x 4) = 1
46

3. Assur Group
Replace high pair by low pair must satisfy 2 conditions:
• the dof aren't changed.
• the law of motion are the same as the original mechanism.
Rule: Each type-4 pair is replaced by one link and two type-5 revolute pairs. The
centers of revolute pairs are placed at the centers of curvature of the pair elements at the
point of contact
47

3. Assur Group
Ex.: Replace the higher pair by lower pair in the plate cam with oscillating flat-
faced follower
The replacement of the high pair by the low pair is not only for consideration of Assur
Group, the kinetic analysis of the replacement mechanism provides both qualitative and
quantitative information of the replacement mechanism at the considered position.
48

4. All low pair planar mechanism, four-bar linkage

mechanism
- A all-low pair planar mechanism consists of: n links and k type 5 pair, a Assur
group must satisfy condition:
W = 3n -2p5 = 0
n 2 4 6 …
p5 3 6 9 …
Convention
- 2 links, 3 pairs : Grade 2 Group.

49


mechanism
Grade 2 : group has 2 links and 3 low pairs
50


mechanism
51


mechanism
52


mechanism
- Grade 1: The mechanism only has frame and driver link, such as electric
machines, turbines, pumps,… Grade 1 mechanism doesn’t include any Assur
groups.
- Grade of mechanism: the grade of a mechanism is defined as the highest

grade of the Assur group in the mechanism
53


mechanism
- The four bar linkage mechanism ( Picture a) consists of : 1 frame, 1 driving

link and one Assur Group (2 links 3 pairs). This is Grade 2 mechanism.
- The five bar linkage mechanism ( Picture b) consists of : 1 frame, 2 driving
( 1 and 4 ) and 1 Assur Group ( 2 links 3 pairs). This is Grade 2 mechanism.
54


mechanism
- The mechanism consists of : 1 frame, 1 driver link and 1 Assur Group ( 4 links 6 pairs).
This is Grade 3 mechanism.
55


mechanism
The mechanism consists of: 1 frame, 1 driver link and 1 Assur Group ( 4 links 6 pairs).
This is Grade 3 mechanism.
56


mechanism
Compressor mechanism
- Select link 5 as a driver link ( Picture b) : 1 Assur Group ( Grade 3 ).  Grade 3 mechanism.
- Select link 1 as a driver link ( Picture c) : 2 Assur Group ( Grade 3 ).  Grade 2 mechanism.
57

5. Special structures
• Geneva Mechanism
• Universal Joint Mechanism.
58

59

Chapter 1. Structure of Mechanism

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

Department of Machine Design - Faculty of Mechanical Engineering

Department of Machine Design - Faculty of Mechanical Engineering

1.1 Machine Element and Link.

Department of Machine Design - Faculty of Mechanical Engineering

Department of Machine Design - Faculty of Mechanical Engineering

• One independent movability of a link with respect to a reference frame is called

Department of Machine Design - Faculty of Mechanical Engineering

• Between 2 links in a plane  3 dof : Tx, Ty, Qz

Department of Machine Design - Faculty of Mechanical Engineering

All points of contact between two links is called a Pair element.

pair element of the right hinges

pair element of the left hinges

Department of Machine Design - Faculty of Mechanical Engineering

1.3 Classifications of Kinematic Pairs

Department of Machine Design - Faculty of Mechanical Engineering

1.3 Classifications of Kinematic Pairs

Department of Machine Design - Faculty of Mechanical Engineering

1.3 Classifications of Kinematic Pairs

Department of Machine Design - Faculty of Mechanical Engineering

1.3 Classifications of Kinematic Pairs

Department of Machine Design - Faculty of Mechanical Engineering

1.3 Classifications of Kinematic Pairs

Department of Machine Design - Faculty of Mechanical Engineering

1.3 Classifications of Kinematic Pairs

• Lower pair: pair elements are surfaces

Department of Machine Design - Faculty of Mechanical Engineering

1.3 Classifications of Kinematic Pairs

• Lower pair: pair elements are surfaces

Department of Machine Design - Faculty of Mechanical Engineering

1.4 Kinematic Diagram of a Mechanism.

For the convenience of research, joints are represented by kinematic

Department of Machine Design - Faculty of Mechanical Engineering

Department of Machine Design - Faculty of Mechanical Engineering

Classification of kinematic chains:

Department of Machine Design - Faculty of Mechanical Engineering

Department of Machine Design - Faculty of Mechanical Engineering

Department of Machine Design - Faculty of Mechanical Engineering

Department of Machine Design - Faculty of Mechanical Engineering

- Spatial kinematic chain: Links move in non-parallel planes.

Department of Machine Design - Faculty of Mechanical Engineering

2. Degree of Freedom of Mechanisms

Department of Machine Design - Faculty of Mechanical Engineering

2. Degree of Freedom of Mechanisms

2. Degree of Freedom of Mechanisms

• Direct constraint: constraints exist between two links by

Call is the number of common constraint  R   kpk  R0

Department of Machine Design - Faculty of Mechanical Engineering

2. Degree of Freedom of Mechanisms

Number of moving link n=3

Ex : Calculate the dof of the spatial manipulator

Number of moving link n=5

2. Degree of Freedom of Mechanisms

Ex.: Calculate the dof of the given wedge mechanism

Department of Machine Design - Faculty of Mechanical Engineering

2. Degree of Freedom of Mechanisms

Link 1 has motion when:

The dof of mechanism W = 3 x 2 – (2 x 3 – 1) = 1

Department of Machine Design - Faculty of Mechanical Engineering

2. Degree of Freedom of Mechanisms

There are all type 5 pairs, with = 4 , = 6

Department of Machine Design - Faculty of Mechanical Engineering

2. Degree of Freedom of Mechanisms

- Link 5 has no effect on the motion of the mechanism.