MECH 3030

Mechanisms, Kinematics, and Machinery

Part 1: Introduction

(Reference: Chapter 1 of the main textbook by K. Waldron, G. Kinzel,

and S. Agrawal, “Kinematics, Dynamics, and Design of Machinery,”
Wiley)
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 Historical Perspective

• Mechanisms are machines that permit relative motion

among their members by virtue of the joints
• Mechanisms will be used synonymously with
linkages
• Mechanisms are made up of links and joints
• Mechanisms may be planar or spatial
• Planar mechanisms are such that all the points in the
mechanism move in parallel planes
• Spatial mechanisms are three-dimensional
mechanisms and the points can move anywhere in
space.

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 Vice Grips

• 4-bar linkage used to multiply force

• Illustrates use of toggle mechanism

3
 Adaptive Suspension Vehicle
• Legs are pantograph mechanisms
• Legs tilt out of plane so overall mechanism is spatial

4
 Drive Mechanism of Ornithropter

• Geared linkage that flaps wings

• Mechanism also rotates wings

(The actuator is a motor; the output is the wings.)

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 Mechanical Excavator

• The arm is controlled by hydraulic cylinders

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 A Windshield Wiper

(The actuator is a motor;

the output is the rocking movements of the two wipers.
See video.)
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Car Body Painting 3D Mechanism

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A Da Vinci 3D Mechanism System

(Video)

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 Kinematics
• Kinematics is the study of motion

• Concerned with position, velocity, and

acceleration of points

• Motion can be either translational or angular

• Kinetics involves the relationship between forces

and accelerations

• Kinematics and kinetics constitute the topics of

dynamics

• Main emphasis here will be on kinematics

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 Synthesis (Design) and Analysis

• Synthesis (i.e., design) involves determining the geometry

of a device to perform a given task

• Analysis involves determining the linear and angular

positions, velocities, and accelerations of points in the
device to ensure that it can perform the desired purpose

• Design distinguishes engineering from science which is

mainly concerned with compiling knowledge

• Design was traditional accomplished using graphical

techniques which are still useful for visualization

• Modern design is typically computer driven and many

techniques have been developed for kinematic synthesis

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 More on Synthesis
• Some techniques especially those involving spatial
mechanisms are entirely computational

• Others employ the ability to perform accurate graphical

operations and computation on the computer

• Kinematic design is concerned mainly with position

requirements

• Velocities are less likely to be considered directly in

synthesis than positions and accelerations are less likely
to be considered than velocities

• Accelerations are mostly of interest because they affect

forces

• Forces due to accelerations (inertial forces) can be much

larger than applied forces
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 Mechanisms
• A mechanism is an assembly of members connected together by joints.
• Mechanisms transfer motion and work from actuated input members to
output members.
• Joints are normally characterized as higher and lower pairs:

• Higher pairs have point or line contact.

• Lower pairs have surface contact.

• Joints permit relative motion and are characterized by the “degrees of

freedom” or DOF they permit.
• Number of DOFs is equal to the minimum number of independent
variables required to define the relative motion between two rigid
bodies.
• Lower pairs have a relatively small number of DOFs and the types of
lower-pair geometries are limited.
• Lower pairs have specific basic geometries and permit a limited number
of DOFs.
• Terms mechanism and linkage are used interchangeably.
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 Links

• Links are absolutely rigid bodies (no deformations)

• Links are assumed to cover the entire region appropriate to the
type of linkage (space for spatial linkage, plane for planar
linkages)
• Rather than draw the whole link, we will draw only those lines
essential to defining the position of the link and the important
points on it.

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 Synthesis vs. Analysis

Hoeken mechanism Peaucellier mechanism

• Synthesis: to determine a complete mechanism to realize the required

reciprocal linear motion (the actuator is a motor). Hoeken mechanism is
only an approximation, but simpler; while the Peaucellier mechanism
realizes a true line.
• Analysis: given a mechanism, calculate/analyze the velocity, acceleration,
etc. of points on the mechanism. Although the Hoeken mechanism is only
an approximation, if its acceleration is less than the Peaucellier’s, maybe
it is more desirable if its linear accuracy meets the requirement.

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 Homework
1. For the vice grip shown in slide #3, give a more revealing graphic
representation by replacing the parts of the grip with linear links and clearly
identifying the joints by drawing their circles. Note that springs are only for
the purpose of fastening (like the gravity) and hence should be ignored.

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Let’s go to JOINTS

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