MECHANICS OF

MACHINES
Lecture 2: Introduction/Examples
By Dr. Yumna Qureshi

Dept. of Mechanical Engineering, IST

Introduction
Example of Kinematic diagram
• Frame
• Links
• Joints
• Point of Interest

Dept. of Mechanical Engineering, IST

Introduction
Example of Kinematic diagram
(Kinematic Inversion)
• Frame
• Links
• Joints
• Point of Interest

Dept. of Mechanical Engineering, IST

Introduction
Example of Kinematic diagram
• Frame
• Links
• Joints
• Point of Interest
• DOF/Mobility
n = 4, jp = 4 pins, jh = 0
M = 3(n - 1) - 2jp - jh = 3(4 - 1) - 2(4) - 0 = 1

Dept. of Mechanical Engineering, IST

Introduction
Example of Kinematic diagram
• Frame
• Links
• Joints
• Point of Interest
• DOF/Mobility
n = 4, jp = 4 (3pins+1Slider), jh = 0
M = 3(n - 1) - 2jp - jh = 3(4 - 1) - 2(4) - 0 = 1

Dept. of Mechanical Engineering, IST

Introduction
Example of Kinematic diagram
• Frame
• Links
• Joints
• Point of Interest
• DOF/Mobility
n = 3, jp = 2 pins, jh = 1
M = 3(n - 1) - 2jp - jh = 3(3 - 1) - 2(2) – 1=1

Dept. of Mechanical Engineering, IST

Introduction
Example of Kinematic diagram
• Frame
• Links
• Joints
• Point of Interest
• DOF/Mobility
n = 4, jp = 4 (3 pins+ 1 slider), jh = 0
M = 3(n - 1) - 2jp - jh = 3(4 - 1) - 2(4) - 0 = 1

Dept. of Mechanical Engineering, IST

Introduction
Example of Kinematic diagram
• Frame
• Links
• Joints
• Point of Interest
• DOF/Mobility
n = 4, jp = 3 pins, jh = 2
M = 3(n - 1) - 2jp - jh = 3(4 - 1) - 2(3) - 2 = 1

Dept. of Mechanical Engineering, IST

Introduction
Special Cases

• Coincident Joints

• Exception of G Equation

• Idle DOF

Dept. of Mechanical Engineering, IST

Introduction
Example of Kinematic diagram
• Frame
• Links
• Joints
• Point of Interest
• DOF/Mobility
n = 6, jp = 7 (6 pins+ 1 slider), jh = 0
M = 3(n - 1) - 2jp - jh = 3(6 - 1) - 2(7) - 0 = 1

Dept. of Mechanical Engineering, IST

Introduction
Four Bar Mechanism
• Frame
• Input Link
• Output Link
• Connector/Coupler

Dept. of Mechanical Engineering, IST

Introduction
Four Bar Mechanism
Grashof’s Criteria
States that a four-bar mechanism has at least one revolving (360) link if:
s+l<p+q
Conversely, the three nonfixed links will merely rock (back and forth
movement) if:
s + l >p + q
l = length of the longest link
s = length of the shortest link
p = length of one of the intermediate length links
q = length of the other intermediate length links

Dept. of Mechanical Engineering, IST

Introduction
1. s + l < p + q Frame Double crank
2. s + l < p + q Side Crank-rocker
3. s + l < p + q Coupler Double rocker
4. s + l = p + q Any Change point
5. s + l > p + q Any Triple rocker

Dept. of Mechanical Engineering, IST

Dept. of Mechanical Engineering, IST
Introduction
Classify the motion of this four-bar mechanism
• Kinematic Diagram
• Distinguish the link
• Grishof’s Criteria
• Check the case.

Dept. of Mechanical Engineering, IST