Chapter 3-1 Basic Kinematics - RR1

1
LINKAGE MECHANISMS
CHAPTER 3-1:
BASIC KINEMATICS
DR. MUHD RIDZUAN MANSOR
DR. SHAMSUL ANUAR SHAMSUDIN
DR. ROSZAIDI RAMLAN
Objectives
1. Explain the need for kinematics analysis of mechanisms.
2. Define
3.
4.
5.
6.
the basic components that comprise a

mechanism.
Draw a kinematic diagram from a view of complex
machine.
Compute the number of degrees of freedom of
mechanism.
Identify a four-bar mechanism and classify it according
to its possible motion.
Identify a slider-crank mechanism.
R Ramlan Sem 1 2016/2017
Lecture Outline
Machines and Mechanisms
Kinematics
Mechanism Terminology
Kinematic Diagram
Mobility
The Four Bar Mechanism

Machines - devices used to alter, transmit, and direct
forces to accomplish a specific objective

Mechanisms mechanical portion of a machine that has
the function of transferring motion and forces from a
power source to an output
A chain saw is a familiar machine that
directs forces to the chain with the
objective of cutting wood
the mechanism takes power from a
small engine and delivers it to the
cutting edge of the chain

Entire device could be called a
machine
Parts that take the power from
the cylinders and drive the
raising and lowering of the
platform
comprise
the
mechanism
A mechanism can be considered

rigid parts that are arranged and
connected so that they produce
the desired motion of the
machine.
planar mechanisms because their

motion is limited to twodimensional space.
Kinematics
Deals with the way things move
Study of the geometry of motion
involving
determination
of
position, displacement, rotation,
speed, velocity, and acceleration
of a mechanism.
What is the significance of the length of the
legs that support the platform?
Is it necessary for the support legs to cross
and be connected at their mid-span, or is it
better to arrange the so that they cross closer
to the platform?
How far must the cylinder extend to raise the
platform 8 in.?
Mechanism Terminology - Linkage

A linkage - is a mechanism where rigid parts are
connected together to form a chain.
Links
Frame
Mechanism Terminology - Frame

Frame - serves as the frame of reference for the motion of
all other parts.

The frame is typically a part that exhibits no motion.
Mechanism Terminology - Links

Links - the individual parts of the
mechanism.
Rigid bodies and are connected with
other links to transmit motion and
forces.
Theoretically, a true rigid body does
not change shape during motion.
Although a true rigid body does not
exist, mechanism links are designed
to minimally deform and are
considered rigid.
Elastic parts, such as springs, are
not rigid and, therefore, are not
considered links. They have no
effect on the kinematics of a
mechanism and are usually ignored
during kinematics analysis.
10
Mechanism Terminology - Joints

They are connections that allow movement between links.
Primary or Lower Order Joints: Allow motion in only one line of motion.
* Pin (also called Revolute, hinge) symbol: R allow pure rotation
* Slider (also called Prismatic, piston) symbol: P allow linear sliding
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Mechanism Terminology - Joints

Higher-Order Joint: Allow motion in more than
one line of motion: Cams, Gears, Pin-in-slot.
Source:
https://en.wikipedia.org/wiki/Cam#/
media/File:Nockenwelle_ani.gif
Source:
https://commons.wikimedia.org/
wiki/File:Geneva_mechanism_
6spoke_animation.gif
Source:
https://upload.wikimedia.org/wikipedia/
commons/2/22/Spur_gears_animation.
gif
12
Mechanism Terminology Simple and

Complex Links
Simple link a rigid body that contains only two joints,
which connect it to other links.

Complex link a rigid body that contains more than two
joints.
Simple link
Complex link
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Mechanism Terminology Point of

Interest (POI)
Point of interest - point on a link where the motion is of
special interest.
The end of the windshield wiper, would be considered a
point of interest.
Once kinematic analysis is performed, the displacement,
velocity, and accelerations of that point are determined.
14
Kinematic Diagram
In analyzing the motion of a
machine, it is often difficult to

visualize the movement of the
components in a full assembly
drawing.
It is easier to represent the
parts in skeleton form so that
only
the
dimensions
that
influence the motion of the
mechanism are shown.
These stripped-down sketches
of mechanisms are often referred
to as kinematic diagrams.
15
Kinematic Diagram
A kinematic diagram should be
drawn to a scale proportional to

the actual mechanism.
For convenient reference, the
links are numbered, starting
with the frame as link number 1.
To avoid confusion, the joints
should be lettered.
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Kinematic Diagram - Symbols
17
18
19
Kinematic Diagram Example 1

Figure below shows a shear that is used to cut and trim
electronic circuit board laminates. Draw a kinematic
diagram.
20

1. Identify the frame
The first step in constructing a
kinematic diagram is to decide the

part that will be designated as the
frame.
The motion of all other links will be
determined relative to the frame.
In some cases, its selection is
obvious as the frame is firmly
attached to the ground.
In this problem, the large base that
is bolted to the table is designated
as the frame.
The motion of all other links is
determined relative to the base.
The base is numbered as link 1.
1
1
21

2. Identify All Other Links
Careful observation reveals three other moving parts:
Link 2: Handle
Link 3: Cutting blade
Link 4: Bar that connects the cutter with the handle
2
4
1
1
3
22

3. Identify the Joints
Pin joints are used to connect link 1 to 2, link 2 to 3, and link 3 to 4.
These joints are lettered A through C.
In addition, the cutter slides up and down, along the base. This sliding
joint connects link 4 to 1, and is lettered D.
4. Identify Any Points of Interest
Finally, the motion of the end of the handle is desired. This is
designated as point of interest X.
B
A
D C
23

5. Draw the Kinematic Diagram
24

Figure below shows a pair of vise grips. Draw a kinematic
diagram.
25

1. Identify the Frame
The first step is to decide the part that will be designated
as the frame.
In this problem, no parts are attached to the ground.
Therefore, the selection of the frame is rather arbitrary.
The top handle is designated as the frame.
The motion of all other links is determined relative to the
top handle.
The top handle is numbered as link 1.
1
26

2. Identify All Other Links
Careful observation reveals three other moving parts:
Link 2: Bottom handle
Link 3: Bottom jaw
Link 4: Bar that connects the top and bottom handle
1
2
27

3. Identify the Joints
Four pin joints are used to connect these different links
(link 1 to 2, 2 to 3, 3 to 4, and 4 to 1). These joints are
lettered A through D.
B
C
28

4. Identify Any Points of Interest
The motion of the end of the bottom jaw is desired. This is
designated as point of interest X.
Finally, the motion of the end of the lower handle is also
desired. This is designated as point of interest Y.
X
Y
29

5. Draw the Kinematic Diagram
30

Figure below shows a beverage can crusher used to
reduce the size of cans for easier storage prior to recycling.
Draw a kinematic diagram, using the end of the handle as a
point of interest
31

2. Identify all other links
3. Identify the joints
4. Identify the POI
5. Draw Kinematic Diagram
X
2
B
1
D
A
32
33

Figure below shows a toggle clamp. Draw a kinematic
diagram, using the clamping jaw and the handle as points
of interest.
34

2. Identify all other links
3. Identify the joints
4. Identify the POI
5. Draw Kinematic Diagram
B C
4
1
X
35
36
Actuators and Drivers

required to provide the input motion and energy
Electric motor (AC or DC)
Engine
Servo Motor
Air or Hydraulic Motor
Hydraulic or pneumatic cylinder
Draw a kinematic diagram, using the bottom of the stabilizing foot as a point of
interest.
37
Other Commonly Used Links and Joints

Eccentric Crank
Pin-in-a-slot Joint
Screw Joint
38
Other Commonly Used Links and Joints

Figure below presents a lift table used to adjust the
working height of different objects. Draw a kinematic

diagram.
39
Mobility
An
important
property
in
mechanism analysis is the number
of degrees of freedom of the
linkage.
Degree of freedom - the number
of independent inputs required to
precisely position all links of the
mechanism with respect to the
ground.
The number of degrees of
freedom of a mechanism is also
called the mobility, and it is given
the symbol M.
40
Mobility - Grueblers Equation

Degree of Freedom, = 3 1 2
= total number of links in the mechanism
= total number of primary joints pins or sliding joints
= total number of higher order joints (cam or gear joints)
= 5, = 4, = 0
= 3, = 3, = 0
= 5, = 5, = 0
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Mobility - Grueblers Equation

Compute the degrees of freedom for the following:
42
Exercise
A childs digging toy that is common at many municipal
sandboxes is shown below in the figure. Draw a kinematic
diagram of the mechanism. Calculate the mobility of the
mechanism.
43
Mobility Special Case (Coincident

Joints)
By definition, a pin joint connects two links.
But some mechanisms have THREE links connected to a
pin joint.
For kinematic analysis, this configuration

mathematically modeled as two separate joints.
must
be
44
Mobility Special Case (Coincident Joints)

Figure below shows a mechanical press used to exert large
forces to insert a small part into a larger one.
Draw a kinematic diagram, using the end of the handle as a
point of interest. Also compute the degrees of freedom.
= 6,
= 7,
= 0
=3 61 2 7 0=1
45
Mobility Special Case (Geometry Exception)

Compute the degree of freedom for the
46
The Four-Bar Mechanism

The simplest and most common linkage is the four-bar
linkage (M = 1).
It is a combination of four links, one being designated
as the frame and connected by four pin joints.
Coupler
Follower or output
Driver or Input
Frame/Ground
47
The Four-Bar Mechanism
Input link
coupler
frame
Output
link/follower
48
The Four-Bar Mechanism - Grashof s

Criterion
Grashof s theorem states that a four-bar mechanism has at
least one revolving link if:
++
= length of the shortest link
= length of the longest link
= length of one of the intermediate length links
= length of the other intermediate length links
49
The Four-Bar Mechanism - Grashof s

Criterion
All four-bar mechanisms fall into one of the five categories
listed in Table 1.2.
50
The Four-Bar Mechanism: Double Crank

It has the shortest link of the four-bar mechanism
configured as the frame.

If one of the pivoted links is rotated continuously, the other
pivoted link will also rotate continuously.
Thus, the two pivoted links, 2 and 4, are both able to
3
rotate through a full revolution.
1 < 2 or 3 or 4
and 1 < 3 + 4 2
and 1 >
2
1
3 4 + 2
51
The Four-Bar Mechanism: Double Crank
https://www.youtube.com/watch?v=m1eF0xGrYoU
52
The Four-Bar Mechanism : Crank-Rocker

it has the shortest link of the four-bar mechanism
configured adjacent to the frame.

If this shortest link is continuously rotated, the output link
will oscillate between limits.
Thus, the shortest link is called the crank, and the output
link is called the rocker.
3
2 < 1 or 3 or 4
and 1 < 3 + 4 2
and 1 >
3 4 + 2
2
1
53
The Four-Bar Mechanism : Crank-Rocker
https://www.youtube.com/watch?v=9D1PyBhUB1k
54
The Four-Bar Mechanism : Double Rocker

It has the link opposite the shortest link of the four-bar
mechanism configured as the frame.

In this configuration, neither link connected to the frame
will be able to complete a full revolution.
Thus, both input and output links are constrained to
oscillate between limits, and are called rockers.
However, the coupler is able to complete a full revolution.
3
3 < 1 or 2 or 4
4
1
55
The Four-Bar Mechanism : Double Rocker
https://www.youtube.com/watch?v=3kUoqw8D5sU
56
The Four-Bar Mechanism Example 1

A nosewheel assembly for a small aircraft is shown in the
figure below. Classify the motion of this four-bar

mechanism based on the configuration of the links.
57
The Four-Bar Mechanism Example 1

shortest
= 12 . ; = 32 . ; = 30 . ; = 26 .
+ < +
(12 + 32) < (30 + 26)
44 < 56 : {yes}
58
Slider-Crank Mechanism
This mechanism also consists of a combination of four
links, with one being designated as the frame.

This mechanism is connected by three pin joints and one
sliding joint.
Mobility ( = 4, = 3 + 1 = 4, = 0), = 1.
Because the slider-crank mechanism has one degree of
freedom, it is constrained or fully operated with one driver.

59
Slider-Crank Mechanism
In-line
SliderCrank
Sliding Link
Coupler
Crank
Offset distance
Offset
SliderCrank
Frame/Ground
60
KINEMATIC INVERSIONS
The same mechanism can achieve a different motion when the fixed link is changed
(a)
(b)
The mechanism in (a) is a rocker-crank whereas in (b) it is a rocker-rocker.
61
THANK YOU
Main Reference:
Myszka, David H., 2012. Machines and mechanism: applied kinematic

analysis, 4th ed., Prentice Hall, New York.
Source:
https://en.wikipedia.org/wiki/Four-stroke_engine

Chapter 3-1 Basic Kinematics - RR1

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1

the basic components that comprise a

R Ramlan Sem 1 2016/2017

The Four Bar Mechanism

R Ramlan Sem 1 2016/2017

Machines and Mechanisms

forces to accomplish a specific objective

R Ramlan Sem 1 2016/2017

Machines and Mechanisms

A mechanism can be considered

planar mechanisms because their

Mechanism Terminology - Linkage

connected together to form a chain.

Mechanism Terminology - Frame

all other parts.

R Ramlan Sem 1 2016/2017

Mechanism Terminology - Links

Mechanism Terminology - Joints

R Ramlan Sem 1 2016/2017

Mechanism Terminology - Joints

R Ramlan Sem 1 2016/2017

Mechanism Terminology Simple and

which connect it to other links.

Mechanism Terminology Point of

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machine, it is often difficult to

drawn to a scale proportional to

R Ramlan Sem 1 2016/2017

Kinematic Diagram - Symbols

R Ramlan Sem 1 2016/2017

Kinematic Diagram - Symbols

R Ramlan Sem 1 2016/2017

Kinematic Diagram - Symbols

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Kinematic Diagram Example 1

R Ramlan Sem 1 2016/2017

Kinematic Diagram Example 1

kinematic diagram is to decide the

Kinematic Diagram Example 1

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Kinematic Diagram Example 1

Kinematic Diagram Example 1

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Kinematic Diagram Example 2

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Kinematic Diagram Example 2

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Kinematic Diagram Example 2

Kinematic Diagram Example 2

Kinematic Diagram Example 2

Kinematic Diagram Example 2

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Kinematic Diagram Example 3

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Kinematic Diagram Example 3

Kinematic Diagram Example 3

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Kinematic Diagram Example 4

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Kinematic Diagram Example 4

Kinematic Diagram Example 4

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Actuators and Drivers