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Linkages Introduction
Kinematics Fundamental
Degree of Freedom
Linkages Transformation
Graphical Linkages Synthesis
2 Position Synthesis
3 Position Synthesis
Coupler Curves
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Links, Joints and Kinematics Chains

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Degree of Freedom or Mobility

Degree of Freedom is the number of inputs that need to be provided in order
to create a predictable output. Also the number of independent coordinates
required to define its position.
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DOF and Mobility Equation

Grueblers Equation

Kutzbachs Equation:
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Inversion and Grashof Condition

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Grashof condition is a relationship that predicts the rotation behavior of rotation

of a four-bar linkages inversion based only on the link lengths.

Shortest link (S) + Longest link (L) is less than or equal to the sum of
the other two links (P&Q).
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Graphical Linkage Synthesis

Function, Path and Motion Generation

Function described by a mathematical formula.

Path defined as a point in the plane such that it follows some prescribed path.
Motion defined as a line in the plane such that it assumes some prescribed set
of sequential positions.

Limiting Conditions:

Toggle Positions is a locked positon where two of the moving links

formed a collinear configuration.
Stationary points - when the shortest link (crank) is collinear with the
coupler link.
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Transmission Angle
Is the angle between the output link and the coupler. Is the acute angle of the
pair of angles at the intersection of the two links and varies continuously.
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Two-position Synthesis
Rocker Output two-position with angular displacement (Function
Generation)

Design fourbar Grashof crank-rocker to give 45 deg of rocker rotation with

equal time forward and back, from a constant speed motor input.
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Construction method:
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Two-position Synthesis
Rocker Output Two positions with complex displacement. (Motion
Generation)

Design a fourbar linkage to move link CD from C1D1 to C2d2.

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Construction method:
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Two-position Synthesis
Coupler Output Two positions with Complex Displacement. (Motion
Generation)

Design a fourbar linkage to move the link CD shown from position C1D1 to
C2D2 (with moving pivots at C and D)
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Construction method
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Three-position Synthesis with specified moving

pivots
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Construction method:
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Three-position Synthesis with alternate

moving pivots
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Construction method:
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