KINEMATIC FUNDAMENTALS

Theory of Machines, MT 317

Engr. Akhtar Khurshid

DETERMINING DEGREE OF FREEDOM

USING KUTZBACKS EQUATION

Figure below shows a mechanism with one DOF

and only full joints in it.

DETERMINING DEGREE OF FREEDOM

USING KUTZBACKS EQUATION

Figure below shows a mechanism with zero DOF

which contains full, half and multiple joints.

DETERMINING DEGREE OF FREEDOM OR MOBILITY

USING KUTZBACKS EQUATION

DETERMINING DEGREE OF FREEDOM OR MOBILITY

USING KUTZBACKS EQUATION

DETERMINING DEGREE OF FREEDOM

USING KUTZBACKS EQUATION

MECHANISMS AND STRUCTURES

The degree of freedom of an assembly of links completely
predicts its character. There are only three possibilities.
If the DOF is positive, it will be a mechanism, and the
links will have relative motion.
If the DOF is exactly zero, then it will be a structure,
and no motion is possible.
If the DOF is negative, then it is a preloaded structure,
which means that no motion is possible and some
stresses may also be present at the time of assembly.

Note: If the sum of the lengths of any two links is less than the length of the
third link, then their interconnection is impossible.
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ISOMERS
The word isomer is from the Greek and means
having equal parts. Isomers in chemistry are
compounds that have the same number and type
of atoms but which are interconnected differently
and thus have different physical properties.
Figure on next slide shows two hydrocarbon
isomers, n-butane and iso-butane. Note that each
has the same number of carbon and hydrogen
atoms (C4H10), but they are differently
interconnected and have different properties.

ISOMERS

Hydrocarbon isomers n-butane and Isobutane

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ISOMERS
Linkage isomers are analogous to these chemical
compounds in that the links (like atoms) have various
nodes (electrons) available to connect to other links
nodes. The assembled linkage is analogous to the
chemical compound.

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LINKAGE TRANSFORMATION
There are several transformation techniques or
rules that we can apply to planar kinematic chains.
1.

2.
3.
4.

5.

6.

Revolute joints in any loop can be replaced by prismatic joints

with no change in DOF of the mechanism, provided that at
least two revolute joints remain in the loop.
Any full joint can be replaced by a half joint, but this will
increase the DOF by one.
Removal of a link will reduce the DOF by one.
The combination of rules 2 and 3 above will keep the original
DOF unchanged.
Any ternary or higher-order link can be partially "shrunk" to a
lower-order link by coalescing nodes. This will create a multiple
joint but will not change the DOF of the mechanism.
Complete shrinkage of a higher-order link is equivalent to its
removal. A multiple joint will be created, and the DOF will be
reduced.
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LINKAGE TRANSFORMATION
Figure below shows a four-bar crank-rocker linkage transformed into
the four-bar slider-crank by the application of rule #1. It is still a fourbar linkage. Link 4 has become a sliding block. The Gruebler's equation
is unchanged at one DOF because the slider block provides a full joint
against link 1, as did the pin joint it replaces.

Transforming a four-bar crank-rocker to a slider-crank

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LINKAGE TRANSFORMATION
Figure below shows a four-bar slider-crank transformed via rule #4 by
the substitution of a half joint for the coupler.

Transforming the slider-crank to the Scotch yoke also known as

slotted link mechanism

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LINKAGE TRANSFORMATION
Figure below shows a four-bar linkage transformed into a cam-follower
linkage by the application of rule #4. Link 3 has been removed and a
half joint substituted for a full joint between links 2 and 4.

The cam-follower mechanism has an effective four-bar equivalent

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INTERMITTENT MOTION
Intermittent motion is a sequence of motions and dwells. A dwell is a
period in which the output link remains stationary while the input link
continues to move. There are many applications in machinery which
require intermittent motion. The cam-follower variation on the four-bar
linkage as shown in previous slide is often used in these situations.
The design of that device for both intermittent and continuous output will
be addressed in detail in Chapter 8.

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MECHANISMS INVERSION - FOUR BAR

Process of obtaining different mechanisms from the same kinematic chain, by fixing
different links in turn, is known as kinematic inversion.

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MECHANISMS INVERSION SLIDER CRANK

Different mechanism by fixing different link of slider crank chain are as
follows :

First inversion: This inversion is obtained when link 1 (ground body) is

fixed. Application- Reciprocating engine, Reciprocating compressor etc...

Second inversion: This inversion is obtained when link 2 (crank) is fixed.

Application- Whitworth quick return mechanism, Rotary engine etc...

Third inversion: This inversion is obtained when link 3 (connecting rod )is
fixed. Application- Slotted crank mechanism, Oscillatory engine etc..,

Fourth inversion: This inversion is obtained when link 4 (slider) is fixed.

Application- Hand pump, pendulum pump etc...

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APPLICATIONS INVERSION SLIDER CRANK

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TYPE OF FOUR BAR MECHANISMS

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GRASHOF CONDITIONS
Simplicity is one mark of good design. The fewest parts that can do the job will
usually give the least expensive and most reliable solution. Thus the fourbar
linkage should be among the first solutions to motion control problems to be
investigated. The Grashof condition is a very simple relationship which predicts
the rotation behavior or rotatability of a fourbar linkage's inversions based only
on the link lengths.
P
Let:
S = length of shortest link
Q
L = length of longest link
P = length of one remaining link
S
Q = length of other remaining link
L
Then,
+ +
If a linkage is Grashof then at least one link (usually the shortest link) can make a
full revolution without binding. Some definitions:
Crank: one pin is grounded, can make full revolution about grounded pin
Rocker: one pin is grounded, does not make full revolution about grounded pin
Coupler: neither pin is grounded. Experiences complex motion
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GRASHOF CONDITIONS
The Grashof condition is used to predict the type of motion that is possible using a
given fourbar linkage. It is a very simple, but powerful tool used in linkage design.
In a planar four bar revolute pair kinematic chain if the sum of the lengths of the
shortest and the longest links is less than or equal to the sum of the lengths of the
other two intermediate links at least one link will have full rotation.
Mechanisms obtained from the kinematic chain satisfying these conditions are
known as Grashofian Mechanisms.
Mechanisms obtained from the kinematic chain which are not obeying these
conditions are known as Non-Grashofian Mechanisms.

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GRASHOF CONDITIONS
There are several common situations that we encounter with the Grashof
condition. Examples of Grashof Linkages
Crank-Rocker. L is grounded.
Coupler

Rocker-Crank. P is grounded (adjacent to short

Coupler
link).

L
Q

S
L

Rocker

P
Rocker
Coupler

Crank Q

Crank
Coupler

P
L

P
Rockers

S
Cranks
Q

Double-Crank. S is grounded.

Double-Rocker. Q is grounded (adjacent to L)

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GRASHOF CONDITIONS
Crank-Rocker: When the shortest link is the input link. The
input link has full motion. The output link has limited range of

motion.
Rocker-Crank: When the shortest link is the output link. The
output link has full motion. The input link has a limited range of
motion.
Double-Rocker: this type of Grashof linkage is obtained when
the shortest link is the floating link. Both the input and output
links have limited motion.

Crank-Crank: When the shortest link is ground link. But the

input and output links have full motion.
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NON-GRASHOF CONDITIONS
If S + L > P + Q then the linkage is non-Grashof. For linkages of this type
continuous relative motion between any two links is not possible.
Coupler

Rockers

Special Case: S + L = P + Q
Coupler

Cranks

Cranks

Parallelogram Form

Antiparallelogram Form

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ASSIGNMENT # I to be submitted till 10-03-2015

Q-1: Calculate the DOF of the linkages shown in Figures below

(e).

(f).

Q-2: Describe the difference between a cam-follower (half) joint and a pin
joint.
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PRACTICE PROBLEMS
From 2.1 to 2.20

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