ME 372

Assignment #4

1. For the shown five-bar linkage 2(t) and 3(t) are known.
a. Calculate the mobility of the mechanism.
b. Write the vector loop equation.
c. List the known and unknown variables.
d. Put the loop equation in a form that can be solved using one of the following three solutions that you
did in Assignment #3: (1) 4-bar linkage solution; (2) generalized crank-slider solution; (3)
generalized inverted crank-slider solution.

r2

X2

l3

X
3

r3

r4

X4

l5

l2

X1

l4

l1

1
r5

X5

r1

2. For the shown geared five-bar linkage 2(t) is known and 5 2 , where is the gear ratio and is a
phase angle.
a. Calculate the mobility of the mechanism.
b. Write the vector loop equation.
c. List the known and unknown variables.
d. Put each loop equation in a form that can be solved using one of the following three solutions that
you did in Assignment #3: (1) 4-bar linkage solution; (2) generalized crank-slider solution; (3)
generalized inverted crank-slider solution.

Y
4

r2

X2

l3

X3
r3

X4

l5

l2

X1

l4

r4

l1

1
r5

X5

r1

3. For the shown Watts Six Bar Linkage 2(t) is known.

a. Calculate the mobility of the mechanism.
b. What is the number of loops? Write the vector-loop equation for each loop.
c. List the known and unknown variables for each loop.
d. Put each loop equation in a form that can be solved using one of the following three solutions that
you did in Assignment #4: (1) 4-bar linkage solution; (2) generalized crank-slider solution; (3)
generalized inverted crank-slider solution.

Y
l5

l3
l4

Crank

l4
l6

l2
l1

l1

4. For the shown Stephesons Six Bar Linkage 2(t) is known.

a. Calculate the mobility of the mechanism.
b. What is the number of loops? Write the vector-loop equation for each loop.
c. List the known and unknown variables for each loop.
d. Put each loop equation in a form that can be solved using one of the following three solutions that
you did in Assignment #4: (1) 4-bar linkage solution; (2) generalized crank-slider solution; (3)
generalized inverted crank-slider solution.

Y
l3
l5

l3

X2

l4

Crank

l2

l6
l4(1)

l1

X4

l1

5. For the shown linkage 2(t) is known.

a. Calculate the mobility of the mechanism.
b. What is the number of loops? Write the vector-loop equation for each loop.
c. List the known and unknown variables for each loop.
d. Put each loop equation in a form that can be solved using one of the following three solutions that
you did in Assignment #4: (1) 4-bar linkage solution; (2) generalized crank-slider solution; (3)
generalized inverted crank-slider solution.

6. For the shown linkage l2(t) is known.

a. Calculate the mobility of the mechanism.
b. Write the vector loop equation.
c. List the known and unknown variables.
d. Put the loop equation in a form that can be solved using one of the following three solutions that you
did in Assignment #3: (1) 4-bar linkage solution; (2) generalized crank-slider solution; (3)
generalized inverted crank-slider solution.

l3
3
2

l2

X1

l4
4

X4

7. Write the kinematic synthesis vector equations for an inverted crank-slider mechanism such that a point on
the coupler will pass through 3 precision points while the coupler angle is at 3 corresponding prescribed
angles with respect to the X-axis (Write the governing kinematic synthesis vector equations for precision
point i).
a. Determine the total number of equations.
b. List the known variables.
c. List the unknown variables.
d. Determine how many variables we must assume.
8. Write the kinematic synthesis vector equations for an inverted crank-slider mechanism such that a point on
the coupler will pass through 5 precision points (Write the governing kinematic synthesis vector equations
for precision point i).
a. Determine the total number of equations.
b. List the known variables.
c. List the unknown variables.
d. Determine how many variables we must assume.
9. Write the kinematic synthesis vector equations for a 4-bar linkage such that a point on the coupler link
passes through 6 specified precision points (Write the governing kinematic synthesis vector equations for
precision point i).
a. Determine the total number of equations.
b. List the known variables.
c. List the unknown variables.
d. Determine how many variables we must assume.
10. Write the kinematic synthesis vector equations for a geared 5-bar linkage such that a point on the first
coupler link (coupler link that is connected to the crank) is at 5 precision points while the first coupler link is
at 5 corresponding prescribed angles with respect to the X-axis (Write the governing kinematic synthesis
vector equations for precision point i).
a. Determine the total number of equations.
b. List the known variables.
c. List the unknown variables.
d. Determine how many variables we must assume.