Chapter 4 - Kinematics of Mechanisms - 1

EME2056
THEORY OF MACHINES
CHAPTER 4
Kinematics of Mechanisms
Learning Outcome
LO1
Analyze the kinematics of practical mechanisms
(cognitive - analyzing, level 4)
EME2056 THEORY OF MACHINES 2

Kinematics of Mechanisms
4.1 Introduction to Mechanisms and Kinematics
4.2 Velocity Analysis of Mechanisms
4.3 Acceleration Analysis of Mechanisms

1.1 Introduction to Mechanisms and
Kinematics
Machines are devices used to alter, transmit, and direct

forces to accomplish a specific objective.
E.g. A chain saw is a machine that directs forces to the
chain with the objective of cutting wood.
Mechanism is the mechanical part of a machine that has

the function of transferring motion and forces from a power
source to an output.
E.g. For a chain saw, the mechanism takes power from
a small engine and delivers it to the cutting edge of the
chain.

1.1 Introduction to Mechanisms and
Kinematics
A mechanism can be an assemblage of rigid parts that are

arranged and connected so that they produce the desired
motion of the machine.
E.g. The mechanism of an hydraulic

platform is the part that takes the
power from the cylinder and drives
the raising and lowering of the
platform.
Mechanism analysis of the machine is required to ensure

that the motion of a machine will exhibit the desired motion.

Kinematics
Kinematics deals with the way things move. It is a study of

the geometry of motion, which involves determination of:
position
displacement
rotation
speed
velocity
acceleration

Kinematics
Consider the hydraulic platform. Design questions relevant

to kinematics analysis:
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
them so that they cross closer to the platform?
How far must the cylinder extend to raise the platform
10 cm?
How fast the platform will raise if the cylinder is
extended at the rate of 0.3 m/s?

Kinematics
Consider the hydraulic platform. Dynamic force analysis

provide another set of important design questions:
What is the capacity (maximum force) required of the
hydraulic cylinder?
Is the platform free of any tendency to tip over?
What cross-sectional size of legs and material is
required of the support legs so that they dont fail?


Mechanism Terminology
A linkage is a mechanism where all parts are connected

together to form a closed chain.
One part is designated the frame because it serves as the
frame of reference for the motion of all other parts. The
frame is typically a part that exhibits no motion.
Links are individual parts of a mechanism. They are
assumed to be completely rigid and are connected with
other links to transmit motion and forces from the input link
(driver) to the output link (follower).
In real application, a true rigid body does not exist,
therefore mechanism links that are designed to have
minimal deformation can be considered as rigid body.

A simple link is a rigid body that

contains only two joints. A crank is a
simple link that is able to complete a
full rotation about a fixed centre. A
rocker is a simple link that oscillates
through an angle, reversing its
direction at certain intervals.
A complex link is a rigid body that
contains more than two joints. A
rocker arm is a complex link,
containing three joints, that is pivoted
near its centre.

A joint is a movable connection

between links and allows relative
motion between the links. The two
primary joints, called full joints, are
the revolute and sliding joint.
The revolute joint is also called a pin
or hinge joint and it allows pure
rotation between the two links that it
connects.
The sliding joint is also called a piston
or prism joint. It allows linear sliding
between the links that it connects.

Cam joint and gear joint are called higher-order joint or

half-joint. They allow both rotation and sliding between the
two connected links or meshed gears.

A point of interest is a point on a link where the motion is of

special interest. Once kinematic analysis is performed, the
displacement, velocity and accelerations of that point are
determined.

An actuator is the component that drives the mechanism.

Common actuators include motors (electric and hydraulic),
engines, cylinders (hydraulic and pneumatic) and
solenoids.
A hydraulic or pneumatic cylinder typically contains a rod
and piston assembly that slides in a cylinder (sliding joint).
Both ends of the unit usually has provisions for pin joints.
The kinematic representation of the unit:

Example 1
Identify all the connections used in

the slider crank mechanism of a
vertical compressor.
1. Bearings (revolute joint) connect the

casing (frame) and crank.
2. The crank pin (revolute joint) connects 4
the crank and the connecting rod.
3. The connecting rod and crosshead are 3
joined at the wrist pin (revolute joint).
1
4. The piston and cylinder (frame) 2
constitute a sliding connection (sliding
joint).

Kinematic Diagrams
In analyzing the motion of a machine, it is difficult to

visualize the movement of the components in a full
assembly drawing.
It is easier to represent the parts in skeleton form
(kinematic diagram) so that only the dimensions that
influence the motion of the mechanism are shown.
A kinematic diagram should be
drawn according to scale.
For convenient reference, the links
are numbered, starting with the
frame as link number 1. To avoid
confusion, the joints are lettered.
Kinematic Diagrams
Typical form Kinematic representation
Simple link
Simple link with

point of interest
Complex link

Kinematic Diagrams
Pin joint
Slider joint

Kinematic Diagrams
Cam joint
Gear joint

Example 2
Figure shows a shear that is used to cut and trim electronic

circuit board laminates. Draw its kinematic diagram.

Example 2
1. Identify the Frame

Decide which part to be designated as the frame. In some cases, its
selection is obvious as the frame is attached to the ground. In this
problem, the large base is chosen as the frame. The motion of all other
links is determined relative to the base. The base is numbered as link 1.
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
3. Identify the Joints

Pin joints are used to connect these three different parts. These joints are
lettered A, B and C. In addition, the cutter slides up and down, along the
base. This sliding joint is lettered D.
Example 2
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.
5. Draw the Kinematic Diagram

The kinematic diagram is given:

Example 3
Figure shows a pair of

vice grip. Draw its
kinematic diagram.

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.

Link 2: Bottom handle
Link 3: Bottom jaw
Link 4: Bar that connects the top and bottom handle
Example 3

Four pin joints are used to connect
these different parts. These joints are
lettered A, B, C and D.

The motion of the end of the bottom jaw is desired, designated as points
of interest X.
The motion of the end of the lower handle is also desired, designated as
point of interest Y.


Mobility
An important property in mechanism

analysis is the number of degrees of
freedom (DOF) of the mechanism.
It is defined as the number of independent
inputs required to precisely position all links
of the mechanism with respect to the ground.
DOF also gives the information regarding
the number of actuators (input) needed to
drive the mechanism to produce a desired
motion.
The number of DOF of a mechanism is also
called the mobility and is given by the
symbol F.
Mobility
It is possible to determine the mobility of a mechanism

directly from the number of links and the number of joints
used to connect the links.
Consider a system of n unconnected links in a plane. Each
link will have 3 DOF, two translations and one rotation.
One link must be chosen as a frame, therefore its 3 DOF
will be removed. Thus there are 3n-3 = 3(n-1) DOF before
any joints are connected.
If the links are connected by jp of primary joints and jh of
higher-order joints, each primary joint will remove 2 DOF
from the system and each higher-order joint will remove 1
DOF from the system because primary joint has 1 DOF
and higher-order joint has 2 DOF.
Mobility
Therefore the remaining DOF of the mechanism is:
F = 3(n - 1) - 2jp - jh
n = number of links
jp = primary joints (pin or sliding joints)
jh = higher order joints (cam or gear joints)
This equation is called Gruebler's Equation. It is used to

calculate DOF of a planar mechanism.
Mechanism with 1 DOF is called constrained mechanisms.
Most mechanisms used in machines are constrained.

Mobility
Mechanism with 1 DOF is called

constrained mechanisms. Most common.
F=1
Mechanisms with zero DOF are called
locked mechanisms. These mechanisms
are unable to move and thus form a F=0
structure.
Mechanisms with more than 1 DOF are

called unconstrained mechanism. Need
more than one actuator to operate.
Commonly referred as open-loop
linkages/mechanisms. F=2
Mobility

Example 4
Figure shows a toggle clamp. Draw a

kinematic diagram, using the clamping
surface and the handle as points of
interest. Also determine the degrees of
freedom for the clamp.
The component that is bolted to the table is designated as the frame. The
motion of all other links is determined relative to this frame. The frame is
numbered as link 1.

Link 2: Handle
Link 3: Arm that serves as the clamping surface
Link 4: Bar that connects the clamping arm and handle
Example 4

Four pin joints are used to connect these different
parts. These joints are lettered A, B, C and D.

The motion of the clamping surface is desired, designated as point of
interest X.
The motion of the end of the handle is also desired, designated as point
of interest Y.


Example 4
6. Calculate Mobility
It is seen that there are four links, n = 4
There are also four pin joints, jp = 4
There are no higher-order joints, jh = 0
F = 3(n-1) 2jp jh = 3(4-1) 2(4) 0 = 1
With one degree of freedom, the clamp mechanism is constrained.

Moving only one link (the handle) precisely positions all other links in the
clamp.

Example 5
Figure shows a device that can be used to

shear material. Draw a kinematic diagram,
using the end of the handle and the cutting
edge as points of interest. Also, compute the
degrees of freedom for the shear press.
The base is bolted to a working surface and can be designated as the
frame. The motion of all other links is determined relative to this frame.
The frame is numbered as link 1.

Careful observation reveals two other moving parts:
Link 2: Gear/Handle
Link 3: Arm Cutting lever

Example 5

One pin connects the cutting lever to the frame (joint A).
A second pin connect the gear/handle to the cutting
lever (joint B). The gear/handle is also connected to the
frame with a gear joint (joint C).

The motion of the handle end is desired, designated as
point of interest X.
The motion of the cutting surfaces is also desired,
designated as point of interest Y.


Example 5
It is seen that there are three links, n = 3
There are also two pin joints, jp = 2
There is one gear joint, jh = 1
F = 3(n-1) 2jp jh = 3(3-1) 2(2) 1 = 1
With one degree of freedom, the shear press mechanism is constrained.

Moving only one link (the handle) precisely positions all other links and
brings the cutting edge onto the work piece.

Special Case of Mobility Equation
Coincident Joints
Some mechanisms have three links that are all connected at
a common pin joint. Physically, one pin may be used to
connect all three links. However, by definition, a pin joint
connects only two links. Thus, in analysis this commonly
pinned configuration must be modeled as two separate joints.
One joint will connect the first and second links. The second
joint will then connect the second and third links.
Three rotating links Two rotating and one sliding link

Special Case of Mobility Equation
Exception due to link sizes or shapes

Mobility equation does not account for link sizes or shapes; it can give
misleading. Consider a structure with five links and six pin joints . The
mobility equation, F=3(n-1)-2jp-jh = 3(5-1)-2(6)=0, predicts 0 DOF as
expected for a structure.
However, if all pivoted links have the same size, and the distance
between the joints on the frame and coupler are identical, this mechanism
would be able to move with 1 DOF as contrary to predicted value.
There are other examples of mechanisms that violate the Gruebler
equation because of unique geometry. Thus, a designer must be aware
that the mobility equation can, at times, lead to inconsistencies.

Example 8
Figure shows a mechanical press.

Draw a kinematic diagram, using the
end of the handle as a point of
interest. Also compute the degrees of
freedom.

The bottom base for the mechanical press sits on a workbench and
remains stationary during operation. Therefore this bottom base is
designated as the frame. The motion of all other links is determined
relative to this frame. The frame is numbered as link 1.

Example 8 C
B 4
2 3
E,F
2. Identify All Other Links A
Careful observation reveals six other moving parts:
Link 2: Handle 6
Link 3: Arm that connects the handle to the other arms 5
D
Link 4: Arm that connects the base to the other arms G
Link 5: Press head
1
Link 6: Arm that connects the head to the other arms

Joint A connects the handle to the base.
Joint B connects link 3 to the handle.
Joint C connects link 4 to the base.
Joint D connects link 6 to the press head.
A single pin connects link 3, 4 and 6 together at a common point, this must
be modelled as two separate joints (Joints E and F).
Sliding joint G connects the press head with the base.
Example 8 C
B 4
2 3
E,F
4. Identify Any Points of Interest A
The motion of the end of the handle is
desired, designated as point of interest X. 6
5
D
5. Draw the Kinematic Diagram G
The kinematic diagram is given: 1

Example 8
It is seen that there are six links, six pin joints and one slider joint.
n = 6; jp = 6 pins + 1 slider = 7; jh = 0
F = 3(n-1) 2jp jh = 3(6-1) 2(7) 0 = 1
With one degree of freedom, the mechanical press mechanism is

constrained. Moving only one link (the handle) precisely positions all other
links in the press, sliding the press head onto the work piece.

The Four-Bar Mechanism
The simplest and most common linkage is the four-bar

linkage. It is a combine of four links, one being designated
as the frame, and connected by four pin joints.
The mechanism for an automobile window wiper system
is an example of 4-bar linkage.
n = 4; jp = 4; jh = 0
F = 3(n-1) - 2jp - jh
= 3(4-1) -2(4) - 0 = 1

The Four-Bar Mechanism
Since the mechanism has 1 DOF, it is fully operated with

one driver (DC electric motor).
In mechanism, the pivoted link that is connected to the
driver or power source is called the crank or input link.
The pivoted link that is attached to the frame is
designated as output link, follower, rocker or lever.
The link that connects the crank and the lever is called
connecting rod or coupler.
Depending on the arrangement and the lengths of the
links, a four-bar mechanism can be classified as double
crank, crank-rocker, double rocker, change point
mechanism or triple rocker mechanism.

Four-Bar Mechanism
1. Double Crank
The double crank has the shortest link of the 4 bar
mechanism configured as the fixed link or frame. When one
of the pivoted links rotates continuously, the other pivoted link
also rotates continuously. Thus, the two pivoted links are both
able to rotate through a full revolution. Usually the shorter
links is chosen as an input link.

Four-Bar Mechanism
2. Crank-Rocker
For a crank-rocker mechanism, the shortest link of the
mechanism is a driver. When this shortest link continuously
rotates, the output link oscillates between limits. E.g.
windshield wiper.

Four-Bar Mechanism
3. Double Rocker
The double rocker has the link opposite to the shortest link
configured as the frame. Neither link connected to the frame
is able to complete a full revolution. Thus both input and
output links are constrained to oscillate or rock between limits.

Four-Bar Mechanism
4. Change Point Mechanism

A change point mechanism can be positioned such that all
the links become collinear. The most familiar type of change
point mechanism is a parallelogram linkage. The frame and
coupler are the same length, and the two pivoting links are
the same length.

Four-Bar Mechanism
5. Triple Rocker
None of the links in triple rocker are able to complete a full
revolution. All three moving links rock.

Slider-Crank Mechanism
Another mechanism that is commonly encountered is a

slider-crank. This mechanism also consists of combination of
four links with one being designated as the frame. However, it
is connected by 3 pin joints and one sliding joint. An example
of this mechanism is manual water pump.
n = 4; jp = 3 pins + 1 sliding; jh = 0
F = 3(n-1) - 2jp - jh
= 3(4-1) -2(4) - 0 = 1

Slider-Crank Mechanism
Since the mechanism has 1 DOF, it is fully operated with

one driver.
In general, the pivoted link connected to the frame and
activated by driver is called crank.
This link is not always capable of completing a full
revolution.
The link that translates is called the slider. This is
represented by piston/rod of the pump.
The coupler or connecting rod couples the motion of the
crank to the slider.

Homework
Draw a kinematic diagram of the mechanism. Specify the

number of links and the number of joints and calculate the
mobility for the mechanism.
(a) Lift platform (b) Backhoe

(Solution next slide)

END OF SUB-CHAPTER

Chapter 4 - Kinematics of Mechanisms - 1

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EME2056

Analyze the kinematics of practical mechanisms

(cognitive - analyzing, level 4)

EME2056 THEORY OF MACHINES 2

EME2056 THEORY OF MACHINES 3

Machines are devices used to alter, transmit, and direct

Mechanism is the mechanical part of a machine that has

EME2056 THEORY OF MACHINES 4

A mechanism can be an assemblage of rigid parts that are

E.g. The mechanism of an hydraulic

Mechanism analysis of the machine is required to ensure

EME2056 THEORY OF MACHINES 5

Kinematics deals with the way things move. It is a study of

EME2056 THEORY OF MACHINES 6

Consider the hydraulic platform. Design questions relevant

Consider the hydraulic platform. Dynamic force analysis

EME2056 THEORY OF MACHINES 8

A linkage is a mechanism where all parts are connected

EME2056 THEORY OF MACHINES 9

A simple link is a rigid body that

EME2056 THEORY OF MACHINES 10

A joint is a movable connection

EME2056 THEORY OF MACHINES 11

Cam joint and gear joint are called higher-order joint or

EME2056 THEORY OF MACHINES 12

A point of interest is a point on a link where the motion is of

EME2056 THEORY OF MACHINES 13

An actuator is the component that drives the mechanism.

EME2056 THEORY OF MACHINES 14

Identify all the connections used in

1. Bearings (revolute joint) connect the

EME2056 THEORY OF MACHINES 15

In analyzing the motion of a machine, it is difficult to

Simple link with

EME2056 THEORY OF MACHINES 17

EME2056 THEORY OF MACHINES 18

EME2056 THEORY OF MACHINES 19

Figure shows a shear that is used to cut and trim electronic

EME2056 THEORY OF MACHINES 20

1. Identify the Frame

2. Identify All Other Links

3. Identify the Joints

4. Identify Any Points of Interest

5. Draw the Kinematic Diagram

EME2056 THEORY OF MACHINES 22

Figure shows a pair of

1. Identify the Frame

2. Identify All Other Links

3. Identify the Joints

4. Identify Any Points of Interest

5. Draw the Kinematic Diagram

EME2056 THEORY OF MACHINES 24

An important property in mechanism

It is possible to determine the mobility of a mechanism

Therefore the remaining DOF of the mechanism is:

This equation is called Gruebler's Equation. It is used to

EME2056 THEORY OF MACHINES 27

Mechanism with 1 DOF is called

Mechanisms with more than 1 DOF are

EME2056 THEORY OF MACHINES 29

Figure shows a toggle clamp. Draw a

2. Identify All Other Links

3. Identify the Joints