The Science of Mechanics

ME222- Theory of Machines

B.Sc. Industrial Engineering & Management
Semester: 4th 2017-2021

Lecture: 05-A

Date: 17- October -2019

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 Types of Mechanical Joints
Eccentric Crank
On many mechanisms, the required length of a crank is so
short that it is not feasible to fit suitably sized bearings at the
two pin joints. A common solution is to design the link as an
eccentric crankshaft.
This is the design used in most engines and compressors.
The advantage of the eccentric crank is the large surface
area of the moving pin, which reduces wear.

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 Types of Mechanical Joints
Pin-in-a-Slot Joint
A common connection between links is a pin-in-a-slot joint.
This is a higher-order joint because it permits the two links to
rotate and slide relative to each other.

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 Types of Mechanical Joints
Screw Joint
A screw joint is typically modeled with a sliding.
However, only the relative translation between the screw and
nut is considered in planar kinematic analysis.

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 Find out the followings for All questions:

1. Total Number of Links

2. Number of Binary, Ternary and Quaternary links
3. Total Number of Joints, Full Joints and Half Joints
4. Total Number of Pairs
5. Name of Pairs
6. Degree of Freedom
7. Type of Chain

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 Question # 01

1. Total Number of Links= 06

2. Number of Binary= 6, Ternary and Quaternary links=0
3. Total Number of Joints= 7, Full Joints=6 and Half Joints=1
4. Total Number of Pairs= 5
5. Name of Pairs= Sliding
6. Degree of Freedom= 2
7. Type of Chain=
Constrained Kinematic Chain

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 Question # 02
1. Total Number of Links= 10
2. Number of Binary= 11, Ternary= 1 and Quaternary links=0
3. Total Number of Joints= 13, Full Joints= 13 and Half Joints=0
4. Total Number of Pairs= 7
5. Name of Pairs= Sliding, Turning
6. Degree of Freedom= 1
7. Type of Chain= Constrained Kinematic Chain

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 Question # 03
1. Total Number of Links= 06
2. Number of Binary=5, Ternary and Quaternary links=0
3. Total Number of Joints= 7, Full Joints=5 and Half Joints=2
4. Total Number of Pairs= 5
5. Name of Pairs= Sliding, Turning
6. Degree of Freedom= 3
7. Type of Chain= Constrained Kinematic Chain

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 Question # 04
1. Total Number of Links= 05
2. Number of Binary= 5, Ternary and Quaternary links=0
3. Total Number of Joints= 6, Full Joints=5 and Half Joints=1
4. Total Number of Pairs= 4.5
5. Name of Pairs= Sliding
6. Degree of Freedom= 1
7. Type of Chain= Constrained Kinematic Chain

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 D.O.F ------------ Examples

a
DOF= 3
b
DOF= 4
c
DOF=1

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 D.O.F ------------ Examples
d
DOF= 5
e
DOF= 2
f
DOF= 5
g
DOF= 3
h
DOF= 0

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 D.O.F ------------ Examples
c
DOF= 1
d
DOF= 4
e
DOF= -1
f
DOF= -1

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 Examples of DOF

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 Examples of DOF

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 Examples of DOF

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 Self- Test

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 Application of Kutzbach Criterion- Higher Pair

l=
j=
h=
n=

l=
j=
h=
n=

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 Application of Kutzbach Criterion- Higher Pair

l= 3
j= 2
h= 1
n= 1

l= 4
j= 3
h= 1
n= 2

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 DOF- Examples
Number or links L =
Number of joints J=
Number of ground link G=

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 DOF- Examples
Number or links L = 4
Number of joints J=4
Number of ground link G=1
Mobility= 01

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 DOF- Examples
Number or links L =
Number of Joints J=
Number of ground link G=

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 DOF- Examples
Number or links L = 09
Number of Joints J=12
Number of ground link G=1
Mobility= 0

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 Class Activity- Solution

Links: 06 Links: 08
Joints: 07 Joints: 10
Mobility: 01 Mobility: 01

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 01) Class Activity- Solution

Links: 07 Links: 04
Joints: 09 Joints: 04
Mobility: 01 Mobility: 01

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 02) Class Activity- Solution

Links: 04 Links: 06 Links: 04

Joints: 04 Joints: 07 Joints: 05(3+2)
Mobility: 01 Mobility:01 Mobility: 01

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 02) Class Activity- Solution

Links: 08
Joints: 10 Name of Pairs: ?????
Mobility: 01

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 02) Class Activity- Solution

Links: 06
Joints: 07 Name of Pairs: ?????
Mobility: 01

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 02) Class Activity- Solution

Links: 07
Joints: 08 (7+1) Name of Pairs: ?????
Mobility: 03

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 02) Class Activity- Solution

Links: 06
Joints: 07 Name of Pairs: ?????
Mobility: 01

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 02) Class Activity- Solution

Links: 13
Joints: 17 Name of Pairs: ?????
Mobility: 01

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 02) Class Activity- Solution

Links: 06 Links: 06
Joints: 07 Joints: 07
Mobility: 01 Mobility: 01

Multiple Joints: ??????

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 02) Class Activity- Solution

Links:11
Joints: 15
Mobility: 0

Multiple Joints: ??????

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 TOM- B.Sc (IEM)- 4th
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 Exercise- Class Activity

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 Solution- Exercise# 01

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 Solution- Exercise# 01

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 Exercise- Class Activity # 02

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 Solution- Exercise# 02

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 Solution- Exercise# 02

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 Kinematic Diagrams Symbols w.r.t DOF
 Analyzing the kinematics of mechanisms requires that we draw clear, simple,
schematic kinematic diagrams of the links and joints of which they are made.
 Joints can allow rotation, translation, or both between the links joined.
 The possible joint motions must be clear and obvious from the kinematic
diagram

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 Example- 01

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 Example- 02

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 Example- 03

l= 3
j= 3 (2+1)
n= 1
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 Example- 06

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 Example: 3

L= number of links = 6
J= number f full joints = 7.5  DOF = 0
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 Alternative Method for:
Binary Links, Ternary Links, Quaternary
Links
Joints

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 Exercise: 1
Determine the degrees of freedom of a six bar linkage.

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 Exercise: 1 (contd.)
There are four binary links and two ternary links (i.e.
link 1 & 3). The number of joints are (you can count
them directly or use the following formula)

According to Kutzbach equation:

M = 3 (6 – 1) – 2 x 7 = 1
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 Exercise: 2
Determine the degrees of freedom of a eight bar linkage.

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 Exercise: 2 (contd.)
There are five binary links (n2 = 5), two ternary links (n3 =
2) and one quaternary link (n4 = 1). Thus, number of
joints are

According to Kutzbach equation

M = 3 (8 – 1) – 2 x 10 = 1
Thus, this linkage has also one degree of freedom.

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 Exercise: 3
Determine the d.o.f or mobility of the planar mechanism
illustrated below

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 The link numbers and the joint types for the mechanism are
illustrated below. The number of links is n = 5, the number of
lower pairs is j1 = 5, and the number of higher pairs is h or j2
= 1. Substituting these values into the Kutzbach criterion, the
mobility of the mechanism is
M = 3 (5 – 1) – 2 x 5 – 1 = 1
that is, a single input motion is required to gives unique output
motion.

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 Exercise: 4
Determine the d.o.f or mobility of the planar mechanism
illustrated below

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 Exercise: 4 (contd.)
The number of links is n
= 5, the number of
lower pairs is j1 = 5,
and the number of
higher pairs is h or j2
= 1. Substituting
these values into the
Kutzbach criterion,
the mobility of the
mechanism is

M = 3 (5 – 1) – 2 x 5 – 1 = 1
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 Reference
http://www.mech.uwa.edu.au/DANotes/gears/home.html
http://shopswarf.orcon.net.nz/spur.html
Creating an involute gear.
http://www.cadquest.com/books/mechanism_24.htm

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