MEC 302

Theory of Machines
Mechanisms
Synthesis of Mechanisms
Kinematics of Mechanisms
Design of Mechanisms

Dynamics of Machinery
Degree of freedom (DOF)
Number of independent coordinates needed to define position of
body at any time.

1 rotational motion in
the plane
2 translational motions
along x and y axis
The number of degree
of freedom is 3

How many DOF does a body in three-space (3-D) have?

Definitions
Mechanisms: A group of rigid bodies connected to each other with rigid
joints to transmit the motion.

In a mechanism, at least one link has to be grounded, or attached, to the frame

of reference (which itself may be in motion)

Machine: A combination of resistant bodies arranged to compel the

mechanical forces of nature to do work accompanied by determinate motions.

A machine may consist of one or more than one mechanism.

All of the above contain linkages

which consist of:
•Links Four bar (4B)
•Joints Mechanism
Links
Are assumed to be rigid bodies
Have nodes for attachment
Can be any shape (not just those shown)
Link order = number of nodes
Joint
types

Joints
allow
DOF
between
links
 Classification of joints
According to the contact type
Lower pair Higher pair
According to the connection type
Force-closed
Form-closed

A form-closed joint is kept together or closed by its geometry. A pin in a hole or a slider
in a two-sided slot is form closed. In contrast, a force-closed joint, such as a pin in a
half-bearing or a slider on a surface, requires some external force to keep it together or
closed. This force could be supplied by gravity, a spring, or any external means.
Mechanism-Kinematic diagram- Kinematic chain

Press Mechanism Kinematic diagram Kinematic chain

Kinematic diagram is a sketch that illustrates the connectivity of links and joints of a
mechanism rather than the dimensions or shape of the parts. Links are presented as geometric
objects, such as lines, triangles or squares.

Kinematic chain is an abstraction and defined as an assembly of rigid bodies connected by joints to
provide constrained (or desired) motion. At this level of abstraction, too many mechanisms can have
the same kinematic chain.
Degree of freedom in planar mechanisms
To determine the overall DOF (or mobility) of any mechanism, we must account for the number of
links and joints, and for the interactions among them. The DOF of any assembly of links can be
predicted from an investigation of the Gruebler condition.

Gruebler’s equation: M =3L−2J −3G (2.1a)

M = degree of freedom or mobility

L = number of links
J = number of joints
G = number of grounded links
Note that in any real mechanism, even if more than one link of the kinematic chain is grounded, the net
effect will be to create one larger, higher-order ground link, as there can be only one ground plane. Thus
G is always one, and Gruebler’s equation becomes:

M =3(L−1)−2J (2.1b)
The value of J in equations 2.1a and 2.1b must reflect the value of all joints in the mechanism. That is,
half joints count as 1/2 because they only remove one DOF. It is less confusing if we use Kutzbach’s
modification of Gruebler’s equation in this form:

M =3(L−1)−2J1 −J2 (2.1c)

J1 = number of 1 DOF (full) joints
J2 = number of 2 DOF (half) joints
Open and closed mechanisms
It must be noted that kinematic chains or mechanisms may be either open or closed.
Following figure shows both open and closed mechanisms.
A closed mechanism will have no open attachment points or nodes and may have one or
more degrees of freedom.
An open mechanism of more than one link will always have more than one degree of
freedom, thus requiring as many actuators (motors) as it has DOF. A common example of
an open mechanism is an industrial robot.

In this course, planer and closed mechanisms are considered.

 Mechanisms and structures

Fourbar Linkage Delta Triplet (Truss)

M = 3 (L-1) –2(J1) – J2 = 3(7-1) –2(9) – 0 = 0

A statically determinate (isostatic) structure

is one that is stable and all unknown reactive
forces can be determined from the equations of
equilibrium alone (DOF=0). A statically
indeterminate (hyperstatic) structure is one that
A statically determinate structure is stable but contains more unknown forces than
available equations of equilibrium (DOF<0).
Applying Mobility Equations - 1

M = 3 (L-1) –2(J1) – J2 = 3(8-1) –2(10) – 0 = 1

Applying Mobility Equations - 2

M = 3 (L-1) –2(J1) – J2 = 3(6-1) –2(7) – 1 = 0

Gruebler Paradoxes
Binary links are not parallel to each other.
The system is a structure.
M = 3 (L-1) –2(J1) – J2 =
3(5-1) –2(6) – 0 = 0

Binary links are parallel to each other and

are of the same length. An extra link is
used. The system is a mechanism. Mobility
needs a correction then Me=1.
M=0+Me=1
If two extra links are used, then Me=2.

M = 3 (L-1) –2(J1) – J2 =3(3-1) –2(3) – 0 = 0

If there is a rolling without slipping between
two cylinders, the joint between the
cylinders is taken into accout as higher pair.
Then, the mobility: M = 3(3-1) –2(2) – 1 = 1
The same situation is true for gears.
Gruebler Paradoxes

M = 3 (L-1) –2(J1) – J2 =
3(4-1) –2(3) – 1 = 2
Cam mechanisms

s2 is the rotational coordinate of link 4. This rotation does not contribute to the function
of the mechanism. The roller is used to avoid abrasion problems caused by friction.

In this stuation, Mc is the number of the roller follower in the mechanism.

M = 3(4 – 1) –2(3) – 1 = 2 – Mc=2 – 1=1

 Number Synthesis - Possible Mechanisms
If all joints are full joints (or lower pairs) in a 1-DOF mechanism, this mechanism has
an even number of links.

M = 3 (L-1) –2(J1) – J2, M=1 and J2=0 3(L) –2(J1) – 4=0

Mechanisms that have the same number of links may have different input-output
relationships. These mechanisms are called isomers.
Depending on the particular connections of available links, the assembly will have
different motion properties.
Isomers for 4 and 6 - link mechanisms
Inversions
An inversion is created by grounding a different link in the kinematic
chain. Thus there are as many inversions of a given linkage as it has
links.
• Inversions result from grounding different links in the chain.
• So, there are as many inversions as links.
• Not all inversions will have unique kinds of motion.
• For example, a Grashof Fourbar has only 3 distinct inversions, 2
crank-rockers, 1 double-crank, and 1 double-rocker.
Inversions of the sixbar linkage
The Grashof condition
The fourbar linkage (4B) has been shown to be the simplest possible pin-jointed
mechanism for single-degree-of-freedom controlled motion. It also appears in various
types such as the slider-crank and the cam-follower.

Double-crank Crank-rocker Double-rocker

The Grashof condition
The motions possible from a fourbar linkage will depend on both the Grashof condition
and the inversion chosen. The inversions will be defined with respect to the shortest link.

Uncertainty configuration
 Geared Fivebar Linkage

M = 3(5 – 1) – 2(5) – 0 = 2 M = 3(5 – 1) – 2(5) – 1 = 1

Problems

L=8
J1=10
J2=0
M = 3 (L-1) –2(J1) – J2
M=3(8-1)-2x10-0=21-20
=1 1-DOF
Problems
L=8
J1=10
J2=0
M = 3 (L-1) –2(J1) – J2
M=3x7-2x10-0=1 1 DOF

Nuremberg scissors

L=6
J1=6
J2=1
M = 3 (L-1) –2(J1) – J2
Mc=1 Number of roller follower
M=3x5-2x6-1=15-12-1=2-Mc=2-1=1
1 DOF
Problems
L=6
J1=7
J2=0
M = 3 (L-1) –2(J1) – J2
M=3x5-2x7-0=1 1 dof

Stone breaking mechanism

L=6
J1=6
J2=1
M = 3 (L-1) –2(J1) – J2
Mc=1
M=3x5-2x6-1=15-12-1=2-Mc=2-1=1
1 dof
Problems
L=7
J1=9
J2=0
M = 3 (L-1) –2(J1) – J2
Me=1 Link 6 is an extra member and is
used due to buckling problem
M=3x6-2x9-0=18-18=0
M=0+Me=1 1 dof

1
L=8
J1=9
J2=1
M = 3 (L-1) –2(J1) – J2
Mc=1
M=3x7-2x9-1=21-18-1=2-Mc=2-1=1

1 dof
Stamping mechanism
Problems

L=6
J1=7
J2=0
M = 3 (L-1) –2(J1) – J2
M=3x5-2x7-0=15-14=1 1 dof

Hinge mechanism

L=6
J1=7
J2=0
M = 3 (L-1) –2(J1) – J2
M=3x5-2x7-0=1 1 dof

Dough-Kneading Mechanism