MET 31500: Applied Mechanism Kinematics and Dynamics

Course Project Description

Mechanisms:
The Art and Science of Motion
 Project Overview
The Chebyshev Lambda linkage is a classical four-bar mechanism historically designed to transform a
rotational motion into an approximately straight-line motion. Today, variants of this linkage are widely used as
foundational leg architectures in bio-inspired walking robots.

[Link]
/met315/
 Project Overview
The Chebyshev Lambda linkage is a classical four-bar mechanism historically designed to transform a
rotational motion into an approximately straight-line motion. Today, variants of this linkage are widely used as
foundational leg architectures in bio-inspired walking robots.
 Project Overview
Mechanism Parameters and Notation
The mechanism consists of four revolute joints, denoted as A, B, C, and D:
• Joint A connects the ground and link AB.
• Joint B connects link AB and link BC.
• Joint C connects link BC and link CD.
• Joint D connects link CD and the ground.
The link vectors and their magnitudes are defined as follows:
• Link AB: vector a (from A to B), with magnitude a.
• Link BC: vector b (from B to C), with magnitude b.
• Link CD: vector c (from D to C), with magnitude c.
• Link AD: vector d (from A to D), with magnitude d.
Point P is fixed on link BC. Its position is defined by vector p (from B to P), 𝑦𝑦 𝛼𝛼
with magnitude p, and the angle α = ∠𝐶𝐶𝐶𝐶𝐶𝐶.
𝜃𝜃3
A fixed reference frame is attached to the ground, as shown in the figure. The
angular positions of links AB, BC, and CD are denoted as 𝜃𝜃2 , 𝜃𝜃3 , and 𝜃𝜃4 , 𝜃𝜃2 𝜃𝜃4
respectively. Link AB is the input link, rotating at a constant angular velocity 𝑥𝑥
of 𝜔𝜔2 = 10 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠 (counterclockwise), and link CD serves as the output link.
 Project Overview
Learning Objectives
In this project, you will analyze the Chebyshev Lambda linkage. By altering the proportions of the coupler,
this single linkage can generate a wide range of coupler curves – from a "D-shape" path (with a near-
straight segment) to "elliptical" or "waterdrop" shapes. The project is designed to develop the following
skills:
1. Determining mechanism mobility and verifying Grashof criteria.
2. Calculating motion characteristics of a mechanism.
3. Perform position analysis using non-linear vector loop equations.
4. Conducting velocity analysis.
5. Generating and plotting coupler curves (path generation).
6. Modeling and simulating mechanisms in CAD.
7. Prototyping and experimentally validating a linkage.
Deliverables
Submit a compiled project report in Word or PowerPoint format containing the requested deliverables for
all tasks. Video(s) may be submitted together with the report. Presentations are no longer required.
Deadline
11:59 PM, Monday, May 4th, 2026
 Required Tasks
Task 1: Mobility and Grashof Analysis (5%)
• Determine the degrees of freedom of the linkage.
• Apply the Grashof criterion using sample dimensions 𝑎𝑎 = 10 𝑐𝑐𝑐𝑐, 𝑏𝑏 = 𝑐𝑐 = 25 𝑐𝑐𝑐𝑐, and 𝑑𝑑 = 20 𝑐𝑐𝑐𝑐 to
classify the mechanism (e.g., crank-rocker, double-crank, double-rocker).
Deliverable: The solution.
 Required Tasks
Task 2: Motion Characteristics Calculation (10%)
Using the sample dimensions 𝑎𝑎 = 10 𝑐𝑐𝑐𝑐, 𝑏𝑏 = 𝑐𝑐 = 25 𝑐𝑐𝑐𝑐, and 𝑑𝑑 = 20 𝑐𝑐𝑐𝑐 to determine:
• The two extreme positions of the rocker.
• The time ratio Q.
• The minimum and maximum transmission angles.
Deliverable: The solution.
 Required Tasks
Task 3: Position Analysis of Point C (10%)
Provide an analytical proof that point C on link CD follows a circular path.
Deliverable: The analytical proof.

𝑦𝑦
𝒃𝒃
𝒄𝒄

𝒂𝒂
𝑥𝑥
𝒅𝒅
 Required Tasks
Task 4: Position Analysis of Point P (15%)
Derive analytical solutions for the coordinates of point P (𝑥𝑥𝑃𝑃 , 𝑦𝑦𝑃𝑃 ) in the fixed reference frame Axy as
functions of 𝜃𝜃2 only. The final expressions must not include 𝜃𝜃3 or 𝜃𝜃4 . Assume 𝐵𝐵𝐵𝐵 = 𝑝𝑝 and α = ∠𝐶𝐶𝐶𝐶𝐶𝐶 = 0°.
Hint: The tangent half-angle substitution (Weierstrass substitution) may be used.
Deliverable: The analytical solutions for the coordinates of point P (𝑥𝑥𝑃𝑃 , 𝑦𝑦𝑃𝑃 ).

𝒑𝒑

𝑦𝑦
𝒃𝒃
𝒄𝒄
𝜃𝜃3

𝒂𝒂 𝜃𝜃2 𝜃𝜃4
𝑥𝑥
𝒅𝒅
 Required Tasks
Task 5: Velocity Analysis (15%)
Given the sample dimensions 𝑎𝑎 = 10 𝑐𝑐𝑐𝑐, 𝑏𝑏 = 𝑐𝑐 = 25 𝑐𝑐𝑐𝑐, 𝑑𝑑 = 20 𝑐𝑐𝑐𝑐, compute the angular velocity of
link BC (denoted as 𝜔𝜔3 ) and the angular velocity of link CD (denoted as 𝜔𝜔4 ) using the base point approach
when 𝜃𝜃2 = 120°.
Deliverable: The solutions for 𝜔𝜔3 and 𝜔𝜔4 .

𝐶𝐶

𝐵𝐵 𝜃𝜃3

𝜃𝜃2 𝜃𝜃4
𝐴𝐴
𝐷𝐷
 Required Tasks
Task 6: Path Generation (5%)
Using the Chebyshev Lambda Simulator to identify one configuration that produce a “D-shaped” path and
another that produces a “waterdrop-shaped” path for point P on link BC. For each case, provide a
screenshot of the linkage and the corresponding path and the values of p (BP) and α (∠𝐶𝐶𝐶𝐶𝐶𝐶).
Deliverable: The two screenshots. For each screenshot, please specify the following parameters: a, b, c, d, p
(BP) and α (∠𝐶𝐶𝐶𝐶𝐶𝐶).
 Required Tasks
Task 7: CAD Modeling and Simulation (20%)
Develop a 3D CAD model of the linkage corresponding to the “waterdrop” path identified in Task 6.
Simulate the mechanism and plot the resulting coupler curve.
Deliverable: A few screenshots of the 3D CAD model when simulated to plot the “waterdrop” path.
 Required Tasks
Task 8: Prototype Development (20%)
Fabricate a physical prototype of the linkage designed in Task 7 using wood, metal, or 3d-printed plastic
components. A pen should be mounted at point P to trace the “waterdrop” path. Optionally, install a knob
at point B to facilitate manual operation of the mechanism.
Deliverable: A few picture of the fully assembled prototype, including the pen mounted and the “waterdrop”
path drawn.
A video showing the operation of the mechanism when drawing complete “waterdrop” path.