MAE 342 – Dynamics of Machines

Types of Mechanisms

Classification of Mechanisms by
type and mobility

MAE 342 – Dynamics of Machines 2

Planar, Spherical and Spatial Mechanisms

• Planar Mechanisms: all points on each
part move only in .

Image from Technische Universität Ilmenau.

Image from Northern Tool + Equipment Catalog Co.

Images from Tiptop Industry Co., Ltd.

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 MAE 342 – Dynamics of Machines 3

Planar, Spherical and Spatial Mechanisms

• Spherical Mechanisms: all points on each
part move only in .

Image from Maarten Steurbaut.

Images from the Laboratory for the Analysis and

Synthesis of Spatial Movement.

Images from Laboratoire de robotique, Université Laval.

MAE 342 – Dynamics of Machines 4

Planar, Spherical and Spatial Mechanisms

• Spatial Mechanisms: points on each part
can move in any direction in 3-dimensional
space.

Image from the Kinematic Models for Design Digital

Library, Cornell University.

Image from [Link].

Image from Slika

Image from the Special Session on Computer Aided

Linkage Synthesis, ASME DETC 2002.

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Mobility
• Degrees of freedom (DOF) is:
the number of independent controls
needed to position a body. Mathematically it
is the number of independent variables
needed to specify the position of a body.

A planar body has ___ DOF.

A spherical body has ___ DOF.

A spatial body has ___ DOF.

MAE 342 – Dynamics of Machines 6

Mobility
• Mobility is:
the number of degrees of freedom of a mechanism.

If the number of planar bodies is n (and there are no joints) the

mobility is ______ .

If one of the bodies is fixed, the mobility is ________ .

If the number of spatial bodies is n (and there are no joints) the

mobility is ______ .

If one of the bodies is fixed, the mobility is ________ .

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 MAE 342 – Dynamics of Machines 7

Mobility
• Each type of joint imposes a certain number
constraints
(i.e., takes away a certain number of DOF
from mechanism):
Planar Mechanism
Type of Joint variables DOF DOF removed
Revolute

Prismatic

Cam

Gear

MAE 342 – Dynamics of Machines 8

Mobility

Figure from Uicker et al., Theory of Machines and Mechanisms

a) Revolute joint (R) – Circular motion

b) Prismatic joint (P) – Rectilinear motion
c) Screw joint (S) – Helical motion
d) Cylindrical joint (C) – Cylindrical motion Figure from Unigraphics on-line documentation.
e) Spherical joint (G) – Spherical motion
f) Flat joint (F) – Planar motion

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 MAE 342 – Dynamics of Machines 9

Mobility
Spatial Mechanism
Type of Joint variables DOF DOF removed

Revolute

Prismatic

Screw

Cylinderical

Spherical

Flat/Planar

MAE 342 – Dynamics of Machines 10

Mobility
• “Kutzbach Criteria” for mobility (m) of:

planar mechanisms:
m=

spatial mechanisms:
m=

where:

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 MAE 342 – Dynamics of Machines 11

Mobility
• In Kutzbach criteria
a) If m > 0

b) If m = 0

c) if m < 0

MAE 342 – Dynamics of Machines 12

Mobility
• What is the mobility in these examples?
a)

b)

c)

d)

Figures from Uicker et al., Theory of Machines and Mechanisms, 2003

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 MAE 342 – Dynamics of Machines 13

Mobility
• What is the mobility in these examples?
a)

b)

c)

d)

Figures from Uicker et al., Theory of Machines and Mechanisms, 2003

MAE 342 – Dynamics of Machines 14

Mobility
• Exceptions to the rule!

Certain geometric conditions

Different parts of a linkage can have

different mobilities.

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 MAE 342 – Dynamics of Machines 15

Torfason’s Classification of Mechanisms

• Snap-Action Mechanisms
• Linear Actuators
• Fine Adjustments
• Clamping Mechanisms
• Locational Devices
• Ratchets and Escapements
• Indexing Mechanisms
• Swinging or Rocking Mechanisms
• Reciprocating Mechanisms
• Reversing Mechanisms
• Couplings and Connectors
• Stop, Pause, and Hesitation Mechanisms
• Curve Generators
• Straight-Line Generators
• …

MAE 342 – Dynamics of Machines 16

Kinematic Inversion
• You can pick different links to be the
fixed link – this is “kinematic inversion”

Figures from Uicker et al., Theory of Machines and Mechanisms, 2003

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 MAE 342 – Dynamics of Machines 17

Grashof’s Law
• In a four bar linkage, if you want to be able
to sit on one link and have some other link
rotate 360° relative to you, then:

where:
s is the length of:

l is the length of:

p, q are the lengths of:

MAE 342 – Dynamics of Machines 18

Grashof’s Law

Figures from Uicker et al., Theory of Machines and Mechanisms, 2003