ME301
MECHANISMS
Course-2
Dr. Abdurrahim DAL
Basic Definations
Mechanisms may be categorized in several different ways to emphasize
their similaritiesa and differences. One such grouping divides mechanisms
intoLink
Planar mechanism : is one in which all particles describe planar curves in space,
and all these curves lie in parallel planes.
Spherical mechanism : is one in which all particles describe planar curves in
space, and all these curves lie in parallel planes.
Spatial mechanisms : include no restrictions on the relative motions of the links
Basic Definations
Planar mechanism : Spherical mechanism :
Basic Definations
Spatial mechanisms (Level screw mechanism)
Basic Definations
Simple parts of the Mechanisms
Base
Link
Joints
Basic Definations
Links
We can also define a link as the rigid connection between two or more joint
elements.
A link is assumed to be completely rigid.
Machine components that do not fit this assumption of rigidity, such as springs, usually
have no effect on the kinematics of a device but do play a role in supplying forces.
Such parts or components are not called links.
Basic Definations
Links
The links of a mechanism must be connected in some manner in order to transmit
motion from
the driver, or input,
to the driven, or follower, or output
Basic Definations
Links
Kinematic Pairs: The connections, the joints between the links, are called
kinematic pairs (or simply pairs).
Basic Definations
Links
We can classified the kinematic pairs as follows;
Open kinematic pairs
Closed kinematic pairs
Form closed
Force closed
Basic Definations
Links
We can also classified the kinematic pairs as follows;
Lower pairs : surface contact
Higher pairs : point contact
Basic Definations
Links
We can classified the kinematic pairs as follows;
Open kinematic pairs
Closed kinematic pairs
Form closed
Force closed
Basic Definations
Links
Types of Links
Basic Definations
Joints
The joint used for connection of the links. When several links are connected
together by joints
For a mechanism to be useful, the motions between links cannot be completely
arbitrary; they too must be constrained to produce the proper relative motions—
those chosen by the designer for the particular task to be performed.
Basic Definations
Joints
The desired relative motion could be achieved by proper choice of
The number of the links
Kinds of the joints
Basic Definations
Joints
The desired relative motion could be achieved by proper choice of
The number of the links
Kinds of the joints
Basic Definations
Joints
Types of the joints;
Revolute joints
Degree of freedom: 1- only one direction, θ
Basic Definations
Joints
Types of the joints;
Prismatic joints
Degree of freedom: 1- only one direction, s
Basic Definations
Joints
Types of the joints;
Cylinderical joints
Degree of freedom: 2- two direction
direction, s and θ
Basic Definations
Joints
Types of the joints;
Screw joints
Degree of freedom: 2- two direction
direction, s and θ
Basic Definations
Joints
Types of the joints;
Spherical joints
Degree of freedom: 3- three direction
direction, s, θ and φ
Basic Definations
Joints
Types of the joints;
Spherical joints
Degree of freedom: 3- three direction
direction, s, θ and φ
Basic Definations
Joints
Planar mechanisms include revolute and prismatic joints
Spherical mechanims include revolute and spherical joints.
Spatial mechanism include no restiction. They include all types of joints.
Basic Definations
Degrees-of-freedom (DOF) of Space
The number of independent parameters to define the position of a rigid body in
the space.
To define the rigid body, we need x1, y1,
x2 and y2
On the other hand, we could write an
equation
𝐿2 = 𝑥2 − 𝑥1 2 + 𝑦2 − 𝑦1 2
𝐷𝑂𝐹 𝑜𝑓 𝑠𝑝𝑎𝑐𝑒 = 𝑁𝑢𝑚 𝑜𝑓 𝑃𝑎𝑟. −𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑅𝑒𝑙𝑎𝑡𝑖𝑜𝑛
4−1 = 3
2D space (planar space) has 3-degrees of
freedom
Basic Definations
Degrees-of-freedom (DOF) of Space
The number of independent parameters to define the position of a rigid body in
the space.
To define the rigid body, we need
x1, y1, z1
x2, y2, z2
x3, y3, z3
𝐿12 2 = 𝑥2 − 𝑥1 2 + 𝑦2 − 𝑦1 2 + 𝑧2 − 𝑧1 2
𝐿13 2 = 𝑥3 − 𝑥1 2 + 𝑦3 − 𝑦1 2 + 𝑧3 − 𝑧1 2
𝐿23 2 = 𝑥3 − 𝑥2 2 + 𝑦3 − 𝑦2 2 + 𝑧3 − 𝑧2 2
𝐷𝑂𝐹 𝑜𝑓 𝑠𝑝𝑎𝑐𝑒 = 𝑁𝑢𝑚 𝑜𝑓 𝑃𝑎𝑟. −𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑅𝑒𝑙𝑎𝑡𝑖𝑜𝑛
9−3 = 6
3D space (spatial space) has 6-degrees of
freedom
Basic Definations
Degrees-of-freedom (DOF) of Space
The number of independent parameters to define the position of a rigid body in
the space.
Basic Definations
Degrees-of-freedom (DOF) of Kinematic pairs
The number of independent parameters required to determine relative position
of the one rigid body with respect to the other.
𝐷𝑂𝐹 𝑜𝑓 𝑘𝑖𝑛𝑒𝑚𝑎𝑡𝑖𝑐 𝑝𝑎𝑖𝑟
= 𝐷𝑂𝐹 𝑜𝑓 𝑠𝑝𝑎𝑐𝑒
− 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡ℎ𝑒 𝑓𝑟𝑒𝑒𝑑𝑜𝑚 𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑒𝑑 𝑏𝑦 𝑡ℎ𝑒 𝑗𝑜𝑖𝑛𝑡𝑠
For 2D-case; DOF of the space is 3
For 3D-case; DOF of the space is 6
Basic Definations
Degrees-of-freedom (DOF) of Kinematic pairs
Example: A Revolute joints (in 3D space)
6−5 = 1
DOF of the revolute joints
𝐷𝑂𝐹 𝑜𝑓 𝑘𝑖𝑛𝑒𝑚𝑎𝑡𝑖𝑐 𝑝𝑎𝑖𝑟
= 𝐷𝑂𝐹 𝑜𝑓 𝑠𝑝𝑎𝑐𝑒
− of
For 2D-case; DOF 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓is𝑡ℎ𝑒
the space 3 𝑓𝑟𝑒𝑒𝑑𝑜𝑚 𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑒𝑑 𝑏𝑦 𝑡ℎ𝑒 𝑗𝑜𝑖𝑛𝑡𝑠
For 3D-case; DOF of the space is 6
Basic Definations
Degrees-of-freedom (DOF) of Kinematic pairs
Example: A Revolute joints (in 2D space)
3−2 = 1
DOF of the revolute joints
𝐷𝑂𝐹 𝑜𝑓 𝑘𝑖𝑛𝑒𝑚𝑎𝑡𝑖𝑐 𝑝𝑎𝑖𝑟
= 𝐷𝑂𝐹 𝑜𝑓 𝑠𝑝𝑎𝑐𝑒
− of
For 2D-case; DOF 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓is𝑡ℎ𝑒
the space 3 𝑓𝑟𝑒𝑒𝑑𝑜𝑚 𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑒𝑑 𝑏𝑦 𝑡ℎ𝑒 𝑗𝑜𝑖𝑛𝑡𝑠
For 3D-case; DOF of the space is 6
Basic Definations
Degrees-of-freedom (DOF) of Kinematic pairs
Example: A prismatic joints (in 3D space)
6−5 = 1
DOF of the revolute joints
𝐷𝑂𝐹 𝑜𝑓 𝑘𝑖𝑛𝑒𝑚𝑎𝑡𝑖𝑐 𝑝𝑎𝑖𝑟
= 𝐷𝑂𝐹 𝑜𝑓 𝑠𝑝𝑎𝑐𝑒
− of
For 2D-case; DOF 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓is𝑡ℎ𝑒
the space 3 𝑓𝑟𝑒𝑒𝑑𝑜𝑚 𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑒𝑑 𝑏𝑦 𝑡ℎ𝑒 𝑗𝑜𝑖𝑛𝑡𝑠
For 3D-case; DOF of the space is 6
Basic Definations
Degrees-of-freedom (DOF) of Kinematic pairs
Example: A prismatic joints (in 2D space)
3−2 = 1
DOF of the revolute joints
𝐷𝑂𝐹 𝑜𝑓 𝑘𝑖𝑛𝑒𝑚𝑎𝑡𝑖𝑐 𝑝𝑎𝑖𝑟
= 𝐷𝑂𝐹 𝑜𝑓 𝑠𝑝𝑎𝑐𝑒
− of
For 2D-case; DOF 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓is𝑡ℎ𝑒
the space 3 𝑓𝑟𝑒𝑒𝑑𝑜𝑚 𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑒𝑑 𝑏𝑦 𝑡ℎ𝑒 𝑗𝑜𝑖𝑛𝑡𝑠
For 3D-case; DOF of the space is 6
Basic Definations
Degrees-of-freedom (DOF) of Kinematic pairs
Example: A spherical joints (in 3D space)
6−3 = 3
DOF of the revolute joints
𝐷𝑂𝐹 𝑜𝑓 𝑘𝑖𝑛𝑒𝑚𝑎𝑡𝑖𝑐 𝑝𝑎𝑖𝑟
= 𝐷𝑂𝐹 𝑜𝑓 𝑠𝑝𝑎𝑐𝑒
− of
For 2D-case; DOF 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓is𝑡ℎ𝑒
the space 3 𝑓𝑟𝑒𝑒𝑑𝑜𝑚 𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑒𝑑 𝑏𝑦 𝑡ℎ𝑒 𝑗𝑜𝑖𝑛𝑡𝑠
For 3D-case; DOF of the space is 6
Basic Definations
Degrees-of-freedom (DOF) of Kinematic pairs
Basic Definations
Degrees-of-freedom (DOF) of Kinematic pairs
Basic Definations
Number of Degrees-of-freedom (DOF) of Mechanisms / Mobility
DOF of the mechanism is number of the independent parameters that is required
to define of the position of the link in a mechanism.
it is possible to determine the mobility of a mechanism directly from a count of
the number of links and the number and types of joints comprising the
mechanism.
DOF of a mechanism could be calculated with following equation
𝐹 =3 𝑙−𝑗−1 + 𝑓𝑖
𝑖=1
Basic Definations
Number of Degrees-of-freedom (DOF) of Mechanisms / Mobility
𝐹 =3 𝑙−𝑗−1 + 𝑓𝑖
𝑖=1
F : degrees of freedom of mechanism
l : number of the link in the mechanism
j : number of the joints
𝒇𝒊 : degree of the freedom of ith joint
Basic Definations
Number of Degrees-of-freedom (DOF) of Mechanisms / Mobility
Example: A slider-crank mechanism
Basic Definations
Number of Degrees-of-freedom (DOF) of Mechanisms / Mobility
Solution: A slider-crank mechanism
𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑙𝑖𝑛𝑘, 𝑙 = 4 𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑗𝑜𝑖𝑛𝑡𝑠, 𝑗 = 4, 3𝑅 𝑗𝑜𝑖𝑛𝑡𝑠, 1𝑃 𝑗𝑜𝑖𝑛𝑡𝑠
𝑡𝑜𝑡𝑎𝑙 𝐷𝑂𝐹 𝑜𝑓 𝑗𝑜𝑖𝑛𝑡𝑠, 𝑓𝑖 =(1+1+1)+1=4
𝑗
𝐹 =3 𝑙−𝑗−1 + 𝑓𝑖 𝐹 =3 4−4−1 +4 =1 𝑫𝑶𝑭 = 𝟏
𝑖=1
Basic Definations
Number of Degrees-of-freedom (DOF) of Mechanisms / Mobility
Example: A four-bar mechanism
Basic Definations
Number of Degrees-of-freedom (DOF) of Mechanisms / Mobility
Example: A four-bar mechanism
Basic Definations
Number of Degrees-of-freedom (DOF) of Mechanisms / Mobility
Solution: A slider-crank mechanism
𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑙𝑖𝑛𝑘, 𝑙 = 4
𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑗𝑜𝑖𝑛𝑡𝑠, 𝑗 = 4,
4𝑅 𝑗𝑜𝑖𝑛𝑡𝑠,
𝑡𝑜𝑡𝑎𝑙 𝐷𝑂𝐹 𝑜𝑓 𝑗𝑜𝑖𝑛𝑡𝑠, 𝑓𝑖 =(1+1+1+1)=4
𝑗
𝐹 =3 𝑙−𝑗−1 + 𝑓𝑖
𝑖=1
𝐹 =3 4−4−1 +4 =1
𝑫𝑶𝑭 = 𝟏