Kinematics

Fundamentals
Chapter 2
Definitions
Mechanisms
A device which transform motion to some
desirable pattern and typically develop
very low forces and transmits little power
Machine
Typically contains mechanism which are
design to provide significant forces and
transmit significant power
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Kinematics
Fundamentals
Degree of Freedom (DOF)
The systems DOF equal to the number of
independent parameters(measurement)
which are needed to uniquely define its
position in space at any time
Kinematics
Fundamentals
Types of Motion
Pure translation
Pure rotation
Complex motion
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
A link is an rigid body which possesses at
least two nodes which are points for
attachment to other links
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
A joints (kinematic pairs) is a connection
between two or more links, which allows some
motion, or potential motion, between the
connected links
Classification
Type of contact between the elements, line, point,
or surface
Number of DOF allowed at the joint
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Classification
Type of physical closure of the joint
Number of links joined
Type of Contact
Lower pair (full joints)
Describe joints with surface contact
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Type of Contact
Lower pair
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Type of Contact
Higher pair
Describe joints with point or line contact
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Number of DOF allowed Joint
One DOF (full joint)
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Number of DOF allowed Joint
Two DOF (half joint/roll-slide)
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Type of Physical Closure
Form closed- closed by its geometry
Force closed- closed by an external force
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Number of links joined
Order of the joint: the number of links minus one
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Kinematic Chain
An assemblage of links and joints, interconnected
in a way to provide a controlled output motion in
response to a supplied input motion
Mechanism
A kinematic chain in which at least one link has
been grounded, or attached, to the frame of
reference
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Machine
A combination of resistant bodies arranged
to compel the mechanical forces of nature to
do work accompanied by determinate
motions
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Ground
Any link or links that are fixed with respect to
the reference frame
Crank
A link which makes a complete revolution
and is pivoted to ground
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Rocker
A link which has oscillatory (back and forth)
rotation and pivoted to ground
Kinematics
Fundamentals
Links, Joints, and Kinematic Chains
Coupler
A link which has complex motion and is
pivoted to ground
Kinematics
Fundamentals
Determining DOF
DOF or Mobility
The number of inputs which need to be
provided in order to create a predictable
output
The number of independent coordinates
required to define its position
Open or Closed
Dyads
Kinematics
Fundamentals
Determining DOF
DOF in Planar Mechanisms
Grueblers Equation
where
M = degree of freedom or mobility
L = number of links
J = number of joints
G = number of grounded links
G J L M 3 2 3
Kinematics
Fundamentals
Determining DOF
DOF in Planar Mechanisms
Grueblers Equation
If more than one link is grounded, the net
effect will be to create one larger, higher-
order ground link. G is always one, therefore
G J L M 3 2 3
J L M 2 1 3
Kinematics
Fundamentals
Determining DOF
DOF in Planar Mechanisms
Kutzbach Equation
Include full and half joints
where
M = degree of freedom or mobility
L = number of links
J
1
= number of 1 DOF (full) joints
J
2
= number of 2 DOF (half) joints

2 1
2 1 3 J J L M
Kinematics
Fundamentals
Kinematics
Fundamentals
Kinematics
Fundamentals
Mechanisms and Structures
The DOF of an assembly of links
completely predicts its character
If the DOF is positivemechanism
If the DOF is zerostructure
If the DOF is negative preloaded structure
Kinematics
Fundamentals
Number Synthesis
The determination of the number and
order of links and joints necessary to
produce motion of a particular DOF
Kinematics
Fundamentals
Paradoxes
Kinematics
Fundamentals
Isomers
Kinematics
Fundamentals
Linkage Transformation
Revolute joints in any loop can be replaced by
prismatic joints with no change in DOF of the
mechanism, provided that at least two revolute
joints remain in the loop
Kinematics
Fundamentals
Linkage Transformation
Any full joint can be replaced by a half
joint, but this will increase the DOF by
one
Removal of a link will reduce the DOF by
one
The combination of rules 2 and 3 above
will keep the original DOF unchanged
Kinematics
Fundamentals
Linkage Transformation
Kinematics
Fundamentals
Linkage Transformation
Any ternary or higherorder link can be partially
shrunk to a lowerorder link by coalescing
nodes. This will create a multiple but will not
change the DOF at the mechanism
Kinematics
Fundamentals
Linkage Transformation
Complete shrinkage of a higher-order link is
equivalent to its removal. A multiple joint will be
created, and the DOF will be reduced
Kinematics
Fundamentals
Intermittent Motion
Is a sequence of
motions and dwells
Dwell; is a period in which
the output link remains
stationary while the input
link continues to move
Geneva Mechanism
Kinematics
Fundamentals
Intermittent Motion
Ratchet and Pawl
Kinematics
Fundamentals
Intermittent Motion
Linear Geneva Mechanism
Kinematics
Fundamentals
Inversion
An inversion is created by grounding a
different link in the kinematic chain
Kinematics
Fundamentals
Kinematics
Fundamentals
Grashof Condition
Is a simple relationship that predicts the
rotation behavior or rotatability of a four
linkages inversion based only on the link
lengths
S = length of shorter link
L=length of longest link
P=length of one remaining link
Q=length of the other remaining link
Q P L S
Kinematics
Fundamentals
Grashof Condition
If the inequality is true, at least one link
will be capable of making a full revolution
with respect to the ground plane(Class I)
If not true, then the linkage is non-Grashof
and no link will be capable of a complete
revolution relative to any other link (Class
II)
Q P L S
Kinematics
Fundamentals
Grashof Condition
For the class I case: S+L< P+Q
Ground either adjacent to the shortest link and
you get a crank-rocker
Ground the shortest link and you will get a
double-crank
Ground the link opposite the shortest and you
will get a Grashof double-rocker
Kinematics
Fundamentals
Grashof Condition
For the Class II case: S+L> P+Q
All inversion will be triple-rockers in which no
link can fully rotate
For Class III: S+L=P+Q
All inversion will be either double-cranks, or
crank-rocker
Kinematics
Fundamentals
Kinematics
Fundamentals
Kinematics
Fundamentals
Kinematics
Fundamentals
Classification of the Four Linkage
C. Barker developed a classification
scheme that allows prediction of the type
of motion that can be expected from a
fourbar linkage based on the values of its
link lengths
Link ratio formation
Letter designation (C), (R) - GCRR
Kinematics
Fundamentals
Linkages of More Than Four Bars
Geared Fivebar Linkages
Kinematics
Fundamentals
Linkages of More Than Four Bars
Sixbar Linkages
Kinematics
Fundamentals
Spring as Links
Compliant Mechanism
Micro Electro-Mechanical Systems
(MEMS)
Kinematics
Fundamentals
Problems
Kinematics
Fundamentals
Problems
Kinematics
Fundamentals