ME316: Kinematics and Dynamics

of Machines
Abhishek Gupta
IIT Bombay

Mechanisms

Function generation mechanisms

Input output link motions are related

Motion generation mechanisms

Motion of a link is controlled

Watts linkage

Developed by James Watt

Approximate straight line
mechanism
Used to prevent lateral
movement of real axle
Motion of a reference
point is of concern

Degrees of freedom (DOF)

DOF: Number of independent parameters required to

uniquely define the position of a system at any instant of
time
A mechanical systems mobility can be classified according
to the number of degrees of freedom
Types of motion

Pure translation: All points on the body describe parallel

(curvilinear or straight) paths
Pure rotation: One point on the body (center of rotation) has
no motion with respect to the fixed frame of reference. All
other points move in circular arcs.
Complex motion: Simultaneous translation and rotation

Links and joints

A link is a rigid body that posses at least two nodes

Nodes are points of attachment of other links

Binary link: 2 nodes

Tertiary link: 3 nodes
Quaternary link: 4 nodes

A joint (or kinematic pair) is a connection between two

or more links (at their nodes) that allows motion

Classification of joints

Joints can be classified base upon

The type of contact between the links

Number of degrees of freedom allowed at the joint

By the type of physical closure

Lower pair surface contact

Higher pair point or line contact

Form closed links are kept together by geometry

Force closed require external force to keep links together

By number of links joined

Order of a joint is one less than the number of links joints

Kinematic pairs

Kinematic pairs describe the relative motion between

two bodies

Lower pairs joints with surface contact

Higher kinematic pairs

Higher pairs joints with point or line contact

Some definitions

Kinematic chain: Links joined together to provide a

controlled output motion to a supplied input motion
Mechanism: A kinematic chain in which at least one link is
grounded (attached to the frame of reference)
Machine: Mechanism designed to do work
Link classification

Ground: Link or links that are fixed with respect to the

reference frame
Crank: Pivoted to ground. Makes complete revolution
Rocker: Pivoted to ground, has oscillatory motion
Coupler: Not attached to ground, has complex motion

Drawing kinematic diagrams

Determining degrees of freedom

Grueblers equation for planar mechanisms

DOF = 3(N-1) 2L - H
DOF : Degrees of freedom
N : number of links
L : number of lower pairs
H : number of higher pairs

Drawing kinematic diagrams

Slider-crank mechanism
Weight-training machine

Example - DOF

Example DOF: multiple joints

Multiple joints count as one less than number of links joined at the joint

Example DOF: Higher pair

Higher pair allows motion in 2 DOF

Link 3 can roll and slide

Mechanisms and structures

If DOF > 0, the assembly of links is a mechanism and will exhibit relative motion

If DOF = 0, the assembly of links is a structure and will exhibit no motion

If DOF < 0, then the assembly is a preloaded structure, no motion is possible

and stresses are present

Example Limitation of grueblers equation

Find the degrees of freedom of these mechanisms

Using Grueblers equation

By inspection
Gruebler criterion does not include geometry!
We must use inspection to verify the prediction

Rolling cylinders

Number of links: 3
If no slip is allowed

Number of joints that allow single

DOF: 3
Grueblers equation
DOF = 3(3-1) 2*3
=0
But we know that the mechanism
has 1 DOF
Length of ground link is exactly the sum of other two links

DOF in spatial mechanisms

DOF = 6(N-1) 5J1 4J2 3J3 2J4 J5

N: number of links
Jn: joint with n degrees of freedom

Example - Stewart platform

Kinematic inversion

Method of obtaining different mechanisms by fixing

different links of a kinematic chain

Relative motion of links is not changed

Absolute motions with respect to the fixed link may change

Grashofs law

If the link lengths for a four bar mechanism be s (shortest

link), l (longest link), p and q and
l+sp+q
then the shortest link can rotate fully with respect to the
neighboring link

If l + s > p + q
then only double-rocker mechanisms are possible
How is link length measured?

Inversions of the four bar mechanism

l+sp+q

One double crank (drag-link)

Two different crank rocker mechanisms

Shortest link is ground

Shortest link is crank
One of the adjacent links is ground

One double-rocker

Shortest link is the coupler

Change point condition

If l + s = p + q

Eg. Parallelogram mechanism

Follower may change direction
at the critical location

Examples

Coupling rod double crank

Beam engine crank rocker

Watts linkage double rocker

Inversions of a single slider crank

Single slider crank

Pendulum pump

Oscillating cylinder engine

Rotary internal combustion engine

Inversions of a double slider crank

A mechanism to draw an ellipse

Oldhams coupling

Scotch yoke mechanism

Whitworth Quick-Return Mechanism