ME6710-Theory of Mechanisms

OVERVIEW
This course deals with advanced kinematic synthesis and analysis of mechanisms. Graphical
and analytical methods for the synthesis of planar linkages will be presented. Techniques for
velocity and acceleration analysis of complex mechanisms will be discussed. Force analysis of
linkages will be introduced. Techniques for the synthesis and analysis of spatial mechanisms
will be introduced.

REFERENCES
1. Kinematic Synthesis of Linkages, Hartenberg and Denavit (freely available online)
2. Advanced Mechanism Design, Vol. II, Erdman and Sandor
3. Theory of Mechanisms and Machines, Ghosh and Mallik
4. Kinematic Synthesis and Analysis of Mechanisms, Mallik, Ghosh and Dittrich
5. Kinematics and Dynamics of Machinery, Robert L. Norton
6. Theory of Machines and Mechanisms, Shigley, Uicker, Mishke

BACKGROUND
Prerequisite courses in engineering mechanics and kinematics and dynamics of machinery should
have provided you with a basic understanding of the concepts of displacement, velocity, acceleration, static force equilibrium, and dynamic equilibrium. Review these concepts to help you
be comfortable with the material presented in this course. Specifically, you should be capable
of the following:
Use a compass and ruler to perform basic geometric constructions
Perform basic vector algebra and manipulate trigonometric quantities
Define displacement, velocity and acceleration of points and of rigid bodies
Represent vectors as complex numbers and vice-versa
Use the chain rule for differentiation
Draw free-body diagrams
Use MATLAB, SciLAB or other mathematical programming tools

LEARNING OUTCOMES
1. Review of kinematics fundamentals - degrees of freedom, mobility, joints, links
Classify joints as higher and lower pairs and determine their connectivity
Classify links based on their nodes
Draw kinematic diagrams of real-life mechanisms
Determine the mobility of mechanisms

 Construct kinematically equivalent mechanisms

Construct and describe the motion of inversions of a kinematic chain
Perform number synthesis of linkages
2. Kinematic synthesis of mechanisms for motion, function and path generation
Graphically synthesize 4R linkages for 2 and 3 position motion, function and path
generation
Graphically synthesize 4R and slider-crank linkages for quick-return motion
Design a driver dyad
3. Review of complex numbers and its application to mechanism design and analysis
Represent vectors as complex numbers and vice-versa
Differentiate complex numbers and apply the chain rule
4. Analytical synthesis of mechanisms, Burmester theory
Determine precision points using Chebyshev spacing
Use the dyad or standard form for three-point, four-point and (five-point, if time
permits) synthesis of linkages for motion, function and path generation: dyads, fourbars, multi-link, multi-loop mechanisms, etc.
Generate M- and K-curves of Burmester points
5. Kinematic synthesis of other planar mechanisms: coupler curves and cognates
Synthesize mechanisms using the Hrones and Nelson atlas of coupler curves
Synthesize mechanisms for special coupler curves - symmetrical coupler curve, approximate straight-line linkages, dwell mechanisms.
Generate cognate linkages by use of the Roberts-Chebyshev theorem and Cayleys
method
6. Kinematic analysis of planar mechanisms
Represent linkages by the loop-closure equation using vectors represented by complex
numbers
Perform position, velocity, and acceleration analysis for single and multi-loop linkages
Perform analysis of kinematically complex mechanisms - method of inversion, method
of normal accelerations, auxiliary point method or a combination of these
7. Force analysis of mechanisms
Draw free-body diagrams of individual links
Solve for internal forces and driving torque in mechanisms using the recursive NewtonEuler approach
Balance linkages using counter-weights or springs
8. Introduction to the analysis and synthesis of spatial mechanisms

Represent spatial mechanisms using a kinematic diagram

Calculate mobility of spatial mechanisms and identify idle degrees of freedom
Transform points and vectors between coordinate frames
Use the DH representation for frame assignments for open and closed spatial kinematic chains