MECHANISMS LAB

MANUAL
Submitted by: 2018-MC-283
Submitted to: Dr. Hashim Iqbal

University of engineering and technology Lahore

Faisalabad campus
Mechanisms lab MCT-213 Dr. Hashim Iqbal

Experiment # 01
Objectives:
To understand the types of joints and links, the degree of freedom and motion transmission of
simple mechanism

Theory:

Mechanism:
Mechanism may refer to rigid bodies connected by joints in order to accomplish a desired force
and/or motion transmission

Machine:
A machine is a mechanism or collection of mechanisms which transmit force from the source
of power to the resistance to be overcome.

Types of motion:

Planar Motion:
Planar motion allows for simultaneous rotational and translational motion in a 2-D plane.
The motion of the rigid body may be described as a simple superposition of the body's
translation and rotation.

Figure 1.2: Planer motion

Translatory Motion:
Translational motion is the motion of body where body moves in the linear path. It is the motion
in which all points of a moving body move uniformly in the same line or direction.
There are two types of translation motion; rectilinear motion and curvilinear motion

Rectilinear motion:
If an object moves in a straight line is called the Rectilinear motion.

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Curvilinear motion:
If an object moves through a curved path, then it’s called curvilinear motion.

Rotation:
All points on the body describe arcs about the center of the body. The center of rotation has no
translation w.r.t the stationary frame of reference.

Helical motion:
When a rigid body moves so that each point of the body has motion of rotation about s fixed
axis and at the same time has translation parallel to the axis, then the body has helical motion.
An example of helical motion is the motion of a nut as the nut is screwed onto a bolt.

Spherical motion
When a rigid body moves so that each point of the body has a motion about a fixed point while
remaining at a constant distance from it, the body has spherical motion

Spatial Motion:
A relative motion that is not in the same plane. A body moving with rotation about three
nonparallel axes and translation in three independent directions is said to be undergoing general
spatial motion

Complex Motion:
It’s a combination of rotation and translation.

Figure 1.3: Spatial motion

Link:
Link is a (assumed) rigid body that possesses at least two nodes or Each part of a machine, that
undergoes relative motion with respect to some other part, is called link (or kinematic element).
Links help in the transmission of motion, from one machine part to another.

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Type of links:(Based on rigidity)

1. Rigid Links:
Rigid Links do not undergo any change of shape when transmitting motion (or when subjected
to external forces). A rigid link is one which does not undergo any deformation while
transmitting motion. Strictly speaking, rigid links do not exist. However, as the deformation of
a connecting rod, crank etc. of a reciprocating steam engine is not appreciable, they can be
considered as rigid links. There are three rigid link:

i. Binary link:
When two link attach together then this link is called binary link.

ii. Ternary link:

When three link attach together then this link is called ternary link.

iii. Quaternary link:

When four link attach together then this link is called quaternary link.

Figure 1.5: Types of rigid link

2. Flexible Link:
A resistant link that undergoes partial deformation when transmitting motion. For example,
belts, ropes, chains and wires are flexible links and transmit tensile forces only.

3. Fluid Link:
A fluid link makes use of a fluid (liquid or gas) to transmit motion, by means of pressure. Fluid
links always undergo deformation when transmitting motion. The motion is transmitted
through the fluid by pressure or compression only, as in the case of hydraulic presses, jacks
and brakes.
Joints:
When two links (or elements) in a machine are in contact with each other, they form a pair
called joint. A joint is a connection between two or more links (at their nodes), which allows

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some motion, or potential motion, between the connected links. Joints (also called kinematic
pairs) can be classified in several ways:

i. By the type of contact between the elements, line, point, or surface.

ii. By the number of degrees of freedom allowed at the joint.
iii. By the type of physical closure of the joint: either force or form closed.
iv. By the number of links joined (order of the joint).

Classification by the Type of Contact

We can classify Joints by the type of contact as Lower Pairs or Higher Pairs.

1. Lower pair:
The links in the pair have surface or area contact between them. There are 6 types of higher
pair joint: (revolute pair, prismatic joint. The main practical advantage of lower pairs over
higher pairs is their better ability to trap lubricant between their enveloping surfaces. The six
possible lower pairs are: Revolute (R), Prismatic (P), Screw/Helical (H), Cylindric (C),
Spherical (S), and Flat (F).

i. Revolute pair:
A revolute pair, or hinged joint, requires a line in the moving body to remain co-linear with a
line in the fixed body, and a plane perpendicular to this line in the moving body maintain
contact with a similar perpendicular plane in the fixed body. This imposes five constraints on
the relative movement of the links, which therefore has one degree of freedom.

ii. Prismatic joint:

A prismatic joint, or slider, requires that a line in the moving body remain co-linear with a
line in the fixed body, and a plane parallel to this line in the moving body maintain contact
with a similar parallel plane in the fixed body. This imposes five constraints on the relative
movement of the links, which therefore has one degree of freedom.

iii. Screw pair:

A screw pair requires cut threads in two links, so that there is a turning as well as sliding
motion between them. This joint has one degree of freedom.

iv. Cylindrical joint:

A cylindrical joint requires that a line in the moving body remain co-linear with a line in the
fixed body. It is a combination of a revolute joint and a sliding joint. This joint has two degrees
of freedom.

v. Spherical joint:
A spherical joint or ball and socket joint requires that a point in the moving body remain
stationary in the fixed body. This joint has three degrees of freedom, corresponding to
rotations around orthogonal axes.

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vi. Planar joint:

A planar joint requires that a plane in the moving body maintain contact with a plane in fixed
body. This joint has three degrees of freedom. The moving plane can slide in two dimensions
along the fixed plane, and it can rotate on an axis normal to the fixed plane.

Figure 1.6: Lower pair joints

2. Higher pair:
A higher pair is a constraint that requires a curve or surface in the moving body to maintain
contact with a curve or surface in the fixed body. The links have point or line contact.

Figure 1.7: Higher pair joint

Classification by the Number of Degrees of freedom allowed at the joint

We can classify Joints by the number of degrees of freedom allowed at the joint as One-
Freedom Joints or Full Joints, Two Freedom Joints or Half Joints and Three Freedom Joints.

Examples of one freedom joints are: a rotating pin joint (R) and a translating slider Joint (P).

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Full joint - 1DOF

Examples of one freedom joints are: a rotating pin joint (R) and a translating slider Joint (P).

Figure 1.7: Rotating full pin joint Figure 1.8 Translating full pin joint

Half joint - 2DOF

Examples of two freedom joints are: link against plane and a pin in slot.

Figure 1.9: Link against plane Figure 1.10 Pin in slot

3-Degree of Freedom (3-DOF)

Examples of three freedom joints are: a spherical, or ball-and-socket joints.

Figure 1.11: spherical joint

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Classification by the Type of Physical Closure of the Joint

We can classify Joints by the type of physical closure of the joint as Force closed or Form
closed.

Self - closed pair

When the two elements of a pair are connected together mechanically in such a way that only
required kind of relative motion occurs, it is then known as self-closed pair. The lower pairs
are self-closed pair.

Forced closed pair

When the two elements of a pair are not connected mechanically but are kept in contact by the
action of external forces, the pair is said to be a force-closed pair. The cam and follower is an
example of force closed pair, as it is kept in contact by the forces exerted by spring and gravity.

Classification on the basis of type of joint:

The following types of joints are usually found in a chain:

i. Binary joint.
ii. Ternary Joint
iii. Quaternary Joint

Binary joint:
When two links are joined at the same connection, the joint is known as binary joint

Figure 1.12: binary joint

Ternary joint:
When three links are joined at the same connection, the joint is known as ternary joint. It is
equivalent to two binary joints as one of the three links joined carry the pin for the other two
links. It is equivalent to two binary joints as one of the three links joined carry the pin for the
other two links.

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Figure 1.13: ternary joint

Quaternary joint:
When four links are joined at the same connection, the joint is called a quaternary joint. It is
equivalent to three binary joints. In general, when l number of links are joined at the same
connection, the joint is equivalent to (l - 1) binary joints.

Quaternary joint:

Figure 1.14: quaternary joint

Mobility or Degree of Freedom:

The mobility of mechanism is the number of degree of freedom it possesses. Mobility is the
minimum number of independent parameters required to specify the location of every link
within the mechanism.

Grubler’s Equation:

M = 3(n-1) – 2f1 – f2

Crank slider mechanism:

A crank- slider mechanism is used in piston cylinder assembly in combustion engine and
convert reciprocating motion in circular motion and vice versa. This inversion is achieved when
link2 (crank) is fixed

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Figure 1.16: crank slider mechanisms

Toggle:

Toggle mechanism, combination of solid, usually metallic links (bars), connected by pin
(hinge) joints that are so arranged that a small force applied at one point can create a much
larger force at another point.

Toggle with single action and double action:

Toggle mechanism. Toggle mechanism, combination of solid, usually metallic links (bars),
connected by pin (hinge) joints that are so arranged that a small force applied at one point can
create a much larger force at another point.

Figure 1.17: toggle

Whitworth Quick Return Mechanism:

A quick return mechanism is an apparatus that converts circular motion (rotating motion
following a circular path) into reciprocating motion (repetitive back-and-forth linear motion)
in presses and shaping machines, which are utilized to shape stocks of metal into flat surfaces,

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throughout mechanical engineering.

Figure 1.18 Whitworth Quick Return Mechanism:

Crank and connecting Rod:

A crank is an arm attached at a right angle to a rotating shaft by which reciprocating motion is
imparted to or received from the shaft. It is used to convert circular motion into reciprocating
motion, or vice versa. The arm may be a bent portion of the shaft, or a separate arm or disk
attached to it. Attached to the end of the crank by a pivot is a rod, usually called a connecting
rod (conrod). The end of the rod attached to the crank moves in a circular motion, while the
other end is usually constrained to move in a linear sliding motion.

Scotch yoke mechanism:

The Scotch yoke (also known as slotted link mechanism) is a reciprocating motion mechanism,
converting the linear motion of a slider into rotational motion, or vice versa. The piston or other
reciprocating part is directly coupled to a sliding yoke with a slot that engages a pin on the
rotating part.

Figure 1.20 Scotch yoke mechanism

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Observation and Calculations:

We have to find the mobility of the following mechanisms.

1. Whitworth Quick return Motion:

Links:

There are 4 links (2 binary, 1 ternary, 1 prismatic).

Joints:

There are 3 joints of 1-DOF and 1 joint of 2-DOF.

Mobility:

M = 3(n-1) – 2f1 – f2

M = 3(4-1) -2(3) -1

Motion Conversion:
Input motion is rotary and output motion is reciprocating.

Observation & Calculation:

L =4 f1 =4 f2 =0
DOF=3(L-1)- 2f1 - f2
DOF=3(4-1)-2(4)-0
DOF=1
2. Single Acting Toggle Mechanism:
Toggle mechanism, combination of solid, usually metallic links (bars), connected by
pin (hinge) joints that are so arranged that a small force applied at one point can create
a much larger force at another point.

No of Links:
Number of links are five.

No of Joints:
Number of joints are five.

Links & their nature:

4 binary and 1 ternary link

Joints & its nature:

1 prismatic and 4 revolute.

Motion Conversion:

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It does not give fully rotation. It converts oscillatory motion to reciprocating motion.

Observation & Calculation:

L=5 f1 =5

DOF =3(L-1) -2f1 - f2

DOF=3(5-1)-2(5)-0

DOF=2

3. Toggle with single and double action:

No of Links:
Number of links are five.

No of Joints:
Number of joints are six.

Links & their nature:

4 binary and 1 ternary link.

Joints & its nature:

1 ternary and 3 revolute and 2 prismatic joint.

Motion Conversion:
It gives fully rotation. It converts rotary motion to reciprocating motion.

Observation & Calculation:

L =5 f1 =6
DOF =3(L-1) -2f1 - f2
DOF=3(5-1)-2(6)-0
DOF=0
4. Scotch Yoke Mechanism:
No of Links:
Number of links are three.

No of Joints:
Number of joints are four.

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Links & their nature:

2 binary and 1 ground link

Joints & its nature:

3 prismatic and 1 full revolute

Motion Conversion:
Input motion is rotary and output motion is reciprocating and oscillatory motion.
Reciprocating means to and fro motion linearly. Oscillatory means to and fro motion
at some angle.

Observation & Calculation:

L =3 f1 =4 f2 = 0

DOF =3(L-1) -2f1 - f2

DOF=3(3-1)-2(4)-0

DOF=-2

5. Crank Mechanism:
A slider-crank mechanism is used to convert a rotational motion into a reciprocating
motion and vice versa. this mechanism is composed of three important parts the crank
which is a rotating disc. the slider which slides on a fixed plane. and the connecting rod
which joins the crank in the slider.

No of Links:

Number of links are four.

No of Joints:
Number of joints are four.

Links & their nature:

1 ground, 2 binary links and 1 prismatic link.

Joints & its nature:

1 prismatic, 1 ground and 2 revolute.

Motion Conversion:
Input motion is rotary and output motion is reciprocating. It also gives linear motion
from elliptical motion.

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Observation & Calculation:

L =4 f1 =4 f2 = 0
DOF =3(L-1) -2f1 - f2
DOF=3(4-1)-2(4)-0
DOF=1
6. Oscillating Cylinder:
The cylinder is fixed at a point and it oscillates about a fixed pin, when the piston inside
the cylinder moves in and out, connecting rod which is connected to it reciprocates by
this crank used to rotate at one end of fixed origin.

No of Links:
Number of links are four.

No of Joints:
Number of joints are four.

Links & their nature:

1 ground, 1 connecting rod, 1 cylinder and 1 crank.

Joints & its nature:

3 prismatic and 1 revolute.

Motion Conversion:
This mechanism is used to convert the reciprocating motion into a rotary motion.

Observation & Calculation:

L =4 f1 =4 f2 = 0
DOF =3(L-1) -2f1 - f2
DOF=3(4-1)-2(4)-0
DOF=1

Comments:
From this lab activity I became familiar with:

 Motion and types of motion

 Constrained motion
 Links and types of links
 Joints and types of joints

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Mechanisms lab MCT-213 Dr. Hashim Iqbal

Experiment # 02
Objective
To verify the Grashof's Law for four bar mechanism.

Theory:
Grashof’s Law
The Grashof’s law states that for a four-bar linkage system, the sum of the shortest and longest
link of a planar quadrilateral linkage is less than or equal to the sum of the remaining two links,
then the shortest link can rotate fully with respect to a neighboring link. Consider a four-bar-
linkage. Denote the smallest link by S, the longest link by L and the & other two links by P and
Q. If the Grashof’s Law condition is satisfied i.e. S+L ≤ P+Q, then depending on whether
shortest link ‘S’ is connected to the ground by one end, two ends, or no end there are 3 possible
mechanisms. They are:

• Double crank mechanism

• Double-rocker mechanism

• Crank and Rocker Mechanism

Four bar linkage:

A four-bar linkage, also called a four-bar, is the simplest movable closed chain linkage. It
consists of four bodies, called bars or links, connected in a loop by four joints. Generally, the
joints are configured so the links move in parallel planes, and the assembly is called a planar
four bar linkage. If the linkage has four hinged joints with axes angled to intersect in a single
point, then the links move on concentric spheres and the assembly is called a spherical four-
bar linkage. Bennett's linkage is a spatial four-bar linkage with hinged joints that have their
axes angled in a particular way that makes the system movable.

Figure 2.1: double crank

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1.Double crank mechanism

In double crank mechanism, the shortest link ‘S’ is a ground link. Both input crank and output
crank rotate at 360°.

Grashof’s condition for double crank mechanism:

s+l<p+ q

Let:

‘s’ = length of shortest link,

‘l’ = length of longest link,

‘p’ = length of one remaining link and
‘q’ = length of other remaining link.

Figure 2.1: double crank

3. Double-rocker mechanism

In double-rocker mechanism, the shortest link ‘S’ is coupler link. The coupler link can rotate
360°. There is no continuous motion in double rocker mechanism
Grashof’s condition for double crank mechanism:
s+l> p+ q

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Figure 2.3: double rocker

4. Crank and rocker mechanism

In crank and rocker mechanism, the shortest link “S’ is input crank or output crank. Input crank
or output crank rotates 360°.
Grashof’s condition for double crank mechanism:
s+l< p+ q

Figure 2.4: crank-rocker mechanism

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Parallelogram linkage mechanism

The parallel linkage mechanism is a special case. Of grashof’s criteria, where the sum of the
shortest link ‘s’ and longest link ‘l’ of a planar quadrilateral linkage is less than or equal to the
um of the remaining two links ‘p+q’.
grashof’s condition for parallel linkage mechanism: s+l = p+ q

Figure 2.4: parallelogram linkage

Apparatus:

 Links of different length

 Dials pointers
 Breadboard
 Nuts
 Mini screw
 Scale

Procedure

i. Hold the breadboard horizontally; this permits easy access to make changes and
aligning the pivots.
ii. Now ground the shortest links to the ground to form a double crank mechanism, observe
its motion and note down the different length of links and observe grashofs law is valid.
iii. Now ground the link adjacent to the smallest link to form a double crank-rocker
mechanism, observe its motion and note down the different length of links and observe
grashofs law is valid.

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iv. Now connect the links to form a double rocker mechanism, observe its motion and note
down the different length of links and observe grashof’s law is valid.
v. Now connect the links to form a parallelogram mechanism, observe its motion and note
down the different length of links and observe grashof’s law is valid.
vi. Note down the observation to the table.

Observations and Calculations:..

Sr Case S(mm) L(mm) P(mm) Q(mm) S+L P+Q Grashof’s

No. (mm) (mm) Law

1 Double crank 14 16 12 16 30 28 Holds

2 Crank rocker 9 16 15 12 25 27 Holds

3 Double rocker 8 16 9 12 24 21 Not Holds

4 Parrallalogram 16 17 17 16 33 33 Holds

(crank rocker)

5 Parrallalogram 16 17 16 17 33 33 Holds

(double crank)

Table 2.1: calculation of grashoff’s law

Comments:
From this experiment activity I have learnt about different inversion of four bar mechanism
and learnt how Grashof's Law verify them.
.

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