JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY KAKINADA

KAKINADA - 533 003, Andhra Pradesh, India

L T P C
M.Tech - I Sem
3 0 0 3
ADVANCED MECHANISMS
MD 1035 (Programme Elective - I)

UNI T - I
Introduction: Elements of Mechanisms; Mobility Criterion for Planar mechanisms and
manipulators; Mobility Criterion for spatial mechanisms and manipulators. Spherical
mechanisms-spherical trigonometry.
UNI T – I I
Advanced Kinematics of plane motion- I: The Inflection circle ; Euler – Savary Equation;
Analytical and graphical determination of di ; Bobillier‟s Construction ;Collineastion axis ;
Hartmann‟s Construction ;Inflection circle for the relative motion of two moving planes;
Application of the Inflection circle to kinematic analysis.
Advanced Kinematics of plane motion - II: Polode curvature; Hall‟s Equation; Polode
curvature in the four bar mechanism; coupler motion; relative motion of the output and input
links; Determination of the output angular acceleration and its Rate of change; Freudenstein‟s
collineation –axis theorem; Carter –Hall circle; The circling – point curve for the Coupler of of
a four bar mechanism.
UNI T – I I I
Introduction to Synthesis-Graphical Methods - I: The Four bar linkage ;Guiding a body
through Two distinct positions; Guiding a body through Three distinct positions; The Rotocenter
triangle ; Guiding a body through Four distinct positions; Burmester‟s curve.
Introduction to Synthesis-Graphical Methods - II: Function generation- General discussion;
Function generation: Relative –rotocenter method, Overlay‟s method, Function generation-
Velocity – pole method; Path generation: Hrones‟s and Nelson‟s motion Atlas, Roberts‟s
theorem.
UNI T – I V
Introduction to Synthesis - Analytical Methods: Function Generation: Freudenstien‟s
equation, Precision point approximation, Precision – derivative approximation; Path Generation:
Synthesis of Four-bar Mechanisms for specified instantaneous condition; Method of
components; Synthesis of Four-bar Mechanisms for prescribed extreme values of the angular
velocity of driven link; Method of components.
UNI T – V
Manipulator Kinematics: D-H transformation matrix ; Direct and Inverse kinematic analysis of
Serial manipulators: Articulated ,spherical & industrial robot manipulators- PUMA,
SCARA,STANFORD ARM, MICROBOT.
 JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY KAKINADA
KAKINADA - 533 003, Andhra Pradesh, India

TEXT BOOKS:
1. Jeremy Hirschhorn, Kinematics and Dynamics of plane mechanisms,McGraw-Hill,1962.
2. L.Sciavicco and B.Siciliano, Modelling and control of Robot manipulators, Second edition ,
Springer -Verlag,London,2000.
3. Amitabh Ghosh and Ashok Kumar Mallik, Theory of Mechanisms and Machines.
E.W.P.Publishers.
REFERENCES:
1. Allen S.Hall Jr., Kinematics and Linkage Design, PHI,1964.
2. J.E Shigley and J.J . Uicker Jr., Theory of Machines and Mechanisms , McGraw-Hill, 1995.
3. Joseph Duffy, Analysis of mechanisms and Robot manipulators, Edward Arnold,1980
 UNIT-III

Introduction to Synthesis-Graphical Methods - I:

The Four bar linkage:
The general symbols used in the following discussion are listed below and, with the
exception of the rotocentres, are defined by Fig. 11-1.

Other symbols will be introduced and defined as required.

Types of Four-bar Mechanism. Figure 11-2 shows the three types of four-bar mechanism:
Figure 11-2a illustrates the crank-rocker mechanism. The rotation of q is completely
unrestricted, while s can only oscillate through a limited

Fig:11-1
range. It should be noted that the forward and return strokes of s do not correspond to equal
rotations of q.
Figure 11-26 shows the double-crank, or drag-link, mechanism. The rotations of both q and s
are unrestricted. A uniform rotation of q produces a non-uniform rotation of s.
Figure 11-2e depicts the double-rocker mechanism, q and s can only oscillate.
All three types can be obtained as inversions of the same linkage, provided the sum of the
lengths of the shortest and longest links is less than that of the other two ( Grashof 's rule) :
With the shortest link as crank—crank-rocker mechanism
With the shortest link as frame —drag-link mechanism
With the shortest link as coupler — double-rocker mechanism
In the double-rocker mechanism, derived from Grashof's linkage, the coupler performs a
complete revolution while the rockers move through their full range. If a four-bar linkage
does not satisfy Grashof's criterion,
 Fig:11-2
then, no matter what arrangement of links is use double-rocker
Transmission Angle. Experience has shown that mechanisms with proportions approaching
the limits of Grashof's rule are not satisfactory in practice. During the motion cycle, links
assume relative positions close to "toggling" (dead-center positions), with consequent chatter
and possibly excessive stresses. Moreover, since such linkages require the maintenance of
very close machining tolerances, if undesirable effects on the required motion characteristics
are to be avoided, they are more costly to manufacture than linkages with a more substantial
inequality margin. A rough guide, in the design stage, to the eventual performance of a
mechanism is the transmission angle µ or its supplement µ'.

PENDING
272
Guiding a Body through Two Distinct Positions
Guiding a Body through Three Distinct Positions

The Rotocenter Triangle:

Fig. 11-15
Guiding a Body through Four Distinct Positions ; Burmester's Curve
Introduction to Synthesis-Graphical Methods - II:
Function generation:
Relative –rotocenter method
Overlay‟s method:
\

\
Function generation-
Velocity – pole method
Path generation: Hrones‟s and Nelson‟s motion Atlas:
Roberts‟s theorem.