AME 352, HW-1

1-1 For each of the mechanical systems shown:

(1) Determine total number of moving bodies, total number of full joints, and total number of half
joints.
(2) Use the mobility formula to determine the number of degrees-of-freedom (DoF).
(3) Does the mobility formula provide a correct answer? (Use your intuition to figure out the
number of degrees-of-freedom and compare it against that obtained from the mobility formula.)

Enter the answers in the table shown.

(a) (b)

(c)

(1) Number of (1) Number of (1) Number (2) Number (3)

moving bodies full joints of half joints of DoF Yes or No
(a)
(b)
(c)
1-2 The following table shows the link lengths for three four-bar mechanisms in centimeters. Link (1) is the
ground (non-moving). For each mechanism:

a) Draw the mechanism to scale in a feasible configuration. The drawing must be done neatly; you may
use drawing software.
b) Determine whether the system is Grashof or not.
c) If the system is Grashof, on its corresponding figure mark the link(s) that can rotate completely.

Mechanism Link (1) Link (2) Link (3) Link (4)

1 4.0 1.5 3.0 2.6
2 4.0 2.9 3.3 2.2
3 4.0 2.0 3.2 2.6

1-3 Choose one mechanism from Problem 1-2 that is Grashof. Draw the mechanism in two configurations
where the follower link is at its limits. Determine the range of motion in degrees for the follower link.