Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-42-1

PROBLEM 2-42
Statement: Find the mobility, Grashof condition and Barker classification of the oil field pump shown in
Figure P2-18.
Solution: See Figure P2-18 and Mathcad file P0242.

1. Use inequality 2.8 to determine the Grashof condition and Table 2-4 to determine the Barker classification.

Condition( a 
bc
d) 
 S  min ( a 
bc
d)
L  max (a 
bc
d)
SL  S L
PQ  a b c d SL
return "Grashof" if SL PQ
return "Special Grashof" if SL = PQ
return "non-Grashof" otherwise

1302

O4 2032

3
7
35

1930

O2 2

305

1206

This is a basic fourbar linkage. The input is the 357-mm-long crank (link 2) and the output is the top beam (link
4). The mobility (DOF) is found using equation 2.1c (Kutzbach's modification):

Number of links L
4
Number of full joints J1 
4
Number of half joints J2 
0 M
 3
( L 1) 2 
J1 J 2 M 1

The link lengths and Grashof condition are

2 2
L1 
 ( 1930 305) 1206 L1 2024 L2 
357 L3 
2032 L4 
1302

Condition
L1 
L 2 L 4"Grashof"
L3 

This is a Barker Type 2 GCRR (Grashof, shortest link is input).