Tutorial 1

1. Problem 2-7: Calculate the DOF of the linkages shown in Figure P2-1.

2. Problem 3-4: Design a fourbar mechanism to give two positions shown in Figure
P3-1)of coupler motion. (see example 3-3 p.95) build a cardboard model and
determine the toggle positions and the minimum transmission angle from the model.
(add a driver dyad). See example 3-4, p.97).

3. Problem 3.36: Find the Grashof condition, inversion, any limit positions, and
the extreme values of the transmission angle (to graphical accuracy) of the
linkage in Figure P3 -1 0 .
4. (problem 3.67) Design a four bar grashof crank-rocker for 1 2 0 o of output rocker
motion with quick return time ratio 1 :2 .
5. Problem 4.7a: The link lengths and the value of  for some fourbar linkages are
defined in Table P4 -1 .The linkage configuration and terminology are shown in
Figure P4 -1 . For the rows assigned. Determine the Grashof condition. Use the
vector loop method to find  and the transmission angle.

6. Problem 4.10a: The link lengths and the value of  and offset for some fourbar
slider-crank linkages are defined in Table P4 -2 . The linkage configuration and
terminology are shown in Figure P4 -2 . For the rows assigned, draw the linkage
to scale and graphically find all possible solutions (both open and crossed) for
angle and slider position d.
Machine dynamic 2