V.

Kartik
IIT Bombay

ME 370 – KDOM LAB

Lab 1

Study of Applications of Kinematic Linkages and Mechanisms

In this lab you will be studying one real life application of kinematic mechanisms i.e. Vehicle
Suspension Mechanism.

Introduction: -

Mechanism is a system of rigid elements (linkages) arranged and connected to transmit

motion in a predetermined fashion. Mechanism is one where input motion is given to one
link, output is the desired displacement at a point on another link.

Four-bar linkage is the simplest closed chain linkage. If we fix any one of the link from the
closed linkage, it becomes the mechanism. Depending on the choice of fixed link, output
from the mechanism varies. Simplest possible mechanism is 4-bar mechanism as shown
below. Here AB, BC, CD and AD are the four links out of which AD is the fixed link.

The motion of any point in the mechanism (such as any of the movable joints B or C, or any
point on the movable links AB, BC and CD) depend on the relative lengths of each of the
links. For example, in the figure below,

(a) If opposite pairs of links (AD and BC, and AB and BC) are of equal length, the line
BC will always remain horizontal. This is the mechanism of coupling rod of the
locomotive.
(b) If sum of lengths of AB, BC and CD is less than AD then motion of the mechanism
will not be possible.
(c) Also, for the same mechanism, if we fix different links, we get different kind of
motion output.
 V. Kartik
IIT Bombay

We can increase the number of links involved in the mechanism further according to the
application for which it is to be used. In this lab mainly vehicle suspension mechanism will
be studied. There are different types of suspension systems which use different number of
links in vehicles. Bicycle for example, uses simplest 4-bar mechanism as shown below.
 V. Kartik
IIT Bombay

In the above mechanism, link 1 is the fixed link which is the frame of the cycle. Link 2 is
connected to the bicycle wheel and frame. As wheel moves over the bump, motion is
transferred from link 2 to link 4 through link 3. Link 4 further can be connected to spring-
damper system to absorb the shock.

In four wheeler suspension systems, Watt’s mechanism is very commonly used. Watt’s
mechanism is a 6-bar mechanism as shown below.

This mechanism is fitted onto the vehicle as shown below.

 V. Kartik
IIT Bombay

There are lot more different types of mechanisms used in the suspension system of the
vehicle. You are encouraged to study those different types before coming to the lab.

During the lab session: -

• You will be provided required stationary like mount-boards, pins etc. You are
supposed to create both the suspension systems (4-bar and 6-bar) using the provided
material. Two samples will be shown to you during the session for reference.
• By intuition (and without actually measuring) recreate the two mechanisms shown.
• During the process, try different link lengths in order to get a “feel” for what
geometries might work better.
• The goal is to try and find the geometry for each case such that the wheel’s trajectory
when going over a bump is as close to purely-vertical as possible.
• Write down your observations.