Design and Kinematics

of Machines

Laboratory Manual

Mechanical Engineering Department

School of Technology
Pandit Deendayal Energy University
Gandhinagar, Gujarat
 Department of Mechanical

VISION

“To be recognized globally for excellence in education, applied research and training in the field
of Mechanical Engineering through innovation of high Social impact and to prepare youth for
tomorrow".

MISSION

M1. To impart excellent education to build capacity of students and enhancing their skills in the
domain of energy and engineering to make them globally competitive.

M2. Seek to nurture students of extraordinary motivation and ability and prepare them for life-
long learning and leadership in an increasingly knowledge driven world.

M3. To develop state of art research facility and centre of excellence to provide environment for
collaborative research and skill development.

M4. To establish association with industry, academic institutes and research centres for
collaborative research and consultancy work.

M5. To impart excellent education through fundamental knowledge, research and technologies.

PROGRAMME EDUCATIONAL OBJECTIVES (PEOs)

I. To develop highly competent graduates with strong foundation in science and engineering
for successful careers in core mechanical and interdisciplinary industries, higher education
and research.
II. To develop graduates who can become entrepreneur/innovators to design and develop
system/process/product/service to address social and industrial challenges.
III. To develop graduates with leadership qualities, strong communication skills, professional
and ethical values.
IV. To develop lifelong learners graduates to excel in their professional career as well as to
pursue higher education.
 Department of Mechanical

PROGRAM OUTCOMES (POs)

Engineering Graduates will be able to:

1 Engineering knowledge: An ability to apply knowledge of mathematics, science, and

engineering in solving/analyzing problems in industries, research and development institutions,
public sector units, higher education and in academia.
2 Problem Analysis: An ability to design and conduct experiments, as well as to analyze and
interpret data in mechanical engineering theory and practice at various industrial work-places.
3 Design/ Development of solutions: An ability to design a system, component, or process to
meet desired needs within realistic constraints such as economic, environmental, health and
safety, manufacturability, and sustainability.
4 Multidisciplinary Approach: An ability to function on multidisciplinary teams.
5 Modern tool usage: An ability to identify, formulate, and solve engineering problems using
modern tools and techniques.
6 Communication: An ability to communicate effectively.
7 The Engineer and Society: The broad education necessary to understand the impact of
mechanical engineering solutions in a local, global, economic, environmental, and societal
context.
8 Life-long learning: A recognition of the need for, and an ability to engage in life-long learning.
9 Investigations of complex problem: Use of Applied research including design of experiments,
analysis and interpretation of data, synthesis of the information to provide valid solutions with
the knowledge of contemporary issues.
10 Project Management: An ability to apply engineering knowledge and management principles
skills to manage engineering projects.
11 Environment and Sustainability: An ability to design sub-systems, systems, components and
processes to fulfil demand of environmental sustainability.
12 Ethics: Apply engineering principles toward the professional values and ethics.

PROGRAM SPECIFIC OUTCOMES (PSOs)

Engineering Graduates will be able to:

1 To analyse the problem and create solution by applying engineering knowledge with a
multidisciplinary approach.
2 To analyse, interpret and provide solutions to the real life mechanical engineering and its allied
problems using engineering software/tools.
3 To work effectively as an individual and in a team to address complex issues by engaging in
lifelong learning and following ethical and environmental practices.
 Pandit Deendayal Petroleum University School of Technology
20ME XXXT Design and Kinematics of Machines Lab
Teaching Scheme Examination Scheme
Theory Practical
Hrs./Wee Total
L T P C LE/Viv
k MS ES IA LW Marks
a
0 0 -- 2 1 -- -- -- 50 50 100

COURSE OBJECTIVES
 To learn the theory of design and kinematics
 To design lever, cams and power screws
 To draw and calculate position, velocity and acceleration of various mechanism through graphical
and analytical method
Experiment No. Title Hrs.
1 Design and Drawing of Power screw 4
2 Design and Drawing of Lever 2
3 Design and analysis of Cam Profile through Follower displacement 6
diagrams
4 Analysis and drawing of Simple Mechanisms by relative velocity 2
method
5 Analysis and drawing of Simple Mechanisms by instantaneous center 2
method
6 Drawing of Klein’s construction for velocity calculation 2
7 Analysis and drawing Simple Mechanisms by Acceleration diagram 4
and Coriolis component of acceleration,
8 Graphical synthesis: Two and three position synthesis using relative 2
pole method
9 Graphical synthesis: inversion method for single slider crank and four 2
bar mechanism,
10 Three position motion synthesis of four bar Mechanism. 2
11 Development of prototype of Simple Mechanism 2
Max. 30 Hrs.
COURSE OUTCOMES
On completion of the course, student will be able to
CO1 - Recall the fundamentals of design and the theory of kinematics and mechanisms.
CO2 - Explain the various mechanical components such as lever, power screws, cams and
velocity-accelerations of mechanisms and synthesis of mechanisms.
CO3- Apply the various mechanical design and kinematics principles to design various
mechanical components.
CO4- Analyse the design of motion of machines and their components.
CO5- Estimate the dimensions, velocity and acceleration of various mechanical components.
CO6- Formulate and design cams, power screws and various mechanisms.
TEXT/REFERENCE BOOKS
1. V. Bhandari, Machine Design, Tata-McGraw Hill Publishers.
2. J. Shigley, C. Mischke, R. Budynas, Mechanical Engineering Design, Tata-McGraw Hill
Publishers.
3. S. S. Ratan, Theory of Machines, Tata Mc Graw-Hill publications, New Delhi
4. R. Norton, Machine Design: An Integrated Approach, Pearson Education Publishers.
 LAB EXAMINATION PATTERN
Max. Marks: 100
Continuous Evaluation 50 Marks
Lab Exam 50 Marks

Department of Mechanical

EVALUATION SCHEME

Course code: Course name: Design and Kinematics of Machines

Lab work Continuous Evaluation End Exam

50 20 30

After every lab, student should submit their reports/drawing sheets within prescribed time. The lab
report consists 50 marks (50% weightage).

One Internal lab exam will be conducted after 8 or 9th lab session. Weightage of this exam is 20%
(20 marks).

At the end of the semester, final viva voce or written exam will be conducted. Weightage of this
exam is 30% (30 marks).
 Lab Manual

Experiment No: 1

AIM: - To determine velocity in various mechanisms by relative velocity method

PROCEDURE:
Solve the following examples by relative velocity method

1. In the mechanism, as shown in below Fig., OA and OB are two equal cranks at right angles
rotating about O at a speed of 40 r.p.m. anticlockwise. The dimensions of the various links are
as follows: OA = OB = 50 mm; AC = BD = 175 mm; DE = CE = 75 mm; FG = 115 mm and EF
= FC. Draw velocity diagram for the given configuration of the mechanism and find velocity
of the slider G. (Ans--68 mm/s)

2. The dimensions of various links in a mechanism, as shown in below Fig., are as follows: AB =
60 mm; BC = 400 mm; DE = 115 mm; and EF = 225 mm. Find the velocity of the slider F when
the crank AB rotates uniformly in clockwise direction at a speed of 60 r.p.m. (ans--250mm/s)

3. The dimensions of the various links of a mechanism, as shown in below Fig., are as follows:
AB = 30 mm; BC = 80 mm; CD = 45 mm; and CE = 120 mm. The crank AB rotates uniformly
in the clockwise direction at 120 r.p.m. Draw the velocity diagram for the given configuration
of the mechanism and determine the velocity of the slider E and angular velocities of the links
BC, CD and CE. Also draw a diagram showing the extreme top and bottom positions of the
crank DC and the corresponding configurations of the mechanism. Find the length of each of
the strokes. (ans—120mm/s;2.8rad/s; 5.8rad/s; 2rad/s)
4. For the four link mechanisum shown in below figure, find the linear velocities of sliders C
and D and the angular velocities of links AC and BD. (ans—2.1m/s; 0.38m/s; 1.14 rad/s; 5.93
rad/s)

5. Below Fig. shows the mechanism of a quick return motion of the crank and slotted lever type
shaping machine. The dimensions of the various links are as follows: OA = 200 mm; AB = 100
mm; OC = 400 mm; and CR = 150 mm. The driving crank AB makes 120° with the vertical and
rotates at 60 r.p.m. in the clockwise direction. Find: 1. velocity of ram R, and 2. angular velocity
of the slotted link OC. (0.8 m/s; 1.83 rad/s)
QUESTIONS:

1. The direction of linear velocity of any point on a link with respect to another point on the
same link is
(a) parallel to the link joining the points (b) perpendicular to the link joining the points
(c) at 45° to the link joining the points (d) none of these
2. The magnitude of linear velocity of a point B on a link AB relative to point A is
(a) ω × AB (b) ω × (AB)2 (c) ω2 × AB (d) (ω × AB)2
Where _ = Angular velocity of the link AB.
3. The two links OA and OB are connected by a pin joint at O. If the link OA turns with angular
velocity ω1 rad/s in the clockwise direction and the link OB turns with angular velocity ω2 rad/s
in the anti-clockwise direction, then the rubbing velocity at the pin joint O is
(a) ω1.ω2 × r (b) (ω1-ω2) r (c) (ω1 + ω2) r (d) (ω1-ω2) 2r
Where r = Radius of the pin at O.
4. In the above question, if both the links OA and OB turn in clockwise direction, then the
rubbing velocity at the pin joint O is
(a) ω1.ω2 × r (b) (ω1-ω2) r (c) (ω1 + ω2) r (d) (ω1-ω2) 2r
5. Explain how the velocities of a slider and the connecting rod are obtained in a slider crank
Mechanism.

6. Define rubbing velocity at a pin joint. What will be the rubbing velocity at pin joint when the
two links move in the same and opposite directions?
 Experiment No: 2
AIM: - To determine velocity in various mechanisms by I- centre method

PROCEDURE:
Solve the following examples by I-centre method

1. Locate all the instantaneous centres for the crossed four bar mechanism as shown in below
Fig. The dimensions of various links are : CD = 65 mm; CA = 60 mm ; DB = 80 mm ; and
AB = 55 mm. Find the angular velocities of the links AB and DB, if the crank CA rotates at
100 r.p.m. in the anticlockwise direction.

2. A mechanism, as shown in below Fig. has the following dimensions : O1 A = 60 mm ; AB =

180 mm ; O2 B = 100 mm ; O2 C = 180 mm and CD = 270 mm. The crank O1 A rotates
clockwise at a uniform speed of 120 r.p.m. The block D moves in vertical guides. Find, by
instantaneous centre method, the velocity of D and the angular velocity of CD. [Ans. 0.8 m/s;
1.43 rad/s]

3. The dimensions of the various links of a mechanism, as shown in Fig. 4, are as follows: AB =
30 mm ; BC = 80 mm ; CD = 45 mm ; and CE = 120 mm. The crank AB rotates uniformly in
the clockwise direction at 120 r.p.m. determine the velocity of the slider E and angular velocities
of the links BC, CD and CE..(ans—120mm/s;2.8rad/s; 5.8rad/s ; 2rad/s)
 4. For the four link mechanisum shown in below figure , find the linear velocities of sliders C
and D and the angular velocities of links AC and BD. (ans—2.1m/s; 0.38m/s; 1.14 rad/s; 5.93
rad/s)

QUESTIONS:

1. The total number of instantaneous centres for a mechanism consisting of n links are
(a) n/2 (b) n (c) (n-1)/2 (d) n*(n-1) / 2

2. According to Aronhold Kennedy’s theorem, if three bodies move relatively to each other, their
instantaneous centres will lie on a
(a) straight line (b) parabolic curve (c) ellipse (d) none of these

3. In a mechanism, the fixed instantaneous centres are those centres which

(a) remain in the same place for all configurations of the mechanism
(b) vary with the configuration of the mechanism
(c) moves as the mechanism moves, but joints are of permanent nature
(d) none of the above

4. The instantaneous centres which vary with the configuration of the mechanism, are called
(a) permanent instantaneous centres (b) fixed instantaneous centres
(c) neither fixed nor permanent instantaneous centres
(d) none of these

5. When a slider moves on a fixed link having curved surface, their instantaneous centre lies
 (a) on their point of contact (b) at the centre of curvature
(c) at the centre of circle (d) at the pin joint

6. What do you understand by the instantaneous centre of rotation (centro) in kinematic of

Machines? Answer briefly.

7. Write the relation between the number of instantaneous centres and the number of links in a
mechanism

8. Explain with sketch the instantaneous centre method for determination of velocities of links and
mechanisms
 Experiment No: 3

AIM: - To determine acceleration in various mechanisms by relative acceleration method

PROCEDURE:
Solve the following examples by relative acceleration method

1. An engine mechanism is shown in Fig. The crank CB = 100 mm and the connecting rod BA =
300 mm with centre of gravity G, 100 mm from B. In the position shown, the crankshaft has a
speed of 75 rad/s and an angular acceleration of 1200 rad/s2. Find: 1. velocity of G and
angular velocity of AB, and 2. acceleration of G and angular acceleration of AB. [Ans. 6.3
m/s; 22.6 rad/s; 750 m/s2; 6.5 rad/s2]

2. In the mechanism shown in Fig., the slider C is moving to the right with a velocity of 1 m/s
and an acceleration of 2.5 m/s2. The dimensions of various links are AB = 3 m inclined at 45°
with the vertical and BC = 1.5 m inclined at 45° with the horizontal. Determine: 1. the
magnitude of vertical and horizontal component of the acceleration of the point B, and 2. the
angular acceleration of the links AB and BC.
(ans; 1.13 m/s2, 0.9 m/s2, 0.47rad/s2, 1.3 rad/s2)

3. In a pin jointed four bar mechanism ABCD, the lengths of various links are as follows: AB =
25 mm; BC = 87.5 mm; CD = 50 mm and AD = 80 mm. The link AD is fixed and the angle
BAD = 135°. If the velocity of B is 1.8 m/s in the clockwise direction, find 1. velocity and
acceleration of the mid point of BC, and 2. angular velocity and angular acceleration of link
CB and CD. [Ans. 1.67 m/s, 110 m/s2; 8.9 rad/s, 870 rad/s2; 32.4 rad/s, 1040 rad/s2]

4. In a mechanism as shown in Fig., the link AB rotates with a uniform angular velocity of 30
rad/s. The lengths of various links are : AB = 100 mm ; BC = 300 mm ; BD = 150 mm; DE =
250 mm ; EF = 200 mm ; DG = 165 mm. Determine the velocity and acceleration of G for the
given configuration. [Ans. 0.6 m/s; 66 m/s2]
 5. Fig. shows a quick return motion mechanism in which the driving crank OA rotates at 120 r.p.m.
in a clockwise direction. For the position shown, determine the magnitude and direction
of 1, the acceleration of the block D; and 2. The angular acceleration of the slotted bar QB.
[Ans. 7.7 m/s2; 17 rad/s2]

QUESTIONS:

1. The component of the acceleration, parallel to the velocity of the particle, at the given instant
is called
(a) Radial component (b) tangential component
(c) coriolis component (d) none of these
2. A point B on a rigid link AB moves with respect to A with angular velocity ω rad/s. The radial
Component of the acceleration of B with respect to A,
(a) VBA × AB (b) V 2 BA × AB (c) VBA / AB (d) V 2 BA / AB
Where v V BA = Linear velocity of B with respect to A = ω × AB
3. A point B on a rigid link AB moves with respect to A with angular velocity rad/s. The angular
acceleration of the link AB is
(a) A r BA / AB (b) at BA / AB (c) VBA × AB (d) V 2 BA / AB
4. A point B on a rigid link AB moves with respect to A with angular velocity ω rad/s. The total
Acceleration of B with respect to A will be equal to
(a) Vector sum of radial component and Coriolis component
(b) Vector sum of tangential component and Coriolis component
(c) Vector sum of radial component and tangential component
 (d) Vector difference of radial component and tangential component
5. The coriolis component of acceleration is taken into account for
(a) Slider crank mechanism (b) four bar chain mechanism
(c) Quick return motion mechanism (d) none of these
6. Explain how the acceleration of a point on a link (whose direction is known) is obtained when
the acceleration of some other point on the same link is given in magnitude and direction.
7. Explain how the coriolis component of acceleration arises when a point is rotating about some
other fixed point and at the same time its distance from the fixed point varies.
 Experiment No: 4

AIM: - To determine velocity in slider crank mechanism by using Klein’s construction.

PROCEDURE:
Solve the following examples by Klein’s construction method

1. The crank of the reciprocating engine is 200 mm long and it rotates at a uniform speed of
40 rad/s clockwise. The connecting rod length is 800 mm. find the velocity and
acceleration of the piston and angular velocity and angular acceleration of the connecting
rod when crank is at 0° , 45° , 70°, 90° and 135° from IDC.
2. The crank of an IC engine is 150 mm long and the obliquity ratio is 4. Find the
acceleration of the piston, the acceleration of the point A on connecting rod located at
1/4th distance from the big end when the crank is turned through 120° from ODC and
speed of rotation of the crank is 300 rpm anticlockwise and is increasing at the rate of
120 rad/s2.

QUESTIONS:
1. When the crank is at the inner dead centre, in a horizontal reciprocating steam engine, then the
velocity of the piston will be
(a) Zero (b) minimum (c) maximum (d) none of these
2. Draw and explain Klien’s construction for determining the velocity and acceleration of the
piston in a slider crank mechanism.
3. How the velocity and acceleration of the slider of a single slider crank chain determined
analytically?
4. The acceleration of the piston in a reciprocating steam engine is given by

Where l = Angular velocity of the crank,

r = Radius of the crank,
θ = Angle turned by the crank from inner dead centre, and
n = Ratio of length of connecting rod to crank radius.
 Experiment No: 5

AIM: - To draw cam profile for different follower motion.

PROCEDURE: Draw cam profile for following examples.

1. A cam operating a knife-edged follower has the following data :
(a) Follower moves outwards through 40 mm during 60° of cam rotation.
(b) Follower dwells for the next 45°.
(c) Follower returns to its original position during next 90°.
(d) Follower dwells for the rest of the rotation.
The displacement of the follower is to take place with simple harmonic motion during the
outward and uniform velocity during return strokes. The least radius of the cam is 50 mm. Draw the
profile of the cam when 1. the axis of the follower passes through the cam axis, and 2. the axis of the
follower is offset 20 mm towards right from the cam axis. If the cam rotates at 300 r.p.m., determine
maximum velocity and acceleration of the follower during the outward stroke and the return stroke.

2. A flat faced reciprocating follower has the following motion:

(i) The follower moves out for 80° of cam rotation with uniform acceleration and retardation,
the acceleration being twice the retardation.
(ii) The follower dwells for the next 80° of cam rotation.
(iii) It moves in for the next 120° of cam rotation with uniform acceleration and retardation, the
Retardation being twice the acceleration.
(iv) The follower dwells for the remaining period.
The base circle diameter of the cam is 60 mm and the stroke of the follower is 20 mm. The line
Of movement of the follower passes through the cam centre. Draw the displacement diagram and the
profile of the cam very neatly showing all constructional details. Find the maximum velocity and
acceleration of the follower during descent.

3. Draw the profile of a cam with oscillating roller follower for the following motion:
(a) Follower to move outwards through an angular displacement of 20° during 120° of cam
rotation.
(b) Follower to dwell for 50° of cam rotation.
(c) Follower to return to its initial position in 90° of cam rotation with uniform acceleration and
Retardation.
(d) Follower to dwell for the remaining period of cam rotation.
The distance between the pivot centre and the roller centre is 130 mm and the distance between pivot
centre and cam axis is 150 mm. The minimum radius of the cam is 80 mm and the diameter of the roller
is 50 mm.

4. Draw the profile of the cam when the roller follower moves with cycloidal motion as given below:
(a) Outstroke with maximum displacement of 44 mm during 180° of cam rotation.
(b) Return stroke for the next 150° of cam rotation.
(c) Dwell for the remaining 30° of cam rotation.
The minimum radius of the cam is 20 mm and the diameter of the roller is 10 mm. The axis of
The roller follower passes through the cam shaft axis.
QUESTIONS:
1. The size of a cam depends upon
(a) Base circle (b) pitch circle (c) prime circle (d) pitch curve
2. The angle between the direction of the follower motion and a normal to the pitch curve is
called
(a) Pitch angle (b) prime angle (c) base angle (d) pressure angle
3. A circle drawn with centre as the cam centre and radius equal to the distance between the cam
centre and the point on the pitch curve at which the pressure angle is maximum, is called
(a) Base circle (b) pitch circle (c) prime circle (d) none of
these
4. The cam follower generally used in automobile engines is
(a) Knife edge follower (b) flat faced follower
(c) Spherical faced follower (d) roller follower
5. The cam follower extensively used in air-craft engines is
(a) Knife edge follower (b) flat faced follower
(c) Spherical faced follower (d) roller follower
6. In a radial cam, the follower moves
(a) In a direction perpendicular to the cam axis
(b) In a direction parallel to the cam axis
(c) In any direction irrespective of the cam axis
(d) Along the cam axis

7. Offset is provided to a cam follower mechanism to

(A) Minimise the side thrust (b) accelerate (c) avoid jerk (d) none of these

8. For low and moderate speed engines, the cam follower should move with
(a) Uniform velocity (b) simple harmonic motion
(c) Uniform acceleration and retardation (d) cycloidal motion
9. Why a roller follower is preferred to that of a knife-edged follower?
10. What are the different types of motion with which a follower can move?
 Experiment No: 6
AIM: - Graphical synthesis: Two and three position synthesis using relative pole method

1. Design a four-link mechanism to coordinate three positions of the input and the output
links for the following angular displacements:
θ12 = 60ᵒ; θ13 = 90ᵒ
φ12 = 30ᵒ; φ 13 = 50ᵒ

PROCEDURE:
 Locate suitable positions of the ground pivots A and D.
 Locate the relative pole R12 by rotating AD about A through an angle 30ᵒ (=θ12/2) and
about D through an angle 15ᵒ (=φ 12/2) taking both counter-clockwise. The point of
intersection of the two positions of AD after rotation about A and D is the relative pole
R12. Similarly, locate R13.
 At point R12, construct an angle of 15 at an arbitrary suitable position. At the point R13,
construct an angle of 20 in such a way that the intersection of its two arms with that of
the arms of the previous angle locates points B and C at suitable positions.
 Join AB, BC and CD.
Then, ABCD is the required four-link mechanism. Fig b shows the same in three positions.

/
 Experiment No: 7
AIM: - Graphical synthesis: inversion method for single slider crank and four bar mechanism
1. Four bar mechanism
Design a four-link mechanism to coordinate three positions of the input and the output
links for the following angular displacements:
θ12 = 35ᵒ; θ13 = 80ᵒ
φ12 = 50ᵒ; φ 13 = 80ᵒ

PROCEDURE:
 Draw a line segment AD of suitable length too represent the fixed link.
 Choose the suitable length of the output link DC and suitable location𝑐1. Then locate the
positions of 𝑐2 and 𝑐3 by drawing the output link DC in the three positions D𝑐1, D𝑐2 , D𝑐3
as its angular displacements are known.
 Find the points C’2 and C’3 after rotating AC2 and AC3 about A through angles θ12 and θ13
respectively in the counter-clockwise direction.
 Intersection of the midnormals of C1 C’2 and C1 C’3 locates the point B1.
 Then AB1C1D is the required four-link mechanism. Figure (b) shows the mechanism in
the required three positions. The mechanism could also have been obtained by drawing
the input link AB in three positions as stated earlier.

2. Single slider mechanism

Design a slider-crank mechanism to coordinate three positions of the input and the
output links for the following angular displacements:
θ12 = 30ᵒ; θ13 = 60ᵒ
s12 = 40 mm; s13 = 96 mm
Eccentricity = 20 mm
PROCEDURE:
 Draw two parallel lines l1 and l2 at a distance of 20 mm apart [Fig. (a)].
 Take an arbitrary point A on the line l1 for the fixed pivot and three points C1, C2 and C3
on the line I2, at distances 40 mm and 96 mm apart for the initial and subsequent
positions of the slider.
 Rotate the point C2 about A through an angle 30° in the counter-clockwise direction to
obtain the point C'2. Similarly, rotate the point C3 about A through an angle 60° to obtain
the point C'3
 Join C1C'2 and C1C'3 and draw their midnormals to intersect at point B.
 Then ABC1 is the required slider-crank mechanism. Figure (b) shows the mechanism in
the required three positions.
 Experiment No: 8
AIM: - Three position motion synthesis of four bar Mechanism.
PROCEDURE:
 Take any two arbitrary suitable points B and C on the rigid body and locate these on the
body in three positions. It is assumed that the point B1, B2, B3 and E1, E2 and E3 are non-
collinear.
 Find the centre A of the circle passing through B1, B2, and B3. Similarly, let the centre of
the circle passing through C1, C2 and C3 be D.
 Join AB1, B1C1 and C1D.
 Then, AB1C1D is the required mechanism which takes the coupler B1C1 through B2C2 and
B3C3.
 In the above case of motion generation, the choice of the ground pivots is not with the
designer Many times, it becomes necessary to fix the locations of these pivots
beforehand due to constraint of space such type of problem can also be solved by the
inversion method. In such cases, proceed as follows:

1. Take any two arbitrary points E and F on the rigid body and locate these on the body in three
positions [Fig.(a)].
2. LetA1 and D1 be the locations of the ground pivots [(b)].
3. Construct ▲E2F2D1-▲E1F1D2 and ▲E3F3D1 –▲E1F1D3.
4. The centre of the arc through D1, D2 and D3 is the crank pin C1. To locate it, draw midnormals
ofD1D2 and D2D3. The intersection of the two is the pivot point C1 on the rigid body or the
coupler.
5. Construct ▲E2F2A1 -▲E1F1A2 and ▲E3F3A1 – ▲E1F1A3 [Fig(c)].
6. The centre of the arc through A1, A2 and A3 is the crank pin B1. Draw midnormals of A1A2 and
A 2A 3.
The intersection of the two locates the pivot point A1 on the rigid body or coupler.
Then A1B1C1D1 is the required mechanism which takes the coupler B1E1F1C1 through B2E2F2C2
and B3E3 F3C3 [Fig.d)].