İZMİR INSTITUTE OF TECHNOLOGY

ME 331 THEORY OF MACHINES I

FALL 2022-2023
EXAMPLES for MOBILITY ANALYSIS of MECHANISMS

QUESTION. For each of the following systems,

i) Specify joint types on the figures, fill in the following tables and determine the degree-of-
1
freedom (dof) of the system using universal mobility formula M        i  ji , where
i 1

 is the degree of motion space, l is the number of moving links and ji is the number of
joints with dof i.
ii) Is the actual dof equal to the one provided by the formula? If not, explain why and specify
the actual dof that you find by inspection.

See the animations at the LMS website for examples 1-10.

0. Four-bar mechanism

R
3
R
4
2
R
R 1

j (number and type of

 l fii)ji DOF
joints)
3 3 4 revolute 24 = 8 1

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 1. Conveyor to stack transportation mechanism

 l j (number and type of joints) fi DOF

2. Variable speed approximate circle generator (EHU)

 l j (number and type of joints) fi DOF

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3. Folding barrier mechanism (Prof. Thang)

 l j (number and type of joints) fi DOF

4. Approximate Straight Line Mechanism (Erdman & Sandor)

 l j (number and type of joints) fi DOF

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5. A Wren platform

Only the motion of the upper platform with respect

to the base platform is important in this mechanism.

 l j (number and type of joints) fi DOF

6. Exact straight-line gear mechanism (Prof. Söylemez)

 l j (number and type of joints) fi DOF

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7. A serial manipulator (ABB)

 l j (number and type of joints) fi DOF

8. Inverse parallelogram mechanism (Prof. Thang)

 l j (number and type of joints) fi DOF

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9. A spatial linkage

 l j (number and type of joints) fi DOF

10. A cam mechanism (www.denizdekiler.com)

 l j (number and type of joints) fi DOF

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11.

 j (number and type of joints) DOF

12. A spatial mechanism

 j (number and type of joints) DOF

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13.

 j (number and type of joints) DOF

14. A punching mechanism (René Martin)

 j (number and type of joints) DOF

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15. (Eres Söylemez)

 j (number and type of joints) DOF

16. Kempe’s trisector mechanism

 j (number and type of joints) DOF

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17. Hydrauic lift (Eres Söylemez)

 j (number and type of joints) DOF

18. Air-vent of a bus (Eres Söylemez)

 j (number and type of joints) DOF

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19. Multiple-Bar Mechanism With a Translational Link (Ivan I. Artobolevsky)

 j (number and type of joints) DOF

20. A spatial mechanism

 j (number and type of joints) DOF

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21. A steering mechanism

  j (number and type of joints) DOF

22. A planar mechanism

  j (number and type of joints) DOF

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