Debre Berhan University

College of Engineering
Department of Mechanical Engineering

Mechanisms of
Machinery
MEng3071 Chapter one
1. Introduction

By: Nigatu D.
Feb, 2021 1
 Contents

1. Introduction:
1.1. Basic definitions
1.2. Motions
1.3. Coordinate systems
1.4. Degree of freedom.

Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 2

 1. Introduction
1.1. Basic definitions
• Machines are devices used to alter, transmit, and direct forces to
accomplish a specific objective.
• A mechanism is the mechanical portion of a machine that has the
function of transferring motion and forces from a power source to an
output.
• A mechanism can be considered rigid parts that are arranged and
connected so that they produce the desired motion of the machine.
The purpose of the mechanism in Figure is to lift the
platform and any objects that are placed upon it.
• Synthesis is the process of developing a mechanism
to satisfy a set of performance requirements for the
machine.
• Analysis ensures that the mechanism will exhibit motion
that will accomplish the set of requirements.
Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 3
 1.1. Basic definitions
• Kinematics deals with the way things move. It is the study of the geometry
of motion.
• Kinematic analysis involves determination of position, displacement,
rotation, speed, velocity, and acceleration of a mechanism.

Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 4

 1.2. Motions
• Motion is the phenomenon in which an object changes its position over
time.
• Motion is mathematically described in terms of displacement, distance,
velocity, acceleration, speed, and time.
TYPES OF MOTION
Pure rotation
• the body possesses one point (center of
rotation) which has no motion with
respect to the "stationary" frame of
reference.
Pure translation
• all points on the body describe parallel
(curvilinear or rectilinear) paths.
Complex motion
• a simultaneous combination of rotation
and translation.
Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 5
 1.3. Coordinate Systems
Coordinate systems and reference frames
exist for the pleasure and convenience of the
engineer who defines them.

• Cartesian (Rx, Ry)

• Polar (RA, q)
• Converting between the two
R = R 2+R 2 Rx = R A cos q
A x y

q = arctan (R y Rx )
R y = R A sin q
Y
RBA B
• Position Difference, Relative position A
– Difference (one point, two times)
– relative (two points, same time) RA
RB
RBA=RB-RA
X
 1.4. Degrees of Freedom (DOF)
• DOF: Number of independent parameters (measurements) needed to
uniquely define position of a system in space at any instant of time.

➢ Rigid body in a plane has 3

DOF: x,y,𝜃
➢ Rigid body in space has 6
DOF (3 translations & 3
rotations)

Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 7

 1.4. Degrees of Freedom (DOF)
Links, joints, and kinematic chains
• Links: rigid member having nodes
• Node: attachment points
– Binary link: 2 nodes
– Ternary link: 3 nodes
– Quaternary link: 4 nodes
• Joint: connection between two or more links (at their
nodes) which allows motion
➢ Classified by type of contact, number of DOF, type of physical
closure, or number of links joined
Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 8
 1.4. Degrees of Freedom (DOF)
Joint Classification
• Type of contact: line, point, surface
• Number of DOF: full joint=1DOF, half
joint=2DOF
• Form closed (closed by geometry) or
Force closed (needs an external force
to keep it closed)
• Joint order = number of links-1

Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 9

 1.4. Degrees of Freedom (DOF)

• Types of joints

Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 10

 1.4. Degrees of Freedom (DOF)
Determining Degrees of Freedom
• For simple mechanisms Two unconnected links: 6 DOF
calculating DOF is simple (each link has 3 DOF)

Open Mechanism
DOF=3

When connected by a full joint: 4 DOF

(each full joint eliminates 2 DOF)
Gruebler’s equation for planar mechanisms: DOF = 3L-2J-3G Where:
Closed Mechanism L: number of links
DOF=1 J: number of full joints
G: number of grounded links
Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 11
 1.4. Degrees of Freedom (DOF)
• Gruebler’s equation for planar mechanisms
M=3L-2J-3G
• Where M = 3 ( L − 1) − 2 J
M = degree of freedom or mobility
L = number of links
J = number of full joints (half joints count as 0.5)
G = number of grounded links =1

Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 12

 1.4. Degrees of Freedom (DOF)
Examples
(1)

(2)

Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 13

 1.4. Degrees of Freedom (DOF)
Paradoxes
• Greubler criterion does
not include geometry,
so it can give wrong
prediction
• We must use
inspection

Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 14

 Degrees of Freedom (DOF) – trench hoe
Number of links, L = 12, Number of one DOF joints, J1 = 12 (pins) + 3 (slider) = 15,
10 11 11, 12
12 9 Number of two DOF joints, J2 = 0
8
10

9 7
8
7

6 5 6
5

DOF = 3(L – 1) – 2J1 – J2 = 3(12-1) -2(15) = 3 4

4
3

3 hydraulics are used to

3
control the position of
the bucket. 2

1
1
2

15
 Degree of Freedom (DOF) - example
Number of links, L = 7,
Number of one DOF joints, J1 = 6 (pins) + 1 (slider) = 7,
Number of two DOF joints, J2 = 1 (fork joint)

DOF = 3(L – 1) – 2J1 – J2 = 3(7-1) – 2(7) – 1 = 3

Fork Joint
Three input sources are
needed to control the 1
mechanism
4
3
2

Spring 5
6 Slider
1

16
 References
1. Norton, Robert L.,”Design of Machinery”, WCB/McGraw-Hill,1999.
2. David H. Myszka, “MACHINES AND MECHANISMS”, Prentice Hall,
2012
3. http://ndl.ethernet.edu.et/bitstream/123456789/88001/1/Chapter%2001_
Mechanical%20Systems.ppt
4. http://ndl.ethernet.edu.et/bitstream/123456789/88001/2/Chapter%2002_
Position%20Analysis.pptx

Mechanisms of Machinery [MEng3071]: Introduction BY: Nigatu D. 17

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