Chap 1

1‐1 For each of the mechanisms shown in the figure, determine the mobility.
1‐2 For each of the mechanisms shown in the figure, specify the number of links. List the types of kinematic
pairs present in each of the mechanisms, and the number of each type. Calculate the mobility.
1‐3 For each set of link lengths given in the table (see Figure 1.9)
(i) determine whether or not the links can actually forma mechanism;
(ii) if a mechanism exists, determine the type of four‐bar mechanism.

1-4 For the four-bar mechanism shown in Figure P1.6, the following link dimensions are given:
r1 = 7.0 cm (length of the base link)
r2 = 2.0 cm (length of the input link)
r4 = 6.0 cm (length of the output link)

Determine the type of four-bar mechanism when the length of the coupler, link 3, is
(a) r3 = 3.5 cm
(b) r3 = 11.0 cm
(c) r3 = 11.5 cm

1‐5 Find a mechanical device around you, name the energy transforming mechanism (gears, slider‐
crank, four‐bar linkage, belt drive, or cam), and give the skeleton representation.
1‐15

For each of the mechanisms shown in the figure, specify the number of links. List the types of kinematic pairs present in each
of the mechanisms, and the number of each type. Calculate the mobility.
1.7
1.8
1.9
P1.4
P1.4 continued
1.11
P1.6
P1.7
1‐14

Consider the rack and pinion steering mechanism shown in Figure 1.25. To help your understanding,
P1.8
1‐6 Fill up the spaces underlined with “*” on the right. The mechanism shown in the figure below consists of a
planetary gear train of type A (including gear 1‐ring, gear 3‐sun, gear 4‐planet, and link 2‐crank, where gear 1 is
fixed), link 5 (with a slot), plate 6 (with a pin in the slot), and a sliding block 7. Treat the ring gear as part of the
ground (link 1).

Meshing gear teeth Number of links, n = 7

5
4 J1 joints:
7 between links: 1 and 2 2 and 4
3
6 1 and ____* 2 and___*
2 1 and 6 5 and___*
1 and ____*
J2 joints:
between links 1 and 4
3 and 4
___*and___*

Mobility, m = _______*
P1.9
1‐7 Fill up the spaces underlined with “*” on the right.

Number of links n = 6

Number of j1 joints = ______*

Number of j2 joints = ______*

Mobility m = ______*
1.16
P1.11
1‐8

Given the prescribed lengths of three links of a four‐bar mechanism (see Figure 1.9), determine the range of values of the
length of link 2 so that the mechanism will become a
(a) crank rocker mechanism
(b) drag link mechanism
(c) change point mechanism
(d) rocker‐rocker mechanism
r1 = 2 cm; r3 = 5 cm; r4 = 4 cm
P1.11 continued
P1.11 continued
1.18
1.19
1.20
1.21
1.22
1.23
P1.16
1‐9

Given the prescribed lengths of three links of a four‐bar mechanism (see Figure 1.9), determine the range of values of the
length of link 2 so that the mechanism will become a
(a) crank rocker mechanism
(b) drag link mechanism
(c) change point mechanism
(d) rocker‐rocker mechanism
r1 = 3 cm; r3 = 2 cm; r4 = 4 cm
P1.16 continued
P1.16 continued
 1‐10
P1.17
Given the dimensions of a slider crank mechanism (see Figure 1.7), determine the range of values of
the length of link 2 so that
(a) link 2 can make a full rotation
(b) the mechanism can be assembled

r1 = 3.0 cm; r3 = 9.0 cm

 1‐11
P1.18
Given the dimensions of a slider crank mechanism (see Figure 1.7), determine the range of values of
the length of link 2 so that
(a) link 2 can make a full rotation
(b) the mechanism can be assembled

r1 = 32.0 cm; r3 = 4.0 cm

1.27
1.28
1.29
1.30
1.31
1.32
1.33
 1‐13
P1.22
For each of the mechanisms shown on Figure P1.18, calculate the mobility.
rO2‐O4 = rO4‐O5 = rO5‐O6 = rBD = rDE = rEF