Number Synthesis

A collection of connected links must meet certain requirements in order to be called a

mechanism. If links are connected in a manner resulting in a configuration such that
relative motion of the links is impossible, the assembly is called a structure.

Four pin-connected bars of proper relative proportions constitute the familiar chain
known as the four-bar linkage, said to be movable if relative motion of the links is
possible.

Movability studies based on only two factors-the number of links and the number of
joints which have acquired the name of number synthesis.

In other words Number Synthesis means determine the number of links, and order of
the links and joints necessary to produce motion of a particular DOF
It answers the question of what are all possible link combinations to produce a motion
with a specific DOF. Note: Order refers to the number of nodes per link, i.e. binary,
ternary, etc.
Hypothesis: If all joints are full joints, an odd number of DOF requires an even
number of link and vice versa.
Proof: All even integers can be denoted by 2m or 2n, and all odd integers can be
denoted by 2m-1 or by 2n-1, where n and m are any positive integers. The number
of joints must be a positive integer.
 Isomers
The word isomer means having equal parts. Isomers in chemistry are compounds with
the same number of atoms but connected differently.

Linkage isomers are analogous chemical compounds.

Links (like atoms) have various nodes (electrons) available to connect to other links’
nodes.
 Isomers
In mechanisms, isomers are linkages that have the same number of links, but they are
interconnected differently. Linkage isomers will have different motion properties,
depending upon the connections of the links.
Predicting the number of isomers of all link combinations has been a long-unsolved
problem.
The six link case of 4 binaries and 2 ternaries has
two valid isomers.

Four bars, only one isomer

possible
Stephenson’s six bar isomer Watt’s six bar isomer

There are different interconnections of the ternaries to the binaries in these two examples. The
Watt's chain has the two ternaries directly connected, but the Stephenson's chain does not.
 Watt’s six bar isomer
Stephenson’s six bar isomer

There is third possible isomer for

the case of six links

But this is invalid isomer as it fails the test of distribution of degree of freedom, which
requires that the overall DOF (here 1) be uniformly distributed throughout the linkage and
not concentrated in a sub-chain.
Valid 1-DOF isomers

Valid 1-DOF isomers

 Linkage transformation

The basic four bar linkage is a loop of four links joint by four revolute joints. If we
relax the constraint that restricted us to only revolute joints, we can transform
this basic linkages to a wider variety of mechanisms with greater usefulness.
There are several transformation rules that we can apply to planar kinematic
chains

Basic transformation techniques are

1. Revolute joints can be replaced by prismatic joints with no change in DOF of

the mechanism
2. Full joints can be replaced by half joints, increasing DOF by 1
3. Removal of a link will reduce the DOF by one
4. The combination of rule 2 and 3 will keep the original DOF unchanged
 Example

The crank-slider (right) is a transformation of the fourbar crank rocker, by

replacing the revolute joint at the rocker pivot by a prismatic joint, maintaining
the same one degree of freedom. Note, slider block is actually Link 4.

Replacing revolute joints in any loop by prismatic joints does not change the
DOF, provided that at least two revolute joints remain in the loop
 Example

Curved Slot Straight Slot

Fourbar slider-crank transformed via rule No. 4. Removed the link 3 and full
joint converted to half joint
5. Any ternary or higher-order link can be partially “shrunk” to a lower-order link by
consolidating nodes. This will create a multiple joint but will not change the DOF of the
mechanism.

6. Complete shrinkage of a higher-order link is equivalent to its removal. A multiple joint

will be created, and the DOF will be reduced.
Kinematic Sketch

1 (Ground)
2
3
4
5

Valid 1-DOF isomers 6

7
L=9
9 8
J1 = 11
J2 = 1

DOF = 3(L-1) – 2J1 – J2

= 3×8 – 2×11 – 1
= 24 – 22 – 1
=1
Determine the d.o.f or mobility of the planar mechanism
Make kinematic sketch define the types of all the links and joints and
determine the dof of the mechanisms shown
 Sketch a kinematic diagram of this device and draw its equivalent linkage.
Determine its DOF under two conditions.

Brake pads not contacting the wheel rim.

Brake pads contacting the wheel rim.