ME 222: Kinematics of Machines and Mechanisms

Assignment 1 (Strict deadline: Jan 29, 2016)

IIT-Jodhpur
Date: Jan 15, 2016
Note: Mention the assumptions clearly (if any) while solving the problem.
Q1. Draw kinematic diagram of the mechanism shown in Fig. 1. Also find its mobility.

Fig. 1 Fig. 2

Q2. Fig. 2 shows a plow mechanism attached to a tractor. Draw its kinematic diagram and find its mobility
(including the earth as a link) for the following cases:
a. When the tractor is stopped and the turnbuckle is fixed. (Hint: Consider the tractor and wheel to be one
with the earth.)
b. When the tractor is stopped and the turnbuckle is being adjusted. (Same hint.)
c. When the tractor is moving and the turnbuckle is fixed. (Hint: Add the moving tractor’s DOF to those
found in part a.)

Q3. Use number synthesis to find all the possible link combinations for 2-DOF, up to 10 links, to hexagonal
order, using only revolute joints.

Q4. Calculate the Grashof condition of the fourbar mechanisms defined below. Describe the motions of each
inversion. Link lengths are in centimetres.
i) 9, 7, 4.5, 2
ii) 9, 7, 3.5, 2
iii) 8, 6, 4, 2

Q5. Use linkage transformation for the Fig. 3 to make it a 1-DOF mechanism. Also Justify.

Fig. 3 Fig. 4

Q6. Sketch the equivalent linkage for a cam and follower mechanism in Fig. 4. Show that it has the same
DOF as the original mechanism.
 ME 222: Kinematics of Machines and Mechanisms
Assignment 1 (Strict deadline: Jan 29, 2016)
IIT-Jodhpur
Date: Jan 15, 2016
Q7. Answer the following:
a) Which of the following you will prefer while designing a mechanism? Justify.
1) Revolute or Prismatic joint 2) Four bar mechanism or Cam-follower 3) Cantilever or Straddle mount
b) Draw torque-speed characteristic of series wound DC motor and write its advantage and disadvantage.

Q6. Part of the design of an assembly line requires removing a box (8cm×2cm) from one conveyer (thickness
1.5 cm), rotating it by 90o, and placing it on another conveyor (thickness 1.5 cm) belt. Find an acceptable
fourbar mechanism to guide the box carrier through the two positions shown in Fig. 5. Use appropriate scale.
(Note: Dimensions need not be exact)
8.5 cm

10.5 cm

Fig. 5 Fig. 6

Q8. Draw Cayley diagram and find the link lengths of the cognates for Fig. 6. Next, draw Roberts diagram.

Q9. Design a Grashof crank-rocker for 90 degree of output rocker motion and a quick return ratio of 1:1.4.

Q7. Design a fourbar mechanism to give the three positions of coupler motion with no quickreturn as shown
in Fig. 7. Here and are the fixed pivots. Use appropriate scale.

Fig. 7 Fig. 8

Q10. Design a fourbar mechanism to move the object in Fig. 8 through the three positions shown using A and
B for attachment. Add a driver diad to limit its motion to the range of positions shown, making it a sixbar. All
fixed points should be on the base. (Note: Dimensions need not be exact)