Synthesis

Design a mechanism to obtain a specified motion or force.

•Type Synthesis
– given the required performance, what type of
mechanism is suitable? Linkages, gears, cam and follower, belt
and pulley and chain and sprocket.
•Number Synthesis
– How many links should the
mechanism have? How many degrees of freedom are desired?

Dimension Synthesis – deals–with determining

deals the length the
with determining of all
length
links, gear of all links,
diameter, camgear diameter, cam profile.
profile.
 Function, Path, & Motion Generation

• Function Generation: correlation of an input motion with an

output motion in a mechanism
• Path Generation: control of a point in a plane such that it follows
some prescribed path
• Motion Generation: the control of a line in a plane such that it
assumes some prescribed set of sequential positions
• Planar vs. Spatial Mechanisms: many spatial mechanisms duplicate
planar mechanisms
 Function Generation Mechanisms

A function generator is a linkage in which the relative motion

between links connected to the ground is of interest.

A four-bar hand actuated wheelchair brake mechanism

A four-bar drive linkage for a lawn sprinkler
Motion Generation Mechanisms

Four-bar automobile hood linkage design

 Path Generation Mechanisms
In path generation, we are concerned only with the path of a tracer
point and not with the motion (rotation) of the coupler link.

Crane – straight line motion

 Kinematic Synthesis

Fig. – Guiding a point along a specified curve

 Kinematic Synthesis

Fig. – Correlation of Angular positions of two cranks

 Kinematic Synthesis

Fig. – Correlation of Angular positions of crank with the

positions of a point along a curve
 Kinematic Synthesis

Fig. – Correlation of Angular positions of three cranks

Function Generation Mechanisms

Fig. – Function generation synthesis ( Ideal function and generated functions

Function Generation Mechanisms
Function Generation Mechanisms
 Limiting Conditions (Toggle)
• Toggle: a point where
the link cannot rotate
anymore. Determined
by the colinearity of
two moving links.
• Need to check when
making a design
(either by making a
cardboard model or
working model).

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 Limiting Conditions
• Transmission angle (m): the absolute value of
the acute angle of the pair of angles at the
intersection of the two links.
• Want the force in link 3 to rotate link 4
• Optimum value of 90°
• Try to keep the minimum value above
40°

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Transmission Angle

Fcos(m)
F
Fsin(m)

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 Mobility / D.O.F of Mechanism
•No. of inputs required to get a constrained mechanism (or) no. of
position variables needed to sketch the mechanism with all link
lengths known.

•KUTZBACH CRITERION FOR PLANAR MECHANISM

• F = 3(n-1)-2P1-1P2

•F – D.O.F n – No. of links

•P1 – No. of kinematic pairs with 1 D.O.F.

•P2 – No. of kinematic pairs with 2 D.O.F.

DETERMINATION OF D.O.F

n=3
P1= 3
P2 = 0
F = 3 x(3 – 1) – 2 x2 – 1x 0
=6–6–0=0
This is a STRUCTURE
 n=4
P1= 4
P2= 0

F = 3x(4 – 1) – 2x4 – 1x0

=9–8–0
=1
 n =5
P1= 5
P2= 0

F =3 x (5 – 1) – 2x5 – 1x0
= 12 – 10 – 0
=2
 n =6
P1= 7
P2= 0

F = 3 x (6 – 1) – 2x7 – 1x0
= 15 – 14 – 0
=1
 Gruebler’s Criterion
• This criterion is used to find out whether an assembly of links
with 1 D.O.F. lower pairs is a constrained mechanism or not.

• 3(n – 1) – 2l – 4 = 0

Where, n – no. of links

l – no.of lower pairs with one D.O.F.

F <0 Pre-loaded structure Super structure

F =0 Structure

F =1 Constrained Mechanism

F >1 Unconstrained Mechanism

Spatial D.O.F. Planar D.O.F
 GRASHOF’ S LAW
1. In a planar four bar revolute pair kinematic chain if the sum of
the lengths of the shortest and the longest links is less than or
equal to the sum of the lengths of the other two intermediate
links at least one link will have full rotation.

2. Mechanisms obtained from the kinematic chain satisfying these

conditions are known as Grashofian Mechanisms.

3. Mechanisms obtained from the kinematic chain which are not

obeying these conditions are known as Non-Grashofian
Mechanisms.
• Atleast one link will have full rotation if

S+l≤p+q
• s = length of shortest bar
• l = length of longest bar
• p, q = lengths of intermediate bar

• Inversions of four bar Mechanisms are named based on the

motions of input link and output link.

• Crank - Link with 360 degree rotation

• Rocker/Lever – Link with less than 360 degre rotation

 Four- bar Inversions
• Inversion of the kinematic chain depends upon which link is
fixed.

• Crank – Rocker Mechanisms (Two)

• Drag Link / Double Crank Mechanism

• Double – Rocker Mechanism

• Above are Grashofian Inversions

 Examples for Crank – Rocker Mechanism
1. Wind shield wiper mechanism on Driver Side

2. Sewing Machine Treadle Mechanism

3. Grinding Wheel Treadle Mechanism

4. Pedaling action of a Bicycle

 Example for Double Crank / Drag Link Mechanism

1.

2. Locomotive Wheels Mechanism

 Example for Double Rocker Mechanism
1. Wind Shield wiper on Passenger Side

2. Ackerman's Steering Gear Mechanism