MECH 3030

Mechanisms, Kinematics, and Machinery

Part 2: Joints

(Reference: Chapter 1 of the main textbook by K. Waldron, G. Kinzel,

and S. Agrawal, “Kinematics, Dynamics, and Design of Machinery,”
Wiley) 1
 Joints

• There is one pair (of links)

• Between two links there can only be one joint
• If more than two links come together at a location, they result in
multiple joints
• Joints require direct contact between the surfaces on rigid
bodies or links
• A single joint is composed of a pair of contacting surfaces
• Lower pair – surface contact between rigid bodies (low contact
stresses)
• Higher pair – point or line contact between rigid bodies (high
contact stresses)
• Amount of relative motion permitted is defined by the DOF or
mobility or connectivity of joint

2
 Multiple Joints of Three or More Links

1 2

3 3

(parallel view to the plane of motion)

Between 1 and 2 there is a surface contact, so there is a joint; between 2 and 3

there is also a surface contact, this is another joint. There is no any contact
between 1 and 3. So, the total number of joints is 2. In general, if there are n
links joined together at a single location, then there are n-1 joints.
3
 More on Joints

• There is one pair variable for each degree of freedom

• DOF or mobility of a joint is the minimum number of

independent variables required to define the relative position
between the two bodies constrained by the joint
• Planar joints will have/permit 1-2 dofs
• Spatial joints will have/permit 1-5 dofs.
• Sometimes 1 higher-pair joint is replaced by 2 or more lower-
pair joints and links that permit equivalent motion (kinematically
equivalent compound joint)

4
 Lower Pair Joints

Connectivity
(DOFs)

(Note the difference between H and C.) 5

 More Lower-Pair Joints

Connectivity
(DOFs)

6
Application of ball-joints

Balance of force of two shafts at an angle

7
 Higher-Pair Joints

Connectivity
(DOFs)

8
 More Higher-Pair Joints

Connectivity
(DOFs)

9
A Higher-Pair Joint Application

Scotch Yoke

10
 Compound Joints
• Some “joints” are really compound joints made up of several simple
joints in series.

Question:
(1)Why for ball joint its
1 DOF is 3, but for universal
joint it is only 2?
2 (2)Use the spatial mobility
equation on page 52 to
prove that it is 2.
3

11
Application of universal joints

Transmission of torque between two shafts at an angle

12
 Kinematically Equivalent Joints
• Often higher pairs are less expensive than lower pairs. Therefore,
higher pairs are often used instead of lower pairs.

• Links 2 and 3 have exactly the same relative motion in both configurations.
With lower pairs (right) we need to add an additional link (4).

• Between links 2 and 3, there are two dofs in each case.

13
Various Rolling-element and Plain Bearings

14
Let’s go to Linkages

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