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Sheet 3

The document contains questions about kinematics of mechanisms and robots. It includes multiple choice and calculation questions related to types of linkages, degrees of freedom, mechanical advantage, and position vectors. Questions cover topics like four-bar linkages, slider crank mechanisms, and Grashof's law.

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Mahmoud salah
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44 views

Sheet 3

The document contains questions about kinematics of mechanisms and robots. It includes multiple choice and calculation questions related to types of linkages, degrees of freedom, mechanical advantage, and position vectors. Questions cover topics like four-bar linkages, slider crank mechanisms, and Grashof's law.

Uploaded by

Mahmoud salah
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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DME 151 Kinematics of Mechanisms & Robots

Sheet 3

Q1. Choose the correct answer:


1. The number of degrees of freedom of a planer linkage with 8 links and
9 simple revolute joints is
a) 1
b) 2
c) 3
d) 4
2. A palnar mechanism has 8 links and 10 rotary joints. The number of
degrees of freedom of the mechanism, using Grubler’s criterion, is
a) 0
b) 1
c) 2
d) 3
3. What is the condition involved in Grashof’s law?
𝑎) 𝑠 + 𝑙 ≥ 𝑝 + 𝑞
𝑏) 𝑠 − 𝑙 ≥ 𝑝 − 𝑞
𝑐) 𝑠 + 𝑙 ≤ 𝑝 + 𝑞
𝑑) 𝑠 − 𝑙 ≤ 𝑝 − 𝑞

4. In a four bar linkage, s denotes the shortest link length, L is the longest
link length, P and Q are the lengths of other two links. At least one of
the three moving links will rotate by 360° if
𝑎) 𝑆 + 𝐿 < 𝑃 + 𝑄
𝑏) 𝑆 + 𝐿 > 𝑃 + 𝑄
𝑐) 𝑆 + 𝑃 < 𝐿 + 𝑄
𝑑) 𝑆 + 𝑃 > 𝐿 + 𝑄
5. If Grashof’s law is not satisfied, no link will make a complete
revolution relative to one another. True or False?
a) False
b) True

1
Dr. Rania Elbana
DME 151 Kinematics of Mechanisms & Robots

Sheet 3

6. The number of inversions for a slider crank mechanism is


a) 6
b) 5
c) 4
d) 3

7. If the link next to the shortest link is fixed, what type of mechanism is
obtained?
a) Double crank mechanism
b) Linkage is not planar
c) Double rocker mechanism
d) Crank rocker mechanism

8. If the shortest link is fixed, what type of mechanism is obtained?


a) Double crank mechanism
b) Double rocker mechanism
c) Linkage is not planar
d) Crank rocker mechanism

9. If the link opposite to the shortest link is fixed, what type of


mechanism is obtained?
a) Double crank mechanism
b) Linkage is not planar
c) Double rocker mechanism
d) Crank rocker mechanism.

10.The mechanism used in a shaping machine is

a) A closed 4bar chain having 4 revolute pairs

b) A closed 6bar chain having 6 revolute pairs

c) A closed 4bar chain having 2 revolute and 2 sliding pairs

d) An inversion of single slider crank chain

2
Dr. Rania Elbana
DME 151 Kinematics of Mechanisms & Robots

Sheet 3

11.What type of mechanism is shown in the given diagram?


a) Double crank mechanism
b) Linkage is not planar
c) Double rocker mechanism
d) Crank rocker mechanism

12.What type of mechanism is shown in the diagram


below?
a) Double rocker mechanism
b) Crank rocker mechanism
c) Double crank mechanism
d) Linkage is not planar

13.What type of mechanism is shown in the diagram


below?
a) Double rocker mechanism
b) Crank rocker mechanism
c) Double crank mechanism
d) Linkage is not planar

14.What type of mechanism is shown in the diagram


below?
a) Double rocker mechanism
b) Crank rocker mechanism
c) Double crank mechanism
d) Linkage is not planar

3
Dr. Rania Elbana
DME 151 Kinematics of Mechanisms & Robots

Sheet 3

15.What type of mechanism is shown in the diagram below?


a) Double rocker mechanism
b) Crank rocker mechanism
c) Double crank mechanism
d) Linkage is not planar

16.What type of mechanism is shown in the diagram given


below?
a) Double rocker mechanism
b) Double crank mechanism
c) Crank rocker mechanism
d) Linkage is not planar

17.What type of mechanism is shown in the diagram given


below?
a) Double rocker mechanism
b) Double crank mechanism
c) Crank rocker mechanism
d) Linkage is not planar
18.What type of mechanism is shown in the diagram given
below?
a) Double rocker mechanism
b) Linkage is not planar
c) Crank rocker mechanism
d) Double crank mechanism

4
Dr. Rania Elbana
DME 151 Kinematics of Mechanisms & Robots

Sheet 3

19. The mechanical advantage of a linkage is the ratio of ___________


a) Input torque necessary at the driven link to the exerted output
torque at the driver
b) Output torque exerted at the driven link to the necessary input
torque required at the driver
c) Output torque exerted at the driver to the necessary input torque
required at the driven link
d) Input torque exerted at the driven link to the necessary output
torque at the driver
20.The mechanical advantage of a four-bar mechanism is directly
proportional to the sine of the angle between which two links?
a) Driver and coupler
b) Fixed link and driver
c) Coupler and follower
d) Follower and Fixed link
21. As the angle between coupler and driver increases, the mechanical
advantage of a four-bar mechanism also increases.
a) False
b) True.
22. In a four-bar mechanism, small input torque is required to overcome a
large output torque load when mechanical advantage is __________
a) infinite
b) 0
c) 1
d) 0.5
23. What is the mechanical advantage of the ideal one pulley system?
a) 1
b) 0
c) infinite
d) 2

5
Dr. Rania Elbana
DME 151 Kinematics of Mechanisms & Robots

Sheet 3

24.The four-bar linkage should not be used where the transmission angle
(angle between coupler and follower) is less than ________
a) 90°
b) 180°
c) 100°
d) 45°
25.Consider a jackscrew having a handle of length L=50 cm. It is used to
raise a car by 3cm/revolution of the handle. Calculate the mechanical
advantage.
a) 150
b) 90
c) 105
d) 57
26.If the path of a moving point can be described by only two
coordinates, then the point is said to have ______
a) Rectilinear motion
b) Spatial motion
c) Skew motion
d) Planar motion
27.Two vectors are given by: Rp = i + 2j + k and RQ = 3i + 4j + k.
Position vector RQ with respect to RP is given by ______
a) 2(i + j)
b) 2(i + k)
c) i + j
d) 2(j + k)
28.The path of moving point is defined by the equation y=4x2. Find the
position difference from point P to point Q. If RPX = 4 and RQX = 5.
a) i + 36j
b) 9i + 164j
c) – (9i – 164j)
d) – (i + 36j)

6
Dr. Rania Elbana
DME 151 Kinematics of Mechanisms & Robots

Sheet 3

29.Two vectors are given by: Rp = 13i + 17j and RQ = 20i + 11j. Position
difference from point P to point Q is given by ______
a) 6 ∠ 49.4°
b) 7 ∠ 40.6°
c) 9.23 ∠-40.6°
d) 9.23 ∠ 40.6°

30.The path of moving point is defined by the equation z=x 2-y. Find the
position difference from point P to point Q. If RPX = 1, RQX = 3, RPz= 2
and RQz= 4.
a) -2i – 6j – 2k
b) 2i + 6j + 2k
c) 4i + 4j + 6k
d) -6i + 2j – 2k

7
Dr. Rania Elbana
DME 151 Kinematics of Mechanisms & Robots

Sheet 3

Q2. Choose the correct answer:


1. Determine the mechanical advantage of the four-bar linkage in the
posture shown.

O2O4 = 120 mm, O2A = 60 mm, AB = 100 mm, and O4B = 130 mm.
2. Determine the mobility of the mechanism. Number each link and
label the lower pairs and the higher pairs. Identify a suitable
input, or inputs, for the mechanism.

8
Dr. Rania Elbana
DME 151 Kinematics of Mechanisms & Robots

Sheet 3

3. Determine the mobility of the mechanism. Number each link and label
the lower pairs and the higher pairs. Identify a suitable input, or
inputs, for the mechanism.

4. Determine the transmission angle and the mechanical advantage of the


four-bar linkage in the posture shown. What type of four-bar linkage is
this?

RAO2 = 20mm, RBA = 70mm, RBO4 = 90mm, and RO4O2 = 60mm.


9
Dr. Rania Elbana
DME 151 Kinematics of Mechanisms & Robots

Sheet 3

5. A crank-rocker four-bar linkage is shown in one of its two toggle


postures. Find θ2 and θ4 corresponding to each toggle posture.
What is the total rocking angle of link 4? What are the
transmission angles at the extremes?

RAO2 = 8in, RBA = 20in, RBO4 = 16in, and RO4O2 = 16in


6. Find θ2 and θ4 corresponding to a dead-center posture. Is there a
toggle posture?

RAO2 = 110 mm, RBA = 100 mm, RBO4 = 240 mm, and RO4O2 = 280 mm.

With best wishes

Dr. Rania Elbana


10
Dr. Rania Elbana

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