Module 1: General Considerations 1.

Rigid Links – those capable of transmitting both push

and pull. Example: Connecting Rods 2. Flexible Links –
Module Description: flexible links that transmit a pull but not thrust. Examples:
This module will define terms as well as basic classification Ropes, Belts, Chains
of mechanism parts and determination of their motions. 3. Compression or Pressure Links – flexible links that can
Learning Objectives: only carry thrusts. Examples: Oil in hydraulics, Braking
system of cars, Water in pump system
At the end of this module, the students must be able:
Classification of Links
1. To classify basic mechanism parts.

2. To determine basic mechanism motions.

3. To define terms involved in mechanisms and kinematics.

1.1 Kinematics, Machines, and Mechanisms

Kinematics of Machines – that branch of the study of

machines that is concerned with the motions of machine
parts

Four Stages Involved in the Design of a Machine

Pure Mechanism or Kinematics of Machines

Fig
1. Determination of the purpose of the machine and the ure 1.2.01 Classification of Links
necessary motions involved. 2. Selection of the basic
machine parts that will produce the required motions. 1.3 Pairs

Constructive Mechanism or Machine Design Pairs/Kinematic Pairs/Pairs of Elements – portions of two

links, having relative motion, in contact with each other at
3. Calculation of the forces that act on the machine parts. a point, along a link, or over a surface.

4. Selection of the appropriate materials for the various Classification of Pairs According to Nature of Contact
parts and proportioning of these machine parts to
withstand the forces that act on them. Lower Pair – A pair of links having surface or area contact
between the members is known as a lower pair. The
Machine – a combination of parts, with specific motions contact surfaces of the two links are similar. Examples: Nut
and resistance to the forces that act on them, altogether turning on a screw, shaft rotating in a bearing, all pairs of
designed to transmit or transform energy. a slider-crank mechanism, universal joint.

Resistant Materials – those that do not deform or change Higher Pair – When a pair has a point or line contact
in size and shape when acted upon by forces. between the links, it is known as a higher pair. The contact
surfaces of the two links are dissimilar. Examples: Wheel
Mechanism – a combination of resistant pieces of rolling on a surface cam and follower pair, tooth gears,
materials having constrained relative motion. A machine is ball and roller bearings, etc.
composed of mechanisms.
Classification of Pairs According to Nature of Mechanical
Structure – a combination of pieces of resistant materials Constraint
used to carry loads or transmit forces without relative
motion of its parts. Closed Pair - When the elements of a pair are held
together mechanically, it is known as a closed pair. The
1.2 Links contact between the two can only be broken only by the
Link – a part of a machine or mechanism used to connect destruction of at least one of the members. All the lower
other parts that have relative motion with respect to it. pairs and some of the higher pairs are closed pairs.
Also called as Kinematic Link or Element. Unclosed Pair - When two links of a pair are in contact
Types of Links either due to force of gravity or some spring action, they
constitute an unclosed pair. In this the links are not held Figure 1.4.02 Lever having a 0°
together mechanically. Ex.: Cam and follower pair. angle

Classification of Pairs According to Nature of Relative

Motion

Rolling Pairs – When the links of a pair have a rolling

motion relative to each other, they form a rolling pair.
Examples: a rolling wheel on a flat surface, ball and roller
bearings, etc.
between arms (left) and another having
Sliding Pairs – If two links have a sliding motion relative to
less than 90° angle (right)
each other, they form a sliding pair. Example: A
rectangular rod in a rectangular hole in a prism Rocker – often called to two arms angled more than 90°
Turning Pairs – When on link has a turning or revolving Figure 1.4.03 Lever having a more
motion relative to the other, they constitute a turning pair than
or revolving pair.

Screw Pairs (Helical Pairs) - if two mating links have a

turning as well as sliding motion between them, they form
a screw pair. This is achieved by cutting matching threads
on the two links. Example: The lead screw and the nut of a
lathe
90° angle between arms (left) and
Spherical Pairs - When one link in the form of a sphere
turns inside a fixed link, it is a spherical pair. Example: The another having a 180° angle (right)
ball and socket joint
1.5 Degrees of Freedom
1.4 Cranks
An unconstrained rigid body moving in space can describe
Crank – an arm which revolves about a fixed center or the following independent motions.
oscillates through an angle
1. Translational motions along any three mutually
Figure 1.4.01 The red circle perpendicular axes x, y and z, 2. Rotational motions along
represents these axes.

Thus, a rigid body possesses six degrees of freedom. The

connection of a link with another imposes certain
constraints on their relative motion. The number of
restraints can never be zero (joint is disconnected) or six
(joint becomes solid).

Degrees of freedom of a pair is defined as the number of

independent relative motions, both translational and
rotational, a pair can have.

Degrees of freedom = 6 – no. of restraints

the circular path taken by a point on the
To find the number of degrees of freedom for a plane
blue crank rotating about an axis Q mechanism we have an equation known as Grubler’s
equation and is given by
Lever – two cranks rigidly connected to each other and
share the same axis angled between 0° to 180° �� = 3(�� − 1) − 2��1 − ��2

Bell Crank Lever – often called to two arms angled less F = Mobility or number of degrees of freedom
than 90°
n = Number of links including frame

j1 = Joints with single (one) degree of freedom

j2 = Joints with two degrees of freedom

If F > 0, results a mechanism with ‘F’ degrees of freedom.

F = 0, results in a statically determinate structure.

F < 0, results in a statically indeterminate structure.

Figure 1.6.03 A four-bar linkage – a kinematic chain
The degrees of freedom for various joints are given by:
Relative motion is possible in linkage d. However, a given
angular motion done of the crank d1 does not impart a
definite resulting angular motion to link d2.

Figure 1.6.04 A 5-
bar

Table 1.5.01 Degrees of freedom of joints

1.6 Linkage, Kinematic Chain and Mechanism

linkage – a non-kinematic
Linkage – consists of a number of pairs of elements
connected by links. chain

In case, the motion of a link results in indefinite motions of

other links, it is a non-kinematic chain. However, some
authors prefer to call all chains having relative motions of
the links as kinematic chains.

If, however, joint dj is guided by some external means, say

crank d3 turning about any fixed center dQ, the motions
of all the links become determinate.
Figure 1.6.01 Linkages Figure 1.6.05 Combination of
2
Kinematic Chains are linkages that satisfy two conditions:

1. Relative motion of the links is possible.

2. Motion of each piece relative to the others is definite.

Linkage e formed a triangle. Since only one triangle can be

formed from three given lines, no relative motion of the
links can occur unless one of the joint or link breaks.
four-bar linkage motion

But the linkage, by the addition of the crank d3, has now
been transformed into a combination of two four-bar
linkages, one that includes crank d1(da-db-dj-dQ), and
another one that includes link d2 (dd-dc-dj-dQ), with da,
dd, and, dQ fixed to each other.

Figure 1.6.02 Impossibility of relative motion in a 3-bar

linkage – a redundant chain

On the other hand, if four links are involved, as in linkage

a, relative motion of a definite nature will result.
 Figure 1.7.01 The four-bar linkage

The four-bar linkage consists of two cranks, 2 and 4, Fig.

1.7.01, having their stationary pair-members g1 and g2
attached to, or a part of, a stationary piece 1, and the
moving pair members k1 and k2 connected to each other by
a rigid rod or bar 3 called the connecting rod, coupler, or
floating link. k1 is now constrained to move about Q2 as
explained in Fig. 1.4.01 and k2 about Q4, and the rigid
connection 3 between k1 and k2 controls the turning of
each about its own axis (A and B respectively). Hence, if
any motion is given to any part of this combination every
Figure 1.6.06 A combination of two four-bar linkage other part must have a corresponding determinate
motion, and the combination constitutes a mechanism
In order that a linkage may constitute a kinematic chain,
(see Art. 1.6).
the number of fixed points, or points whose motions are
determined by means outside the particular linkage in Any of the four pairs might be inverted. That is, the shaft f1
question, must bear such a relation to the total number of or h1 might be held firmly in the bearing and the crank
links that the linkage may form a four-bar linkage or a turn on it, or the pin f2 or h2 might be attached firmly to 3.
combination of two or more four-bar linkages. This may The four pieces 1, 2, 3, and 4 are called links.
be seen by reference to a, b, c, and Figure 1.6.06.
The essential part of a link, from a kinematic standpoint, is
Mechanism – a kinematic chain with one of its links fixed. its center line, and it is convenient, in studying a linkage,
to represent it by the center lines of its links, that is, the
In general, it may be said that any mechanism may be
lines connecting the axes of the four pairs of elements.
analyzed as a four-bar linkage or as a combination of two
Figure 1.7.02 represents the linkage shown in Fig. 1.7.01.
or more such linkages.

If one of the links of a redundant chain is fixed, it is known

as a structure.

To obtain constrained or definite motions of some of the

links of a linkage, it is necessary to know how many inputs
are needed. In some mechanisms, only one input is
necessary that determines the motion of other links and
are said to have one degree of freedom. In other
mechanisms, two inputs may be necessary to get a
constrained motion of the other links and are said to have Figure 1.7.02 The four-bar linkage line diagram
two degrees of freedom and so Any mechanism may be resolved into an elementary four-
on. bar linkage consisting of two cranks, a connecting rod,
and a line of centers, or a combination of four-bar
linkages, and its action analyzed in accordance with the
laws.

1.8 Four-Bar Linkage with a Sliding Membe

The degree of freedom of a structure is zero or less. A

structure with negative degrees of freedom is known as a
Superstructure.

1.7 The Four-Bar Linkage Figure 1.8.01 A four-bar linkage with a sliding member
In Fig. 1.8.01, the end of the connecting rod carries a block, formed by the crankshaft, crank, connecting rod,
pivoted to it at the axis B, which slides back and forth in crosshead, and crosshead guides of the reciprocating
the circular slot as the crank Q2A revolves. The center of steam engine, the reciprocating pump, and the
curvature of the slot is at Q4. The center of the crank pin B reciprocating air compressor, or the crank, connecting
evidently has the same motion that it would have were it rod, piston, and cylinder of an internal combustion engine.
guided by a crank of length Q4B turning about Q4. The This mechanism is known as a slider-crank mechanism.
mechanism, therefore, is really a four-bar linkage with the Figure 1.8.04 is a line diagram of this mechanism and is
lines Q2A and Q4B as center lines of the cranks, Q2Q4 as the equivalent to the line diagram of the four-bar linkage
line of centers, and AB as the center line of the without a sliding pair as shown in Fig. 1.7.02.
connecting rod.

Let it now be supposed that the slot is made of greater

radius than that shown in the figure, for example, with its
center at Q4'. Then the equivalent four-bar linkage would
be Q2ABQ4'.

Figure 1.8.04 A slider-crank mechanism line diagram

Review Questions

1. Solve for the degree of freedom of a at Fig. 1.6.01. 1

2. Solve for the degree of freedom of d at Fig. 1.6.01. 2

Figure 1.8.02 A four-bar linkage with a sliding member on
a straight path 3. Solve for the degree of freedom of e at Fig. 1.6.01. 0

Carrying the same idea still further, let the slot be made 4. In Figure 1.7.02, assuming crank Q2A rotates clockwise,
straight. Then the equivalent center Q4 would be at a point when will crank Q4B stop to move clockwise? Extreme
Q4∞, an infinite distance away. The mechanism, however, position
would still be the equivalent of a four-bar linkage, as
shown in Fig. 1.8.02, where Q2A is one crank (called the 5. The moment or point an oscillating crank change its
finite crank), the line BQ4∞ perpendicular to the slot is the direction of motion. Extreme position
other crank (called the infinite crank), AB the connecting 6. Axes Q2 and Q4, are fixed. Q2A = 1 ½ in., AB = 3 in., Q4B =
rod, and the line Q2Q4∞, parallel to the crank through B, is 2 in., and Q2Q4 = 3 in. Crank 2 is the driver turning
the line of centers. counterclockwise. The proportions are such that, while 2
makes a complete revolution, 4 oscillates through a
certain angle. Find the two extreme positions of the
center line Q4B of crank 4.

Figure 1.8.03 A slider-crank mechanism

Figure 1.8.03 shows the special form in which this linkage

commonly occurs, where the center line of the slot passes
through the center of the shaft Q2. This is the mechanism Oscillates through a 100.7846° angle
7. Axes Q2 and Q4 are fixed. Q2A = 1 ½ in., Q4B = 2 in., and
Q2Q4 = 3 in. AB is of such a length that when the driving
crank 2 is 30° above Q2Q4, the driven crank 4 is 60° below
Q2Q4 as shown. Find the length of AB and the two extreme
positions of the center line Q4B of crank 4.

Q2A = 2 in, AB = 4 in

10. In the Slider-crank mechanism shown, the slide B

travels along the center line XX'. Q2A = 1 ½ in., AB = 6 in.
With the crank in the position shown, draw the four-bar
linkage, properly notate the linkage Q2ABQ4∞, name each
link, and show the finite and infinite cranks. Find the two
extreme positions of B, the axis of the pin by which link 3 is
attached to the block 4. Dimension the length of the
stroke of B, that is, the distance between its two extreme
positions. Show and dimension the angular movement in
AB = 2.57913 in, Q4B oscillates through a 98.1558° angle degrees of the crank Q2A when the slide B moves between
its extreme positions.
8. Block 4 slides in the slot in the fixed piece 1. Axis Q2 of
crank 2 is fixed on 1. Q2A = 1 ½ in., and AB = 4 ½ in. Draw
the mechanism, assuming dimensions for 1, if desired, or
use center lines only. Draw the four-bar linkage for this
mechanism, properly notate the linkage Q2ABQ4∞, name
each link, and show the finite and infinite cranks.

Find graphically the two extreme positions of B, the axis of

the pin by which link 3 is attached to the block 4.
Dimension the length of the stroke of B.

Stroke = 3.254 in Stroke = 3.2574

9. Q2 is a fixed axis. 1 is a fixed guide for the sliding block 4.
If the stroke of B is 4 in., what is the length of crank Q2A?
Find the length AB if the maximum value of the angle ɸ is
30°. Assessment

1. Solve for the degree of freedom of b at Fig. 1.6.01. 1

2. Solve for the degree of freedom of c at Fig. 1.6.01. 1

3. Solve for DOF.

 7. Axes Q2 and Q4, are fixed. Q2A = 1 ½ in., AB = 3 in., Q4B =
2 in., and Q2Q4 = 3 in. Crank 2 is the driver turning
counterclockwise. The proportions are such that, while 2
makes a complete revolution, 4 oscillates through a
certain angle. Locate the midpoint of the connecting rod
AB. Plot the path of this point for one complete revolution
of the crank 2 and find the angular position of the crank 2
when the midpoint of the connecting rod is nearest to the
center line Q4B of crank 4.

4. Solve for DOF.

5. Solve for DOF. 8. Axes Q2 and Q4 are fixed. Q2A = 2 in., Q4B = 2 ½ in., and
Q2Q4 = 3 ½ in. AB is of such a length that when the driving
crank 2 is 30° above Q2Q4, the driven crank 4 is 60° below
Q2Q4 as shown. Find the length of AB and the two extreme
positions of the center line Q4B of crank 4.

6. Axes Q2 and A, are fixed. Q2A = 1 ½ in., AB = 3 in., Q4B = 2

in., and Q2Q4 = 3 in. Indicate the four bars of the
mechanism. Plot the paths of B and Q4 for one kinematic
cycle.

9. Axes Q2 and A are fixed. Q2A = 1 ½ in., Q4B = 2 in., and

Q2Q4 = 3 in and AB = 2 ½ in. Designate the four bars of the
mechanism and determine the extreme positions of the
center line of the two cranks.
10. Block 4 slides in the slot in the fixed piece 1. Axis Q2 of
crank 2 is fixed on 1. AB = 4 ½ in. and the extreme right
position of B is 6 in. to the right of a vertical line through
Q2. Draw the mechanism, assuming dimensions for 1, if
desired, or use center lines only. Draw the four-bar
linkage for this mechanism, properly notate the linkage
Q2ABQ4∞, name each link, and show the finite and infinite
cranks.

Find graphically the other extreme position of B, the axis of

the pin by which link 3 is attached to the block 4.
Dimension the length of the crank Q2A and the stroke of B.

References

Asin, R. (1985). Kinematics of Machines (A Reviewer/Text).

Manila, PH. MERRIAM & WEBSTER, INC

Doughtie, V.L., & James, W.H. (1954). Elements of

Mechanism. NY. John Wiley & Son, Inc.

Gowtham Unity. (n.d.). Kinematics of Machines – Notes,

Tutorial Mechanisms Kinematic of Machines. Retrieved
from
https://www.academia.edu/10262801/Kinematics_of_Ma
chines_Notes_Tutorials_Mechanisms_
Kinematics_of_Machines