FMB 20202 Mechanics of

Machine
Chapter II Mechanism and
Linkages
I
By
Engr. Syed Fawwaz Al-Attas

Mechanisms
Terminology

Planar vs. Spatial Mechanisms

Planar Mechanisms:

When all the links of a mechanism have plane motion, it is called as a planar mechanism.
All the links in a planar mechanism move in planes parallel to the reference plane.

Spatial Mechanisms:

A mechanisms where links move in 3 dimensions.

Examples of spatial
mechanisms
A gear train system (for example)
can be a planar or spatial
mechanisms depending on the
configuration of the system.

PAIRING ELEMENTS
Pairing elements:

the geometrical forms by which two

members of a mechanism are joined together, so that the
relative motion between these two is consistent.
Such a pair of links is called Kinematic Pair.

PAIRING ELEMENTS

Courtesy:www.technologystudent.com

KINEMATIC PAIRS
Based on nature of contact between elements
(i) Lower pair : The joint by which two members are
connected has surface contact.
Advantages:
The lubricant traps between their enveloping surfaces.
Therefore results in low wear and long life

Lower Pair Joints

Planar (2D) Mechanism

Spatial (3D) Mechanism

Lower Pair Joints

Name (Symbol)

DOF

Contains

Revolute (R)

1 ()

Translating (Prismatic) (P)

1(x)

Helical(H)

1()

Cylindric (C)

2(), (x)

RP

Spherical (S)

3 (), (), ()

RRR

Planar (F)

3(), (x), (y)

RPP

Examples of Planar (2D) Lower Pair Joints

A door joint to a frame with hinges (revolute (R) pair)
A piston sliding on cylinder (prismatic (P) pair)

KINEMATIC PAIRS
(ii) Higher pair: The contact between the pairing elements
takes place at a point or along a line.

Higher Pair Joints

Gear Teeth

Cam & Follower

Pin-in-Slot

Link against Plane

JOINT ORDER

KINEMATIC PAIRS
Based on relative motion between pairing
elements
(a) Siding pair (prismatic pair) [DOF = 1]

(b) Turning pair (revolute pair) [DOF = 1]

KINEMATIC PAIRS
Based on relative motion between pairing
elements
(c) Cylindrical pair [DOF = 2]

(d) Rolling pair [DOF = 1]

KINEMATIC PAIRS
Based on relative motion between pairing
elements
(e) Spherical pair [DOF = 3]
Eg. Ball and socket joint

(f) Helical pair or screw pair [DOF = 1]

KINEMATIC PAIRS
Based on the nature of mechanical constraint
(a) Closed pair

(b) Unclosed or force closed pair

Kinematic Chain
Definition: A kinematic chain is an assembly of links connected together either
joined together or arranged in a manner that permits them to move
relative to one another, without specifying the base link
(i.e., a fixed link)

That is, when all linkages in a system are movably and connected
together by joints, they are said to form a kinematic chain.
Joints

Binary Links

4-link kinematic
chain

Ternary
Link

Fig. Devices with diverse link components.

Kinematic Chain
LOCKED CHAIN OR STRUCTURE
Links connected in such a way that no relative
motion is possible.

Types of Links in a Kinematic Chain

Kinematic chains might contain different types of links and joint.
Links containing only 2 par element connections are called
binary links;
Those having 3 are called ternary links,
Those having 4 are called quaternary links, and so on

Types of Links in a Kinematic Chain

Fig. Mechanism with diverse link types.

Joints

Binary Links

Binary
link

Binary
links
Ternary
Link

Ternary link
Fig. Devices with diverse link components.

Closed vs. Open kinematic chains

Closed Chain Mechanisms:

If

every link is connected to at least two other

links, the chain forms one or more closed loops
and it is called a closed kinematic chain.
No open attachment points or nodes
May have one or more DOF.
4-bar kinematic chain

5-bar link mechanism

Fig. Walking robot using a

4-bar mechanism

Closed vs. Open kinematic chains

Open Chain Mechanisms:

A kinematic chain that is not closed
(has no closed loops) is an open kinematic chain.
An open mechanism of more than one link will
always have more than one DOF.
Requires as many actuators (motors) as DOF.

Real robot

Robot simulation
Skeleton

PUMA Robot:
3-link open chain mechanism

Mechanisms
Definition: A mechanism is a kinematic chain where one of its linkages
does not move (such link is fixed and its called the base link).
A mechanism is a constrained kinematic chain.
Motion of any one link in the kinematic chain will give a definite and predictable motion relative to
each of the others. Usually one of the links of the kinematic chain is fixed in a mechanism

Fixed link or base link

Some Common Types of Mechanisms

4-bar mechanism

5-bar & 6-bar mechanisms

slider

Figure. Slider crank

mechanism with offset.

Slider-crank mechanism
crank

Figure. (a) Slider crank mechanism.

(b) Skeleton representation.

Cam-follower mechanism
Follower

Gear Trains mechanism

Etc.

Figure. Gear train.

Cam Disk

Links
Individual parts of machines or mechanisms
are also referred to as links.

Links

Types of Links:
Links can be non-rigid: cables and belts.
Links can also be rigid bodies: cranks, levers, wheels, bars or
gears.

Example:
Rigid links:
pulleys,
cam,
crank, etc.

Non-rigid link:
timing belt

Four-Bar Mechanism
4-bar mechanisms are among the most common and useful mechanisms:

Components in a 4-bar mechanism:

It has 4 bars (links)
A stationary or base link (link 1) and 3 moving links.
The crank (link 2 or link 4) rotates about a base pivot/joint (O2 or O4) and
move the mechanism.
A coupler (link 3) connects the crank to the output link.
Figure. Skeleton
representation.

Angular
displacements
Figure. Example 4-bar
mechanism.

Four-Bar Mechanism
Complex mechanisms can be built from simple mechanisms by adding more links.
FIG. 4-bar mechanism used in a
washing machine.

3
2

This gear drives the agitator

to provide the washing action

Gears

FIG. 4-bar mechanism

Skeleton.
FIG. Complex mechanism

Slider-crank mechanism
This mechanism incorporates 5 main
elements:
coupler

1.A stationary base link (link 1). The other

links can move relative to the base link .
2.The crank (link 2) rotates about a base
pivot/joint.
3.The slider or piston (link 4) moves in a linear
motion.
4.A coupler (link 3) connects the crank to the
slider.
5.The line of action is the straight-line path of
the center of the slider.
The slider-crank mechanism might have an
offset between the line of action and the base
line.

slider

crank

Figure. Slider-crank mechanism.

Figure. Slider crank mechanism with offset.

Skeleton of a Mechanism
A skeleton is a highly simplified drawing of a
mechanism.

slider

Use:
Skeletons are use for analyzing the
motions of the mechanism.
theoretical
The dimensions in the skeleton diagram
are critical for determining motions.
The skeleton includes links and joints:
Joints are represented with a symbol that
depends on the type of joint.
Links are, in general, represented by
straight lines (regardless of the actual
shape of the real link).

joints

crank
Figure. (a) Slider crank mechanism.
(b) Skeleton representation.

Compound Mechanisms

A compound mechanism is system/machine

composed of basic/simple mechanisms
forming a complex machine.

The entire machine can be completely

analyzed by independently analyzing all the
individual (simple) mechanisms comprising
the overall system.

4-Bar mechanism

4-Bar mechanism
Example: compound
mechanism: Excavator
Compound
mechanism

..
.
4-Bar mechanism

Machines

Though all machines are mechanisms, all

mechanisms are not machines

Mechanisms
Degrees of Freedom
(DOF)

DOF of a System

DOF:
Mechanisms (e.g., Robot manipulators and mobile robots) can move
in one or more dimensions.

The dimensions in which a mechanism can move are

called its Degrees of Freedom (DOF)

NOTE:
A DOF is any of the minimum number of coordinates required
to
completely specify the motion of a mechanical system (how many DOF a
mechanism such as a robot has is important in determining how it can impact its
world, and how well, it can accomplish its task).

Translational and Rotational DOF

General:
In general, a free body in 3D space has a total of 6 DOF.
3 of those are called translational DOF as they allow the body to move without
turning (rotation), while the other 3 are called rotational as they allow the body
to rotate without moving (translation):

Translation DOF:

usually labeled x, y and z by convention.

Rotation DOF:

usually labeled roll, pitch and yaw by convention (in robotics)

Examples of robot leg mechanisms with 2 & 3 DOF

Hip abduction
angle ()

Hip flexion
angle ( )

3DOF leg

Knee flexion
angle ( )

Am
mammal type leg with
a tw
two-joint actuator
(2D
(2DOF leg)

Schematic configuration o
for walking machines (3DO

Controllable vs. Uncontrollable DOF

General:
If a mechanism has an actuator for every DOF, then all DOF are controllable (this
is an ideal scenario but it is not always the case).
The DOF that are not controllable are called uncontrollable:

Controllable DOF (CDOF)

: DOF that we can control.

Uncontrollable DOF (UDOF) : DOF that we cannot control.

IMPORTANT NOTE:
Any body in 2D can potentially move in 3 ways but it can only do so if it
has actuators that can control those 3 DOF (and cars DO NOT parallel
parking is difficult)

This also happens in 3D where bodies can potentially move in 6 ways.

GRUBLERS CRITERION
Number of degrees of freedom of a mechanism is given by

F = 3(n-1)-2l-h
Where,
F = Degrees of freedom
n = Number of links in the mechanism.
l = Number of lower pairs, which is obtained by counting the
number of joints. If more than two links are joined
together at any point, then, one additional lower pair is to
be considered for every additional link.
h = Number of higher pairs

Examples - DOF

F = 3(n-1)-2l-h
Here, n = 4, l = 4 & h = 0.
F = 3(4-1)-2(4) = 1
i.e., one input to any one link will result in definite motion of all the links.

Examples - DOF

F = 3(n-1)-2l-h
Here, n = 5, l = 5 and h = 0.
F = 3(5-1)-2(5) = 2
i.e., two inputs to any two links are required to yield definite motions in
all the links.

Examples - DOF

F = 3(n-1)-2l-h
Here, n = 6, l = 7 and h = 0.
F = 3(6-1)-2(7) = 1
i.e., one input to any one link will result in definite motion of all the links.

Examples - DOF

F = 3(n-1)-2l-h
Here, n = 6, l = 7 (at the intersection of 2, 3 and 4, two lower pairs
are to be considered) and h = 0.
F = 3(6-1)-2(7) = 1

Examples - DOF

F = 3(n-1)-2l-h
Here, n = 11, l = 15 (two lower pairs at the intersection of 3, 4, 6; 2,
4, 5; 5, 7, 8; 8, 10, 11) and h = 0.
F = 3(11-1)-2(15) = 0

Kinematic Diagram

A simplified diagram from object/product.

The diagram used for kinematic analysis, such as

mechanism vector, force analysis, etc.

There are 3 method to convert from object/product to

kinematic diagram, which as follows:
1) Kinematic Representation Conversion
2) Kinematic Diagram
3) DOF Determination

1) Kinematic Representation Conversion

Link No.
1

Typical Form

Kinematic Representation

2) Kinematic Diagram

3) DOF Determination
F = 3(n-1)-2l-h
Here, n = 4, l = 4 and h = 0.
F = 3(4-1)-2(4)
= 1 DOF

1) Kinematic Representation Conversion

Link No.
1

Typical Form

Kinematic Representation

2) Kinematic Diagram

3) DOF Determination
F = 3(n-1)-2l-h
Here, n = 4, l = 4 and h = 0.
F = 3(4-1)-2(4)
= 1 DOF

1) Kinematic Representation Conversion

Link No.
1

Typical Form

Kinematic Representation

2) Kinematic Diagram

3) DOF Determination
F = 3(n-1)-2l-h
Here, n = 4, l = 4 and h = 0.
F = 3(4-1)-2(4)
= 1 DOF

1) Kinematic Representation Conversion

Link No.
1

Typical Form

Kinematic Representation

2) Kinematic Diagram

3) DOF Determination
F = 3(n-1)-2l-h
Here, n = 4, l = 4 and h = 0.
F = 3(4-1)-2(4)
= 1 DOF

Examples

1) Kinematic Representation Conversion

Link No.
1
2
3
4
5
6
7
8

Typical Form

Kinematic Representation

2) Kinematic Diagram

3) DOF Determination
F = 3(n-1)-2l-h
Here, n = 8, l = 10 and h = 0.
F = 3(8-1)-2(10) -0
= 1 DOF

1) Kinematic Representation Conversion

Link No.
1

Typical Form

Kinematic Representation

2) Kinematic Diagram

3) DOF Determination
F = 3(n-1)-2l-h
Here, n = 4, l = 4 and h = 0.
F = 3(4-1)-2(4)
= 1 DOF

1) Kinematic Representation Conversion

Link No.
1
2
3
4
5
6

Typical Form

Kinematic Representation

2) Kinematic Diagram

3) DOF Determination
F = 3(n-1)-2l-h
Here, n = 6, l = 7 and h = 0.
F = 3(6-1)-2(7)
= 1 DOF

Examples

1) Kinematic Representation Conversion

Link No.
1
2
3
4
5
6

Typical Form

Kinematic Representation

2) Kinematic Diagram

3) DOF Determination
F = 3(n-1)-2l-h
Here, n = 6, l = 7 and h = 1.
F = 3(6-1)-2(7) -1
= 0 DOF

Mechanisms and Structures

DOF of an assembly completely defines the character of an assembly of links.
Positive DOF assembly is a mechanism links will have relative motion
Zero DOF assembly is a structure no motion is possible
Negative DOF assembly is a preloaded structure no motion is possible
&
some stress may be present at the assembly time

Quiz (not pop, dont worry)