Scribd
Upload
100 views31 pages

Theory of Machines Kinematics Fundamentals: Instructor: Weinan Gao, PH.D

The document discusses degree of freedom and mobility in mechanisms. It defines that degree of freedom is the number of independent coordinates needed to define the position of a body. It then discusses the different types of motion including pure rotation, pure translation, and complex motion. The document outlines the different lower and higher pairs that make up joints in mechanisms, including examples like pin joints. It introduces concepts like kinematic chains and mechanisms, and provides equations like Gruebler's and Kutzbach's to determine the degree of freedom in planar mechanisms. Finally, it discusses the Grashof condition for classifying four-bar linkages based on link lengths.

Uploaded by

munguti
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
100 views31 pages

Theory of Machines Kinematics Fundamentals: Instructor: Weinan Gao, PH.D

The document discusses degree of freedom and mobility in mechanisms. It defines that degree of freedom is the number of independent coordinates needed to define the position of a body. It then discusses the different types of motion including pure rotation, pure translation, and complex motion. The document outlines the different lower and higher pairs that make up joints in mechanisms, including examples like pin joints. It introduces concepts like kinematic chains and mechanisms, and provides equations like Gruebler's and Kutzbach's to determine the degree of freedom in planar mechanisms. Finally, it discusses the Grashof condition for classifying four-bar linkages based on link lengths.

Uploaded by

munguti
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 31

Theory of Machines

Kinematics Fundamentals

Instructor: Weinan Gao, Ph.D.


Degree of Freedom (DOF) or Mobility

DOF = Number of needed to uniquely define its position in a


space at any time instant.
Degree of Freedom (DOF) or Mobility

How many degree of


freedom does the pencil
in the plane of paper
have?
Degree of Freedom (DOF) or Mobility

Any rigid body (link) in 3-D


space has degree of
freedom.
A rigid body is not capable
of deformation.
Types of Motion

 In a planar motion

• Pure rotation ()
• Pure translation (x,y)
• Complex motion ()
Links
Links
Linkage -> Mechanism
Joints
Joints (Kinematic Pairs)

A Joint is a connection between two or more links.

Lower Pair: joints with surface contact

Higher Pair: joints with point or line contact.


Six Lower Pairs
Lower Pairs and Higher Pairs
Joints (Kinematic Pairs)
A Joint is.

Form-closed joints:

Force-closed joints:

Examples of form-closed joints: a pin in a hold, a slider in a two-


sided slot

Example of force-closed joints: a slider on a surface.


Joints (Kinematic Pairs)
Rigorous Definitions
Kinematic Chain: An assemblage of interconnected links and
joints to provide a controlled output motion given a supplied input
motion. It is a subset of linkage with rigid joints, and rigid links.

Mechanism: A kinematic chain with at least one link grounded or


attached to the frame of reference.
Kinematic Diagrams
Kinematic Diagrams
Determine DOF in Planar Mechanisms
Determine DOF in Planar Mechanisms
Determine DOF in Planar Mechanisms

Gruebler’s equation
Determine DOF in Planar Mechanisms
Kutzbach’s equation
Determine DOF in Planar Mechanisms
Determine DOF in Planar Mechanisms
Determine DOF in Planar Mechanisms
Grashof Condition

Given a fourbar linkage where S is the length of shortest link, L is the length

 
of longest link, P and Q are lengths of two remaining links, if

the linkage is Grashof and at least one link can make a full
revolution with respect to the ground.
Grashof Condition

Class I kinematic chain:


Class II kinematic chain: (non-Grashof)

 
Class III kinematic chain:

A crank: can rotate a full 360 degrees


A rocker: can rotate through a limited range of angles
Grashof Condition
 
Class I kinematic chain:
• Ground either link adjacent to S and we have a crank-rocker:

• Ground S and we have a double-crank:

• Ground the link opposite to S and we have a Grashof double-


rocker
Grashof Condition
Grashof Condition
 
Class II kinematic chain:
• Triple-rockers
Grashof Condition
Grashof Condition
 
Class III kinematic chain:
• Could be either double-cranks or crank-rockers.
• Example: Parallelogram Form and Anti- Parallelogram Form
Grashof Condition

 
Class III kinematic chain: .
• Example: Kite or Deltoid
• The Shortest and Longest parts are adjacent to each other.
• The length of shortest links are equal and that of longest links are equal.
• You will notice that the crank must rotate two times while the output rotates
one time.
Grashof-Type Condition for Fivebar Linkages

Consider a fivebar linkage. Let the link lengths be throught in order of


increasing length. If
 
then the two shortest links can revolve fully.
Thank you.

You might also like