Theory of Machines and

Mechanism

Kinematics Fundamentals

Lecture 1

Rudra Ghimire
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 Kinematics Fundamentals

 Degrees of Freedom
 Types of Motion
 Links, Joints, and Kinematic chains
 Determining Degree of Freedom
Degree of Freedom in Planar Mechanisms
 Mechanisms and Structures
 Number Synthesis

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 Types of Motion
 A rigid body free to move within a reference frame will,
in the general case, have complex motion, which is a
simultaneous combination of rotation and translation.
 In three-dimensional space, there may be rotation about
any axis and also simultaneous translation which can be
resolved into components along three axes. In a plane, or
two-dimensional space, complex motion becomes a
combination of simultaneous rotation about one axis
(perpendicular to the plane) and also translation resolved
into components along two axes in the plane.
 we will limit our present discussions to the case of
planar (2-D) kinematic systems.
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 Types of Motion
Pure rotation
the body possesses one point (center of rotation) which has no motion
with respect to the "stationary" frame of reference. All other points on the
body describe arcs about that center. A reference line drawn on the body
through the center changes only its angular orientation.
Pure translation
all points on the body describe parallel (curvilinear or rectilinear) paths.
A reference line drawn on the body changes its linear position but does
not change its angular orientation.
 Complex motion
a simultaneous combination of rotation and translation. Any reference line
drawn on the body will change both its linear position and its angular
orientation. Points on the body will travel nonparallel paths, and there
will be, at every instant, a center of rotation, which will continuously
change location.
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LINKS, JOINTS, AND KINEMATIC
CHAINS
A link is an (assumed) rigid body which
possesses at least two nodes which are
points for attachment to other links.

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 LINKS, JOINTS, AND KINEMATIC
CHAINS
Some of the common types of links are:

Binary link - one with two nodes.

Ternary link - one with three nodes.
Quaternary link - one with four nodes.
Pentagonals – one with five nodes.
Hexagonals – one with six nodes

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LINKS, JOINTS, AND KINEMATIC
CHAINS
A joint is a connection between two or more links (at
their nodes), which allows some motion, or potential
motion, between the connected links. Joints (also called
kinematic pairs) can be classified in several ways:
1. By the type of contact between the elements, line,
point, or surface.
2. By the number of degrees of freedom allowed at the
joint.
3. By the type of physical closure of the joint: either
force or form closed.
4. By the number of links joined (order of the joint).
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LINKS, JOINTS, AND KINEMATIC
CHAINS
1. Classification by the Type of Contact
We can classify Joints by the type of contact as
Lower Pairs or Higher Pairs. If joints have
surface contact, they are called Lower pair (as
with a pin surrounded by a hole). If joints have
point or line contact, they are called Higher
pair.
The main practical advantage of lower pairs
over higher pairs is their better ability to trap
lubricant between their enveloping surfaces.
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LINKS, JOINTS, AND KINEMATIC
CHAINS
The six possible lower pairs are: Revolute
(R), Prismatic (P), Screw/Helical (H),
Cylindric (C), Spherical (S), and Flat (F).

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LINKS, JOINTS, AND KINEMATIC
CHAINS

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 LINKS, JOINTS, AND KINEMATIC
CHAINS
 2. Classification by the Number of Degrees of
Freedom allowed at the joint
We can classify Joints by the number of degrees of
freedom allowed at the joint as One-Freedom Joints or
Full Joints, Two Freedom Joints or Half Joints and
Three Freedom Joints.
 Examples of one freedom joints are : a rotating pin joint
(R) and a translating slider Joint (P).
 Examples of two freedom joints are: link against plane
and a pin in slot.
 Examples of three freedom joints are: a spherical, or
ball-and-socket joints.
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LINKS, JOINTS, AND KINEMATIC
CHAINS

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 LINKS, JOINTS, AND KINEMATIC
CHAINS

 3. Classification by the Type of Physical Closure

of the Joint
We can classify Joints by the type of physical
closure of the joint as Force closed or Form closed.
 A form-closed joint is kept together or closed by its
geometry. A pin in a hole or a slider in a two-sided
slot are form closed. In contrast, a force-closed
joint, such as a pin in a half-bearing or a slider on a
surface, requires some external force to keep it
together or closed. This force could be supplied by
gravity, a spring, or any external means.
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LINKS, JOINTS, AND KINEMATIC
CHAINS
 4. Classification by the Order of Joints
We can classify Joints by the order of joints as 1st
order, 2nd order and so on.
 Order is defined as the number of links joined minus
one.
 It takes two links to make a single joint; thus the
simplest joint combination of two links has order
one.
 Joint order has significance in the proper
determination of overall degree of freedom for the
assembly.
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LINKS, JOINTS, AND KINEMATIC
CHAINS

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LINKS, JOINTS, AND KINEMATIC
CHAINS
 Kinematic Chain

 A kinematic chain is defined as:

An assemblage of links and joints, interconnected in a way to
provide a controlled output motion in response to a supplied input
motion.

 A mechanism is defined as:

A kinematic chain in which at least one link has been "grounded,"
or attached, to the frame of reference (which itself may be in
motion).

 A machine is defined as:

A combination of resistant bodies arranged to compel the
mechanical forces of nature to do work accompanied by
determinate motions.
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 LINKS, JOINTS, AND KINEMATIC
CHAINS
Ground
Any link or links that are fixed with respect
to the reference frame
Crank
A link which makes a complete revolution
and is pivoted to ground

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LINKS, JOINTS, AND KINEMATIC
CHAINS

Rocker
A link which has oscillatory (back
and forth) rotation and pivoted to
ground

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LINKS, JOINTS, AND KINEMATIC
CHAINS

Coupler (connecting Rod)

A link which has complex motion
and is pivoted to ground

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Determining Degree of Freedom
Degree of freedom (also called the mobility M)
of a system can be defined as:
the number of inputs which need to be provided
in order to create a predictable output or the
number of independent coordinates required to
define its position.
 Degree of Freedom in Planar Mechanisms
To determine the overall DOF of any mechanism,
we must account for the number of links and
joints, and for the interactions among them.

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Determining Degree of Freedom

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Mechanisms and Structures
The degree of freedom of an assembly of
links completely predicts its character. There
are only three possibilities. If the DOF is
positive, it will be a mechanism, and the
links will have relative motion. If the DOF is
exactly zero, then it will be a structure, and
no motion is possible. If the DOF is
negative, then it is a preloaded structure,
which means that no motion is possible and
some stresses may also be present at the time
of assembly.
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Mechanisms and Structures

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GRUBLER’S 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
 Examples - DOF

(a) (b) (c)

F = 3(n-1)-2l-h F = 3(n-1)-2l-h F = 3(n-1)-2l-h
Here, n = 4, l = 5 and h = 0. Here, n = 3, l = 2 and h = 1. Here, n = 3, l = 2 and h = 1.
F = 3(4-1)-2(5) = -1 F = 3(3-1)-2(2)-1 = 1 F = 3(3-1)-2(2)-1 = 1
I.e., it is a structure
Exercise
Compute the DOF of the following
examples with Kutzbach's equation.

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Exercise

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