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THEORY OF MACHINES
CHAPTER 4
Kinematics of Mechanisms
Learning Outcome
LO1
Simple link
Complex link
Pin joint
Slider joint
Cam joint
Gear joint
F = 3(n - 1) - 2jp - jh
n = number of links
jp = primary joints (pin or sliding joints)
jh = higher order joints (cam or gear joints)
6. Calculate Mobility
It is seen that there are four links, n = 4
There are also four pin joints, jp = 4
There are no higher-order joints, jh = 0
6. Calculate Mobility
It is seen that there are three links, n = 3
There are also two pin joints, jp = 2
There is one gear joint, jh = 1
Coincident Joints
Some mechanisms have three links that are all connected at
a common pin joint. Physically, one pin may be used to
connect all three links. However, by definition, a pin joint
connects only two links. Thus, in analysis this commonly
pinned configuration must be modeled as two separate joints.
One joint will connect the first and second links. The second
joint will then connect the second and third links.
6. Calculate Mobility
It is seen that there are six links, six pin joints and one slider joint.
n = 6; jp = 6 pins + 1 slider = 7; jh = 0
F = 3(n-1) 2jp jh = 3(6-1) 2(7) 0 = 1
n = 4; jp = 4; jh = 0
F = 3(n-1) - 2jp - jh
= 3(4-1) -2(4) - 0 = 1
1. Double Crank
The double crank has the shortest link of the 4 bar
mechanism configured as the fixed link or frame. When one
of the pivoted links rotates continuously, the other pivoted link
also rotates continuously. Thus, the two pivoted links are both
able to rotate through a full revolution. Usually the shorter
links is chosen as an input link.
2. Crank-Rocker
For a crank-rocker mechanism, the shortest link of the
mechanism is a driver. When this shortest link continuously
rotates, the output link oscillates between limits. E.g.
windshield wiper.
3. Double Rocker
The double rocker has the link opposite to the shortest link
configured as the frame. Neither link connected to the frame
is able to complete a full revolution. Thus both input and
output links are constrained to oscillate or rock between limits.
5. Triple Rocker
None of the links in triple rocker are able to complete a full
revolution. All three moving links rock.