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Terminology
BITS Pilani
Pilani Campus

 Structure, mechanism and machine

 Kinematic chain
 Links
 Kinematic pairs/joints
 Four link planar mechanism/Slider-crank mechanism
 Mobility and Degree of freedom : Kutzbach equation
 Range of motion : Grashof’s law
 Crank - crank
Introduction to Kinematics  Crank - rocker
 Rocker - rocker
Chapter-1 Lecture – 1
J S Rathore
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Introduction Kinematics and Dynamics of machines

Science of mechanism was started with James Watt (1784)
Dynamics  Kinematics : Study of motion (without regard to forces) Structure Machine
 Kinetics : Study of forces (due to motion)
F

2 3 4-link mechanism
1. Separation of dynamics into kinematics and kinetics :
Rigid body assumption (Euler) 1
2. Actual shape does not matter

For Flexible bodies Shape and motion?  Combination of mechanisms

 Study of motion and forces take  Forces/energy transmitted are
place simultaneously significant

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Kinematic chain Link

 Interconnected system of links in which not a single link is fixed. A material body which is common to 2 or more kinematic pairs is
 Closed chain: If every link is connected to at least 2 other links called a link.
 Open chain
Binary link : If a link is connected to two other links OR a link with two nodes.

Ternary link Nodes

Quaternary link and so on…

A Binary link Ternary link Quaternary link

CLOSED CHAIN OPEN CHAIN

 Are assumed to be rigid
 Can be any shape (not just those shown)
 Mechanism When one of the links in chain is fixed. B
(Constrained kinematic chain)  Have nodes for attachment

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Kinematic pairs/joints Kinematic pairs/joints

 Connection between links
 Can be classified in several ways
1. Based on type of contact between links (surface, line or point)
2. Based on the number of degrees of freedom allowed at the joint Sliding (prismatic) pair
Turning (revolute) pair

Lower pair : Surface or area contact between links

Kinematic pairs
Cylindrical pair
Higher pair : line or point contact
Ball and socket pair
(Spherical pair)

Screw pair
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Four-link nomenclature Mobility and DOF

B Degrees of freedom (DOF)
Turning (revolute) pair
 The number of independent coordinates required to specify mechanism’s
A Coupler configuration
Follower  Or the number of inputs that need to be provided in order to create a predictable
Crank output
∆y2 ∆y
Link 1 ∆y1
Ground Link ∆x2 ∆x
Pivot 02 Pivot 04
∆x1

∆θ1
∆θ1 ∆θ2
 Ground Link : Fixed wrt reference frame ∆θ2
 Links pivoted to ground:  By connecting two previously disconnected links by a revolute joint, two DOF
− Crank : Makes complete revolutions are eliminated.
− Follower : crank/rocker (Oscillatory motion)
 Coupler : complex motion, not attached to ground
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Degree of Freedom Exercise : DOF ?

Kutzbach equation

F = 3(n-1) - 2P1 -1P2

R
R

For spatial mechanism P

F = 6(n-1) - 5P1 - 4P2 - 3P3 - 2P4 - 1P5 R P

R

Quick-return mechanism
(Shaper)
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Exercise : Structure or a mechanism ? Exercise : DOF ?

R
R
R

R
R R2
a
R R
b
R
R
R2

R R

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Exercise : DOF ? Exercise : DOF ?

R R
R

R
R R

Drum - brake mechanism

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Exercise : DOF ? Exercise : DOF ?

(6) The Fig is a schematic of the entire linkage for a large power shovel used in mining.
Determine the number of degrees of freedom associated with this mechanism.
(3)
(2) 11
(4)
(2)
7
(4,5) (P2)
8
(3) (5) (1) 16 6
12 10
5
(7)
14 17 3
15 9 4
(1) 2
(P2) 18
1
13
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Exercise : Excavator
BITS Pilani
Pilani Campus

Introduction to Kinematics
Lecture – 2
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Content Mechanisms to explore :

Home assignment
1. Degree of freedom : Kutzbach equation
1. Watt’s mechanism
2. Range of motion : Grashof’s law 2. Roberts’ mechanism Straight line mechanisms
 Four bar mechanism with 4 Revolute (Turning) pairs (4R) 3. Chebychev mechanism
4. Peaucillier mechanism
− Crank – crank
− Crank – rocker
5. Theo Janson walking mechanism
− Rocker – rocker
https://en.wikipedia.org/wiki/Jansen%27s_linkage
 Four bar mechanism with 3 Revolute + 1 Prismatic pairs (3R-1P)
 Four bar mechanism with 2 Revolute + 2 Prismatic pairs (2R-2P)

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Kinematic pairs/joints Exercise : DOF ?

 Connection between links

 Can be classified in several ways
1. Based on type of contact between links (surface, line or point)
2. Based on the number of degrees of freedom allowed at the joint

Lower pair : Surface or area contact between links

Kinematic pairs
Higher pair : line or point contact

Windscreen wiper mechanism

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Kinematic Inversion
Limitation : Kutzbach equation
1. Different mechanisms behavior can be obtained by fixing different
links of the same kinematic chain.
2. The process of choosing different links in the chain as frames known
as Kinematic inversion.
coupler

Follower
crank
 No consideration given to lengths of links or specific geometry.
 Kutzbach criterion can be violated due to non-uniqueness of geometry for a
given connectivity of links.  Inversions result from grounding different links in the chain.
 So, there are as many inversions as links.
 Not all inversions will have unique kinds of motion.
 A Four-bar has only 3 distinct inversions, 2 crank-rockers, 1 double-crank,
and 1 double-rocker.
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Grashof condition For S+L < P+Q

 Grashof condition predicts behavior of linkage based only on length of links  Crank-rocker if either link adjacent to shortest is grounded
S = length of shortest link
L = length of longest link P P
Q Q
P,Q = length of two remaining links S S
L L

 If S + L ≤ P + Q the linkage is Grashof : At least one link is capable of making a S

Q
complete revolution
(class I kinematic chain)

Double crank
 Otherwise the linkage is non-Grashof : No link is capable of making a complete (if shortest link is grounded) Double rocker if link opposite
to shortest is grounded
revolution (class II kinematic chain)
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Grashof’s inversions 28
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For S+L = P+Q For S+L = P+Q

 Four inversions result in mechanisms similar to those obtained when S+L < P+Q Case 2: Deltoid form
L

 The situation is also true when a S L

linkage has two pairs of equal lengths.
This results in 2 special mechanisms:

Case 1: Parallelogram form

1. Equal links are not adjacent
2. All 4 inversions lead to double-crank
mechanisms
1. Equal links are adjacent
2. Any longer links (L) is fixed two crank –rocker mechanisms
S L 3. If any of the shorter link (s) is fixed two double crank mechanisms
S

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For S+L > P+Q Grashof condition

 All inversions will be double rockers Check Grashof’s condition and identify the mechanism.
 No link can fully rotate
Grashof If SL < PQ
Special Grashof If SL = PQ
Non- Grashof Otherwise

Inversions of non-Grashof’s law

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Slider-crank mechanisms: 3R1P 4-bar mechanism : 3R1P

4-link kinematic chain (3R1P) lead to
four different types of mechanism

Slider-crank mechanism Hand pump mechanism

Oscillating cylinder mechanism

Quick-return mechanism
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4-bar mechanism : 4-bar mechanism

2 R- 2 P 2 R- 2 P

Elliptical trammel  Trammels were used for curve drawing

Scotch-yoke mechanism in earlier days
 converting the linear motion of a slider into rotational motion, or vice versa  Used to draw /cut or machine ellipses
on wood or other sheet materials

Why is slider-crank preferable than scotch-yoke

mechanism in Internal Combustion Engines ?
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4-bar mechanism :
2 R- 2 P

Oldham’s coupling

1. The Oldham Coupler is named for Irish engineer John Oldham who invented the three
disc coupler in 1821, to resolve a paddle placement problem in a paddle steamer design.
2. Used where
 high accuracy and zero back lash are not so important
 parallel misalignment
 Ideal for many light duty industrial and motion control applications
 Oldham coupling acts as a torque limiter during overload. When the disk fails, it
breaks cleanly and does not allow any transmission of power.

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