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ME233 Machine Design

Kinematics of Mechanism
Kyu-Jung Kim, Ph.D.
Cal Poly Pomona

Kinematics vs. Kinetics

Study of the position, velocity, and acceleration of a
system of interconnected bodies that make up a
mechanism, independent of the forces that produce
the motion.
Thus, study of motion of a mechanism in relation to
the applied loading is called kinetics or dynamics.

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Importance of Kinematics
It can be an end in itself

Kinematic Analysis - Interested how components of a

certain mechanism move when motion[s] are applied
Kinematic Synthesis Interested in finding how to design
a mechanism to perform a certain operation in a certain
way

It is also an essential ingredient when formulating

the kinetic problem

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Constraints vs. Degree of Freedom (DOF)

Constraints are a collection of equations that if
satisfied, they coerce the bodies in the model to
move like the bodies of the mechanism.
The number of degrees of freedom (DOF) of a
mechanism is qualitatively related to the difference
between the number of motion coordinates and the
number of constraints that these coordinates must
satisfy.

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Mechanisms
Common joints:

ME233 Machine Design

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From Machine Design, 5th ed, RL Norton, Pearson

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Calculating DOF of a Mechanism

The Grblers equation:
M 3 L 1 2 J1 J2

M = degree of freedom or mobility

L = the number of links
J1 = the number of one-DOF joints
J2 = the number of two-DOF joints

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Example: DOF of a Four-bar Mechanism

From http://ocw.upm.es/ingenieria-mecanica/mechanical-devices-for-industry/contenidos/lectura-obligatoria/lesson-1/four-bar-linkages

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Example: DOF of a Slider-Crank

Mechanism

From http://mechanical-engineering-concepts.blogspot.com/2014/03/slider-crank-mechanisms.html

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Example: DOF of a Six-bar Mechanism

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From https://www.youtube.com/watch?v=cEL3yXyclpE

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Special Cases

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From Machine Design, 5th ed, RL Norton, Pearson

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Common 1-DOF Mechanisms

Four-bar mechanisms:

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From https://www.youtube.com/watch?v=KBFFwgCCP0U

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Common 1-DOF Mechanisms

Other Four-bar mechanisms:

YouTube search: Popular Videos - Four-bar linkage &

Computer Animation

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Four-bar Mechanisms
Grashop criterion:
S L P Q

S = the length of the shortest link

L = the length of the longest link
P, Q = the lengths of the remaining links

Physical implications:

True: at least one link can have a full rotation (Grashop

link)
Equal: special-case Grashop link having change-point
False: No link can have a full rotation (non-Grashop link)

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Inversion of Four-bar Mechanism

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From Machine Design, 5th ed, RL Norton, Pearson

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Inversion of Four-bar Mechanism

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From Machine Design, 5th ed, RL Norton, Pearson

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Examples of Four-bar Mechanism

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From Machine Design, 5th ed, RL Norton, Pearson

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Common 1-DOF Mechanisms

Six-bar mechanisms:

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From https://www.youtube.com/watch?v=cEL3yXyclpE

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Examples of Six-bar Mechanism

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From Machine Design, 5th ed, RL Norton, Pearson

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Common 1-DOF Mechanisms

Cam and follower mechanisms:

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From https://www.youtube.com/watch?v=UpS8OjdXSow

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Common 1-DOF Mechanisms

Cam and follower mechanisms:

From https://www.youtube.com/watch?v=tH_3geoK8Mk

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From https://www.youtube.com/watch?v=ESRsd1TeOSg

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Examples of Cam Follower Mechanism

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From Machine Design, 5th ed, RL Norton, Pearson

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Kinematics of Four-bar Mechanisms

Position analysis: R 1 R 4 R 2 R 3

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From Machine Design, 5th ed, RL Norton, Pearson

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Kinematics of Four-bar Mechanisms

Position analysis: open vs. crossed configurations

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From Machine Design, 5th ed, RL Norton, Pearson

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