Homework 1 Solution

Problem 1: Calculate the mobility of the linkages assigned from Figure P2-1a) through P2-1f)

2-1a:

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Note that the pin which connects the three links counts as two pin joints! This is a structure.


2-1b:

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The interface between the two cams is considered a half-slider, since each cam may slide tangentially
as well as rock back and forth. The cam surface simply prevents the cams from moving in the
perpendicular direction, thus restricting one degree of freedom. This is a mechanism.



2-1c:

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The slider-crank has one degree of freedom, as derived in class. This is a mechanism.
2-1d:

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The pin-in-slot is a half-slider. This linkage would need to be controlled through three actuators.
This is a mechanism.



2-1e:

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This is a tricky one! First, the air cylinder and piston comprise two bodies, which are connected
by a full slider joint. The cam and roller follower have a half-slider joint between them, as does the
joint between the bellcrank and tooling. The reason we end up with 2 DOF instead of 1 is that the
roller follower is free to rotate in place regardless of what the rest of the mechanism is doing. This
is a mechanism.



2-1f:

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Note that the connections between the pushrod and the rest of the mechanism are the equivalent to
pin joints, since they allow no sliding. The interface between the rocker and the valve is a half-slider,
since the valve top can slide against the rocker tangentially. This is a mechanism.



2-1g:

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As expected, the engine has only one degree of freedom (otherwise, we couldnt set the valve
timing!) The interface between cam and rocker is a half slider, as is the interface between rocker and
valve top. This is a mechanism.



2-1h:

This is a true 3D problem, so we cant really use the Modified Grueblers equation. Instead, let us
go through each joint and subtract degrees of freedom as needed. There are a total of four bodies in
this system: the ground, follower, roller and barrel cam. Thus, we begin with

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degrees of freedom. The two vertical rods only allow the follower to move up and down, thus
subtracting 5 DOF



The barrel cam is mounted in two bearings, which allow it to rotate only. This removes another five
degrees of freedom



The roller is pinned to the follower, and can only rotate about its pin. Thus, the pin removes
another five degrees of freedom



The trickiest joint in the mechanism is that between the roller and the barrel cam. It may, at first
glance, appear that the groove allows the roller only one degree of freedom along the groove. If
we try this, we find that the total number of degrees of freedom would be -2, which doesnt seem
right.

Consider an alternative scenario: let the center of the roller be constrained to lie along the center of
the groove. With this constraint, rotation about all three axes is still permitted, as is movement in
the radial direction on the cam. In fact, the groove only removes 1 DOF the roller cant move
vertically without the cam also moving. The final answer is



This answer makes sense, because the cam moves the follower up and down (1 DOF) and the roller
is free to roll on its pin inside the groove (1 DOF). It was important in the above analysis to
remember not to remove the same DOF twice. For example, the 3D pin joint prevents the roller
from moving perpendicular to the page, so we cant have the groove constraint prevent the same
motion. This is why we defined the groove constraint as removing only one DOF. This is a
mechanism.

Problem 2. Find the mobility of the mechanisms in Figure P2-4 (p. 86).

2-4a) Fourbar linkage

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Just like we derived in class! This is a mechanism.


2-4b) Fourbar linkage

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This is essentially the same mechanism as in Part a) This is a mechanism.


2-4c) Radial compressor

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Note that the pin joint between the crank and the connecting rod is actually three pin joints, since the
crank is connected to three connecting rods. This is a mechanism.


2-4d) Walking-beam mechanism

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This is another fourbar linkage, but in the parallelogram configuration. This is a mechanism.

2-4e) Bellcrank mechanism

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This is a preloaded structure! To understand this, imagine trying to assemble this linkage. If link 7
is not exactly the same length as link 6, it will be impossible to build, without deforming one of the
links (the same goes for links 3 and 5). If we remove links 6 and 5, the linkage has 1 DOF, as
expected.


2-4f) Offset slider-crank

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Just like derived in class. The offset makes no difference for the mobility. This is a mechanism.



2-4g) Drum brake mechanism

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This is simply two fourbar linkages glued together with a common crank. This is a mechanism.



2-4h) Symmetrical mechanism

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The word symmetrical should give it away there are redundant links in this linkage. We can
leave out links 2, 3 and 5, and achieve DOF = 1. Please note that there are three locations with
compound pin joints A, B and C. There are full sliders that constrain the motion of links 4 and 6.
According to the DOF, this is a structure, but if enough slop is built into the pin joints, the linkage
will move.

Problem 3: for both linkages in Figure P2-5 calculate the number of degrees of freedom.

2-5a) Chebyschev straight-line mechanism

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2-5b) Sylvester-Kempe straight-line mechanism

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Problem 4: Determine whether the linkages shown in Figure P2-4 (a), (b), (d), (g) are Grashof.

2-4a) Fourbar linkage






since S+L > P+Q, the linkage is not Grashof. It is a Type 5, Class I rocker-rocker-rocker.

2-4b) Fourbar linkage






since S+L < P+Q, the linkage is Grashof. It is a Type 2 Grashof crank-rocker-rocker.


2-4d) Walking beam conveyor






since S+L = P+Q, the linkage is Grashof. It is a Type 13 double change point linkage.

2-4g) Drum brake mechanism






since S+L > P+Q, the linkage is not Grashof. It is a Type 8 Class 4 rocker-rocker-rocker.