ME 301

Theory of Machines I

Dr. Ergin TÖNÜK

Department of Mechanical Engineering
Graduate Program of Biomedical Engineering
http://users.metu.edu.tr/tonuk
[email protected]
 Kinematics of Mechanisms
a. Functional Synthesis: Determination of candidate
mechanisms that can realize a set of given (or implied)
functional requirements.
b. Type Determination: Investigation of known
mechanisms for their topological characteristics.
c. Kinematic Analysis: Determination of kinematic
characteristics (position, velocity and acceleration) of a
known mechanism.
d. Kinematic Synthesis: Determination of mechanism
parameters (mostly link lengths) to realize a given
motion (position, velocity and/or acceleration) for a
mechanism whose topological characteristics are
known.

ME 301 Theory of
 Mechanisms
Kinematic element is the part of a body used to
connect it to another body permitting relative motion of
two bodies.
Kinematic pair is the combination of two kinematic
elements and mostly termed as joint.
• Open kinematic pair pairs and unpairs during the
operation of the mechanism

ME 301 Theory of
 Mechanisms

• Closed kinematic pair maintains contact for all

possible positions of the mechanism
• In form closed kinematic pairs one element envelopes the
other

• In force closed kinematic pairs an external force maintains

contact of two kinematic elements

ME 301 Theory of
 Mechanisms
• Lower kinematic pair has contact of two kinematic
elements along a surface therefore contact stresses are
lower

• Higher kinematic pair has contact of two kinematic

elements along a line or at a point therefore contact
stresses are higher

ME 301 Theory of
 Mechanisms
Degree of a kinematic pair is number of links that come
together at the kinematic pair minus one.

Binary Joint Ternary Joint Quaternary Joint …

(Degree: 1) (Degree: 2) (Degree: 3)

ME 301 Theory of
 Degree of Freedom
Degree of Freedom of a Rigid Body in Space: It is the
number of independent parameters to define the position
of a rigid body in that space.
3-D Space: Three non-collinear points
9 parameters: x1, y1, z1; x2, y2, z2; x3, y3, z3
3 equations:

We may select six of the nine parameters as we like to

locate the body as we like, however the distances , and
are fixed once the points P1, P2 and P3 are selected on the
rigid body.

Figure from electronic lecture notes of Eres Söylemez https://ocw.metu.edu.tr/course/view.php?id=132

ME 301 Theory of
 Degree of Freedom
Degree of Freedom of a Rigid Body in Space: It is the
number of independent parameters to define the position
of a rigid body in that space.
3-D Space: One point, four angles
7 parameters: xA, yA, zA; 1, 2, 3; 
1 equation:
We may select six of the seven parameters as we like to
locate the body as we like, however the angles , and
cannot be all arbitrary.

Figure from electronic lecture notes of Eres Söylemez https://ocw.metu.edu.tr/course/view.php?id=132

ME 301 Theory of
 Degree of Freedom
Degree of Freedom of a Rigid Body in Space: It is the
number of independent parameters to define the position
of a rigid body in that space.
2-D Space: Two points
4 parameters: x1, y1; x2, y2
1 equation:
We may select three of the four parameters as we like to
locate the body as we like, however the distance is fixed
once the points P1 and P2 are selected on the rigid body.

Figure from electronic lecture notes of Eres Söylemez https://ocw.metu.edu.tr/course/view.php?id=132

ME 301 Theory of
 Degree of Freedom
Degree of Freedom of a Rigid Body in Space: It is the
number of independent parameters to define the position
of a rigid body in that space.
2-D Space: One point, one angle
3 parameters:
• xA, yA;  (Cartesian representation of point A)
• r, ;  (polar representation of point A)
In any case we may select three parameters as we like to
locate the body.

Figure from electronic lecture notes of Eres Söylemez https://ocw.metu.edu.tr/course/view.php?id=132

ME 301 Theory of
 Degree of Freedom
Degree of Freedom of a Kinematic Pair (Joint): It is
the number of independent parameters to define the
position of one link (rigid body) relative to the other link
connected by the kinematic pair.

Since degree of freedom of a rigid body in 3-D space is 6,

the body is fully free without any joint for degree of
freedom 6.

Similarly the body is fully free without any joint for degree
of freedom 3 for planar motion.

ME 301 Theory of
Degree of Freedom of Joints (1/6)

Textbook pg. 16

ME 301 Theory of
Degree of Freedom of Joints (2/6)

ME 301 Theory of
Degree of Freedom of Joints (3/6)

ME 301 Theory of
Degree of Freedom of Joints (4/6)

ME 301 Theory of
Degree of Freedom of Joints (5/6)

ME 301 Theory of
Degree of Freedom of Joints (6/6)

ME 301 Theory of
 Force Closed f=1

Gear Pair
Irregular f=1
Form Closed

Regular f=2

Textbook pg. 17

ME 301 Theory of
ME 301 Theory of
 Definitions
Link: A rigid body with at least two (in robotics
there are open kinematic chains therefore one is
also allowed) kinematic elements

Binary Link Ternary Link

Quaternary Link
Kinematic Chain: Formed by links connected
by kinematic elements
Dimension of a Link: The linear and angular
measurements of relative positions of kinematic
elements
Mechanism: When one fixes one of the links of
a kinematic chain a mechanism is obtained
ME 301 Theory of
 Degree of Freedom of Mechanisms
It is the total number of independent parameters that is
required to define the position of every link (hence every
point on any link) in a mechanism.

Can be determined by inspection for simple mechanisms

but there is a systematic approach (the general degree of
freedom equation) that works for simple and complicated
systems.

ME 301 Theory of
 Degree of Freedom of Mechanisms
Inspection: Four-bar mechanism (British call it three-bar
mechanism because there are three moving bars but Germans and
Americans call it four-bar because it is obtained from a four-bar kinematic
chain by fixing one of the bars. We will use German-American nomenclature).
The lengths of links are known:

For a given location of A is fixed therefore can be

determined. is an SSS triangle that can be drawn (in two
ways!). Therefore once we define as we like everything
else is fixed. Degree of freedom of the four-bar is one.

ME 301 Theory of
 Degree of Freedom of Mechanisms
Inspection: Four-bar mechanism, for a given location of A
is fixed therefore can be determined. is an SSS triangle
that can be drawn (in two ways!)

ME 301 Theory of
 Degree of Freedom of Mechanisms
Inspection: Four-bar mechanism, select any value you
like and get the position of the mechanism uniquely. Say

ME 301 Theory of
 Degree of Freedom of Mechanisms
Inspection: Four-bar mechanism, say

ME 301 Theory of
 Degree of Freedom of Mechanisms
Inspection: Four-bar mechanism, say

Software: Geogebra Classic 6, https://www.geogebra.org/

ME 301 Theory of
 Degree of Freedom of Mechanisms
Inspection: Five-bar mechanism
The lengths of links are known:

For a given location of A is fixed. ABCC0 forms a four-bar

that requires one more angle (say ) to be known.
Therefore there are two independent parameters. The
degree of freedom of five-bar is two.

ME 301 Theory of
 Degree of Freedom of Mechanisms
Inspection: Five-bar mechanism

ME 301 Theory of
 Degree of Freedom of Mechanisms
Inspection: Five-bar mechanism

ME 301 Theory of
 Degree of Freedom of Mechanisms
Inspection: Five-bar mechanism

ME 301 Theory of
 Degree of Freedom of Mechanisms
Systematic determination of degree of freedom:
In planar motion links with no joints has
k1 joints (revolute & prismatic) constrain 2 freedoms
k2 joints (cylinder in slot) constrain 1 freedom

Kutzbach formula!
Replace 3 and 6 in the above equation with, degree of
freedom of a rigid body in the space,
Constraints imposed by ith joint is
Constraints imposed by all joints
Then
Simplification yields
ME 301 Theory of
 Degree of Freedom of Mechanisms
: Degree of freedom of the unconstrained bodies in the
mechanism space
: Number of links of the mechanism (including fixed link)
j: Number of joints of the mechanism (ternary joints!)
fi: Degree of freedom of ith joint
F: Degree of freedom of the mechanism

Remember exceptions!
mechanism requires F actuations for kinematically deterministic motion
structure (immobile) unless has special dimensions
over-constraint (number of redundant supports is |F|) and immobile unless
has special dimensions (also forces cannot be determined unless equations
of equilibrium/motion are complemented with |F| number of equations
relating deformations).

ME 301 Theory of
Degree of Freedom of Mechanisms

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)
=6

5 1
1
6
2
3 4

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)
=6
j=7
R56

5 1
1
6 R12
2 R14
3 4
R35 R
23 R34
1 R16

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)
=6
j=7
fi = 1 (all joints revolute)
R56

5 1
1
6 R12
2 R14
3 4
R35 R
23 R34
1 R16

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)
=6
j=7
fi = 1 (all joints revolute)
R56

5 1
1
6 R12
2 R14
3 4
Therefore just rotating the crank 2 throughRR3512 is sufficient
R23 R34
to control the mechanism. 1 R16

ME 301 Theory of
Degree of Freedom of Mechanisms

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)
=6 1
3
5
2
4
6

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)
=6 R35 3 1
j=7 R23
R15 5 R24P12
2
4
6 R46
R16

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)
=6 R35 3 1
j=7 R23
R15 5 R24P12
(6R+P) 2
4
6 R46
R16

Therefore just the piston 2 in fixed cylinder through P12 is

sufficient to control the mechanism.

ME 301 Theory of
 Degree of Freedom of Mechanisms
Alternative method:
Two grippers are symmetric 1
3
Just consider one of them
 = 3 (co-planar) 4
2
=4

ME 301 Theory of
 Degree of Freedom of Mechanisms
Alternative method:
Two grippers are symmetric R34 3 1
Just consider one of them R23
R14 4 P12
 = 3 (co-planar) 2
=4
j=4

ME 301 Theory of
 Degree of Freedom of Mechanisms
Alternative method:
Two grippers are symmetric R34 3 1
Just consider one of them R23
R14 4 P12
 = 3 (co-planar) 2
=4
j=4
(3R+P)

Therefore still just the piston 2 in fixed cylinder through

P12 is sufficient to control the mechanism.
ME 301 Theory of
Degree of Freedom of Mechanisms

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar) 3
=4
2

1
1

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)
P343 R23
=4
2
j=4
P14
(2R+2P) R12
1
1

Therefore controlling crank 2 through R12 is sufficient to

control the Scotch yoke mechanism.

ME 301 Theory of
Degree of Freedom of Mechanisms

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)
=4 1

2
4
3

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)
=4 1
j=5 P14
(2CS+2R+P) 2
4 CS34
3 R12

CS23
1
R13

ME 301 Theory of
 Degree of Freedom of Mechanisms
 = 3 (co-planar)
=4 1
j=5 P14
(2CS+2R+P) 2
4 CS34
3 R12

CS23
1
R13
Therefore controlling crank 2 through R12 is sufficient to
control the quick return mechanism.

ME 301 Theory of
 Degree of Freedom of Mechanisms
Alternative approach:
 = 3 (co-planar) 1
5
=5
2
4
3

ME 301 Theory of
 Degree of Freedom of Mechanisms
Alternative approach:
 = 3 (co-planar) 1
5
=5 P14
j=6 R45 2
4 CS35
(2CS+3R+P) 3 R12

CS23
1
R14

ME 301 Theory of
 Degree of Freedom of Mechanisms
Alternative approach:
 = 3 (co-planar) 1
5
=5 P14
j=6 R45 2
4 CS35
(2CS+3R+P) 3 R12

CS23
1
R13
Therefore by controlling crank 2 through R12 although we
can still control the quick return mechanism the angular
position of roller 5 is another free parameter that cannot
be controlled. This is called a redundant freedom that
has no effect on overall motion of the mechanism
therefore the actual degree of freedom is:
ME 301 Theory of
Degree of Freedom of Mechanisms

ME 301 Theory of
 Degree of Freedom of Mechanisms
The Brakes (Approach 1): 2
 = 3 (co-planar)
4 1
=6
3
5
6

ME 301 Theory of
 Degree of Freedom of Mechanisms
The Brakes (Approach 1): R14 2
 = 3 (co-planar)
4 P12 1
=6
R343 R16
j=7 R23 5
R25 R 6
(6R+P) 56

ME 301 Theory of
 Degree of Freedom of Mechanisms
The Brakes (Approach 1): R14 2
 = 3 (co-planar)
4 P12 1
=6
R343 R16
j=7 R23 5
R25 R 6
(6R+P) 56

Therefore by controlling the brake “button” 2 through P12

we can apply the brakes to both wheels.

ME 301 Theory of
 Degree of Freedom of Mechanisms
The Brakes (Approach 2): R15 2
 = 3 (co-planar)
5 P12 1
=7
R454 R23 R17
j=8 R343
R366 7
(7R+P) R67

ME 301 Theory of
 Degree of Freedom of Mechanisms
The Brakes (Approach 2):
R15 2
 = 3 (co-planar)
5 P12 1
=7
j=8 R454 R23 R17
R343
(7R+P) R366 7
R67

Therefore by controlling the brake “button” 2 through P12 we

can still apply the brakes to both wheels. However if the wear
in shoes are uneven (typical in real life) say just by applying
brake to rear wheel by shoe 5 would not stop the mechanism
but also shoe 7 will apply the brake. That sort of mechanisms
where F > number of actuators is called underactuated
mechanisms. A very typical example is car differential where F
= 2 but the only actuation is by the engine. ME 301 Theory of
 Degree of Freedom of Mechanisms
The Drive: 2
 = 3 (co-planar)
=5 31
4
5

ME 301 Theory of
 Degree of Freedom of Mechanisms
The Drive: 2 R12
 = 3 (co-planar) R23
=5 31
j=6
4
(5R+GP*) R14 R34
5
GP*45
R15

ME 301 Theory of
 Degree of Freedom of Mechanisms
The Drive: 2 R12
 = 3 (co-planar) R23
=5 31
j=6
4
(5R+GP*) R14 R34
5
GP*45
R15

Therefore by moving the crank 2 up and down the axle of

the vehicle can be powered to inspect the railroad.

ME 301 Theory of
Degree of Freedom of Mechanisms

ME 301 Theory of
 Degree of Freedom of Mechanisms
Oldham Coupling:
 = 3 (co-planar) 3
=4 2
4
1

ME 301 Theory of
 Degree of Freedom of Mechanisms
Oldham Coupling:
 = 3 (co-planar) 3
R12
=4 P23 2
R14 4
j=4 1 P34
(2R+2P)
1

ME 301 Theory of
 Degree of Freedom of Mechanisms
Oldham Coupling:
 = 3 (co-planar) 3
R12
=4 P23 2
R14 4
j=4 1 P34
(2R+2P)
1

Therefore by driving the crank 2 the pulley 4 can be

driven.

ME 301 Theory of
Degree of Freedom of Mechanisms

ME 301 Theory of
 Degree of Freedom of Mechanisms
Spatial Four Bar:
1 1
 = 6 (3-D)
=4 3 2
4

ME 301 Theory of
 Degree of Freedom of Mechanisms
Spatial Four Bar:
1 R14 1
 = 6 (3-D)
=4 3 S23 R12 2
4
j=4
(2R+2S) S34

ME 301 Theory of
 Degree of Freedom of Mechanisms
Spatial Four Bar:
1 R14 1
 = 6 (3-D)
=4 3 S23 R12 2
4
j=4
(2R+2S) S34

There is one uncontrolled motion which is the rotation of

link 3 (the coupler) about its own axis due to the spherical
joints S23 and S34. This is a redundant freedom and if
ignored the position of follower 4 can be controlled by the
position of crank 2 so .

ME 301 Theory of