MENG 306

Kinematics and Dynamics of Mechanical Systems

Kinematics Fundamentals

Dr. Ahmed Askar

 2.1 Degrees of Freedom (DOF) or Mobility

 DOF: Number of independent parameters (measurements)

needed to uniquely define position of a system in space at any
instant of time.
 Rigid body in a plane has 3 DOF: 𝑥, 𝑦, 𝜃
 Rigid body in space has 6 DOF (3 translations & 3 rotations)

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 2.2 Types of Motion

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 2.3 Links, joints, and kinematic chains

 Links: rigid member having nodes

 Node: attachment points
◦ Binary link: 2 nodes
◦ Ternary link: 3 nodes
◦ Quaternary link: 4 nodes
 Joint: connection between two or more links (at their nodes)
which allows motion
◦ Classified by type of contact, number of DOF, type of physical
closure, or number of links joined

Binary link

Ternary link Quaternary link

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 Types of joints

 The kinematic pairs can be:

◦ Lower pair (surface contact): are the joints with surface
contact between the pair elements.
◦ Higher pair (point or line contact): are the joints with point
or line contact between the pair elements.

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker
 Types of joints

The half joint is

also called a
roll-slide joint
because it allows
both rolling and
sliding.

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 Kinematic Definitions

 Kinematic chain: links joined together for motion

 Mechanism: grounded kinematic chain
 Machine: mechanism designed to do work
 Link classification:
◦ Ground: fixed w.r.t. reference frame
◦ Crank: pivoted to ground, makes complete revolutions
◦ Rocker: pivoted to ground, has oscillatory motion
◦ Coupler: link has complex motion, not attached to ground

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 Determining Degrees of Freedom

 For simple mechanisms calculating DOF is simple

Open Mechanism Closed Mechanism

DOF=3 DOF=1

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 Determining Degrees of Freedom

 Two unconnected links: 6

DOF (each link has 3 DOF)
 When connected by a full
joint: 4 DOF (each full
joint eliminates 2 DOF)
 Gruebler’s equation for
planar mechanisms:
𝐷𝑂𝐹 = 3 𝐿 − 1 − 2𝐽1 − 𝐽2
Where:
L: number of links
𝐽1 : number of full joints
𝐽2 : number of half joints
G: number of grounded links

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 2.4 Determining DOF’s

 Gruebler’s equation for planar mechanisms

𝐷𝑂𝐹 = 3 𝐿 − 1 − 2𝐽1 − 𝐽2
 here
◦ M = degree of freedom or mobility
◦ L = number of links
◦ 𝐽1 = number of 1DOF (full) joints
◦ 𝐽2 = number of 2DOF (half) joints
◦ G = number of grounded links =1

𝑀 = 3 𝐿 − 1 − 2𝐽1 − 𝐽2

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 Fourbar Mechanism

 Twobar has -1 degrees of freedom

(preloads structure) -1

 Threebar has 0 degrees of freedom

(structure)
 Fourbar has 1 degree of freedom
 The fourbar linkage is the simplest possible
0
pin-jointed mechanism for 1-DOF
controlled motion

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 Example

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 Example

𝐽1 = 10
𝐽2 = 0
𝐿=8
𝑀 = 3 𝐿 − 1 − 2𝐽1 − 𝐽2
𝑀 = 3 8 − 1 − 2 10 = 1

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 Example

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 Example

𝐽1 = 7
𝐽2 = 1
𝐿=6
𝑀 = 3 𝐿 − 1 − 2𝐽1 − 𝐽2
𝑀 =3 6−1 −2 7 −1=0

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 2.5 Mechanisms and Structures

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 2.7 Paradoxes

 Greubler criterion does not include geometry, so it can give

wrong prediction
 We must use inspection

E-quintet

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 2.10 Intermittent Motion

 Series of Motions and Dwells

 Dwell: no output motion with input motion
 Examples: Geneva Mechanism, Linear Geneva Mechanism,
Ratchet and Pawl

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 2.10 Intermittent Motion

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 2.10 Intermittent Motion

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 2.10 Intermittent Motion

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 2.12 Inversions

 Created by attaching different links to ground

 Different behavior for different inversions

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 2.12 Inversions

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 2.12 Inversions

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 2.12 Inversions

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 2.12 Inversions

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 2.12 Inversions

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 Inversions of the Sixbar linkage

Mansoura University Theory of Machines Dr. Ahmed Asker 28

 2.13 The Grashof Condition

 Grashof condition predicts behavior of linkage based only on

length of links
◦ S=length of shortest link
◦ L=length of longest link
◦ P,Q=length of two remaining links
 If S+L ≤ P+Q the linkage is Grashof :at least one link is capable
of making a complete revolution
 Otherwise, the linkage is non-Grashof : no link can make a
complete revolution

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 For S+L<P+Q

 Crank-rocker if either link adjacent to shortest is grounded

 Double crank if shortest link is grounded
 Double rocker if link opposite to shortest is grounded

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 For S+L>P+Q

 All inversions will be double rockers

 No link can fully rotate

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 For S+L=P+Q

(a ) Parallelogram form

(b ) Antiparallelogram form
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 2.14 Linkages of more than 4 bars

 Provide more complex motion

 For Example, Watt’s six-bar and Stephenson’s six-bar
mechanisms.

5-bar 2DOF Geared 5-bar 1DOF

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 2.15 SPRINGS AS LINKS

 In many mechanisms and machines, it is

necessary to counterbalance the static loads
applied to the device.
 The spring in this case is an additional link of
variable length.
 As long as it can provide the right amount of
force, it acts to reduce the DOF of the
mechanism to zero and holds the system in
static equilibrium.
 An adjustable arm desk lamp will remain
stable over a wide range of positions despite
variation in the overturning moment due to
the lamp head’s changing moment arm.
 This is accomplished by careful design of the
geometry of the spring-link relationships so
that, as the spring force changes with
increasing length, its moment arm also
changes in a way that continually balances the
changing moment of the lamp head.
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 COMPLIANT MECHANISMS

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 COMPLIANT MECHANISMS

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 COMPLIANT MECHANISMS

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 MICRO ELECTRO-MECHANICAL SYSTEMS

Compliant bistable silicon micromechanism in two positions

Courtesy of Professor Larry L. Howell, Brigham Young University

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 MICRO ELECTRO-MECHANICAL SYSTEMS

Compliant bistable silicon micromechanism in two positions

Courtesy of Professor Larry L. Howell, Brigham Young University

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 MICRO ELECTRO-MECHANICAL SYSTEMS

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