4500ICBTME

Engineering Mechanics

Lecture 3 – Planar
Mechanisms
Ms. Sanjana Dias
Mechanisms Terminology
• A mechanism is the mechanical portion of a machine
that has the function of transferring motion and forces
from a power source to an output.
• A mechanism can be considered rigid parts that are
arranged and connected so that they produce the
desired motion of the machine.
Mechanisms Terminology
• Links
The individual parts of the mechanism. They are
considered rigid bodies and are connected with
other links to transmit motion and forces.
Joints
• A joint is a connection between two or more links, which
allows some motion, or potential motion, between the
connected links. Depending upon the number of links at the
joint, a joint can be binary, ternary or quaternary.
a) Revolute joint/Pin/pivot joint
b) Prismatic joint
(a)
c) Helical joint
d) Spherical joint
(c)
e) Pin in a slot

(e) (d) (b)

Mechanisms Terminology
• Linkage
A mechanical linkage is a series of rigid links connected
with joints to form a closed chain, or a series of closed
chains. Each link has two or more joints, and the joints
have various degrees of freedom to allow motion
between the links. A linkage is called a mechanism if two
or more links are movable with respect to a fixed link.
Mechanical linkages are usually designed to take an input
and produce a different output, altering the motion,
velocity, acceleration, and applying mechanical
advantage.
REVERSE MOTION LINKAGE

https://technologystudent.com/cams/linkage-
https://technologystudent.com/cams/linkag1a.gif reversemotion1.gif

PARALLEL MOTION LINKAGE

https://technologystudent.com/cams/link2a.gif
https://technologystudent.com/cams/linkag2a.gif
CRANK AND SLIDER LINKAGE

https://technologystudent.com/despro_flsh/new-
crank2.gif

https://technologystudent.com/cams/linkag3a.gif

BELL CRANK LINKAGE

https://technologystudent.com/cams/linkag4a.gif
https://technologystudent.com/cams/link1a.gif
Kinematic Diagrams
• In analyzing the motion of a machine, it is often difficult to
visualize the movement of the components in a full
assembly drawing.
• It is easier to represent the parts of any machine device in
skeleton form so that only the dimensions that influence the
motion of the mechanism are shown.
• These “stripped-down” sketches of mechanisms are often
referred to as kinematic diagrams.
• It illustrates the connectivity of links and joints of a
mechanism or machine rather than the dimensions or shape
of the parts
• The joints should be lettered
Kinematic Diagrams
Example 1
• Draw a kinematic diagram to the below shear that is used to cut and
trim electronic circuit board laminates. Parts of the devices are such as e
large base that is bolted to the table, a Handle, a Cutting blade, and Bar
that connects the cutter with the handle.
Steps involved in drawing
kinematic diagrams
❑Identify the Frame
The first step in constructing a kinematic diagram is to decide
the part that will be designated as the frame. The motion of
all other links will be determined relative to the frame. It is
always considered to be fixed. Usually, the part attached to
the ground will be the frame and it is designated with a
standard symbol.
In this problem, the large base that is bolted to the
table is designated as the frame. The motion of all
other links is determined relative to the base. The
base is numbered as link 1.
❑Identify All Other Links
Careful observation reveals three other moving
parts:
Link 2: Handle
Link 3: Cutting blade
Link 4: Bar that connects the cutter with the handle.
❑Identify the Joints
Pin joints are used to connect link 1 to 2, link 2 to 3, and
link 3 to 4. These joints are lettered A through C.
In addition, the cutter slides up and down, along the base.
This sliding joint connects link 4 to 1, and is lettered D. 4.
❑Identify Any Points of Interest
Finally, the motion of the end of the handle is desired.
This is designated as the point of interest X.
Example 2
• Draw a kinematic diagram for the below pair of vise
grips.

Identify the Frame?

Identify All Other Links?
Identify the Joints ?
Identify Any Points of Interest?
Solution
• The top handle is designated as the frame. The motion of all
other links is determined relative to the top handle. The top
handle is numbered as link 1.
• Link 2: Bottom handle Link 3: Bottom jaw Link 4: Bar that
connects the top and bottom handle
• Four-pin joints are used to connect these different links
• The motion of the end of the bottom jaw is desired. This is
designated as the point of interest X. Finally, the motion of
the end of the lower handle is also desired. This is
designated as the point of interest Y.
Example 3
• Draw kinematic diagrams for the below toggle
clamp, shear press, can crusher and lift table.
Solution 1
• The component that is bolted to the table is designated as
the frame. The motion of all other links is determined
relative to this frame. The frame is numbered as link 1
• Link 2: Handle
• Link 3: Arm that serves as the clamping jaw
• Link 4: Bar that connects the clamping arm and handle
Solution 2,3 & 4
Mobility
• Measures the number of degrees of freedom
(Joints) of the linkage.
• The degree of freedom is the number of
independent inputs required to precisely position
all links of the mechanism with respect to the
ground.
Mobility
• Degrees of freedom for planar linkages joined with
common joints can be calculated through
Gruebler’s equation:
Example 1: Mobility
• Calculate the mobility

Answer:
𝑛 = 4, 𝑗𝑝 = 4 𝑝𝑖𝑛𝑠, 𝑗ℎ = 0
𝑀 = 3 𝑛 − 1 − 2𝑗𝑝 − 𝑗ℎ
=3 4−1 −2 4 −0=1

With one degree of freedom, the

clamp mechanism is constrained.
Moving only one link, the handle,
precisely positions all other links in
the clamp.
Example 2: Mobility
• Calculate the mobility

Answer:
𝑛 = 3, 𝑗𝑝 = 2 𝑝𝑖𝑛𝑠, 𝑗ℎ = 1
𝑀 = 3 𝑛 − 1 − 2𝑗𝑝 − 𝑗ℎ
=3 3−1 −2 2 −1=1

With one degree of freedom, the

shear press is constrained. Moving
only one link, the handle, precisely
positions all other links in the clamp.
Planar Mechanisms
• A planar mechanism is one in which all particles
describe planar curves in 2D space, and all these curves
lie in parallel planes; that is, the loci of all points are
planar curves parallel to a single common plane.
• That means all the relative motions of the rigid bodies
are in one plane or parallel planes.
• they include only revolute and prismatic joints.
1. Four-bar linkage
2. Slider-crank linkage,
3. Plate cam-and-follower mechanism
4. Meshing gears
Four – Bar Mechanism
• The simplest and most common linkage is the four-bar
linkage.
• It is a combination of four links, one being designated as the
frame and connected by four pin joints.
• Have three moving links, one fixed link.

Crank

Follower/Rocker
Four – Bar Mechanism
• Grashof’s theorem:- describes the length of four links.

• Further, it states that a four–bar mechanism has at least one

revolving link if;

• Conversely, the three nonfixed links will merely rock if;

Categories of four-bar Mechanism
Categories of four-bar Mechanism

A - https://gfycat.com/famousdeadantbear
B - https://gfycat.com/frankyoungcaudata
c -https://www.youtube.com/watch?v=OtN_FExRUrE
D -https://commons.wikimedia.org/wiki/File:ParallelogramLinkage1_speedVector.gif
Applications of Four-Bar
Mechanism
• Pumpjack • Crushers
https://www.youtube.com/watch?v=QoCEcjJxPZs
• Bicycle pedaling
• Rear window wiper
https://www.youtube.com/watch?v=D_KIOr_TpcM

• Robot Grippers
https://www.youtube.com/watch?v=3wQ0HLluVHQ
Example 1 – 4 bar Mechanism
• Classify the motion of these four-bar mechanism based on
the configuration of the links.

(a) p = 4 in, l = 6 in, q = in, and s = 3 in (b) O2O4 = 120 mm, O2A = 60 mm,
AB = 100 mm, and O4B = 130 mm.
Example 2 - 4 bar Mechanism
• Draw a kinematic diagram for the following
nosewheel assembly and classify the motion of this
four-bar mechanism.
Answer – Example 2
• In an analysis that focuses on the landing gear, the motion of the wheel
assembly would be determined relative to the body of the aircraft.
Therefore, the aircraft body will be designated as the frame. The tip of
the wheel was designated as the point of interest X.

The lengths of the links are:

s = 12 in.; l = 32 in.; p = 30 in.; q = 26 in

The nosewheel assembly is a crank-rocker

mechanism.
Slider – Crank Mechanism
• This mechanism also consists of a combination of
four links, with one being designated as the frame.
• This mechanism, however, is connected by three
pin joints and one sliding joint.
 Quick – Return Mechanism
• It converts circular motion into reciprocating
motion in which the time taken for travel in return
stroke is less than in the forward stroke.
• In the returning stroke, there is no contact with the
work so no contact takes place hence the process
takes much time to complete

https://www.youtube.com/watch?v=rKIoP67_MAI Crank And Slotted Lever Quick Return Mechanism | Inversion

Of Single Slider Crank Chain - YouTube
Design Problems
Draw clear complete sketches for the following problems.

1. Design a mechanism that is used to open/lift the door of a

heat-treating furnace.
2. Design a mechanism to cut uneven surfaces of a metal bar.
3. Design a mechanism to fold a chair.
4. Design a mechanism to lift objects by a truck or heavy
vehicle.
THANK YOU…….