Theory of Machines (MCH 212)

Dynamics & Kinematics of

Machines (MEC 341)

Lecture 2
Kinematics Fundamentals 2
Dr. Abdelaziz Hussien
 Link Classification

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 Link Classification (Cont.)
➢ Four bar mechanism:
Is The simplest movable closed-loop linkage. It consists of four bodies, called bars or links, connected
in loop by four joints.

A link that makes complete revolution is called crank (r2), the link opposite to the fixed link
is the coupler (r3) and forth link (r4) is a rocker if oscillates or another crank if rotates.
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 Link Classification (Cont.)
➢ Four bar mechanism example:

The Automatic Door-closer

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 Planar Mechanism (Cont.)
➢ Planar Mechanism:
Mechanism in which all points of its links describe paths located in parallel planes.

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 Basic Terminology (Cont.)
➢ Types of Planar Motion:
• Pure translation: all points on the body
describe parallel paths (curvilinear or rectilinear).

• Pure rotation: the body possesses one

point (center of rotation) that has no motion with
respect to the “stationary” frame of reference. All
other points move in circular arcs.

• Complex motion: a combination of translation

and rotation.

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 Degree of Freedom
➢ Degree of Freedom:
• The degree of freedom is the number of independent parameters needed to define a system
position.

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 Degree of Freedom (Cont.)
➢ Degree of Freedom Examples:
• Consider a four bar mechanism, only one ➢ Consider a five bar mechanism, two variables such
variable such as 𝜽 is needed to define the as θ1 and θ2 are needed to define completely the
relative positions of all the links. In other relative positions of all the links. Thus, the number
words, the number of degrees of freedom of degrees of freedom is two.
of a four bar mechanism is one.

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 Degree of Freedom (Cont.)
➢ Degree of Freedom:
For 2DOF Planar Robot (Arm)
• The degree of freedom can also be defined
as the number of actuators needed to
operate the mechanism.
P(X,Y)
θ2

Yo
Required:
θ1
Θ1 and θ2 Elbow Up
Xo
Oo
Zo

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 Determining Degree of Freedom
➢ For 2D Planar Mechanisms:

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 Determining Degree of Freedom (Cont.)

Very important note: It should be noted

that Gruebler’s/Kutzbach’s equation has no
information in it about link sizes or shapes,
only their quantity.
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Determining Degree of Freedom (Cont.)

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Determining Degree of Freedom (Cont.)

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 Determining Degree of Freedom (Cont.)

Remember

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 Determining Degree of Freedom (Cont.)

Remember

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 Determining Degree of Freedom (Cont.)
➢ Determine the mobility (DOF) of the following mechanisms:

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 Determining Degree of Freedom (Cont.)

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 Example 1
• Determine the degrees of freedom or mobility of
mechanisms:

Dr. Abdelaziz Hussien

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 Determining Degree of Freedom (Cont.)

(will have built in stresses with manufacturing error)

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 Paradoxes

➢ Case:
Due to the redundancy due to the fact
the parallel links are equal in length
and remain parallel.

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 Example 2

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 Inversion
➢ Kinematic Inversion:
The process of choosing different
links of a kinematic chain as the fixed
(ground link), for generating new
mechanisms.

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 Grashof’s Law
➢ Grashof’s Law:
The Grashof Condition is a relationship that predicts the rotation behavior of the inversions of a four bar linkage based
only on the lengths of the links.

Or Simple relation that describes the behavior of the kinematic inversions of a four bar mechanism

Where:

S = length of shortest link, L = length of longest link ,P = length of one remaining link

Q = length of other remaining link

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 Grashof’s Law (Cont.)
➢ Note:
If Grashof condition is satisfied, at least one link would be able to do a full revolution with respect to another link.

At least one link will

Grashof be able to make a
linkage full revolution

Non- No link will be able

Grashof to make a full
linkage revolution

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 Grashof Classification
Shortest link adjacent to fixed link:
Crank Rocker
Case 1 S+L<P+Q
Shortest link is the fixed link:
Double Crank

S+L>P+Q Shortest link is opposite to the

Case 2 fixed link: Double Rocker
(Non Grashof condition)
(No complete revolution)
No link will be able Links become collinear at least
to make a full once per revolution of crank
Case 3 L=P+Q
S +revolution
Special Case Crank-rockers or double-cranks will change
Dr. Abdelaziz Hussien points when all25links become collinear
 Grashof Classification (Cont.)

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 Grashof Classification (Cont.)
➢ Crank-rocker mechanism: ➢ Double-crank mechanism:
In a four bar linkage, if the shorter side link revolves and In a four bar linkage, if both of the side links revolve, it is
the other one rocks (i.e., oscillates), it is called a crank- called a double-crank mechanism.
rocker mechanism.

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 Grashof Classification (Cont.)
➢ Double-rocker mechanism: ➢ Triple-rocker mechanism:
In a four bar linkage, if both of the side links rock, it is called
a double-rocker mechanism. Non Grashof condition.

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 Grashof Classification (Cont.)
➢ Parallel crank mechanism:
In a four bar linkage, if both opposite sides equals, the links
make full revolution and all links become collinear at least once
per revolution of crank.

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 Summary of the Criteria of Motion for Each
Class of Four-Bar

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 Example 3
Example 1:

Example 2:
Determine whether the four-bar linkage illustrated
in the Figure is a crank-rocker four-bar linkage, a
double-rocker four- bar linkage or double-crank
four-bar linkage.
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 Common Types of Four Mechanism
➢ Four Bar Mechanism:

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 Slider Crank Displacement
In line slider crank
The crank dictates the extreme positions (top dead center (TDC) And
bottom dead center (BDC) )of the slider along rotation.

Max Extreme when θ = 0˚

Min Extreme when θ= 180
• Note:
The In-Line mechanism has a stroke equal
to twice the crank length.

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 Example 5
OBA is a simple slider crank. OB is a crank of 40 mm length and the connecting rod of 120
mm.
Slider A is sliding on a straight path pass through point O. Draw the locus of the mid point of
the connecting rod AB for complete revolution of the crank

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 Example 5 (Cont.)

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 Slider Crank Displacement (Cont.)
Offset slider crank:

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 Quick Return Mechanism
➢ Quick Return Mechanism:
Convert circular motion into
reciprocating motion in presses and
shaping machines, which are
utilized to shape stocks of metal
into flat surfaces.

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 Quick Return Mechanism

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 Quick Return Mechanism (Cont.)
➢ Crank and slotted lever quick
return motion mechanism:

➢ Time ratio of quick return

mechanism:

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 Example 6
A crank and slotted lever mechanism used in a shaper has a center distance of 300 mm between
the center of oscillation of the slotted lever and the center of rotation of the crank. The radius of
the crank is 120 mm. Find the ratio of the time of cutting to the time of return stroke.

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 Example 6 (Cont.)

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 Report

Determine the
mobility of the
following door
hinge

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 Report (Cont.)

Determine the
mobility of the
following Folding
sofa

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 Thank You 44
Dr. Abdelaziz Hussien