Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-21-1

PROBLEM 2-21

Statement: Find the mobility of the mechanisms in Figure P2-4.

Solution: See Figure P2-4 and Mathcad file P0221.

a. This is a basic fourbar linkage. The input is link 2 and the output is link 4. The cross-hatched pivot pins at O2
and O4 are attached to the ground link (1).

A
Number of links L
4
2
Number of full joints J1 
4
Number of half joints J2 
0 3

M
 3
( L 1) 2 
J1 J 2 O2
C 4
M 1
O4

b. This is a fourbar linkage. The input is link 2, which in this case is the wheel 2 with a pin at A, and the output is
link 4. The cross-hatched pivot pins at O2 and O4 are attached to the ground link (1).

Number of links L
4 2
A

Number of full joints J1 

M
 3
( L 1) 2 
J1 J 2
4
B O4
M 1

c. This is a 3-cylinder, rotary, internal combustion engine. The pistons (sliders) 6, 7, and 8 drive the output crank
(2) through piston rods (couplers 3, 4, and 5). There are 3 full joints at the crank where rods 3, 4and 5 are
pinned to crank 2. The cross-hatched crank-shaft at O2 is supported by the ground link (1) through bearings.

Number of links L
8
8
Number of full joints J1 
10 6 3 5
2
Number of half joints J2 
0

M
 3
( L 1) 2 
J1 J 2
4
M 1
7
Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-21-2

d. This is a fourbar linkage. The input is link 2, which in this case is a wheel with a pin at A, and the output is the
vertical member on the coupler, link 3. Since the lengths of links 2 and 4 (O2A and O4B) are the same, the
coupler link (3) has curvilinear motion and AB remains parallel to O2O4 throughout the cycle. The
cross-hatched pivot pins at O2 and O4 are attached to the ground link (1).

Number of links L
4
Number of full joints J1 
4
Number of half joints J2 
0 3
A
2 B
M
 3
( L 1) 2 
J1 J 2
O2 O4 4
M 1

e. This is a fourbar linkage with an output dyad. The input (rocker) is link 2 and the output (rocker) is link 8.
Links 5 and 6 are redundant, i.e. the mechanism will have the same motion if they are removed. The input
fourbar consists of links 1, 2, 3, and 4. The output dyad consists of links 7 and 8. The cross-hatched pivot
pins at O2, O4 and O8 are attached to the ground link (1). In the calculation below, the redundant links and
their joints are not counted (subtract 2 links and 4 joints from the totals).

A 4
Number of links L
6 O2 3 E O4 G

2
Number of full joints J1 
7
C 5 D
Number of half joints J2 
0
6 7
M
 3
( L 1) 2 
J1 J 2
O8
M 1
F H
8

f. This is a fourbar offset slider-crank linkage. The input is link 2 (crank) and the output is link 4 (slider block).
The cross-hatched pivot pin at O2 is attached to the ground link (1).

4
Number of links L
4 B
Number of full joints J1 
4
Number of half joints J2 
0 3

M
 3
( L 1) 2 
J1 J 2
A
M 1
2

O2
Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-21-3

g. This is a fourbar linkage with an alternate output dyad. The input (rocker) is link 2 and the outputs (rockers)
are links 4 and 6. The input fourbar consists of links 1, 2, 3, and 4. The alternate output dyad consists of links
5 and 6. The cross-hatched pivot pins at O2, O4 and O6 are attached to the ground link (1).

O6
Number of links L
6
B 3
Number of full joints J1 
7
Number of half joints J2 
0
A
2
M
 3
( L 1) 2 
J1 J 2
4 C O2 6

M 1 5

D
O4

h. This is a ninebar mechanism with three redundant links, which reduces it to a sixbar. Since this mechanism is
symmetrical about a vertical centerline, we can split it into two mirrored mechanisms to analyze it. Either links 2,
3 and 5 or links 7, 8 and 9 are redundant. To analyze it, consider 7, 8 and 9 as the redundant links. Analyzing
the ninebar, there are two full joints at the pins A, B and C for a total of 12 joints.

Number of links L
9 6
O2 A O8
Number of full joints J1 
12 2 7 8
5
Number of half joints J2 
0
B C
M
 3
( L 1) 2 
J1 J 2 3 9

M 0
D 4 E

The result is that this mechanism seems to be a structure. By splitting it into mirror halves about the vertical
centerline the mobility is found to be 1. Subtract the 3 redundant links and their 5 (6 minus the joint at A)
associated joints to determine the mobility of the mechanism.

6
Number of links L
9 3
O2
Number of full joints J1 
12 5 2 A
5
Number of half joints J2 
0
B
M
 3
( L 1) 2 
J1 J 2 3

M 1
D 4