1

Introduction to
Mechanisms and
Kinematics

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Objectives

Upon completion of this chapter, the student will be able to:

1. Define the basic components that comprise a mechanism.
2. Draw a kinematic diagram from a view of a complex machine.
3. Compute the number of degrees of freedom of a mechanism.
4. Identify a four-bar mechanism and classify it according to its
possible motion.
5. Identify a slider-crank mechanism.

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Definitions
Mechanism: Assemblage of links (usually rigid), connected by
movable joints such that the motion of one link causes
constrained and predictable motion to the others.

Machine: A mechanism or a combination of mechanisms that

transmits or modifies energy to accomplish a specific
objective.

Structure: A combination of rigid links connected by joints, but

its purpose is not to do work or to transform motion.

Link: A member or a combination of members of a

mechanism. Input link is known as the driver and output link is
known as the follower

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Kinematics
Kinematics deals with the way things move without taking into
consideration the forces producing the motions. Thus, it is the study of
the geometry of motion. Kinematic analysis involves determination of
position, displacement, rotation, speed, velocity, and acceleration of a
mechanism.
To illustrate the importance of such analysis, refer to the lift platform
shown in the figure. Kinematic analysis provides insight into significant
design questions, such as:
 What is the significance of the length
of the legs that support the platform?
 Is it necessary for the support legs to
cross and be connected at their
midspan, or is it better to arrange the
so that they cross closer to the
platform?
 How far must the cylinder extend to
raise the platform 8 in.?
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Dynamics
It involves the calculations of forces impressed upon different parts
of a mechanism. For example, dynamic force analysis of the lift
platform shown could provide insight into another set of important
design questions:

 Power capacity: What capacity

(maximum force) is required of the
hydraulic cylinder?
 Stability: Is the platform free of any
tendency to tip over?
 Member load: What cross-sectional
size and material are required of the
support legs and other members so
they don’t fail?

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Analysis & Synthesis of mechanisms

• Analysis
Determining motion of a mechanism with known geometry

• Synthesis
Determining linkage geometry to perform a specified
task. Design

Types of Motion
• Pure Rotation: one point is fixed with respect to the
reference frame
• Pure Translation: all points on a body have parallel
paths
• Complex Motion: both rotation & translation

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Mechanisms Terminology
Linkage is a mechanism where rigid parts are connected together to form a
chain. It can be either open or closed chain.

open chain closed chain

Links are the individual rigid parts of the mechanism. They are connected
with other links to transmit motion and forces:
1. Simple link is a rigid body that contains only two joints, which connect
it to other links.
2. Complex link is a rigid body that contains more than two joints.
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Mechanisms Terminology
Joint is a movable connection between links and allows relative motion
between the links:
1. Primary joints, also called full joints, are the revolute and sliding
(prismatic) joints.

2. higher-order joint, also called half

joint it allows for both rotation and
sliding between the two links that it
connects. Examples: cam connection
and gear connection

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Mechanisms Terminology
Frame is typically a part that exhibits no motion.

Elastic parts, such as springs, are not rigid and, therefore, are not
considered links. They have no effect on the kinematics of a mechanism
and are usually ignored during kinematic analysis. They do supply forces
and must be included during the dynamic force portion of analysis.

Actuator is the component that drives the mechanism.

Crank is a simple link that is able to complete a full rotation about a fixed
center.

Rocker is a simple link that oscillates through an angle, reversing its

direction at certain intervals.

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Examples:
piston crank

cylinder Slider crank mechanism

Windshield wiper mechanism

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Examples

Passenger's jets loading truck Lift platform

Reciprocating saw

Airplane landing mechanism Sewing machine

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Examples:

Automotive front suspension Grass shears

Child amusement ride

Feed rollers for a fax machine

Rock crushing machine
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Joint degrees of freedom

R P S C G F

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Links

1- Simple (binary) link: has two nodes

2- Complex link: has more than two nodes.
a)Ternary link: has three nodes.
b)Quaternary link: has four nodes.

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Kinematic diagrams
Typical form Kinematic representation

Simple link

Simple link
(with point of
intersect)

Complex link

Pin joint

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Kinematic diagrams
Typical form Kinematic representation

Slider joint

Cam joint

Gear joint

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Kinematic diagrams
Example: Draw a kinematic diagram for the given mechanism

Shear press Kinematic diagram

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Kinematic diagrams

Example: Draw a kinematic diagram for the given mechanism

Vise grip Kinematic diagram

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Kinematic diagrams

Example: Draw a kinematic diagram for the given mechanism

Fixed
C
4 3
Piston

2 Connecting
rod

kinematic diagram
B
Fixed 1
A Crank

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Degrees of Freedom (DOF) or Mobility

The degrees of freedom (or mobility) is the number of

independent parameters that are needed to uniquely define the
position and orientation of the mechanism in space at any
instant of time.

or
it is the number of independent inputs required to precisely
position all links of the mechanism with respect to the
ground.

or
it is the number of actuators needed to operate the
mechanism.

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Degrees of Freedom or Mobility for planar mechanism

The mobility M of n-link planar mechanism can be calculated by
Grübler’s Equation:
M  3(n  1)  2 j p  jh
where:
n = total number of links of the mechanism
jp = total number of primary joints (single-
degree-of-freedom joints like pins or sliding
joints)
jh = total number of higher-order joints (two-degree-of-
freedom joints like cam or gear joints)

Example of two-
degree-of-freedom
joint: Cam or gear joint

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Degrees of Freedom (DOF) or Mobility

Mechanisms with one degree of freedom are

termed constrained mechanisms.
Constrained mechanism, M = 1

Mechanisms with zero, or negative, degrees of

freedom are termed locked mechanisms.
Example: A truss. If M is negative, the
mechanism is redundant and forms a statically
indeterminate structure. Locked mechanism, M = 0

Mechanisms with more than one degree of

freedom are termed unconstrained mechanisms.
They need more than one driver (input) to
precisely operate them. Example: Robot arm
Unconstrained mechanism, M = 2

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example:

n  3, j p  3, n  4, j p  4,
jh  0, M  0 jh  0, M  1

n  4, j p  4, n  5, j p  5,
jh  0, M  1 jh  0, M  2

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example:

n  5, j p  6, n  6, j p  8,
jh  0, M  0 jh  0, M  1
Structure Statically indeterminate structure

n  3, j p  2, n  4, j p  3,
jh  1, M  1 jh  1, M  2
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example:

Tracer or Coupler
n=4 P Point
jp = 4 Coupler link
jh = 0
M = 3(4-1)-2(4)-0 = 1
Input link 3
Output link
4
2

1 1

Four-bar Linkage - simplest close-loop

mechanism; has four links and four joints.

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example:

n=8
jp = 10
jh = 0
M = 3(8-1)-2(10)-0 = 1

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example:

n=6
jp = 7
jh = 1
M = 3(6-1)-2(7)-1= 0

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example:

2 3 2 3

1
1 1

n=4 n=3
jp = 4 jp = 2
jh= 0 jh= 1
M = 3(4-1)-2(4)-0 = 1 M = 3(3-1)-2(2)-1 = 1

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example:

Draw a kinematic diagram for the given mechanism and find the
DOF

Toggle clamp

n=4
jp = 4
jh = 0
M = 3(4-1)-2(4) -0 = 1
Kinematic diagram

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example:

Draw a kinematic diagram for the given mechanism and find the
DOF

n=4
Can crusher
jp = 4
jh= 0
M= 3(4-1)-2(4)-0 =1

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example:
Draw a kinematic diagram for the given mechanism and find the
DOF

n=4
jp = 4
Jh = 0
M = 3(4-1)-2(4) -0 = 1

Toggle clamp

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example:
Draw a kinematic diagram for the given mechanism and find the
DOF

n=3
jp = 2 pins
Jh = 1 gear connection
M = 3(3-1)-2(2)-1 = 1

Shear press
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Actuators and Drivers
 In order to operate a mechanism, an actuator, or driver device, is
required to provide the input motion and energy.
 One driver is required for each degree of freedom exhibited.
 Many different actuators are used in industrial and commercial
machines and mechanisms. Some of the more common ones are given
below:
1. Electric motors (AC) Single-phase motors are used in
residential applications and are available from 1/50 to 2
hp. Three-phase motors are more efficient, they are
available from 1/4 to 500 hp.

2. Electric motors (DC) They require power from a

generator or a battery. DC motors can achieve extremely
high speeds––up to 30,000 rpm. These motors are most
often used in vehicles, cordless devices, or in applications
where multiple speeds and directional control are
required, such as a sewing machine.
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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3. Engines (Gasoline and Diesel) The speed of an
engine can be throttled within a range of approximately
1000 to 8000 rpm. They are a popular and highly
portable driver for high power applications. Because
they rely on the combustion of fuel, engines are used to
drive machines that operate outdoors.
4. Servomotors are motors that are coupled with a controller
to produce a programmed motion. The controller requires
sensors on the link being moved to provide feedback
information on its position, velocity, and acceleration. These
motors are expensive, but they can be used for machines
demanding precisely guided motion, such as robots.

5. Air or hydraulic motors also produce continuous

rotary motion and are similar to electric motors. These
drive devices are mostly used within machines, such as
construction equipment and aircraft, where high
pressure hydraulic fluid is available.
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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6. Hydraulic or pneumatic cylinders are common components used to
drive a mechanism with a limited linear stroke. Figure (a) illustrates a
hydraulic cylinder. Figure (b) shows the common kinematic representation
for the cylinder unit.

7. Screw actuators also produce a limited linear stroke. These

actuators consist of a motor, rotating a screw. A mating nut
provides the linear motion. Screw actuators can be accurately
controlled and can directly replace cylinders. However, they
are considerably more expensive than cylinders if air or
hydraulic sources are available.

8. Manual or hand-operated.
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example: Draw a kinematic diagram for the given mechanism

and find the DOF

Kinematic diagram

Outrigger

n=4
jp = (3 pins + 1 slider) = 4
jh = 0
M = 3(4-1)-2(4) -0 = 1

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example: Draw a kinematic diagram for the given mechanism

and find the DOF

Lift table Kinematic diagram

n=6
jp = (5 pins + 2 slider) = 7
jh = 0
M = 3(6-1)-2(7) -0 = 1

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example: Draw a kinematic diagram for the given mechanism

and find the DOF

Mechanical press Kinematic diagram

n=6
jp = (6 pins + 1 slider) = 7
jh = 0
M = 3(6-1)-2(7) -0 = 1
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Degrees of Freedom (DOF) or Mobility Exceptions

Grübler’s equation has some exceptions to watch for. These

usually involve special geometry or redundant constraints.

M = 0; agrees with
Grübler equation

M = 1; does not agree

with Grübler equation
due to special geometry

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Some important concepts in link mechanisms are:

• In every Mechanism Fixed link is called a frame

• The link opposite the frame is called the coupler link
• and the links which are hinged to the frame are called side
links

Coupler link
Four-bar linkages:

Side link

Side link
Frame

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Some important concepts in link mechanisms are:

• Crank: A side link which revolves relative to the frame is

called a crank.
• Rocker: Any link which does not revolve is called a rocker.
• Crank-rocker mechanism: In a four bar linkage, if the
shorter side link revolves and the other one rocks (i.e.,
oscillates), it is called a crank-rocker mechanism.
• Double-crank mechanism: In a four bar linkage, if both of
the side links revolve, it is called a double-crank mechanism.
• Double-rocker mechanism: In a four bar linkage, if both of
the side links rock, it is called a double-rocker mechanism.
Note:
Crank: makes full rotation
rocker: oscillates (less than 360 deg.)

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Some important concepts in link mechanisms are:

crank
crank
crank
rocker

Crank-rocker
mechanism
Double-crank (or drag-link)
mechanism
rocker
rocker

Double-Rocker
mechanism
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Kinematic Inversion
• When a link is chosen for frame, links relative motion are not
altered but their absolute motion changes.

• The process for choosing different links for the frame is

called kinematic inversion.

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Kinematic Inversion

Inversions of the Slider-Crank

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Kinematic Inversion
Inversions of the four-bar linkages

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Grashof’s law
For at least one link of a planar four-bar linkage to have
full rotation

sl  pq

Where
s : the length of the shortest link
l : the length of the longest link
p and q: the lengths of the other links

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Categories of Four-Bar Mechanisms

(s + l) ? (p + q) Shortest link Type

< Fixed Double-Crank

< Side Crank-Rocker

< Coupler Double-Rocker

= Any Parallelogram
Here: no
link can
> Any Triple-Rocker fully rotate

Double-crank Crank-Rocker Double-Rocker Parallelogram

The driver, follower and the The driver rotates and The driver and the The driver and the
coupler make full rotation the follower oscillates follower oscillate follower rotates the same

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Triple-Rocker: (s + l) > (p + q), here no link can fully rotate.

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example of crank-rocker (s + l) < (p + q):

The four-bar mechanism for an automotive rear-window wiper system

n=4
jp = 4 pins s = Link AB
jh = 0 l = Link BC
M = 3(4-1)-2(4) -0 = 1 p & q = Links AD & DC

B
D

The manufacturer must ensure that: (AB + BC) < (AD + DC)
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Parallelogram (or change point) Mechanisms

If s + l = p + q, the mechanism has a change point
where all links are collinear. The mechanism may
go into another configuration at the change point.

Parallelogram
form (open)

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example
A nosewheel assembly for a small aircraft is shown in the figure below.
Classify the motion of this four-bar mechanism based on the
configuration of the links.

s  12in.
l  322  52  32.4in.
p  30in.
q  26in.

s + l =12+32.4= 44.4
p + q= 30+26= 56
Since s + l < p + q, the mechanism is Crank-Rocker
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Example
Consider the four-link mechanisms shown in the figure below indicating
the dimensions in standard units of length. classify the type of each
mechanism based on the configuration of the links

(5+9) > (7+6) (4+9) < (7+7) (5+10) < (9+7) (4+10) < (8+7)
Triple rocker Shortest link: fixed Shortest link: coupler Shortest link: side
“double crank” “double rocker” “crank rocker”

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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Special Purpose Mechanisms
1. Straight-Line Mechanisms
Straight-line mechanisms cause a point to travel in a straight line (AB)
without being guided by a flat surface

A B

B
(a) Watt linkage (b) Peaucellier-Lipkin linkage
the midpoint of the crossed link the tip joint travels in a straight
travels in a straight line (AB) line (AB)

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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2. Parallelogram Mechanisms
Parallelogram Mechanisms are often comprised of links that form
parallelograms to move an object without altering its pitch. These
mechanisms create parallel motion for applications such as, glider
swings, desk lamp, drafting arm, jalousie windows, ….. etc

Scissor linkage Drafting arm

Desk Lamp

Jalousie windows Pantograph

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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3. Quick-Return Mechanisms
Quick-return mechanisms exhibit a faster stroke in one direction than the
other when driven at constant speed with a rotational actuator. They are
commonly used on machine tools that require a slow cutting stroke and a
fast return stroke. Forward (slow) Return (fast)

Return (fast) Forward (slow)

Offset slider-crank linkage

Crank-shaper linkage

Crank-shaper linkage
Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics
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4. Scotch Yoke Mechanism

A scotch yoke mechanism is a common mechanism that converts rotational
motion to linear sliding motion, or vice versa. With regards to the input and
output motion, the scotch yoke is similar to a slider-crank, but the linear
sliding motion is pure sinusoidal. In comparison to the slider-crank, the
scotch yoke has the advantage of smaller size and fewer moving parts, but
can experience rapid wear in the slot.

Dr. Yousef Alsweiti >> Machine Dynamics and Vibration / Introduction to mechanisms and kinematics