1

KNJ 2222: Analysis of

Mechanics and machines

- Mechanisms & Kinematics
Noor Aliah Abdul Majid
Dept. of Mechanical & Manufacturing Eng.


COUSE OUTLINE
Introduction to Mechanisms and Kinematics, N. Aliah
A. M Sept 2014
2

By the end of this course, students should be able to:
Solve basic problems of machines and mechanisms
using Theory of Machines and Mechanisms.
Design motion of machines and mechanisms using
Theory of Machines and Mechanisms.
Display model of mechanisms using Working Model
software.
Present basic concepts of machines and mechanisms
using effective presentation and written report.
Weightage:

55%


25%


10%


10%



ASSESSMENT
Introduction to Mechanisms and Kinematics, N. Aliah
A. M Sept 2014
3

Assessment Method Percentage
Test 1 & Test 2 30 %
Group Project on Working
Model Software
20 %
Final Exam 50 %
Reference
1) H. M. David (2011). Machines and Mechanisms:
Applied Kinematic Analysis. 4th Edition. Pearson,
Prentice Hall.
2) L. M. Robert (2013). Machine Elements in
Mechanical Design. 5th Edition. Pearson, Prentice
Hall.
Available to buy @Pn Aliahs office
RM 99.95
All students are encouraged to have this
book !!
CONTENTS
Introduction to Mechanisms and Kinematics, N. Aliah
A. M Sept 2014
4

Machines & Mechanisms
1
Kinematics

2
Mechanism Terminology
3
Kinematics Diagram
4
5

Introduction to
Mechanisms and
Kinematics
OBJECTIVES OF THIS CHAPTER
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
6

The students will be able to:
1. Explain the need for kinematics analysis
of mechanism.
2. Define the basic components that
comprise a mechanism.
3. Draw a kinematics diagram from a view
of a complex machine.
Decide on the tasks that need to be
done to accomplish the design
Imagine being on a design team. The team is
responsible for the design of an automotive windshield
wiper system for a sports model car.
ACTIVITY:
Partner up with a friend and discuss on these questions.
How to design an automotive windshield wiper system?
7
Introduction to Mechanisms and Kinematic, N.
Aliah A. M Sept 2014
8
Design Task:

Determine appropriate movements
Movement must be sufficient to clear critical portions of the
windshield
Configure an assembly of components to produce the wipe pattern
Analyze other motion issues i.e. timing of the wipers and wiping
tendencies
Understanding & analyzing the motion is necessary for proper
operation = MOVEMENT & MOTION ANALYSES!!
Determining the effects of force acting on the machine (i.e. friction
when wiping) = FORCE ANALYSES!!


Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
9

a) Most common geometry, found
on vast majority of vehicles.
b) The SEAT Altea is a compact MPV
produced by Spanish automaker SEAT, S.A.
d) Buses, some school buses,
Mercedes-Benz O305
c) U.S. military wheeled vehicles, some
school buses.
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
1
0

MACHINES AND MECHANISMS
Machines
Definition: Devices used to alter, transmit, and
direct forces to accomplish a specific objective.

Example)
A chain saw is a machine that directs forces to the
chain with the objective of cutting wood.
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
1
1

Mechanism
Definition: Mechanical portion of a machine that has the
function of transferring motion and forces from a power
source to an output.
It is the heart of the machine.
Rigid parts that are arranged & connected so that they
produced the desired motion of a machine.


Example)
For a chain saw, the mechanism takes power from a small engine
and delivers it to the cutting edge of the chain

MACHINES AND MECHANISMS
MACHINES AND MECHANISMS
Output (Purpose) of a machine is formed by
motion of various mechanisms that builds the
machines
The performance of a machine is analyzed by
calculating the position, velocity and acceleration
of points on the different parts of the
mechanisms and tracing the trajectory they
follow.
Analysis of mechanisms is the study of motion of
different members constituting a mechanism and
the mechanism as a whole entity while it is being
operated.

Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
1
2

TYPES OF MECHANISM ANALYSIS
METHODS
1. Graphical method starts with position analysis by
simply drawing the linkage mechanism to scale. Then
the velocity analysis is performed which requires the
angular position of the links to be determined
beforehand. Similarly it is necessary to know angular
velocities of links for acceleration analysis.
2. Analytical method is used when repetitive and
extensive analysis of mechanisms is required, as the
analytical equations and solutions obtained can be
conveniently calculated or programmed on a
computer.
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
1
3

Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
1
4

KINEMATICS
Kinematics
Deals with the way things move.
The study of the geometry of motion.

Kinematics Analysis
Involves determination of position,
displacement, rotation, speed, velocity and
acceleration of a mechanism.

KINEMATICS ANALYSIS
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
1
5

Design Questions:

What is the significance of the length of
the legs that support platform?

Is it necessary for the support legs to
cross and be connected at the midspan, or
is it better to arrange so that they cross
closer to the platform?
Hydraulic Lift Table
Kinematics Analysis
Involves determination of position,
displacement, rotation, speed, velocity and
acceleration of a mechanism.
RECALL !!
Introduction to Mechanisms and Kinematic, N.
Aliah A. M Sept 2014
16
Define:
Machine
Mechanism
Kinematics
Kinematics Analysis
MECHANISM TERMINOLOGY




Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
1
7

Linkage A mechanism
where all parts are
connected together to form
a closed chain.

Frame (base, no motion)
Links individual rigid
bodies
Joints moveable
connection between
links & allow relative
motion
Point of interest A point on a
link where the motion is of
special interest.
MECHANISM TERMINOLOGY
Actuator
The component that drive the mechanism.
Example: motors (electric and hydraulic), engines,
cylinders (hydraulic and pneumatic), ball screw
motors and solenoids.



Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
1
8

JOINTS
Moveable connection between links and allows relative motion between the
links.

Primary Joints (Full Joints):
1. Revolute Joint (also called Pin or Hinge Joint)
Allows pure rotation between the two links that it connects.
2. Sliding Joint (also called Piston or Prismatic Joint)
Allows linear sliding between the links that it connects.
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
1
9

Pin Slider
JOINTS
Higher Order Joints (also called Half Joint):
1. Cam Joint
It allows for both rotation and sliding between the two link that it
connects.
2. Gear Joint
It also allows rotation and sliding between two gears as their
teeth mesh.

Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
2
0

Higher-order Joints:
(Left) Cam Joint;
(Right) Gear Joint
LINKS
Considered rigid bodies and are connected with other
links to transmit motion and forces.
Types of Links:
1. Simple Link
Is a rigid body that contains only two
joints which connects it to other links.

2. Complex Link
Is a rigid body that contains three or more joints.

Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
2
1

EXAMPLE 1
Introduction to Mechanisms and Kinematic, N.
Aliah A. M Sept 2014
22
Identify the number of links and the type of joints
contained in the bolt cutters
EXAMPLE 2
Introduction to Mechanisms and Kinematic, N.
Aliah A. M Sept 2014
23
Identify the number of links and the type of joints
contained in the foot pump
EXAMPLE 3
Introduction to Mechanisms and Kinematic, N.
Aliah A. M Sept 2014
24
Identify the number of links and the type of joints
contained in the folding chair in the stadium
MECHANISM VS LINKAGE
Mechanism A group of links,
connected together, with one link fixed

Linkage A mechanism, where all
parts are connected to form either closed or
open chain.

* Basically they are same
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
2
5

KINEMATIC DIAGRAM
A representation of a mechanism that only shows the
dimensions that influence the motion.
Remove any superfluous detail.
Simplify the drawing of the mechanism for further analysis.
For convenient reference, the links are numbered, starting with
the frame as link number 1 and the joints are lettered.

1
2
3
4
A
B
C
D
X
2
6

More kinematic diagram
1
2
3
A
B
C
X
4
2
7

SYMBOLS USED IN KINEMATIC DIAGRAMS
Component Typical Form Kinematic Representation

1. Simple Link

2. Simple Link
(With point of interest)

3. Complex Link


4. Pin Joint
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
2
8

Component Typical Form Kinematic Representation

5. Slider Joint




6. Cam Joint



7. Gear Joint
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
2
9

SYMBOLS USED IN KINEMATIC DIAGRAMS
EXAMPLE PROBLEM 1.1
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
3
0

Figure below shows a shear that is used to cut and
trim electronic circuit board laminates. Draw a
kinematic diagram.








Shear Press
1. Identify the Frame
Decide the part that will be designated as the frame
The large base (Link 1) that is bolted to the table is designated as the
frame
The motion of all other links will be determined relative to the frame
2. Identify All Other Links
Link 2: Handle
Link 3: Cutting Blade
Link 4: Bar that connects the cutter with the handle

Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
3
1

1
2
3
4
SOLUTION PROB. 1.1
3. Identify the Joints
Three pin joints (lettered A to C)
One sliding joint (cutter slides up and down along the base,
lettered D)
4. Identify Any Points of Interest
The motion of the end of the handle is desired. This is
designated as Point of Interest X
5. Draw the Kinematic Diagram




Introduction to Mechanisms and Kinematic, N. Aliah A. M Sept
2014
3
2

1
2
3
4
EXAMPLE PROBLEM 1.2
Figure below shows a pair of vise grip. Draw a
kinematic diagram.
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
3
3


1. Identify the Frame
No parts are fixed choose your frame!
Link 1: Handle
2. Identify All Other Links
Link 2: Bottom Handle
Link 3: Bottom Jaw
Link 4: Bar that connects the top and bottom handle
3. Identify the Joints
Four Pin joints are used (lettered A through D)
4. Identify Any Points of Interest
The motion of the end of bottom jaw is desired. Point of Interest X
The motion of the lower handle is desired. Point of Interest Y
5. Draw the Kinematic Diagram



Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
3
4

SOLUTION PROB. 1.2
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
3
5

SOLUTION PROB. 1.2
1
2
3
4
A
B C
D X
Y
EXERCISES 1
A foot pump that can be used to fill bike tires, toys and
so forth is shown below. Draw a kinematic diagram of
the pump mechanism. The food pad should be
identified as a point of interest.
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
3
6

EXERCISES 2
A folding chair that is commonly used in stadiums is
shown in figure below. Draw a kinematic diagram of
the folding mechanism.
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
3
7

EXERCISE 3
A sketch of a lift platform is shown in figure below. Draw
kinematic diagram of the mechanism.
Introduction to Mechanisms and Kinematic, N. Aliah A.
M Sept 2014
3
8