KNJ 2222: Analysis of Mechanics

and machines

-Mobility
-Four Bar Linkage
1
Noor Aliah Abdul Majid
Dept. of Mechanical & Manufacturing Eng.


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Contents
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2
Mobility (Degree of Freedom)
1
Types of Links

2
Four Bar Mechanism
3
Slider- Crank Mechanism
4
RECALL
How many LINKS are there in this mechanism?

Identify what type of JOINTS available.
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3
RECALL
How many LINKS are there in this mechanism?

Identify what type of JOINTS available.

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4
Objectives of this chapter
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5
The students will be able to:
1. Compute the number of degrees of freedom of a
mechanism.
2. Identify the types of mechanical drives
MOBILITY
6
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What is the meaning of
Mobility?

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MOBILITY (M)
number of degrees of freedom (DOF) of the linkage
number of independent inputs required to precisely
positions all links of the mechanism with respect to the
ground
number of actuators needed to operate the mechanism

A mechanism actuator could be manually moving one link to another
position, connecting a motor to the shaft of one link, or pushing a
piston of a hydraulic cylinder.

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How to define the position of the pencil if it
is constrained on the paper?
You need at least
x,y and
What if you take the pencil up in the air?
MOBILITY (M)
MOBILITY (M)
Grueblers equation to calculate Mobility

M = 3(n-1) 2jp jh



n = number of links
jp = number of primary joints
(lower order joints)
jh = number of higher order joints

M = 1 constrained mechanism
M < 1 locked mechanism
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Lower order joints have
a surface or planar
contact, such as a pin
joint or a sliding joint

Higher order joints
have a line or point
contact, such as a cam
or a gear
Types of Lower Order Joints
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Spherical
Screw
Cylindrical
Planar
Revolute / Hinge / Pin
Prismatic / Sliding joint
Mobility Mechanism
a) Constrained mechanism or single degree of freedom (M=1)
A single degree of freedom

b) Locked mechanism (M=0)
Mechanism with zero or negative DOF
These mechanism are unable to move and form a structure

c) Unconstrained or multi degree of freedom (M=2)
Need more than one driver to precisely operate them
Example: Robotic arm

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Actuators and Drivers
An actuator or driver device is required to provide the input
motion and energy.
One driver is required for each DOF exhibited.
Examples: Electric motors (AC), electric motors (DC),
engines, servomotors, air or hydraulic motors, hydraulic or
pneumatic cylinders, screw actuators, manual or hand
operated mechanism and etc.
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13
Example 1.3
Figure below shows a toggle clamp. Draw a kinematics
diagram, using the clamping jaw and the handle as point
of interest. Also compute the DOF for the clamp.








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Toggle clamp movement
14
Example 1.3 (cont.)

Solution:

1. Identify the Frame
The component that is bolted to the table is designated as
the frame
The frame is numbered as link 1

2. Identify All Other Links
Handle (Link 2)
Arm that serves as the clamping jaw (Link 3)
Bar that connects the clamping arm and handle (Link 4)


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Example 1.3 (cont.)
3. Identify the Joints
Four pin joints are used to connect these different parts
These joints are lettered A through D
4. Identify Any Points of Interest
The motion of the clamping jaw is desired. This is designated
as Point of Interest X
The motion of the end of the handle, is designated as Y
5. Draw the Kinematic Diagram



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3
16
2
Example 1.3 (cont.)
6. Calculate Mobility
Grueblers Equation
M = 3(n-1) 2j
p
j
h

where (links = 4, pin joints = 4)
n= 4, j
p
= 4, j
h
= 0
M = 3(n-1) 2j
p
j
h

=3(4-1)-2(4)-0
=1
.the clamp mechanism is constrained

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17
Now You Try!
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A folding chair that is commonly used in stadiums is shown in figure 1
above.
A sketch of a lift platform is shown in figure 2.

For both figures:
i. Specify the number of links and the number of joints and;
ii. Calculate the mobility for the mechanism.
Figure 1
Figure 2
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Case 1:
Coincident joints i.e. three links connected at a common pin joint
(by definition, a pin joint connects two links)





a) Three rotating links b) Two rotating and one sliding link

Solution:
The joint will be considered as two joints instead of one.
Therefore, (Fig. b) becomes one slider and one pin joint.
Special Cases of Mobility Equation
19
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Case 2:
Exception to Grueblers equation







According to Grueblers equation, this linkage should have zero DOF.
However, this mechanism are capable of motion with 1 DOF.

Problem!!
The Gruebler equation does not account for link geometry.
Links = 5, Pin = 6

M = 3( n-1 ) 2j
p
j
h
=3( 5-1 ) 2(6)

=12-12
= 0 (mechanism is locked??)
Special Cases of Mobility Equation (cont.)
20
FOUR BAR LINKAGE
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The Four Bar Mechanism
The simplest and most common linkage is the four-bar
mechanism.
It is a combination of four links, one as a frame, and
connected by four pin joints.









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The four-bar mechanism (cont.)
The mobility of a four-bar mechanism is as below:

n = 4, j
p
= 4 pins, j
h
= 0
and
M = 3(n - 1) 2 j
p
j
h
= 3(4 - 1) 2(4) 0
= 1

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The Grashofs criterion
Used to determine the category of the four bar mechanism
Used to predict the rotation behavior of a four-bar linkages
inversion based only on the link lengths
The following nomenclature is used to describe the length of
the four links.

Let S =length of the shortest link
L =length of the longest link
P =length of one of the intermediate links
Q =length of the other intermediate links

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Grashofs theorem states that a four-bar mechanism has at least
one revolving link if

S+L P+Q

S = length of the shortest link
L = length of the longest link
P = length of one of the intermediate links
Q = length of the other intermediate links
The Grashofs criterion
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Categories of Four-Bar Mechanism
All four-bar mechanism fall into 5 category:
Criteria
Shortest
link
Category
S+L < P+Q Frame
Double
crank
S+L < P+Q Side
Crank-
rocker
S+L < P+Q Coupler
Grashof
double
rocker
S+L = P+Q Any
Change
point
S+L > P+Q
Any

Triple-
rocker
(a) Double Crank
(b) Crank - Rocker
(c) Double
Rocker
(d) Change Point
(e) Triple Rocker
26
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Crank Rocker Mechanism

ground
crank
coupler
follower
(or rocker)

Crank (input link)
A link that makes a complete revolution and is pivoted to ground.
Rocker (output link)
A link that has oscillatory (back and forth) rotation and is pivoted to ground.
Coupler (connecting rod)
A link that has complex motion (non moving) with respect to the reference
frame.
Ground
Any link that are fixed (non moving) with respect to the reference frame.
Crank
Coupler
Rocker
(Follower)
Ground
shorter side link revolves
and the other one rocks

- Its one type of four bar
mechanism
27
Example Problem 1.9
A nose wheel assembly for a small aircraft is shown below.
Classify the motion of this four bar mechanism based on
the configuration of the links.









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76 cm
80 cm
66 cm
40 cm
28
Example Problem 1.9 (cont.)


Solution:


1. Distinguish the Links Based on Length
The motion of the wheel assembly would be determined relative to
the body of the aircraft
The aircraft body will be designated as the frame
The tip of the wheel was designated as point of interest X
The lengths of the link are:
S = 30cm, L= 80cm, P = 76cm, Q = 66cm
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Example Problem 1.9 (cont.)

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2. Compare to Criteria
The shortest link is a side to
the frame

3. Check the Crank-Rocker Criteria

S + L < P + Q
(30 + 80) < (76+66)
110 < 142 True!
Its a Crank Rocker
Mechanism
Kinematic Diagram
30
Slider Crank Mechanism
This is a four-bar linkage with 3 revolute joints and one
sliding joint.
This mechanism converts rotary motion into reciprocating
linear motion, or vice versa.
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crank
ground
connecting rod
slider

31
Slider Crank Mechanism Example
Example: manual water pump

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Discussion

Whats the difference between four bar mechanism and slider
crank mechanism??

Discuss with your friends and give examples of these two types of
mechanism.
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Techniques of Mechanism Analysis
Traditional Drafting Techniques
The equipment used included triangles, parallel straight edges,
compasses, protectors etc.
CAD Systems
AutoCAD, Microstation, Unigraphics and ProEngineer
Analytical Techniques
Mathematical functions, geometry, trigonometry and graphical
mechanism analysis
Computer Methods
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EXTRA EXERCISE
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