1.

What is the difference between a mechanism and a structure? Explain with Example.
Mechanism has DOF Equal to one
If DOF is less than or equal to zero then mechanism is called structure.

2.

Assume that a linkage has N DOF. If one of the links is made a frame, how will it affect
the number of DOF of the mechanism?
Every free body in space has six degrees of freedom. A system of family f consisting of
n movable links has (6 f) n degrees of freedom. Each joint of class j diminishes the
freedom of motion of the system by j f degrees of freedom. Designating the number
of joints of class k as ck, it follows that the number of degrees of freedom of the
particular system is

M (6 f ) n

( j f )c

j f 1

This is referred to in literature as the Dobrovolski formula.

A driver link is that part of a mechanism which causes motion, such as the crank. The
number of driver links is equal with the number of DOF of the mechanism. A driven link
or follower is that part of a mechanism whose motin is affected by the motion of the
driver.
Mechanisms of family f=1
For Planar Linkages:
F=3*(N-1)-2*J1-Jh
F total degrees of freedom
N number of links
J1 constraints by 1DOF joints
Jh constraints by 2DOF joints
3. Comment on following as Complete constraint, Successful constraint, Rigid frame,
Incomplete constraint
1. 4 links, 4 turning pairs----------- Complete constraint
2. 3 links, 3 turning pairs----------- Rigid frame
3. 5 links, 5 turning pairs----------- Incomplete constraint
4. The connection between the piston and cylinder in a reciprocating engine---Successful constraint
4. Find the degree of freedom of following.(1, 1,2,1,1)

1.

2.

3.

4.

5.

6. Comment on following as higher pair, lower pair:

1. Pair of gear in mesh ----higher pair 2. Belt and pulley----- wraping pair(higher pair)
3. Cylinder and piston -----lower pair 4. Cam and follower------higher pair
7. In Figure a pair of locking toggle pliers is shown.
a. Identify the type of linkage (four-bar, slider-crank, etc.).------four bar mechanism
b. What link is used as a driving link?------2nd
c. What is the function of this mechanism?-To hold the flat surface object

d. How does the adjusting screw affect this function? ---Grashof: The sum of the shortest (S) and longest (L) links of a planar four-bar linkage must be
smaller than the sum of the remaining two links (P, Q). In this case the shortest link can rotate
360degree relative to the longest link.
L + S < P + Q: crank-rocker, double-crank, rocker-crank, double-rocker
L + S = P + Q: crank-rocker, double-crank, rocker-crank, double-rocker, note: linkage can change
its closure in singularity positions (all links aligned)
If L + S > P + Q, double-rocker, no continuous rotation of any link

8. An adjustable slider drive mechanism consists of a crank-slider with an adjustable

pivot, which can be moved up and down
a. How many bodies (links) can be identified in this mechanism?--------4
b. Identify the type (and corresponding number) of all kinematic joints.---5(3lower pair
(full joint) & 2 higher pair))
c. What is the function of this mechanism and how will it be affected by moving the
pivot point up and
down? speed of out put ( this is one of the type of quick return
mechanism)