7/10/2016

ME233 Machine Design

Kinematics of Mechanism
Kyu-Jung Kim, Ph.D.
Cal Poly Pomona

Kinematics vs. Kinetics

Study of the position, velocity, and acceleration of a
system of interconnected bodies that make up a
mechanism, independent of the forces that produce
the motion.
Thus, study of motion of a mechanism in relation to
the applied loading is called kinetics or dynamics.

ME233 Machine Design

Chapter 3

#2

Importance of Kinematics
It can be an end in itself

Kinematic Analysis - Interested how components of a

certain mechanism move when motion[s] are applied
Kinematic Synthesis Interested in finding how to design
a mechanism to perform a certain operation in a certain
way

It is also an essential ingredient when formulating

the kinetic problem

ME233 Machine Design

Chapter 3

#3

7/10/2016

Constraints vs. Degree of Freedom (DOF)

Constraints are a collection of equations that if
satisfied, they coerce the bodies in the model to
move like the bodies of the mechanism.
The number of degrees of freedom (DOF) of a
mechanism is qualitatively related to the difference
between the number of motion coordinates and the
number of constraints that these coordinates must
satisfy.

ME233 Machine Design

Chapter 3

#4

Mechanisms
Common joints:

ME233 Machine Design

Chapter 3

From Machine Design, 5th ed, RL Norton, Pearson

#5

Calculating DOF of a Mechanism

The Grblers equation:
M 3 L 1 2 J1 J2

M = degree of freedom or mobility

L = the number of links
J1 = the number of one-DOF joints
J2 = the number of two-DOF joints

ME233 Machine Design

Chapter 3

#6

7/10/2016

Example: DOF of a Four-bar Mechanism

From http://ocw.upm.es/ingenieria-mecanica/mechanical-devices-for-industry/contenidos/lectura-obligatoria/lesson-1/four-bar-linkages

ME233 Machine Design

Chapter 3

#7

Example: DOF of a Slider-Crank

Mechanism

From http://mechanical-engineering-concepts.blogspot.com/2014/03/slider-crank-mechanisms.html

ME233 Machine Design

Chapter 3

#8

Example: DOF of a Six-bar Mechanism

ME233 Machine Design

Chapter 3

From https://www.youtube.com/watch?v=cEL3yXyclpE

#9

7/10/2016

Special Cases

ME233 Machine Design

Chapter 3

From Machine Design, 5th ed, RL Norton, Pearson

#10

Common 1-DOF Mechanisms

Four-bar mechanisms:

ME233 Machine Design

From https://www.youtube.com/watch?v=KBFFwgCCP0U

Chapter 3

#11

Common 1-DOF Mechanisms

Other Four-bar mechanisms:

YouTube search: Popular Videos - Four-bar linkage &

Computer Animation

ME233 Machine Design

Chapter 3

#12

7/10/2016

Four-bar Mechanisms
Grashop criterion:
S L P Q

S = the length of the shortest link

L = the length of the longest link
P, Q = the lengths of the remaining links

Physical implications:

True: at least one link can have a full rotation (Grashop

link)
Equal: special-case Grashop link having change-point
False: No link can have a full rotation (non-Grashop link)

ME233 Machine Design

Chapter 3

#13

Inversion of Four-bar Mechanism

ME233 Machine Design

Chapter 3

From Machine Design, 5th ed, RL Norton, Pearson

#14

Inversion of Four-bar Mechanism

ME233 Machine Design

Chapter 3

From Machine Design, 5th ed, RL Norton, Pearson

#15

7/10/2016

Examples of Four-bar Mechanism

ME233 Machine Design

Chapter 3

From Machine Design, 5th ed, RL Norton, Pearson

#16

Common 1-DOF Mechanisms

Six-bar mechanisms:

ME233 Machine Design

From https://www.youtube.com/watch?v=cEL3yXyclpE

Chapter 3

#17

Examples of Six-bar Mechanism

ME233 Machine Design

Chapter 3

From Machine Design, 5th ed, RL Norton, Pearson

#18

7/10/2016

Common 1-DOF Mechanisms

Cam and follower mechanisms:

ME233 Machine Design

From https://www.youtube.com/watch?v=UpS8OjdXSow

Chapter 3

#19

Common 1-DOF Mechanisms

Cam and follower mechanisms:

From https://www.youtube.com/watch?v=tH_3geoK8Mk

ME233 Machine Design

From https://www.youtube.com/watch?v=ESRsd1TeOSg

Chapter 3

#20

Examples of Cam Follower Mechanism

ME233 Machine Design

Chapter 3

From Machine Design, 5th ed, RL Norton, Pearson

#21

7/10/2016

Kinematics of Four-bar Mechanisms

Position analysis: R 1 R 4 R 2 R 3

ME233 Machine Design

Chapter 3

From Machine Design, 5th ed, RL Norton, Pearson

#22

Kinematics of Four-bar Mechanisms

Position analysis: R 1 R 4 R 2 R 3
B B 2 4 AC

2A

2
d d
a b2 c 2 d 2
A cos 2 cos 2
a c
2ac
B 2sin 2

4 2 tan 1

d cd
a2 b2 c 2 d 2

cos 2
a
c
2ac

ME233 Machine Design

Chapter 3

#23

Kinematics of Four-bar Mechanisms

Position analysis: open vs. crossed configurations

ME233 Machine Design

Chapter 3

From Machine Design, 5th ed, RL Norton, Pearson

#24

7/10/2016

Kinematics of Four-bar Mechanisms

Position analysis: R 1 R 4 R 2 R 3
E E 2 4 DF

2D

2
d d
c d 2 a2 b2
D cos 2 cos 2
a b
2ab
E 2sin 2

3 2 tan 1

d bd
c 2 d 2 a2 b2

cos 2
a
b
2ab

ME233 Machine Design

Chapter 3

#25

Example
A four-bar mechanism has the following dimensions: a = 2 in, b
= 7 in, d = 9 in, and d = 6 in. For the crank angle 2 = 30, find
the other angles and plot its geometric configuration.

ME325 Machine Design

Chapter 3

#26

Example Solution
Checking Grashof criterion: a = 2 in, b = 7 in, d = 9 in, and d
= 6 in.

S L P Q

ME325 Machine Design

Chapter 3

#27

7/10/2016

Example Solution
Position analysis:

B B 2 4 AC

2A

2
d d
a b2 c 2 d 2
A cos 2 cos 2
a c
2ac
B 2sin 2

4 2 tan 1

d cd
a2 b2 c 2 d 2

cos 2
a
c
2ac

ME233 Machine Design

Chapter 3

#28

Example Solution
Position analysis:

E E 2 4 DF

2D

2
d d
c d 2 a2 b2
D cos 2 cos 2
a b
2ab
E 2sin 2

3 2 tan 1

d bd
c 2 d 2 a2 b2

cos 2
a
b
2ab

ME233 Machine Design

Chapter 3

#29

Example Solution
MATLAB Solution: Finding 4 and 3

>> a=2; b=7; c=9; d=6; q2=pi/6;

>> A=cos(q2)-d/a-d/c*cos(q2)+(a^2b^2+c^2+d^2)/(2*a*c);
>> B=-2*sin(q2);
>> C=d/a-(c+d)/c*cos(q2)+(a^2-b^2+c^2+d^2)/(2*a*c);
>> q41=2*atan((-B+(B^2-4*A*C)^0.5)/(2*A));
>> q42=2*atan((-B-(B^2-4*A*C)^0.5)/(2*A));
>> D=cos(q2)-d/a-d/b*cos(q2)+(c^2-d^2-a^2b^2)/(2*a*b);
>> E=-2*sin(q2);
>> F=d/a-(b-d)/b*cos(q2)+(c^2-d^2-a^2-b^2)/(2*a*b)
>> q31=2*atan((-E+(E^2-4*D*F)^0.5)/(2*D));
>> q32=2*atan((-E-(E^2-4*D*F)^0.5)/(2*D));
Chapter 3

#30

10

7/10/2016

Example Solution
MATLAB Solution: Plotting its geometric configurations

>> figure(1),clf
>> line([0 a*cos(q2) d+c*cos(q41) d 0],[0 a*sin(q2)
c*sin(q41) 0 0])
>> grid on, axis([-2 6 -6 2]), axis square
>> figure(2),clf
>> line([0 a*cos(q2) d+c*cos(q42) d 0],[0 a*sin(q2)
c*sin(q42) 0 0])
>> grid on, axis([0 8 0 8]), axis square

Chapter 3

#31

Example Solution
MATLAB Solution: Graphical outputs
2

-1

-2

-3

-4

-5
-6
-2

1
-1

Chapter 3

#32

Kinematics of Four-bar Mechanisms

Velocity analysis: R 1 R 4 R 2 R 3 v B v A v B/ A

ME233 Machine Design

Chapter 3

From Machine Design, 5th ed, RL Norton, Pearson

#33

11

7/10/2016

Kinematics of Four-bar Mechanisms

Velocity analysis: v B v A v B/ A
3
4

a2 sin 4 2
b sin 3 4

a2 sin 2 3
c sin 4 3

ME233 Machine Design

Chapter 3

#34

Kinematics of Four-bar Mechanisms

Velocity analysis: indices of merit
Angular velocity analysis
mV

4
a sin 2 3

2
c sin 4 3

Mechanical advantage:
mA

Fout
Fin

r
in in
out rout

ME233 Machine Design

Chapter 3

#35

12