Mechanics of Machines

MDB3043

Lecture 02
Outline
Kinematic Diagram
Degrees of Freedom
Gruebler’s Equation
Kinematic Diagram
Kinematic Diagram: Purpose
The purpose of drawing a kinematic
diagram is to aid analysis of the motion
The diagram should only show parts that
influence the motion.
The geometrical shape of a link is not important
to be included in the diagram.
All components of a mechanism that do not
move can be omitted from the diagram except
those adjacent to the moving links in the
mechanism.
Kinematic Symbols:
Simple Links
The links and the joints are redrawn using kinematic
symbols instead of actual shapes to ease construction of
diagram and to aid motion analysis.

point of interest

OR
Kinematic Symbols:
Complex Link
Kinematic Symbols:
Pin Joint
Kinematic Symbols:
Sliding Joint

Normally represented this way if

the sliding axis is not stationary.
Pin-in-a-Slot Joint

Copyright © 2004, 2006 by Azman Zainuddin

Modelled as a
combination of a pin joint
and a sliding joint.
 Kinematic Diagram
Kinematic Diagram of a Simple
Linkage
 Typical Linkage: Crank-Slider
Crank: a link which revolves about a pivot fixed to the ground.

A crank-slider linkage might be in this form …

Piston Stationary
Crank Connecting Arm Cylinder

Pivot for
crank
rotation

Copyright © 2004, 2006 by Azman Zainuddin

 Typical Linkage: Crank-Slider
Crank: a link which revolves about a pivot fixed to the ground.

A crank-slider linkage might be in this form …

Piston Stationary
Crank Connecting Arm Cylinder

Pivot for
crank
rotation

Copyright © 2004, 2006 by Azman Zainuddin

A Simple Linkage
A Simple Linkage
A Simple Linkage
A Simple Linkage
A Simple Linkage
A Simple Linkage
A Simple Linkage
Copyright © 2004, 2006 by Azman Zainuddin
A Simple Linkage
 Kinematic Diagram Example
…. can be represented in a kinematic diagram as below

To avoid confusion, adopt the convention as in most texts:

Links are numbered: Link 1, Link 2 …
Joints are lettered: Joint A, Joint B, Joint C …
C
B
2 4
3

B 3 C
A
2 4
A 1 D
1 (frame) D
Engine
Crankshaft and piston are
parts of a linkage.
 Kinematic Diagram
Drawing a Kinematic Diagram
Shear Cutter 1

Copyright © 2004, 2006 by Azman Zainuddin

Shear Cutter 2

Copyright © 2004, 2006 by Azman Zainuddin

Shear Cutter 3

Copyright © 2004, 2006 by Azman Zainuddin

Steps in Drawing a Kinematic
Diagram
1. Identify the Frame
2. Identify All Other Links
3. Identify the Joints
4. Identify Any Point of Interest
5. Draw the Kinematic Diagram
 Identify the Links & Joints
Link 2 • Identify ‘stationary’
Copyright © 2004, 2006 by Azman Zainuddin

Joint B components of the

linkage
(pin)
Joint C • Identify the links
Link 3
(pin) • Identify the joints
Link 4
Joint A (pin)

Link 1 (Frame)
Joint D (sliding)
Draw the Frame
Only redraw frame region
adjacent to joints
Redraw Link 1
• Draw the link using
straight lines with the
joints and point of
interest as the vertices
Redraw Link 2 & Link 3 and the
Joints
Label All Components of the
Linkage

B


 A
C

 

D
 Kinematic Diagram
Kinematic Diagram of Linkage with
Cylinders
Cylinder Motion (1)
Cylinder Motion (2)
Cylinder Motion (3)
Cylinder Motion (4)
Cylinder Motion (5)
Kinematic Diagram
Hinged Cylinder & Piston Rod

cylinder piston rod

A (pin) C (pin) Link 3

Link 1 B
Link 2
(sliding)
Cylinder & Rod on Pin Joints (1)
Cylinder & Rod on Pin Joints (2)
Cylinder & Rod on Pin Joints (3)
Kinematic Diagram:
Cylinder & Rod on Pin Joints

Kinematic
diagram

3
C
B 4 D
2
A
1