Mechanism

A mechanism is a machine composed rigid members that are

joint (kinematically) together. Joints permit the members to
interact with one another. Portions of the surfaces of the members
that contact one another form the joints. The geometries of the
contacting surface segments determine the properties of each
joint.

1
 Classification of Mechanism
(1) Rigid Links Kinematic Joints (2)

Kinematic Chain
[4]

[4]

Closed Chain Opened Chain (3)

Frame Frame

Robotic Mechanism

Linkage Mechanism

lower pair joint only with higher pair joint

2
or combination of lower and higher pair joints
Kinematic Chain is any assemblage of rigid links connected by
Kinematic Joints.

Close Chain is one in which the links and joints form one or more
closed circuit. Each close circuit is a loop in which each link is
attached to at least two other links.

A Frame or Base Member is that link is fixed.

A Linkage or a Mechanism is a Closed Kinematic Chain with one link

selected as the frame.

A Robotic Mechanism is a Opened Kinematic Chain with one link

selected as the frame.

3
 Joints

Low Pair Joint Surface Contact

Kinematic Joint
High Pair Joint Point or Line Contact

Compound Joint

A complex joint but is regarded as

kinematically equivalent to a simple joint

The number of Degrees of Freedom of the joint is equal to the

Connectivity number of independent coordinates needed to specify uniquely
the position of one link relative to the other constrained by the
joint.
4
Table1.1 Lower-Pair Joints

h: pitch

5
[1]
 Table1.1 Lower-Pair Joints

Narrow clearance betweens the

Wear is spread out over
surfaces provides good
the contact surface 
conditions for lubrication and a
Wear is slow.
tight constraint on the motion.
6
[1]
Table1.2 Higher-Pair Joints

s=r

7
[1]
 Table1.2 Higher-Pair Joints

In pure rolling contact, there is

Stress are necessarily
no relative sliding of the
high because of the very
surfaces and joint friction and
small contact areas.
wear are minimized.
8
[1]
 Table1.3 Compound Joints

[1]

• Compound Joints: A complex joint but is regarded as kinematically equivalent to a

simple joint
• Some things call “joints” are really compound joints made up of several simple
joints in series.
9
 Kinematically Equivalent

1.5
[1]

Kinematically Equivalent: The relative motions that are permitted between the
bodies in the two cases are the same, even though the joint is physically quite
different.
10
 Planar Linkage

A planar Linkage is one in

which the velocities of all
points in all members are
directed parallel to a plane,
called the plane of motion.

Topology is the branch of

geometry that deals with
issues of connectedness
without regard to shape.

1.7
[1] 11
 6桿7接頭 8桿10接頭

1.8

[1]

12
 6桿7接頭
4桿4接頭

1.9

[1]

13
 4桿4接頭

1.10
1.9(a)

8桿10接頭
6桿6接頭 ()

1.11

[1]
14
1.12

[1]

15
1.13

[1]

1.14

16
1.15
[1]
17
 Figure 16. 3D printing system

[1]

When mechanism are designed using computer graphics systems, animation

on a computer can be used to visualize the motion of the mechnaism, rather
than construction of a physical model. Animation should be used with caution,
however. There are important interference effects that do not lend themselves
to planar representation but which become immediately apparent in a physical
18
model.
 Number of Degrees of Freedom (D. O. F)

Body (Rigid Link) + Kinematic Joint + Frame  Mechanism

Number of D.O.F of the Body: The number of independent
coordinates needed to specify uniquely the position of that body
relative to a given reference frame. In Plane case, it is 3; In Space case,
it is 6.

[1]

1.17

19
 Number of Degrees of Freedom (D. O. F)

(Connectivity) Number of D.O.F of the Joint :

The number of independent coordinates needed to specify uniquely
the position of one link relative to the other, as constrained by the joint.
(Mobility) Number of D.O.F of the Mechanism:
The minimum number of independent coordinates needed to specify
the position of all members of the mechanism relative to a particular
member chosen as the base or frame.

20
 Number of D. O. F for Planar Mechanism

Body D. O. F
A free body 3
A
System with n free body 3n
System with n free body and one member is chosen as frame 3(n-1)

Joint Reduction of D. O. F
A joint with connectivity fi (fi degree of freedom) 3- fi

(3-f1)+ (3-f2)+…+ (3-fj)

B j
System with j joints
=
 (3  f )
i 1
i
j
3 j   fi
=

i 1

Total mobility of the linkage, called a constraint criterion M

M=A-B  j
 j
M  3n  1  3 j   f i   3n  j  1   f i
 i 1  i 1
21
Ex. 1.1

1.18
[1]

22
Ex. 1.2

1.19

[1]

23
 Ex. 1.3
n=6, j=6
()
M=3(6-6-1)+(16)=3

1.20

[1]

If p members are
connected by a
“common” joint, the
connection is
equivalent to (p-1)
joints all of the same
time. 24
Ex. 1.4

1.21 [1]

25
 Planar Mechanism Synthesis
Mobility of one: M=1 and all joints have connectivity one (fi=1). In each case, the
joints may be either revolute or prismatic joints.
j
 M  3n  j  1   f i
i 1

then 1=3(n-j-1)+j  4=3n-2j (n must be even because 4 and 2j are both even
numbers)

 j=(3n/2)-2

26
[1]
2桿1接頭

4桿4接頭
1.22
[1]

6桿7接頭

1.23

27
 8桿10接頭

1.24
[1]

28
 Even if the joints are confined to low pairs, the four-
link, four joint solution represents the four different
chains.

1.25

3
2 4 Figure 1.26 The 2R-2P chain as a scotch-yoke mechanism
[1]

29
1
 What is Inversion?

Inversion is a different mechanism derived from a given mechanism or

linkage. ”Different” means that the motion relative to the frame that
can be produced by the inversion is different from that provided in the
original mechanism, that is, the inversion produces a different general
form for the paths of the points on the different links or a different
input-output function.
A different inversion is produced for each choice of frame link.

30
 3R1P

Slider Crank
Pump

Quick Return

Turing Block

[1]

1.39

31[2]
 3R(A、B、C)1P

[1]
1
3

Quick Return
32
 kinematically equivalent to 3R1P

n=3
j=3
M=3(3-3-1)+(1+1+2)=1

1.40 [1]

33
 2R2P

7.28

[1] 34
 2R2P

[1]

7.30

3 1
1
[3]
偏心聯軸器(Oldham Coupling)
35
 RPRP

[1]

7.24

(方向舵)

36
Rapson Slider-Marine steering gear [3]
What is Mechanism Synthesis?
(What kind of motion, Choice of mechanism
type)
(Number of D. O. F)

(Number of members and joints)

(Choose type of joints)
(Choose frame)

(Determine dimension)

(Kinematic analysis)

37
[3]
 Constraint Criterion for Spatial Linkage

 Also called Kutzbach Criterion

Ex. 1.5
()

1.27 [1]

38
 Spatial Mechanism Synthesis
Mobility of one (M=1): If only lower pair joints are involved, each with connectivity
one (fi=1).
j
 M  6n  j  1   f i
i 1

then 1=6(n-j-1)+j  6n=7+5j (j must be odd because 5j must be odd to combine

with the odd number 7 to produce the even
number 6n. The sum 7+5j must also be divisible
by three)

 j=1 & n=2 (exactly the same as the simplest solution in the planar case)
j=7 & n=7
j=13 & n=12 (three distinct topological forms)

39
[1]
 Idle Degrees of Freedom

A degree of freedom which does not affect the input-output

relationship of the linkage.
We are not really interested in the mobility of the entire linkage, we
are interested in the connectivity that the linkage provides as a joint
between input member and output member.
connectivity of the linkage (C) = mobility of the entire linkage (M)-
NO. of idle degrees of freedom.

40
 n=4
j=4
M=6(4-4-1)+(21+23)=2

Idle D. O. F.=1
C=M-1=1

Steering mechanisms of automobiles

1.31 [1]

One d. o. f. is the coupler is free to spin about the line through the centers of the two
spherical joints.
41
 2
4

Cylindrical joint
3 (assumed)
1
prismatic joint
(assumed)

n=14
[1] 1.32
n=14
j=18
j=18
M=6(14-18-1)+(26+312)
M=6(14-18-1)+(16+312)=12
=18
Idle D. O. F.=12 (link 3 spin and
Idle D. O. F.=6 (link 3 and link 4 spin together) link 4 spin separately)
C=M-6=6 C=M-6=6
42
 n=6 , j=7
Rolling contact (assumed) between roller
and cam (point B),
M=3(6-7-1)+(17)=1
1
Cam contact (assumed) between roller and
cam (point B),
M=3(6-7-1)+(16+21)=2
Extra d. o. f. is the free rotation of link 5
relative to frame.
C=M-1=1

1.33 [1]

Idle degrees of freedom are dependent both on geometry and on the choice of the input
and output links. In some cases, Idle degrees of freedom will exist for one choice of
input/output but not for a different choice.
43
 Overconstrained Linkages

A mechanism may be overconstrained either locally or generally.

If the mechanism is overconstrained locally, a portion of the system
may be a structure, but the entire mechanism can move.
We must replace that portion of the linkage with a single rigid body
and recompute the mobility of the mechanism.

44
 1.34

[1]

n=9 n=6 n=4

j=12 j= 42=8 j= 4
M=3(9-12-1)+(112)=0 M=3(6-8-1)+(18)=-1 M=3(4-4-1)+(14)=1

Degree of overconstraint=1-(0)=1 45
 Overconstrained (Paradox,悖論) Linkages
If the mechanism is overconstrained generally, it can give misleading
results in the face of unique geometric configurations.

The E-quintet with DOF=1

The E-quintet with DOF=3(5-6-1)+6=0 — disagrees with Kutzbach Criterion due to
— agrees with Kutzbach Criterion unique geometry

46
 Spherical Linkages

These are linkages whose

joints are all revolutes. The
axes of those joints all pass
through a single point.

n=4
j=4
M=6(4-4-1)+(14)=-2

M=3(4-4-1)+(14)=1
Degree of overconstraint
=1-(-2)=3

[1]
1.36 47
 Spherical Linkages

n=4
j=4
M=6(4-4-1)+(14)=-2

M=3(4-4-1)+(14)=1
Degree of overconstraint
=1-(-2)=3

1.35 [1]

The opposite members are identical, and the normals to the pairs of axes in the links
intersect at the joint axes.
48
 Overconstraint Linkage

They tend to be much stiffer and stronger in supporting loads,

particularly those orthogonal to the direction of motion at the point of
application.
They are sensitive to dimensional accuracy in their members. This
requires manufacture to relatively tight tolerances, which can increase
cost.

49
One bucket support linkage: n=4 , j=4
n=4 , j=4 M=3(4-4-1)+(14)=1
M=6(4-4-1)+(14)=-2 Degree of overconstraint
=1-(-2)=3

Two bucket support linkage:

n=7 , j=8
M=6(7-8-1)+(18)=-4
Degree of overconstraint
=1-(-4)=5

1.38
[1] 50
 Closure

Imagine building the linkage by starting with the base link and
successively adding members and joints.
If a joint connects an additional member to the system, the number of
degrees of freedom is increased by fi, and the numbers of members and
joints are both increased by one.
If a joint is mad between two members that are already part of the
linkage, the total number of degrees of freedom is decreased. For a
spatial mechanism, it is (6- fi), for a planar mechanism, it is (3- fi).
In this case, the formation of the joint results in the formation of a
closed loop of members and joints within the linkage. This is called a
closure. 51
 M=3(5-5-1)+(15)=2 M=3(6-6-1)+(16)=3 M=3(6-7-1)+(17)=1

1.28

[1]

When a closure is formed, the number of members does not increase, whereas
52
the number of joints increase by one.
 Closure

If there are no closures (open kinematic chain), the number of link
members is
(n=j+1)  (j+1-n)=0.
If there are c closures in the linkage, then [c=(j+1)-n].

53
 3

M=3(5-5-1)+(15) M=3(6-6-1)+(16) M=3(6-7-1)+(17)

=(15)-(31)=2 =(16)-(31)=3 =(17)-(32)=1

[c=(j+1)-n]

1.28

54
[1]
 4桿4接頭
2桿1接頭
3

M=(11)-(30)=1 M=(14)-(31)=1
1.22

6桿7接頭

M=(17)-(32)=1

[1]

1.23

55
 Position Analysis Force Analysis
j j

Number of Variables Position: f

i 1
i Reaction Force: 6  f 
i 1
i

Number of Equations 6c=6(j+1-n) 6(n-1)

=Mobility of the linkage. =Static equilibrium. j

Number of Variables- j  6(n  j  1)   fi
Number of Equations  6  f i   6n  1  M
i 1
i 1

M=0 The position problem can be The static equilibrium problem

The linkage is not solved to obtain the joint can be solved for all of the
movable and is a positions that cannot vary. reaction force and torque
structure components.
There is no solution to the In this case, solutions of the
position problem. Physically, it is system exist, but there is no
M<0
not possible to assembly the unique solution. The linkage is a
linkage. statically indeterminate linkage.
Solutions of the system exist, but There is no solution to the static
M>0
there is no unique solution. force problem.
56
 Position Analysis Force Analysis
Number of Variables Position Reaction Force
Number of Variables- Number of Variables-
M=1
Number of Equations=1 Number of Equations= -1
Fix the joint in position. It converts a linkage into a It converts the static force
structure. problem from one in which
(It might be done by putting an
there is one more equation
actuator on that joint. The joint
than there are variables to
can now support a force, or a
one in which the number of
torque. The effect is to increase
variables is the same as the
the number of unknown force
number of equations.
variable or to decrease the
number of unknown position
variable by one)
Fix the torque applied about a It does not change the number of variables or the
revolute joint, or the force number of equations in either the position or the force
applied at a prismatic joint.. problem.
57
 n=7
j=6
M=6(7-6-1)+(16)=6
c=(j+1)-n=(6+1)-7=0

Set six position variables

1.29

[1]

58
 n=6
j=6
M=6(6-6-1)+(16)=0
c=(j+1)-n=(6+1)-6=1

Set any desired force

variables

1.30

[1]

59
 Reference

[1] K. J. Waldron, G. L. Kinzel, and S. K. Agrawal, Kinematics,

Dynamics, and Design of Machinery, 3rd Edition, John Wiley & Sons,
2016.
[2] Martin, G. H., Kinematics and Dynamics of Machines, McGraw-Hill
Publishing Co., 1982.
[3] 顏鴻森著，機構學， 東華書局， 1997。
[4] R. L. Norton, Fundamentals of Machine Design, 2004.

60