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Machine Theory
and Dynamics
Introduction and definitions

Introduction and definitions

In this lecture will have some related
definitions:
Mechanics ,Structure, Mechanisms,
machine, link, joint, pair, kinematics chain.

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Introduction to Mechanisms

Objectives:
• To understand the terms used in mechanisms study,
• To understand and be able to use the degree of freedom of
space, and the degree of freedom of a joint concept,
• To understand and be able to use the degree of freedom of
a mechanism concept.

Mechanism Analysis
Mechanics

Static Dynamics

Mechanism
Analysis Kinematics Kinetics
motion • SF=ma
position •
velocity •
acceleration •

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Definitions
• Mechanism: A group of rigid bodies
(link) connected to each other by
moveable joints (kinematics pairs ) to
transmit motion.
• Examples
– Linkages
– Gears
– Cams

Linkages
2 - Rotation 4 - Reciprocating motion
(back & fore)

Slider-Crank
Link 1 frame (reference)
Link 2 crank
Link 3 connecting-rod (con-rod)
Link 4 slider

Kinematic diagrams – simplified (but accurate)

diagrams showing geometry of motion

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Linkages
Crank-Rocker
Link 1 frame (reference)
Link 2 crank
Link 3 connecting-rod (con-rod)
Link 4 rocker

Kinematic diagrams – simplified (but accurate)

diagrams showing geometry of motion

Cam

Cam rotates at constant angular velocity

Follower moves up and down

NB: A cam can only push the follower (not pull)

the return action requires spring/gravity etc.

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cam…

cam

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Gears
driver

driven

Gears trains can

Gears are used to transmit motion from one shaft be used when a
to another with a constant angular velocity ratio large overall gear
(gear ratio). ratio is required

Gears

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Definitions
Link : A rigid body having two or more pairing elements
(joints) that connect to other bodies for the purpose of
transmitting force or motion‫ز‬

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Link (completely rigid)

• Crank Pin
• Crank Shaft
• Flywheel

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Link (Not rigid)

• Spring
• Belts
• Ropes

Link
• Links are connected to transmit motion
– From Driver (input link)
– To Driven or follower (output link)
• DOF of link: # of independent parameters that
are needed to uniquely define position of a
(rigid) body or system of bodies at any instant in
time (each link has 6 DOF in space and 3 in
plane)

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Degrees of Freedom Cont.

3 Degrees of Freedom (x, y, q)

1 Degree of Freedom (q)

lower pair subtracts 2 degrees of freedom

1 Degree of Freedom (x)

lower pair subtracts 2 degrees of freedom

2 Degrees of Freedom (x, q)

sliding contact subtracts 1 degree of freedom

0 Degrees of Freedom
fixed to ground subtracts 3 degrees of freedom

Kinematics Pair
• Two elements or link are connected together
in such away that their relative motion is
completely constrained form a kinematics
pair.

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Kinematics Pair
• Types by Releaux
– Higher Pair (Line and Point contact)
• Pin joint, cam , friction disk , gears

– Lower pair (Surface Contact)

• Belts, Ropes, etc

Six lower joints (#1)

♣ Name 2D/3D DOF Contains

R Revolute Planar 1 R
P Prismatic Planar 1 P
H Helical/Screw Spatial 1 RP
C Cylindrical Spatial 2 RP
S Spherical Spatial 3 RRR
F Flat/Planar Spatial 3 RPP

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Kinematics Chain
• When several links are moveable connected to
each other by joints, it is called kinematics
chain.
OR
• The combination of links and pairs without a
fixed link is not a mechanism but a kinematic
chain

Closed Chain
• If every link in the chain is connected to two or
more links then the chain form one or more
closed loops

• If the link form a closed loops, it is called closed

kinematic chain

• If NOT, the chain is said to be open kinematics

chain
• A mechanism is a kinematic chain with one of
the links as fixed.

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Mobility
• Degree of freedom (DOF) of link: Number
of independent parameters that are
needed to uniquely define position of a
rigid body (link) or system of bodies at any
instant in time (each link has 6 DOF in
space and 3 in plane).
• When links connected by joints number of
DOF will removed.

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Each link has 3DOF

Total DOF=2(3)=6

IN Lower pair :each Joint

will remove2 DOF from
the pair :DOF=6-2(1)=4

IN higher pair :each Joint

will remove1 DOF from
the pair :DOF=6 -1(1)=5

Degrees Of Freedom (dof) –

Mobility (M)
The number of motion variables (usually joint
variables such as angles) which can be
controlled independently to bring the
device to a particular position (configuration)

If M = 1 the mechanism can be driven by a

single input motion
If M = 2 the mechanism requires two separate
input motions to produce constrained
(definite) motion

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Formula for DOF

To calculate the total number of dof for a
mechanism:

M = 3(n-1) – 2j1 – j2 Kutzbach criteria

M = Mobility (dof)
n = number of links
j1 = number of joints with 1 dof
j2 = number of joints with 2 dof

Implications of mobility M
M = 0 motion is impossible and the mechanism
forms a structure
M = 1 mechanism can be driven by a single input
motion (a constrained mechanism)
M = 2 mechanism requires two separate input
motions to produce constrained (definite)
motion
M = 3 etc.

M < 0 mechanism has redundant constraints – it is

over-constrained and is called a statically
indeterminate structure (the forces in every
link cannot be determined)

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Implications of mobility M

Examples M = 3(n-1) – 2j1 – j2

n = 3, j1 = 3, j2 = 0
M = 0 motion is impossible: mechanism forms
a structure

n = 4, j1 = 4, j2 = 0
M = 1 mechanism can be driven by a single
input motion: constrained mechanism

n = 4, j1 = 4, j2 = 0
M = 1 mechanism can be driven by a single
input motion: constrained mechanism

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n = 5, j1 = 5, j2 = 0
M = 2 mechanism requires two input motions
(e.g. there must be two controlled joints) to
produce constrained mechanism

n = 4, j1 = 5, j2 = 0 (joint A has 2 dof)

M = -1 mechanism is over-constrained:
statically indeterminate structure

Slip/no slip?
n = 3, j1 = 2, j2 = 1
M = 1 mechanism can be driven by a single
input motion: constrained mechanism

f1
5
4 f1 n=7 M = 3(7-1)-2*8-0
f1 6 j1 = 8
M=2
3 f1 j2 = 0
f1
f1 7

2
f1 f1

j1 n=4
j1 j1
j1 = 4
j2 = 0
j1
Assume no slip (1 dof joint)

M = 3(4-1)-2*4-0
M = 1 mechanism can be driven by a single
input motion: constrained mechanism

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Examples

What is the No. of DOF of this

arm?

http://newholland.com

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Degrees of Freedom (DOF) – trench hoe

Number of links, L = 12, Number of one DOF joints, J1 = 12 (pins) + 3 (slider) = 15,
10 11 11, 12
12 9 Number of two DOF joints, J2 = 0
8
10

9 7
8
7

5 6
6
5

DOF = 3(L – 1) – 2J1 – J2 = 3(12-1) -2(15) = 3 4

4
3
3 hydraulics are used to control the
position of the bucket. 3

1
1
2

Degree of Freedom (DOF) - example

Number of links, L = 7,
Number of one DOF joints, J1 = 6 (pins) + 1 (slider) = 7,
Number of two DOF joints, J2 = 1 (fork joint)

DOF = 3(L – 1) – 2J1 – J2 = 3(7-1) – 2(7) – 1 = 3

Three input sources are needed to Fork Joint

control the mechanism
1

4
3
2

Spring 5
6 Slider
1

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Exceptions
Sometimes the Kutzback condition will give an
incorrect result.

n = 5, j1 = 6, j2 = 0  M = 0
Kutzbach formula gives wrong
mobility because 3 links are
parallel and equal length

n = 5, j1 = 6, j2 = 0  M = 0
Same result – this time is correct!

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L
P
S
q

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