Kinematics of Mechanisms 1

Introduction
M. Khoirul Effendi, PhD
Kinematics vs Dynamics (1/2)
• Mechanics is a branch of physical science that deals
with motion, time, force.
• Static concerned with the equilibrium of a body that is
either at rest or moves with constant velocity
• Dynamics which deals with accelerated motion of body
• Kinematics analyzes the movement of bodies without
considering force.
• Kinetics, analyzes the movement of bodies with
considering force.
 Introduction
❖Determine appropriate movement of the
wipers
- View range
- Wipe angle
- Location of pivots
❖Timing of the wipers
❖Wiping velocity
❖The force acting on the machine

3
Introduction

❖Machine
Devices used to alter, transmit, and direct
energy to accomplish a specific objective
❖Mechanism
Mechanical portion of a machine that
has the function of transferring motion
and forces

4
Kinematics
The initial step…
❖What is the significance of the leg length
that support the platform?
❖Is it necessary for support legs to cross
and be connected at their midspan?
❖Or is it better to arrange the so that they
cross closer to the platform?
❖How far must the cylinder extend to raise
the platform 8 in?
5
Dynamics
The second step…
❖What capacity (maximum force) is
required of the hydraulic cylinder?
❖Is the platform free of any tendency tip
over?
❖What cross-sectional size and material
are required of the support legs so they
don’t fail?

6
 Kinematic analysis and synthesis
➢ Kinematics : deals with the way things move
Kinematic analysis : is the process of developing a mechanism to satisfy a set of performance
requirements for the machine
- Determine : position, displacement, rotation, velocity, acceleration
- Provide : geometry, dimension, motion path
Kinematic synthesis : ensures that the mechanism will exhibit motion that will accomplish
the set of requirements
- Determine : geometry, dimension, operation range
- Provide : motion path, position, velocity
7
 Terminologies in kinematics
Z
Degree of freedom

➢ Rotation about an axis

➢ Translation along a direction
➢ In our 3D-space we have
- 3 Rotations
- 3 Translations

X Y
8
 Terminologies in kinematics
S R
Lower-order joint
(contact is surface)

➢ S : Spherical joint
E P
➢ R : Revolute joint
➢ E : Planar joint
➢ P : Prismatic joint
➢ C : Cylindrical joint H
C
➢ H : Helical joint
9
 Terminologies in kinematics
Higher-order joint (contact is a point)

10
 Terminologies in kinematics
Higher-order joint (contact is a point)
 Terminologies in kinematics
Simple link

➢ Rigid body contains only two joints

➢ Crank : a simple link that is able to
complete a full rotation about a fixed
center
➢ Rocker : a simple that oscilates through
an angle

12
 Terminologies in kinematics
A link with point of interest
➢ Point of interest : is a point on a
link where the motion is of special
interest

13
 Terminologies in kinematics
A complex link

➢ A rigid body contains more than

two joints

14
Terminologies in kinematics

Mechanism

Planar The mechanism that works on the

Mechanism plane, generally on the XY-plane.

Spatial The mechanism that works in the

Mechanism space, generally in the XYZ-space.

15
 Terminologies in kinematics
Planar mechanisms

16
 Terminologies in kinematics
Spatial mechanisms

17
Example #1 (1/3)
• A shear press is used to cut and trim electronic circuit board.

• Draw the kinematic diagram!

18
Example #1 (2/3)

1. Determine which part is fixed,

which one is moving

2. Determine the number and type

of joints

fixed 3. Determine the links

4. Draw the kinematic diagram

moving
19
 Example #1 (3/3)

➢ Link 1 : fixed part

➢ Link 2: handle
➢ Link 3: Cutting blade
➢ Link 4 : Bar that connects the
cutter and the handle
➢ Point of interest X
➢ Joint A, B, C : Revolute joints
➢ Joint D : Prismatic joint
20
 Example #2 – Vise Grip
• a pair of vise grips 1. Determine which part is fixed,
which one is moving

2. Determine the number and type

of joints

3. Determine the links

4. Draw the kinematic diagram

21
Example #2 – Vise Grip

22
Example #2 – Vise Grip

A
D

C B

23
 Grübler’s equation

Degree of freedom (DOF) of a mechanical system as the number of independent

parameters that unambiguously define its position in space at every instant.

Degree of Freedom (M) is calculated by the following Equation

M = 3(n - 1) - 2jp – jh

n = total number of links in the mechanism

jp = total number of primary joints (pins or sliding joints)
jh total number of higher-order joints (cam or gear joints)

24
Example #3 – Toggle Clamp

25
Example #3 – Toggle Clamp

26
Example #3 – Toggle Clamp

27
Assignment 1

A linkage is used to operate the water

nozzle at an automatic car wash.
Draw the kinematic diagram.
Find how many joints and links!

28
 Group task!
Make a presentation of the following mechanisms, show the video, draw the kinematic diagram,
find its DOF, and mention its applications!
1. Six-bar linkage 6. Agile eye
2. Scotch and yoke mechanism 7. Cam and follower mechanism
3. Slider crank mechanism 8. 3-RRR mechanism
4. Wanzer needle mechanism 9. Tripteron
5. Stewart-Gough platform 10. Delta robot

29