ME 264 Mechanism Synthesis

and Analysis I (3, 0, 3)

Dr. F. W. ADAM
MECHANICAL ENGINEERING DEPARTMENT
KNUST
 Grading:
• Attendance 5%
• Homework 10%
• Midterm Exam 10%
• Project 5%
• Final Exam 70%

Homework: About 5-10 problems will be assigned

every other week and these will be collected for
grading. Collaboration is encouraged, but
independent work is required and essential in order
to perform well on the exams.
 REFERENCE BOOKS
• Design of Machinery, an introduction to the synthesis and
analysis of mechanisms and machines by Robert L. Norton,
McGrawHill, 1999.
• Mechanism Design, Analysis and Synthesis by Erdman and
sander, fourth edition, Prentice-Hall, 2003.
• Machines and Mechanisms by Uicker, Pennock and Shigley,
third edition, Oxford, 2002.
• Machines and Mechanisms by Myszka, Prentice-Hall, 2003.
• Kinematics and Dynamics of Machinery by Chales E. Wilson&J.
Peter Sadler, Harper Collins College, 1993.
• Theory of Machines, R.S. Khurmi and J.K. Gupta, 2004.
 COURE OBJECTIVE
This course is an introductory course in
dynamics of machinery. It covers underlying
theories and techniques for analysis and
synthesis of mechanical systems which
consist of planar linkages, mechanical drives
and cams. It places emphasis on the use of
graphical techniques and computer
simulation tools.
 COURSE OUTLINE
• Fundamentals: Definitions and terminology, degrees of
freedom, typesof motion mechanisms and structures,
motors and drives.
• Dynamics of Linkages: Analysis of position, velocity,
acceleration and dynamic forces in linkages using both
graphical and analytical methods.
• Graphical Linkage Synthesis: Introduction to type synthesis,
function, path and motion generations, Dimensional synthesis
up to three positions including quick-return mechanisms
Grashof Condition for four-bar linkage, Inversion, introduction
to Coupler and Cognates.
• Transmission of rotational motion: Gears and gear trains
including Epicyclic/Planetary Trains, roller drives, belt drives
and Chain drives.
Mechanism Synthesis and Analysis
Mechanism: is a mechanical device that
has the purpose of transferring motion
from a source to an output.
• Analysis – determination of position,
velocity, acceleration, etc. for a given
mechanism
• Synthesis – design of mechanism to do a
specific task.
 Logical synthesis of mechanisms
• Type, number and dimensional synthesis
 Type synthesis: Kind of mechanism
selected
 Number synthesis: Number of joints or
links
 Dimensional synthesis: The determination
of the proportions (lengths) of the links
necessary to accomplish the desired
motions
 Terminology and Definitions
• Kinematics: the study of the motion of bodies without reference to mass
or force
• Links: one of the rigid bodies or members joined together to form a
kinematic chain considered as rigid bodies
• Kinematic pair/ mechanical joint : a connection between two bodies that
imposes constraints on their relative movement.
• Ground/frame: a fixed or stationary link in a mechanism.
• Lower pair: the two lower pair have surface contact with one on another.
• Higher pair: the two lower pair have point or line contact with one
another.
• Degree of freedom (DOF)/Mobility: of a mechanical system is the
number of independent parameters that define its configuration.
• Frame: the fixed link in a mechanism.
 Terminology and Definitions
• Closed-Loop Kinematic Chains: a kinematic
chain is an assembly of links and joints. Each
link in a closed-loop kinematic chain is
connected to two or more other links.
• Open-Loop Kinematic Chains: at least one link is
connected to only on other link.
 Terminology and Definitions
• Manipulators: manipulators designed to
simulate human arm and hand motion are an
example of open-loop kinematic chains.
• Robots: programmable manipulators
 Terminology and Definitions
• Linkage/mechanism/machine/engine: an
assemblage of rigid bodies connected by
kinematic pairs.
• Planar motion: motion of all linkages is 2D
(projected onto a common plane).
• Spacial motion: at least the motion of one link
is 3D.
 Terminology and Definitions
Inversion: if two
otherwise identical
linkages have different
fixed links, then each
is an inversion of the
other.
 Link Types
A link is a rigid connection between two or more elements
of different kinematic pairs.
 Mechanisms for specific applications
• Drafting Instrument
• Pantograph Linkages
• Slider-Crank
Mechanism
• Rotating
Combustion(Wankel)
Engine
Mechanisms for specific applications
Fluid Links Swash Plate

Lamination-Type Impulse Drive

Gear trains
 Mechanisms for specific applications

Power Screws
Differential Screws
Ball Screws
Mechanisms for specific applications

Universal Joints Special-Use Clutches

Sprag-Type Reverse-Locking Clutches
One-Way Clutches
Universal Joints
Automotive Steering Linkage
Computer Controlled Industrial Robots
Scissor mechanisms
 Classification of mechanisms
No Description
1 Screw

2 Roller
3 Wheel
4 Cam
5 Linkage
6 Ratchet
 Kinematic Pair(Joints)
• Lower pair(six types)
• Higher pair(cam and its follower have line or
point contact between the elements)
• Wrapping(chains and belts)
 Degree of freedom

For example the bead shown in A has only

one coordinate needed to specify its
location.

A
The bar shown in B needs two
coordinates(complete, independent and
with admissible variation) to locate the end
point. (x, y) or (r, θ)

B
The bar shown in D needs three
coordinates(complete, independent and
with admissible variation) to locate the end
point. (x, y, θ)
C
Lower Pairs(surface contacts)
Higher Order Joints
 Degree of freedom(dof)/Mobility
• Any unconstrained rigid body has six dof
• A body moving in a plane has three dof
• A cluster of n bodies not connected have dof=3n
• A fixed link(frame) has no degree of freedom
• Each lower pair reduces total dof by 2
• Each higher pair reduces total dof by 1
• Grubbler’s Criterion: the total dof of a planar mechanism is
dof=3(n-1)-2j-h
Where n=number of links
j=number of lower pairs
h=number of higher pairs
Examples
 Classification of Closed Planar Four-Bar
Linkages-The Grashof Criterion
• Closed planar linkages of four pin-connected
rigid links are usually identified as four-bar
linkages.
• If one of the links can perform a full rotation
relative to the other three links, the linkage is
called Grashof mechanism
Four-Bar Linkages

Grashof condition
A simple relationship which
predicts the behavior of a
four-link mechanism inversion
based only on link lengths.
S=length of shortest link
L=length of longest link
P=length of one link
Q=length of other link
If S+LP+Q then at least one link
will crank, and the mechanism
is called a Grashof mechanism.
Criteria of motion for each class of Four-Bar
Linkages
Type of Mechanism Shortest link Relationship between link
lengths
Grashof Any S+LP+Q
crank rocker Driver crank S+LP+Q
drag link Fixed link S+LP+Q
double rocker coupler S+LP+Q
crossover S+LP+Q
position(change point)
Non-Grashof S+LP+Q

double rocker of the S+LP+Q

second kind(triple rocker)
Straight line mechanisms
 Straight line mechanisms
watt’s linkage as used in his steam engine
Slider-crank mechanism

h r sin  l sin 
x r cos   l cos 
2
r 
cos 2   sin 2  1  cos   1   sin  
l 
2
r 
 x r cos   l 1   sin  
l 
Geneva Wheel
Scotch yoke
EXAMPLE OF MECHANISM

Can crusher

Simple press

Rear-window wiper
Ken Youssefi MECHANICAL ENGINEERING DEPT. 34
EXAMPLE OF MECHANISMS

Moves packages from an assembly

bench to a conveyor

Microwave carrier to assist

Lift platform people on wheelchair
35
EXAMPLE OF MECHANISMS

Lift platform

Front loader

Device to close the

top flap of boxes

36
 EXAMPLE OF MECHANISMS
Stair climbing mechanism

A box that
turns itself off

Airplane landing
gear mechanism

37
 EXAMPLE OF MECHANISMS

Rowing type exercise machine

Conceptual design for an

exercise machine

38
EXAMPLE OF MECHANISMS

39
 EXAMPLE OF MECHANISMS

Extension position

Flexed position

Six-bar linkage prosthetic

knee mechanism

40
 Dimensional Synthesis
• The determination of the proportions (length)
of the links necessary to accomplish the
desired motions.
• Function generation, path generation and
Motion Generation (body guidance).
 Function generation, path generation and Motion Generation (body guidance).

• Function Generation: the correlation of an input

motion with an output motion in a mechanism

• Path Generation: Control of a point in the plane

such that it follows some prescribed path

• Motion Generation: Control of a line in the plane

such that is follows some prescribed set of
sequential positions
 Mechanism Categories
Function Generation Mechanisms
A function generator is a linkage in which the relative
motion between links connected to the ground is of interest.

A four-bar hand actuated wheelchair

brake mechanism

43
 Mechanism Categories
Function Generation Mechanisms

A four-bar drive linkage for a lawn sprinkler

44
 Mechanism Categories
Function Generation Mechanisms
A four-bar function generation
mechanism to lower an attic stairway.

A four-bar function generation mechanism to

operate an artificial hand used for gripping.
45
 Mechanism Categories
Motion Generation Mechanisms
In motion generation, the entire motion of the coupler
link is of interest (rigid body guidance).

New Rollerblade brake system

46
 Mechanism Categories
Motion Generation Mechanisms

Four-bar automobile hood linkage design

47
 Motion Generation Mechanisms

Moving a storage bin from an

Rotating a monitor into a storage position accessible position to a stored position
48
 Motion Generation Mechanisms

Moving a trash pan from the floor up over

a trash bin and into a dump position Lifting a boat out of water

49
 Mechanism Categories
Path Generation Mechanisms
In path generation, we are concerned only with the path of a
tracer point and not with the motion (rotation) of the coupler link.

Crane – straight line motion

50
 Mechanism Categories
Path Generation Mechanisms A four-bar path generation mechanism to guide
a thread in an automatic sewing machine

A four-bar path generation mechanism as

part of an arm-actuated propulsion system
for a wheelchair 51
 Slider-Crank Mechanism
• The slider-crank mechanism below has stroke
• The extreme positions are found by
constructing circle arcs through of length and
respectively.

Centered slider-crank mechanism General/ offset slider-crank mechanism

Rocker Output- Two Position with Angular Displacement

Example 1
Design a four bar Grashof crank-rocker
mechanism to give 45° of rocker motion with
equal time forward and back, from a constant
speed motor input.
 Example 1
• Draw the output link O4B in both extreme
positions, B1 and B2 in any convenient location,
such that the desired angle of motion θ4 is
subtended.
• Draw the chord B1B2 and extend it in either
direction.
• Select a convenient point O2 on the line B1B2
extended.
• Bisect line segment B1B2, draw a circle of that
radius about O2.
• Label the two intersection of the circle and B 1B2
extended, A1 and A2.
• Measure the length of the coupler as A1 to B1 or
A2 to B2.
• Measure ground length 1, crank length 2, and
rocker length 4.
• Find the Grashof condition. If non-Grashof, redo
steps 3 to 8 with O2 further from O4.
• Make model of the linkage and check its
 Example 2
• Rocker Output- Two Position with Complex
Displacement (Motion)
– Design a fourbar linkage to move link CD from

C1D1 to C2D2.
 Example 2
• Draw the link CD in its two desired positions,
C1D1 and C2D2 in plane as shown.
• Draw construction line from point C1 to C2
and from point D1 to D2.
• Bisect line C1C2 and line D1D2 and extend their
perpendicular bisectors to intersect at O4.
Their intersection is the rotopole.
• Select a convenient radius and draw an arc
about the rotopole to intersect both lines
O4C1 and O4C2. Label the intersection B1 and
B2.
• Do steps 2 to 8 of example 1 to complete the
linkage.
• Make a model of the linkage and articulate it
to check its function and its transmission
angles.
 Coupler Output- Two Position with Complex
Displacement (Motion)

Example 3: Design a fourbar linkage

to move link CD from C1D1 to C2D2
(with moving pivots at C and D).
 Example 3
• Draw the link CD in its two desired positions, C1D1 and C2D2
in plane as shown.
• Draw construction line from point C1 to C2 and from point
D1 to D2.
• Bisect line C1C2 and line D1D2 and extend their
perpendicular bisectors in convenient directions. The
rotopole will not be used in this solution.
• Select any convenient point on each bisector as the fixed
pivots O2 and O4, respectively.
• Connect O2 with C1 and call it link 2. Connect O4 with D1 and
call it link 4.
• Line C1D1 is link 3. Line O2O4 is link 1.
• Check the Grashof condition, and repeat steps 4 to 7 if
unsatisfied. Note that any Grashof condition is potentially
acceptable in this case.
• Construct a model and check its function to be sure it can
get from the initial to final position without encountering
ant limit (toggle) positions.
• Check the transmission angles.
 Review Example 3
Design a dyad to control and limits the
extremes of motion of the linkages in the
previous example to its two design positions
 Review Example 3
• Select a convenient point on link 2 of the
linkage designed in Example 3. Note that
it need not be on the line O2C1. Label this
point B1.
• Draw an arc about center O2 through B1
to intersect the corresponding line O2B2
in the second position of link 2. Label
this point B2. The chord B1B2 provides us
with the same problem in Example 1.
• Do steps 2-9 of Example 1 to complete
the linkage, except add links 5 and 6 and
center O6 rather than links 2 and 3 and
center O2 . Link 6 will be the driver crank.
The fourbar subchain of the links O6, A1,
B1, O2 must be a Grashof crank-rocker.
 Three-Position Synthesis

• Example 4 – Coupler Output – 3 position with

Complex Displacement
• Design a fourbar linkage to move the link CD
shown from position C1D1 to C2D2 and then to
position C3D3. Moving pivots are C and D. Find
the fixed pivot locations.
 Example 4
• Draw link CD in its three position
• C1D1, C2D2 , C3D3 in the plane as shown.
• Draw construction lines from point C1 to C2 and
from C2 to C3.
• Bisect line C1C2 and line C2C3 and extend their
perpendicular bisector until they intersect. Label
their intersection O2.
• Repeat steps 2 and 3 for lines D1D2 and D2D3. Label
the intersection O4.
• Connect O2 with C1 and call link 2. Connect O4 with
D1 and call link 4.
• Line C1D1 is link 3. Line O2O4 is link 1.
• Check the Grashof condition. Note that any
Grashof condition is potentially acceptable in this
case.
• 8.Construct a model and check its function to be
sure it can get from initial to final position without
encountering any limits positions.
 Three-Position Synthesis – Example 5
• Coupler Output – 3 position with
Complex Displacement
(Alternate Attachment Points for
Moving Pivots)
• Design a fourbar linkage to move
the link CD shown from position
C1D1 to C2D2 and then to position
C3D3. Use different moving pivot
than CD. Find the fixed pivot
locations.
 Example 5
• Draw link CD in its three position C1D1, C2D2 , C3D3 in the
plane as shown.
• Define new attachment points E1 and F1 that have a fixed
relationship between C1D1 and E1F1 within the link. Now
use E1F1 to define the three position of the link.
• Draw construction lines from point E1 to E2 and from E2 to
E3.
• Bisect line E1E2 and line E2E3 and extend their
perpendicular bisector until they intersect. Label their
intersection O2.
• Repeat steps 2 and 3 for lines F1F2 and F2F3. Label the
intersection O4.
• Connect O2 with E1 and call link 2. Connect O4 with F1 and
call link 4.
• Line E1F1 is link 3. Line O2O4 is link 1
• Check the Grashof condition. Note that any Grashof
condition is potentially acceptable in this case.
• Construct a model and check its function to be sure it can
get from initial to final position without encountering any
limits positions. If not, change locations of point E and F
 Example 6
• Example 6 – Three –Position Synthesis with
Specified Fixed Pivots - Inverting the 3-position
problem
• Invert a fourbar linkage which move the link CD
shown from position C1D1 to C2D2 and then to
position C3D3. Use specified fixed pivots O2 and O4.
 Example 6
• Draw link CD in its three position C1D1, C2D2 , C3D3 in the plane as shown.
• Draw the ground link O2O4 in its desired position in the plane with respect
to the first coupler position C1D1
• Draw construction arc from point C2 to O2 and from D2 to O2 whose radii
define the side of triangle C2O2D2 This define the relationship of the fixed
pivot O2 to the coupler line CD in the second coupler position.
• Draw construction arc from point C2 to O4 and from D2 to O4 whose radii
define the side of triangle C2O4D2 This define the relationship of the fixed
pivot O4 to the coupler line CD in the second coupler position.
• Now transfer this relationship back to the first coupler position C1D1 so
that the ground plane position O2’O4’ bears the same relationship to C1D1
as O2O4 bore to the second coupler position C2D2. In effect, you are sliding
C2 along the dotted line C2C1 and D2 along the dotted D2D1. By doing this,
we have pretended that ground plane moved from O2O4 to O2’O4’ instead
of the coupler moving from C1D1 to C2D2. We have inverted the problem.
• Repeat the process for the third coupler position as shown in the figure
and transfer the third relative ground link position to the first, or
reference, position.
• The three inverted position of the ground plane that correspond to the
three desired coupler positions are labeled O2O4,O2’O4’ , and O2’’O4’’ and
have also been renamed
• E1F1, E2F2 and E3F3 as shown in the figure.
Example 6
 Example 7
• Example 7 – Finding the
Moving Pivots for Three
Positions and Specified Fixed
Pivots
• – Design a fourbar linkage to
move the link CD shown from
position C1D1 to C2D2 and then
to position C3D3. Use specified
fixed pivots O2 and O4. Find the
required moving pivot location
on the coupler by inversion.
 Example 7
• Start with inverted three positions plane as shown in the figures. Lines E 1F1, E2F2 and E3F3 define the
three positions of the inverted link to be moved.
• Draw construction lines from point E1 to E2 and from point E2 to E3.
• Bisect line E1E2 and line E2E3 extend the perpendicular bisector until they intersect. Label the intersection
G.
• Repeat steps 2 and 3 for lines F1F2 and line F2F3. Label the intersection H.
• Connect G with E1 and call it link 2. Connect H with F1 and call it link 4.
• In this inverted linkage, line E1F1 is the coupler, link 3. Line GH is the “ground” link1.
• We must now reinvert the linkage to return to the original arrangement. Line E 1F1 is really the ground
O2O4 and GH is really the coupler. The figure shows the reinversion of the linkage in which points G and H
are now the moving pivots on the coupler and E 1F1 has resumed its real identity as ground link O 2O4.
• The figure reintroduces the original line C1D1 in its correct relationship to line O2O4 at the initial position
as shown in the original example 3. This form the required coupler plane and defines a minimal shape of
link 3.
 Example 7
• The angular motions required to reach the second and third position of line CD
shown in the figure are the same as those defined in figure b for the linkage
inversion. The angle F1HF2 in the figure b is the same as the angle H1O4H2 in the
figure and F2HF3 is the same as angle H2O4H3. The angular excursions of link 2 retain
the same between figure b and e as well. The angular motions of links 2 and 4 are
the same for both inversion as the link excursions are relative to one another.
• Check the Grashof condition. Note that any Grashof condition is potentially
acceptable in this case provided that the linkage has mobility among all three
position. This solution is a non-Grashof linkage.
• 11. Construct a model and check its function to be sure it can get from initial to
final position without encountering any limit (toggle) positions.
• In this case link 3 and 4 reach a toggle position between points H1 and H2. This
means that this linkage cannot be driven from link 2 as it will hang up at that
toggle position. It must driven from link 4.
Quick – Return Mechanism
 Quick – Return Mechanism
• Fourbar Quick-Return
• Time ratio (TR) defines the degree of quick-return of the linkage.

• If >1 the mechanism is a quick return mechanism

• Works well for time ratios down to about 1.5

Synthesis of Crank-and-Rocker Mechanism
with unit time ratio

max min  180

 Example 1
• Fourbar Crank-Rocker Quick-
Return Linkage for Specified
Time Ratio
• Redesign Example 1 (two
position) to provide a time
1:1.25 with 45° output rocker
motion.
 Example 1
• Draw the output link O4B in both extreme
position, in any convenient location, such
that the desired angle of motion, θ4 , is
subtended.
• Calculate α, β, δ using the equations. In
this example α=160°, β=200°, δ=20°.
• Draw a construction line through point B1
at any convenient angle.
• Draw a construction line through point B2
at an angle δ from the first line.
• Label the intersection of the two
construction line O2.
• The line O2O4 define ground.
 Example 1
• Calculate the length of crank and coupler by
measuring O2B1 and O2B2 and solve simultaneously;
• coupler + crank=O2B1 ; coupler - crank=O2B2 or you
can construct the crank length by swinging an arc
centered at O2 from B1 to cut line O2B2 extended.
• Label that intersection B1’. The line B2B1’ is twice
the crank length. Bisect this line segment to
measure crank length O2A1.
• Calculate the Grashof condition.
• If non-Grashof, repeat steps 3 to 8 with O2 further
O4.
• Make a model of the linkage and articulate it to
check its function.
• Check the transmission angle.
 Example 2
• Sixbar Drag Link Quick-Return Linkage for
Specified Time Ratio.
• Provide a time ratio of 1:1.4 with 90 degree
rocker motion.
 Example 2
• Calculate α, β, δ. In this example α=150°, β=210°.
• Draw a line of centers XX at any convenient location.
• Choose a crank pivot location O2 on line XX and draw an
axis YY perpendicular to XX.
• Draw a line of convenient radius O2A about center O2
• Lay out angle α with vertex at O2, symmetrical about
quadrant one
• Label points A1 and A2 at the intersection of the lines
subtending angle α and the circle of radius O2A.
 Example 2
• Set the compass to a convenient radius AC long enough to cut XX in two places on
either side of O2 when swung from A1 and A2. Label the intersection C1 and C2.
• The line O2A1 is the driver crank, link 2, and line A 1C1 is the coupler, link 3.
• The distance C1C2 is twice the driven (dragged) crank length. Bisect it to locate the
fixed pivot O4.
• The line O2O4 now defines the ground link. Link O4C1 is the driven crank, link 4.
• Calculate the Grashof condition. If Non-Grashof, repeat steps 7-11 with a shorter
radius in step 7.
• invert the method of example 1 (two positions) to create the output dyad using XX
as the chord and O4C1 as the driving crank. The point B1 and B2 will lie on line XX and
be spaced apart a distance 2O4C1. The pivot O6 will lie on the perpendicular bisector
of B1B2, at a distance from line XX which subtends the specified output rocker angle.
• Check the transmission angle.
Example 2
 Synthesis of Rocker-and-Rocker
Mechanism
Three-Position Synthesis
• Given
• Draw in its three specified positions and locate
• Draw a ray from and rotate it through to locate
• Draw a ray from and rotate it through to locate
• Draw mid-normals to the lines and these intersect at
 Coupler Curves
For the mechanisms considered, the
displacement of the links joined with the fixed
link was the input or output of the simple
mechanisms. In great number of applications
the output from a simple mechanism is the path
traced by one of the points on the coupler link.
These paths are generally called “coupler point
curves” or “coupler paths”.
Coupler Curves
Coupler Curves
 Assignment 1
1. The rocker of a crank-rocker linkage is to have a length
of 500 mm and swing through a total angle of with
a time ratio of 1.25. Determine a suitable set of
dimensions for
 Assignment 1
2. The figure shows two positions of a folding seat used in the
aisles of buses to accommodate extra seated passengers. Design
a four-bar linkage to support the seat so that it will lock in the
open position and fold to a stable closing position along the side
of the aisle.

3. Determine the link lengths of a slider-crank linkage to have

a stroke of 600 mm and a time ratio of 1.2.
 Assignment 1
4. Design a fourbar linkage
to move the object below
from position 1 to 2 using
points A and B for
attachment. Add a driver
dyad to limit its motion to
the range of positions
shown making it a sixbar.
All fixed pivots should be
on the base.
 Assignment 1

5. Owusu House of Flapjacks wants to automate

their flapjack production. They need a
mechanism which will automatically flip the
flapjacks “on the fly” as they travel through the
griddle on a continuously moving conveyor. This
mechanism must track the constant velocity of
the conveyor, pick up a pancake, flip it over and
place it back onto the conveyor.