Kinemaics and Dynamics

Akhilesh Kumar
Introduction and Basic Concepts

Topic: Mechanism and
Kinematics
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One thing you learn in science is that
there is no perfect answer, no perfect
measure.
A. O. Beckman
Objectives
Up on completion of this chapter, the you
will be able to
Explain the need for kinematic analysis of
mechanism.
Define the basic components that comprise a
mechanism.
Draw the kinematic diagram from a view of a
complex mechanism.
Compute the number of degrees of freedom of a
mechanism.
Identify a four bar mechanism and classify it
according to its possible motion.
Identify a slider crank mechanism.


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1.1 ANALYSIS AND SYSTHESIS
Analysis: the techniques that allow the
designer to critically examine an already
existing or proposed design in order to
judge its suitability for task.

Synthesis (or Design): the process of
prescribing the sizes, shapes, material
compositions, and arrangements of parts
so that the resulting machine will perform
the prescribed task.
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1.2 DESIGN PROCESS
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1.5 THE SCIENCE OF MECHANICS
Statics: deals with analysis of stationary
systems, that is, those in which time is
not a factor.
Dynamics: deals with systems that change
with time.
Kinematics: the study of motion, quite
apart from the forces which produce that
motion. More particularly kinematics is
the study of position, displacement
rotation, speed, velocity, and acceleration.
Kinetics: the study of force on system in
motion.
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1.5 THE SCIENCE OF MECHANICS
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1.5 THE SCIENCE OF MECHANICS
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Reuleaux Definition:
Machine: a combination of resistant bodies so
arranged that their means the mechanical forces
of nature can be compelled to do work
accompanied by certain determinate motion.
Mechanism: an assemblage of resistant bodies,
connected by movable joints, to form a closed
kinematic chain with one link fixed and having
the purpose of transforming motion.
Structure: also a combination of resistant bodies
connected by joints, but its purpose is not to do
work or to transform motion. A structure is
intended to be rigid.
1.5 THE SCIENCE OF MECHANICS
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1.6 DEGREE OF FREEDOM (DOF) OR MOBILITY
A mechanical systems mobility (M) can be
classified according to the number of degrees of
freedom (DOF) that it possesses. The systems
DOF is equal to the number of independent
parameters (measurements) that are needed
uniquely define its position in space and at any
instant of time.
This system of the pencil in the plane has three
DOF
The pencil in the this example represents a rigid
body, or link, which for purposes of kinematics
analysis we will assume to be incapable of
deformation.
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1.6 DEGREE OF FREEDOM (DOF) OR MOBILITY
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DOF of rigid body in Space DOF of Rigid body in Plane
1.6 DEGREE OF FREEDOM (DOF) OR MOBILITY
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1.7 TYPES OF MOTION
Pure rotation
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Reference line
Reference line
1.7 TYPES OF MOTION
Pure translation

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1.7 TYPES OF MOTION
Complex Motion : Rotation + Translation

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q
1.7 LINKS, JONTS AND KINEMATIC CHAINS
Linkages are the basic building blocks of
all mechanisms. A linkage consist of links
(or bars), generally considered rigid,
which are connected by joints, such as
pins (or revolutes), or prismatic joints to
form open or closed chains (or loops).
Such kinematic chains, with at least one
link fixed, become (1) mechanisms if at
least two other links retain mobility, or
(2) structures if no mobility remains.
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1.7 LINKS, JONTS AND KINEMATIC CHAINS
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1.7 LINKS, JONTS AND KINEMATIC CHAINS
A link is an rigid body that possesses at
least two nodes that are points for
attachment to other links.
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1.7 LINKS, JONTS AND KINEMATIC CHAINS
Link of different order:

Binary link : one of 2 nodes


Ternary link : one of 3 nodes


Quaternary link : one of 4 nodes
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1.7 LINKS, JONTS AND KINEMATIC CHAINS
A joint is an connection between two or
more links (at their nodes), which allows
some motion, or potential motion,
between the connected links. Joints (also
called kinematic pairs) can be classified in
several ways:
1. By the type of contact between the elements,
line, point or surface.
2. By the number of degrees of freedom allowed
at the joint.
3. By the type of physical closure of the joint:
either force or form closed.
4. By the number of links joined (order of the
joint).
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1.7 LINKS, JONTS AND KINEMATIC CHAINS
The kinematic pairs can be:

Lower pair (surface contact): are the
joints with surface contact between the
pair elements.

Higher pair (point or line contact): are
the joints with point or line contact
between the pair elements.

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1.8 JOINT PAIRS: THE SIX LOWER PAIRS
Lower Pair:
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3-D Mechanism
Name (symbol) DOF Contains
Revolute (R) 1 R
Prismatic (P) 1 P
Screw or Helical (H) 1 R + P
Cylindric (C) 2 R+P
Spherical (S) 3 R+R+R
Planar or Flat (F) 3 R+P+P
Planar Mechanism
DOF: Degree of Freedom
1.8 JOINT PAIRS: THE SIX LOWER PAIRS
Revolute (R): Rotating full pin joint
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Dq
1.8 JOINT PAIRS: THE SIX LOWER PAIRS
Prismatic (P): Translating full slider joint
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DX
1.8 JOINT PAIRS: THE SIX LOWER PAIRS
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Helical (H):
1.8 JOINT PAIRS: THE SIX LOWER PAIRS
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Cylindric (C) :

1.8 JOINT PAIRS: THE SIX LOWER PAIRS
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Spherical (S):
1.8 JOINT PAIRS: THE SIX LOWER PAIRS
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Flat (F) :
1.8 JOINT PAIRS: HIGHER PAIRS AND HALF JOINT
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Roll-slide (Half or RP) joint
DX
Dq
Linkage against Plane (Force close)
1.8 JOINT PAIRS: HIGHER PAIRS AND HALF JOINT
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Higher Pair: 2 DOF
Pin in Slot (Form Close)
Dq
DX
1.9 PLANAR MOTION
Lower pair or Full joint : 1 DOF joint
Higher pair, half joint : > 1 DOF, roll-slider
Joint order = number of link joined - 1

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Second order pin joint
First order pin joint First order pin joint
Second order pin joint
1.9 PLANAR MOTION
KINEMATIC CHAIN: An assemblage of links
and joints, interconnected in a way to provide
a controlled output motion in response to a
supplied input motion.
CRANK: Link that makes a complete revolution
and is pivoted to ground.
ROCKET: Link that has oscillatory (back and
forth) rotation and is pivoted to ground.
COUPLER (or connecting rod): Link that has
complex motion and is not pivoted to ground.
GROUND: defined as any link or links that are
fixed (nonmoving) with respect to the
reference frame.

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1.10 DETERMINING DEGREE OF FREEDOM OR MOBILITY
Degree of Freedom (DOF): Number or
inputs that need to be provided in order to
create a predictable output. Also: number
of independent coordinates required to
define its position.
In Planar Mechanisms:
1 link in the plane has 3 DOF
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1.10 DETERMINING DEGREE OF FREEDOM OR MOBILITY
2 links in the plane have 6 DOF
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Dx
2
Dy
2
Dy
1
Dx
1
Dq
1
Dq
2
1.10 DETERMINING DEGREE OF FREEDOM OR MOBILITY
2 links connected by a full joint have 4 DOF
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Dx
Dy
Dq
1
Dq
2
1.10 DETERMINING DEGREE OF FREEDOM OR MOBILITY
2 links connected by a roll-slide (half) have
5 DOF
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Dy
Dq
1
Dq
2
Dx
2
Dx
1
1.10 DETERMINING DEGREE OF FREEDOM OR MOBILITY
Grueblers equation

DOF or M = 3L 2J 3G

Where:
M=degree of freedom or mobility
L= number of links
J=number of joints
G=number of grounded links (always 1)

M = 3(L - 1) 2J

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1.10 DETERMINING DEGREE OF FREEDOM OR MOBILITY
Kutzbatchs modification of Grueblers
equation

M = 3(L 1) 2J
1
J
2


Where:
M= degree of freedom or mobility
L= number of links
J
1
= number of DOF (full) joints
J
2
= number of DOF (half) joints

Full Joint = 1
Half Joint = 0.5
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1.10 DETERMINING DEGREE OF FREEDOM OR MOBILITY
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1.10 DETERMINING DEGREE OF FREEDOM OR MOBILITY
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1.11 MECHANISMS AND STRUCTURES
If the DOF is positive, it will be a mechanism, and
the links will have relative motion. If the DOF is
exactly zero, then it will be a structure, and no
motion is possible. If the DOF is negative, then it is
a preloaded structure, which means that no motion
is possible and some stresses may also be present
at the time of assembly.

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1.12 EXAMPLES
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1.12 EXAMPLES
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1.12 EXAMPLES
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1.12 EXAMPLES
1. Number or links L = 4
2. Number of (full joint) 4 joints J=4
3. Number of ground link G=1
M = 3(4 - 1) 2x4
M = 1
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1.12 EXAMPLES
1. Number or links L = 9
2. Number of full joints 10 and half joints 2
J=12
3. Number of ground link G=1
M = 3(9 - 1) 2x12
M = 0
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Thank You
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