Mobility of Mechanisms

N = Total number of links in a mechanism

F = Degree of freedom
P1 = Number of pairs having one degree of freedom (5 Restraints)
P2 = Number of pairs having two degrees of freedom (4 restraints)

In a mechanism one link is always fixed.

Number of DOF of movable links = 6(N-1)
Each pair having one DOF imposes 5 restraints on the mechanism
Each pair having two DOF imposes 4 restraints on the mechanism

Each pair having five DOF imposes 1 restraint on the mechanism

DOF (F) = 6(N-1)- 5P1-4P2-3P3-2P4-P5

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Grueblers criterion
(Also known as Kurtzback criterion)
In a planar mechanism there are three DOFs for each link
One rotation and two translations.
ie. Three restraints
For a planar mechanism
Total DOF = 3(N-1)

DOF(F) = 3(N-1)-2P1-P2

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Four-Bar Chain
Most fundamental of the kinematic chains
When one link is fixed, it becomes a four bar mechanism

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Four-Bar Mechanism- Grashoff s Law
A four bar mechanism has at least one revolving link,
if the sum of the lengths of the largest and shortest
links is less than or equal to the sum of the lengths of
other two links.

c+d a+b

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Four-Bar Mechanism
Coupler

Rocker
Crank

Fixed Link

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Kinematic Inversions of Four Bar chain
Inversion : The process of choosing different links
in a mechanism to be the Frame is known as
Inversion

Number of inversions = Number of links

Displacement, Velocity and Acceleration between links
remain same
Absolute motion of various links may change drastically.

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Double-Crank Mechanism

Shortest link is fixed. OP and CQ can completely rotate

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Double-Rocker Mechanism

Link opposite to Shortest link is fixed. Only PQ can rotate

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Crank-Rocker Mechanism

Any one of the remaining two Links is fixed. One of the two links
connected to the frame can make a complete revolution.
P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Numerical Problem

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Inversions of a Slider-Crank Chain
1. Slider-crank Mechanism

Link 1 fixed

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Inversions of a Slider-Crank Chain
2. Oscillating cylinder / Slotted lever quick return mechanism

Link 3 fixed

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Inversions of a Slider-Crank Chain
3. Whitworth Quick return Mechanism

Link 2 fixed

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Inversions of a Slider-Crank Chain
4. Hand Pump Mechanism

Link 4 fixed

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Inversions of a Double Slider Crank Chain

Link 1 Fixed
Elliptical Trammel

Double Slider crank chain Two sliding pairs and two turning pairs
P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Inversions of a Double Slider Crank Chain

Link 4 Fixed - Scotch-Yoke Mechanism

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.
Inversions of a Double Slider Crank Chain

Link 3 Fixed Oldham coupling

P.M. Anil, Asst. Professor (S.G) School of Mechanical Engg, VIT University.