DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

WORKSHEET 1
PROBLEMS ON MOBILITY OF MECHANISM AND GRASHOFF’S MECHANISM

Submitted By,
NITHIN KUMAR V P

Problem S1.1
 DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

What are the number of members, number of joints, and mobility of each of the planar linkages shown
below
Solution:

2
4

(a) 1 1

 Number of links, N = 4 (All are binary links)

 Total number of joints = 4
 Number of joints with 1 DOF, J1=4
 Number of joints with 2 DOF, J2=0
 The Kutzbach criterion to find the mobility of a linkage is

F=3 × ( N −1 )−2 J 1−J 2 Where, F – Number of Degrees of freedom of the linkage

N – Number of links
F=3 × ( 4−1 )−2 ×4−0 J1 – Number of joints with 1 DOF
F=1 J2 – Number of joints with 2 DOF

 The mobility of the planar linkage = 1

(b)

3
4
5
2

6
7
1

 Number of links, N = 7
 Total number of joints = 8
 Number of joints with 1 DOF, J1 = 8
 Number of joints with 2 DOF, J2 = 0
 The Kutzbach criterion to find the mobility of a linkage is
 DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

Where, F – Number of Degrees of freedom of the linkage

F=3 ×(N−1)−2 J 1−J 2 N – Number of links
F=3 ×(7−1)−2 ×8−0 J1 – Number of joints with 1 DOF
J2 – Number of joints with 2 DOF
F=2

 The mobility of the planar linkage = 2

(c)

5
3 7

8
2 6

 Number of links, N = 8
 Total number of joints = 10
 Number of pairs with 1 DOF, J1 = 10
 Number of pairs with 2 DOF, J2 = 0
 The Kutzbach criterion to find the mobility of a linkage is

F=3 ×(N−1)−2 J 1−J 2 Where, F – Number of Degrees of freedom of the linkage

N – Number of links
F=3 ×(8−1)−2 ×10−0 J1 – Number of joints with 1 DOF
F=1 J2 – Number of joints with 2 DOF

 The mobility of the planar linkage = 1

Problem S1.2
 DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

Determine the mobility and the number of idle degrees of freedom of each of the planar linkages shown
below. Show the equations used to determine your answers.
Solution:
(a)

1
1
4
9
3 5 8

2 6
7

1
1
 Number of links, N = 9
 Total number of joints = 12
 Number of pairs with 1 DOF, J1 = 12
 Number of pairs with 2 DOF, J2 = 0
 The Kutzbach criterion to find the mobility of a linkage is

F=3 ×(N−1)−2 J 1−J 2 Where, F – Number of Degrees of freedom of the linkage

N – Number of links
F=3 ×(9−1)−2 ×12−0 J1 – Number of joints with 1 DOF
F=0 J2 – Number of joints with 2 DOF

 The mobility of the planar linkage = 0

 Number of idle DOF = 0
 The given linkage is a structure
(b)

1
4
5
6
3
1
7

2
1

1
 Number of links, N = 7
 DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

 Total number of joints = 9

 Number of pairs with 1 DOF, J1 = 9
 Number of pairs with 2 DOF, J2 = 0
 The Kutzbach criterion to find the mobility of a linkage is

F=3 ×(N−1)−2 J 1−J 2 Where, F – Number of Degrees of freedom of the linkage

F=3 ×(7−1)−2 × 9−0 N – Number of links
F=0 J1 – Number of joints with 1 DOF
J2 – Number of joints with 2 DOF

 The mobility of the planar linkage = 0

 Number of idle DOF = 0
 The given linkage is a structure

(c)

1
7 8
5
9
3 4

10

2 6
1

1 1

 Number of links, N = 10
 Total number of joints = 12
 Number of pairs with 1 DOF, J1 = 12
 Number of pairs with 2 DOF, J2 = 0
 The Kutzbach criterion to find the mobility of a linkage is

F=3 ×(N−1)−2 J 1−J 2 Where, F – Number of Degrees of freedom of the linkage

N – Number of links
F=3 ×(10−1)−2 ×12−0 J1 – Number of joints with 1 DOF
F=3 J2 – Number of joints with 2 DOF

 The mobility of the planar linkage = 3

 Number of idle DOF = 0

Problem S1.3
 DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

Determine the mobility and the number of idle degrees of freedom of the linkages shown below. Show the
equations used to determine your answers.
(a) (b)

1
1
3
8
4
4 9
5
2 3 5
7
10
6
1 2 11

1 1

 Number of links, N = 5  Number of links, N = 11

 Number of joints with 1 DOF, J1 = 5  Number of joints with 1 DOF, J1 = 15
 Number of joints with 2 DOF, J2 = 0  Number of joints with 2 DOF, J2 = 0
 Mobility (DOF) of the mechanism,  Mobility (DOF) of the mechanism,
F=3 × ( N −1 )−2 J 1−J 2 F=3 × ( N −1 )−2 J 1−J 2
F=3 × ( 5−1 )−2 ×5−0 F=3 × ( 11−1 )−2 ×15−0
F=2 F=0
 Number of idle DOF = 0  Number of idle DOF = 0

Problem S1.4
 DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

Determine the mobility and the number of idle degrees of freedom associated with the mechanism. Show
the equations used to determine your answers.

1
1

Solution:
 Number of links, N = 4
 Number of joints with 1 DOF, J1 = 4
 Number of joints with 2 DOF, J2 = 0
 Mobility (DOF) of the mechanism,
F=3 × ( N −1 )−2 J 1−J 2
F=3 × ( 4−1 )−2 ×8−0
F=1
 Number of idle DOF = 0

Problem S1.5
If the link lengths of a four-bar linkage are L1 = 1 mm, L2 = 3 mm, L3 = 4 mm, and L4 = 5 mm and link 1 is fixed,
what type of four-bar linkage is it? Also, is the linkage a Grashoff type 1 or 2 linkage? Answer the same
questions if L1 = 2 mm.
Solution:
Grashoff's law states that one of the links, in particular the shortest link, will rotate continuously relative to
the other three links if and only if
(S+L) < (P+Q) Where, S – Length of shortest link
L – Length of longest link
P, Q – Lengths of remaining links
If this inequality is not satisfied, no link will make a complete revolution relative to another.
In the given problem, S=L1=1mm; L=L4=5mm; P=L2=3mm; Q=L3=4mm
(a) For a four bar mechanism, L < (S+P+Q)
5mm < (1+3+4) mm
5mm < 8mm.
Therefore, four bar mechanism is possible.
S+L = 1+5= 6mm;
P+Q = 3+4 = 7mm;
 Clearly (S+L) < (P+Q). Hence it is Grashoff type 1 linkage
 If the link 1 (shortest link) is fixed then it will result in double crank four bar mechanism.

(b) If L1=2mm, then S=L1=2mm; L=5mm; P=3mm, Q=4mm;

 DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

S+L= 2+5 =7mm;

P+Q= 3+4 =7mm;

 S+L = P+Q. Hence, this linkage is neither type 1 nor type 2 linkage.
 Fixing the Link 1 (shortest link) will result in a double crank mechanism with dead centres.

Case (a): L1 = 1mm

L4 = L

L2 = P

L3 = Q

L1 = S

Case (b): L1 = 2mm

L4 = L

L2 = P

L3 = Q

L1 = S
Problem S1.6
 DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

You are given two sets of links. Select four links from each set such that the coupler can rotate fully with
respect to the others. Sketch the linkage and identify the type of four-bar mechanism.
a) L1 = 5”, L2 = 8”, L3 = 15”, L4 = 19”, and L5 = 28”
b) L1 = 5”, L2 = 2”, L3 = 4”, L4 = 3.5”, and L5 = 2.5”
Solution:
Coupler can rotate fully when the four bar mechanism is of Grashoff type 1 and input, output links have
oscillatory motion.
Case (a): L1 = 5”, L2 = 8”, L3 = 15”, L4 = 19”, and L5 = 28”
 Let the four links be L1 =S= 5”; L3 =P= 15”; L4 =Q= 19”; L5 =L= 28”;
 The four links satisfy condition L < (S+P+Q).
 For Grashoff type 1 mechanism, S+L < P+Q
5+28 < 15+19
33” < 34”
 For the coupler to rotate fully, link opposite to the shortest link must be fixed which results in a double
rocker mechanism.

L1 = S = 5”
Coupler

L4 = Q = 19”
L3 = P = 15”

L5 = L = 28”

Case (b): L1 = 5”, L2 = 2”, L3 = 4”, L4 = 3.5”, and L5 = 2.5”

 Let the four links be L1 =L= 5”; L2 =S= 2”; L3 =P= 4”; L4 =Q= 3.5”;
 The four links satisfy condition L < (S+P+Q).
 For Grashoff type 1 mechanism, S+L < P+Q
2+5 < 4+3.5
7” < 7.5”
 DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

For the coupler to rotate fully, link opposite to the shortest link must be fixed which results in a double
rocker mechanism.

L2 = S = 2”
Coupler

L3 = P = 4”
L4 = Q = 3.5”

L1 = L = 5”

Problem 5-1
Using the Gruebler criterion, determine the movability (number of degrees of freedom) of the mechanisms
shown.
(a) (b)
8
7
2 7 2 3
3 5

4 6
6
4 8 1
1
5

 Number of links, N = 8  Number of links, N = 8

 Number of joints with 1 DOF, J1 = 10  Number of joints with 1 DOF, J1 = 10
 Number of joints with 2 DOF, J2 = 0  Number of joints with 2 DOF, J2 = 0
 Mobility (DOF) of the mechanism,  Mobility (DOF) of the mechanism,
F=3 × ( N −1 )−2 J 1−J 2 F=3 × ( N −1 )−2 J 1−J 2
F=3 × ( 8−1 )−2 ×10−0 F=3 × ( 8−1 )−2 ×10−0
F=1 F=1

(c) (d)
 DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

5
7 3 10
9
2 4
3 8
8 2
7
4 5
1 1 6
6

 Number of links, N = 8  Number of links, N = 10

 Number of joints with 1 DOF, J1 = 10  Number of joints with 1 DOF, J1 = 12
 Number of joints with 2 DOF, J2 = 0  Number of joints with 2 DOF, J2 = 0
 Mobility (DOF) of the mechanism,  Mobility (DOF) of the mechanism,
F=3 × ( N −1 )−2 J 1−J 2 F=3 × ( N −1 )−2 J 1−J 2
F=3 × ( 8−1 )−2 ×10−0 F=3 × ( 10−1 )−2 ×12−0
F=1 F=3

Problem 5-2: Determine the movability of

(a) The schematic of locomotive valve gear (d) The schematic of Musgrave steam engine
11 7
12 8
10 1
1 6 1
9 3
7 1
8
1
4
5
5 2
1
4 1
1 6
1
3
2
1
 Number of links, N = 12  Number of links, N = 8
 Number of joints with 1 DOF, J1 = 16  Number of joints with 1 DOF, J1 = 10
 Number of joints with 2 DOF, J2 = 0  Number of joints with 2 DOF, J2 = 0
 Mobility (DOF) of the mechanism,  Mobility (DOF) of the mechanism,
F=3 × ( N −1 )−2 J 1−J 2 F=3 × ( N −1 )−2 J 1−J 2
F=3 × ( 12−1 ) −2× 16−0 F=3 × ( 8−1 )−2 ×10−0
F=1 F=1

Problem 5-3:
 DYNAMICS & MECHANISM DESIGN – ASSIGNMENT

(a) Check the chain for movability

 Number of links, N = 10
 Number of joints with 1 DOF, J1 = 13
 Number of joints with 2 DOF, J2 = 0
 Mobility (DOF) of the mechanism,
F=3 × ( N −1 )−2 J 1−J 2
F=3 × ( 10−1 )−2 ×13−0
F=1

(b) Identify the links as binary, ternary, and so on

Type of link Link No.

 Binary links - 1, 6, 7, 8, 9, 10
 Ternary links - 2, 3, 4, 5