1.

Indzaduction to Robot Mechanisro

Stauetue Hachine
Hembeas of stauctuze dol Hembezs ofmachine
mave 2elative to one move. elative do one
Qthez anodhe

It tansmite foce It taansmils both

only poue motion

No eneQy is tanstoned TH dzanstoæms availabl

into useful w0k enezu in osefol wok

Mechanism Hachine

Tzonsmit madify notian Tzansmit avaloble

in useful woak
enezay
Kiaemadic link o element
Egch gazt of a machine which moves 2elative
to Some othez eaat is kaolwn gs kinemorie
link oelement
Alink may consist of iady tastened paa
 L
Conectina
Kinematin Paiz
Pston 2 links of machinehen in contact wilb ea ah
olhe foms pai when zelgtive motion bls
Types of links ink is compledely o2suecesafuly constaained
motion
4Riaid Link Resistant Body Ex- Cam Followe (ank &Piston, RobotieAm
Link wbich does na undeago any
ubile 2ansmidtiag moion. Riqid link defozmarion
doesn. cocist ATypes of Constaained Hoion
2 Flecible Link 1Completels Consdzained Modian -
liak ich is pally defomed but not tD when tha motion bu the paia is limited toa
affert lhe Aansmission ot mo+ion. defini te diaection iaespective of he diaeLion
Ex Bells Roges, Chain &wies of fozce apapplied hen dhe mation is saidobe
a completely conctaained.
3ElLid link Fw- Pistan dcyliodez
Link in whiah hc molion is taans mided th2-ouah
Fluid by paessDae o orapression only
Ex- Hyd2aulic pecsesTacks & Baakes motion

*Types of Links
JBino Link
Link connceted to ohez ink at 2poias. Tacamplelely Consdeatned Holion
Deznat Link hen mnokion blu pai take place in mose lhoa
Link connec ted to olhea link at eoinls one diaection he chonge in diaecion of irogaeased
Qveteznazy Liak fosce may allLes dieetion of relative molion
Link conne ted o olhez link at4 Roints.
 Successfolly Cons-arined Notion> Sliding Pai>
hen maion blw elements fozmina a pai is when 2 elements of Pai aze connected such
hat he cong toained motion is not completesuch Ahat one can only slioe 2elative to othe
b ilself but by some other Ex ison Cylindez, Caoss head quides of 2ecipzoc
mean. ralina eteam engine, Ram guides in chagea,
The motion of TC engine valye he piston
2eciaocaing inside cqlinde Tail ahack on lehe bed

Shaf *Tozaina Pai

When 2elements of paiz aze conneted Such
Ahat one can un 0 zerolve about fixed ais
of anothe link

Types of kinematie Paia

1| Accozding to nuse of zelatre motion blo ink
Sliding Paiz
Tuznin Pai Sphesical Paia
Rallina Pai When elemente of pai aze connected io
"Gcaew Pai Such a way that one elemen uilh spheaica shaee
" Sphezical Paiz tozns O Suivels about dhe the ficed elemerts
Ex- Ball ÂSockel oint Caz miaa0e altachment
a Accoading to netuse af cantact blulink
Lowe Pai Rolling Paia
" Highes Paia when elements of eai aze connecteo such
a way hat one zolls ovex anadhe tiac ints
z Accoadina o nowse of losuze Ex Ball olle baaaings
Cinsed Paia
Uneoseo Pais
 * Fozce closed pei
Scaewpaia
when 2 When elemento of pai aze connected
elemente of pa ae connec ted n Such
mechanically ut aae keet in contat withan
t
aay that one element con uzn abou he action of etenal fo~ces
ahe by se2e) headg
Ex lead Scaew of ladhe wh nutnut wih bolt Ex: Cam follawea fozce coceted by spainq
oa42eut
lowe pai
when A elements of paiz have sufece contact Akinemotia Chain
uhen elative motionakes place suface of kinematic paias aze coupled in such a wayHhat
Qne element slides oye Suface ofothea last link is ioined to tiast to tansmit
Ex SliydingTuzninq ^ Scaeu paias akso fiaton de finie moion
Cylindea wheae,
tno. of liak
Aiane Pais 34 e= no ot patas
when a elements of pais have ine o poiat no. ofaints
Condast when 2elative moion dakes ploce
motion blw 2 elements is paay tueninn pay agplicable to lowe paias
slidina fo highe pai i
Ex ToaHhed qeazing, belt rope daives, ballå 2ollez ci Each hiahe pai is taken as 2 lawe pa
beazine, Cam followe n An additianal gaia
Selfclased pai Typec of Tands
when aelements of paia aze conne cied geth Aliake) Giney Joint
c nechanical ly in Such c weu tha t enly aeuad. ( linlks) 2Teanaty Toint
kino of aeiative motion occuas
ExLowez peiz
 L

The diffeaence bw machine mehaniSm ishat

achine tansiaams enezqy o do woak,while
mechanigm do not neressoily petom thie
L=2p- 4 fonction
3a2)-4 S=2(5)-4
All machines ae m¹c hanisms b+_all mechanisms
are nat machines
LHSRHS LHS=RHS LHS <RHS
Types of Kinemio Chain >
NTE The most imp kinemaic cboins a2e those
T£ LHs> RHS StzuctU2e abieh consisto of Alowe paias, each faiz
paiz hemg
h
If LHS = RHs = Congtzained motion a slidag eala- og tuznina gais
T¾ LAS< RAS= Unconsained moion
O Fou- Bas Chain o2-quadaie cycle chain
@Single slides caank chaia
*Hechanism O Doukle slide czank chain
When one of he links of kinematc cheinis
figced, he chain is koown as mechanism TA AFouz Ba Chain
is used in Jaanamitting.oz tasnstoamina maion *IL consists of Alinkseach of hen foems a
Ex Engine indicatozs dugewaides tugnna eaia- at A, ,CD The Alinks may he
of ffezent leng ths
Simple Mechanis m- Mechanism widh Alinks Avezy inp considezation in decinina a mechonisn
Compound Mechanisn Hechanis muith moae than 4 to ensu2e that he input ehain cacnk makes a
links comelete Detaluion 2elatve to othea links The
mechanisn in whiah no link mares conplete
When a mechanismis equited to lansrmit BevolwdioA wl not be useful
poues oa to do some paadiculaa ype af woak Io Ahis chain gaaieuoaly choadet shoaia lànk
t then becornes machine akich makes compleke aealuhon is called caank o
dairea
 L

Ta Eigy AD[ink) is a caonk Bc hich makes & Tavezsions of mechanienm

patial 20tetion o oscillatesis leve 0 Diffesen mechanism Canbe otained by ficin
Dckeaz tolloue he co wbiah connec aiffeaent linke of same kinennaic chain
c2ank S leve s called connectina 2od or These aae called invez-sions ot
Cauple The finced iak AB is faae of metanie B chancina he fzes link the mecaanisms
no ofmsm shich
can be abained is equal to no. of inks.
when link 4 e he Except the oigino msm all othe msim will 6e
2 daive Hhe msm is tan knoyn as inveasion
-foamine 2otay mation. The inve|sion ot msm does na change the maoa
A
to 2ecipzncatna motbn. of ile ink ela ive to cachothe.

2Single slidea caank chatn ktnemelcchoin wih 4lowez gaias

Asingle sldea caank chcin is modiflcation of Fou Baz Chain
bosic 4 ba chain Slide Caank Chain Double slidea c2ank
I consis of one shcinn gai zhuanino paias
TI is usually found in tecipsocating stema Caank Ooule c2ank Double levez Elitlca Sootchyoke oldhans
Leve msm msm
msm msm couplino
enaine msm. t2o mme

The link icorcs pandsotane ot engine

whic is fized the link Reciaa caina Qscllading Quick RetuÇn Roto engine Pendulum
Eng ine m Cylindeo eng ine Motion msm
Pump
Ceaaas.ponds 4a plston
As caank 2otates dhe pison 2eoi20cates in gde
cenngeting C2ank Czank sloled whit wo, Quick
leve msm 2etuzn mechanisa

F-one
 Gaashaffa (A Beam Enaine Caank leve msm]
For aA ba msm Leve-ika)
Sum ofshotest Sum of 2emainina
langes liak lenghs Luo liak lenqths Prston 1

if theze is to be continunus 2elative Calindes 6link 3

motion bu Frome (inki)
links
Cank linka
*Tavezsions of_A 6az choin
TA conveats 2otay motion ho zecipzocatina
1Fizs invesian motioo
Swhen any one at Jhe adjacent links of dhe
shotest link is ficed hen link s' 2otate
hzough Eull 2evalutian ie link 's become caank 2Second Tnversion
link opposite oit iep becomes ocke ahen shoest link is faed hen liak 2'A
Oz leve which can oscillQte. q otote hDugh full eralution ie L
Tf tS<pthen become caank also makes one complete
C2enk-2acke mem possible evoluion zelaive to fioced links ie p
becones couplez
Rocke>/leve?
Double c2ank nsm possible
tockesftars
Couple
Caank S Coonh
Couple
 (A) Wads Tadicotoz Mechanism ’
(A Couplina
The
20d af lacomakive This raechanism consise of Alinks.
mechanism of coupling 20d of locamotive
also called dauble caank msr consists of 4links The iniial pasiion of mechanisn is sholun bu
Ta this mechanism he links AD Bc havin = foll lines whezeas dotted lines show he pasition
as caank A are connected o wheels ot msm when he qas steano pzesso~e aclo
This mechanism is meant for taans mitting on indicato plung e
2ata2y molion. faom one wheel to othe whel
Link3
ouple) Link 2
Bnk Link 2 inkz
-fesant
Link IA Lintt4 E
wtheel whee

3.Thi2d Invesion Indicoto

when link. ogposihe oshotet link ie link Cy linde
is ficed hen link becomes couple links
kecome gockez which oscillakes. (B)Ackemonn cteeina ea mechanism
IÆ L+S> P+Q then, Riaht
tun
Doubie lever msm possible
Rockez

Rec
 Single slidez czank chain Applications
(A) Pendulvm Pump A> 4BAR CHATN
1 Czonk leve mechanisn
Shapinn machines -The msn is used in shag ing
-Glinde- Link 41 machines o paocuae flat suztaces of e
sloding mechines
fiston Connecting rodLink 31 Rodazy TC engines
Cink ) Coenk Link 2 2 Dooble cank mechanisn
" Bicacle chain dave
Shapina machincs
" Pacss machines

(B)OsaillaBing cylinder cngine 3 Double leve mechanisa

Railuay signalliag
"Bell Caonks
Engine cue mechanis me
B>SINGLE SLIOER CRANK CHAIN
Recipaocaing cngince mechanisnn
"TC Engine
Stean enaines
Link Pislon 20d " Comp essoc
Jink 2- Caank
ink z - Fyedlink
link a - qlindes
 L
aOscillatinq cylinde engine mechanism ZWhitl0h guick euzn mechanism
Eazy maine engines
Toy smodel stearn engines Tzenching mechines
Taduslaial machine Punchina machines
" Poue Hccksaws
3 Quick zetun maion
Powez Hcksaus helps wilh effcien+ cuting by C DoUBLE SLIDER CRANk CHATNL
Speeding up zewan slaoke 1Ellipdical tzamael
Ploninq machines -la e scule shagino fo biq Lazge saale dzawing
wokpieces. Engineeing desipn
Retall cutting tools ahancesgandueivity in "CNC Machine sefues
indusaies Zike auBonoBive S mta " Glass&metalwoakino
" Caeate lazge Saale netuoak
A Ratazy enqine mechanism
Autonotive aScoch Yoke mechcnism
Aizraf "IC Fngine
" Pieton pumps
Holoacycle
Todustzial equigments " Automnotive vaves
Dscillaing machines
5Pendlum pump
Wate pumping
Encza demonstaoions
zOldham's Coupling
"Rotazu machiney
" Automnaive industay
Conveyo Syshems
6CaankA slolted leve ncchanisnm "Teoeile &pare indusaies
shapina machines - Roboics
slallina machines
Powe Sous
Planing machine
ORoazy TC Fngine (DCaank &slotted leve quick aetuan motion msm
T4 consisls of sevencalindezsin one place This mechanismis mostly wsedin shaping
all evolves about Cioced cente 0, while machinessloting macaines Ain 20taay TCE.
caank is fioced. To lhis mechanlsm he link Ac fozmino the
Tn dais mechoaniem,when he connecting Auzningpaia is ficed link3 cozDESponds a
Gink A) 2otates, the piston (liak z) 2eclp20cates connection 20d ofzecip0Lating steam engine.
inside he clindea-s fooaino linkL The daivina caank chzevolves widh eni fom
Thus in a 2ata2y enqine czank2 is fied d angalaa cpeed about Hhe ficned center CAA
bodu L rotates uhezeas in a zeciezocerhing clidiag block altached dohe caank pin at B
enqine bady 1 is ficed czonk2aaes slides alona the sltted baz#AP AHaus cause
AP to Qscillate abaut pivoted point A.
Tine ofcutling Staoke B
Time of2etun staoke

(LA) Toavel of foot oz length of stzoke =2 AP ACA

Piston
(L Ewhit wozth quick etuzn moioo msm
The msm is mosly wsed io shopin slotting
mashineIn this msm he link co f mina the
tuznignn pai i foedThe link 2 coPaecpons
Fined
ta caank in arecipsocaino steam éngine The
Can
daivina caonk CA }atakes ala untozm anquls
2) The slidea- attached to a czans pto at
Aslides alan, Ahe clodted bo PA(iak i kich
Oscillatec ata pivoted point .
 The connedino od PR caazies4he zamn at Rto (BScotch- Yoke mechanism
hich aculting tool is fioced The molion o This mechanism conves lineoz motionof slide
tool is conlaned along be line RDpaoduced into otationo moion oz vice -vezsa Thepiston
e alonga liae passing thazu D to cn O othez 2eciproca tina pat is dizety coupled
to a sliding yake with a slet that cngaqes a
Tnvesions of Dooble Slides Caonk Msm pin on he zotoring pot T is used to
ding zaaay into 2ccipzocating motion This
(A Eliplical
Tzammels inveasion is obdained by ficina eithe link ZozA
TH is an instaument uscd fo daawinq an clipse
This invesion is oltained by fiaing-he slotta Czank(
plate (l¬
The fiaed plate has 2st2oight 4z00ves Cut
in i t a 2ighh anale to each olhe
The link 123 aae Rnoun assdes fozm
sliding paias ilb l4. The link AB is a boz Faame(L4)
uhich foams tuning paia Laith link 1z,When
links l side along thei 2eep q20oves, eny
point on the linka Such Qs Ptaaces ot an
(aOdham'k Coupling
An oldham's couplino is sed to conneatiog 2
elligse on the eUfoce of link 4A IHLle pazallel shafts whose acis a2e at aSmall
consideztion will sho) hat APABPaze distance apat. The sha fle ase coupled in
Semi-aajo acis emi mino acís 2ese. such a way ~hat, if ane shaf 2obates the odhe
shafl alco 2otates at same speed
sidea (
slotted plane
slidez
(L3)
 In fig oint Bc eae tezaa2y join
aint A,D,E aze binazy ain
No of Degzees of faeedom for plane msms One teanaty joint is equivalent
IH is defined as no of ing pazometere do 2 binajoint foz aiven tig
ahich naust be indepandently contzoled in No. of tenay No. o4 binazy
azde to baing the mechanism into a usefol No of ioint = 2 ipint +

enaineeing puzpose
Revolute
Paismaic
Sc2ew OlQuastegnaay jaint
when 4 inks aze joined togethez at the
calindaical2 Same connection o to2m inemetic chain
sphezical
Planar-I B=QuaaleYnaay jain
Types of Joints in kinemac Chain DaE= Te>nazy joint
O Bioozy Toint
shen 2 dinks aze joined at Jhe same connect
ion to fozm o kinenatic chain AFC= Binazy ioint

One quasde|na2 jaint is equiveent ta 3

@Tenazy Toint binaay joinks
when 3 inks aze joined togehez at he Same
connection to foan a kinematie chain.
 L

Denzee of Faeedom OSpatial Mechanism

In this mechanism, the conplete molion.
cannot be epzesented in a single planei e to
descaibe the molion of such mechanism, moae
than one plone coal be aegui2ed
Ex: RobcAm

Plana Nechcanism
The a complete imotino path of mechonism could
Thus point i cpace has only 3 DoE be epaesented an c singleplane ie to descats
he mtkton of sch rmecanisa Exezy link afh
Oegzee of faeedom of a 2igid bod oechanism can have 2 toanslaional mstion in
y ancis. Tn adition, hey can have one 2otarLion
abaut z-axis. The DOF of abody Can be 2estacia
An unconstained iaid bod ed by joining a2 connecting them to any othea
mavin n Q space can link when one 2eslaain is agplied the DOF LA)
Jescaibe the folouina 2educe hy ane Fol. fia shos DoF of Abaz chain
independent notion is zeavced, by adding one tuanina pai cah Jime
án Teanslational molibn 3)
in Rotaional moian 3)
Iypes of Mechonism

OSpaiamechanisn
lange roechanism
Link= A
 T.9 T.P TP 3 T P slidle naz-1-2;-h

n la-D-2lA-o= 1

fRote
h=A-l=
The2efoae lhe closad kinemaic chain o Abaa
choin mechanism with one DOF In othe- DR
only one coozdinale is acquiaed to delie he
posi-tion. 0zientation of all nks kinemaiss ENOTE
mechanism Thus, we condvde that by intaodu o DOF o’Hechanism e locked Kelative motion ak
ing one tuznina paiz louea pai) in meahanisoa O nOF=1Mechanism is contaoiaed luce in definike dian
he doff of msm 2educes by DoF1Hehanism is onconstzained

Based on aboue diecussion, he equotion foa DoE

Lofa plana mehanism having laJe paim is.
nz-i-24-h
wheze, ns no.of deqee of faeedom
Supea
Stovctoe
e noof inks
j no.ofjoin-LsLno of louez pois n3-)-Q)-0
hro of hig hea poi 1eAhe liakaae hac
Lianslaained oodian
hen one af 7 moog inks
is d2iven by one Lenal
SOVCe)
 L L

E4,23 -4=3hsz-4 Connectivity 0OF of a Joint -

n 3A-)-2()-L Aoins wh One DOE
Revolste Toint (R

Paismatio Toint (P

Tcheese block slidina

oniidefzench f
n3(3-)-o-o

-2,a-4,A-, S-z,7-4,4
 lindaical Joia O Hook ioint ()
Cylindaical joint c)

Link
Bazk fah aotation joint
C>Toints with 3 DOE ASCARA Rabot
Ball& Socket/Sphezical Ioin t L
Ball

Revalute Toint R) xkinemaie diagzam

Paismatic Toint (P

Tuisin Taint (T)

Sphezical Joint (C)

 L

PUMA Rabod Noblit ooF of Spadial Monigalatoz

let us considea a manigulatoz wilh a? igid
aouina links &m ioints
Cie Connectivity af oint i23..m
No of Canstaaindsput oint;i
by ithioint =-C1
Total No. of containts s-c1
DOF of a system Hobilituof Manislatoz = Ga--C1
I! is de fined as minimum no. pt inoependen
pat-anaees/va2iaLes coodinges needed CSGoablea Caiteia"
descaibe a sustem compleey
Apain in 20 - 2 DOF
A point in 30 3DOE *Hobiliyl oE of Planaz- Manieulato
Aiaid body in 30- 6DOE
Spaiol manipulako- 6 DoF No. of canstoaints pu by ith ioint =-]
| Plana manieulatorZ DOE Total no. of
contaoins-c
Refundant Manipulator Hobiliky af Maniuladoz- ~n-3-c
Eithezr a spadial manigulo to with moe than
6 DoF a2 a plane menipoloto uilh mote than et Gzubles Cziteaia

Dndez actuded Hanigulaloa

EAhex cspatal manipolatox uilh less dhan ki
DOE 02a planaz widh less Hhah 3 nOE
 SezialL Planaz- ManiQulato
end effeetoo

joints(m): 4

*Parallel Plana Mechanisn>

ecoR

joints (m) =9
Cel ohe2e, i=l2.9
Fixed
R Base
HokiliyDOF