Kinematics and Dynamics of Mechanical Systems, 3rd Edition

3 Fundamental Concepts in Kinematics

DOI: 10.1201/9781003316961-3

Concept Overview

In this chapter, the reader will gain a central understanding regarding

1. Kinematic and design distinctions among select planar and spatial mechanisms
2. Mechanism components and mechanism construction
3. Mechanism mobility, Gruebler’s equation and number synthesis
4. Grashof criteria and the circuit defect
5. The transmission angle and its relationship with follower-link forces
6. Mechanism inversion
7. The passive degree of freedom and paradoxes to Gruebler’s equation

3.1 Types of Planar and Spatial Mechanisms

3.1.1 Planar Four-Bar Mechanism

Figure 3.1a illustrates a planar four-bar mechanism. The four interconnected links in this mechanism are the crank (the driving link), ...