Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-8-1

PROBLEM 2-8
Statement: Identify the items in Figure P2-1 as mechanisms, structures, or preloaded structures.
Solution: See Figure P2-1 and Mathcad file P0208.

1. Use equation 2.1c (Kutzbach's modification) to calculate the mobility and the definitions in Section 2.5 of the
text to classify the linkages.

6
a. Number of links L
6
3
Number of full joints J1
7
Number of half joints J2
1 5
2
M
3
( L 1) 2
J1 J 2 4
1
M 0 Structure (a)
1

b. Number of links L
3
1
Number of full joints J1
2
Number of half joints J2
1

M
3
( L 1) 2
J1 J 2 2

M 1 Mechanism 1
(b)
4
c. Number of links L
4 1

Number of full joints J1

4
Number of half joints J2
0 3

M
3
( L 1) 2
J1 J 2
2
M 1 Mechanism
(c)
1

7 1
d. Number of links L
7
Number of full joints J1
7
Number of half joints J2
1 6
5
M
3
( L 1) 2
J1 J 2
1 2
3
M 3 Mechanism 4
(d)
Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-24-1

PROBLEM 2-24
Statement: Find the mobility of the mechanisms in Figure P2-5.

Solution: See Figure P2-5 and Mathcad file P0224.

1. Use equation 2.1c (Kutzbach's modification) to calculate the mobility. In the kinematic representations of the
linkages below, binary links are depicted as single lines with nodes at their end points whereas higher order
links are depicted as 2-D bars.
a. This is a sixbar linkage with 4 binary (1, 2, 5, and 6) and 2 ternary (3 and 4) links. The inverted U-shaped link at
the top of Figure P2-5a is represented here as the binary link 6.

3
Number of links L
6 6

Number of full joints J1

7 5
Number of half joints J2
0
2 4
M
3
( L 1) 2
J1 J 2
O2 O4
M 1

b. This is an eightbar linkage with 4 binary (1, 4, 7, and 8) and 4 ternary (2, 3, 5, and 6) links. The inverted
U-shaped link at the top of Figure P2-5b is represented here as the binary link 8.

Number of links L
8 5

Number of full joints J1

10
Number of half joints J2
0 6 7 3
8

M
3
( L 1) 2
J1 J 2 2 4
2
O2 O4
M 1
Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-32-1

PROBLEM 2-32
Statement: Find the mobility, the Grashof condition, and the Barker classifications of the mechanism in Figure
P2-13.
Solution: See Figure P2-13 and Mathcad file P0232.

1. Use equation 2.1c (Kutzbach's modification) to calculate the mobility.

When there is no cable in the jaw or before the cable is crimped this is a basic fourbar mechanism with with 4
full pin joints:
Number of links L
4
Number of full joints J1
4
Number of half joints J2
0 M
3
( L 1) 2
J1 J 2 M 1

When there is a cable in the jaw this is a threebar mechanism with with 3 full pin joints. While the cable is
clamped the jaws are stationary with respect to each other so that link 4 is grounded along with link 1, leaving
only three operational links.
Number of links L
3
Number of full joints J1
3
Number of half joints J2
0 M
3
( L 1) 2
J1 J 2 M 0

2. Use inequality 2.8 to determine the Grashof condition and Table 2-4 to determine the Barker classification.

Condition( a
bc
d)
S min ( a
bc
d)
L max (a
bc
d)
SL S L
PQ a b c d SL
return "Grashof" if SL PQ
return "Special Grashof" if SL = PQ
return "non-Grashof" otherwise

L1
23.4 L2
6.7
L3
12.7 L4
15.2

Condition
L1
L 2 L 4"non-Grashof"
L3

The Barker classification is II-1 (Type 5) RRR1 (non-Grashof, longest link grounded).
Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-42-1

PROBLEM 2-42
Statement: Find the mobility, Grashof condition and Barker classification of the oil field pump shown in
Figure P2-18.
Solution: See Figure P2-18 and Mathcad file P0242.

1. Use inequality 2.8 to determine the Grashof condition and Table 2-4 to determine the Barker classification.

Condition( a
bc
d)
S min ( a
bc
d)
L max (a
bc
d)
SL S L
PQ a b c d SL
return "Grashof" if SL PQ
return "Special Grashof" if SL = PQ
return "non-Grashof" otherwise

1302

O4 2032

3
7
35

1930

O2 2

305

1206

This is a basic fourbar linkage. The input is the 357-mm-long crank (link 2) and the output is the top beam (link
4). The mobility (DOF) is found using equation 2.1c (Kutzbach's modification):

Number of links L
4
Number of full joints J1
4
Number of half joints J2
0 M
3
( L 1) 2
J1 J 2 M 1

The link lengths and Grashof condition are

2 2
L1
( 1930 305) 1206 L1 2024 L2
357 L3
2032 L4
1302

Condition
L1
L 2 L 4"Grashof"
L3

This is a Barker Type 2 GCRR (Grashof, shortest link is input).