Assignment #1
Assigned Date: September 16, 2011
Due Date: Friday, September 23, 2011 (5:00pm)
1. Identify the number of links, the number of joints, and the connectivity of each joint. Then calculate
the mobility of each of the planar linkage shown. (corr

Kinematics and Dynamics
of Machines
ENGR 3270U
Lecture 9
Yuping He
University of Ontario Institute of Technology
October 12, 2011
2.4 The Velocity Image Theorem
Objective: To obtain velocities of additional points on a rigid body
when the velocities of tw

Kinematics and Dynamics
of Machines
ENGR 3270U
Lecture 3
Yuping He
University of Ontario Institute of Technology
September 19, 2011
1.2 Mobility of Planar Linkages
3) Synthesis:
j
j
i 1
(continued)
i 1
M 3n 3 (3 j f i ) 3(n j 1) f i
Special Case: M=1, all

Kinematics and Dynamics
of Machines
ENGR 3270U
Lecture 1
Yuping He
University of Ontario Institute of Technology
September 12, 2011
Course Instructor
Yuping He, PhD, PEng
yuping.he@uoit.ca
Office: ACE 2025
Ext. 5719
Office hours: Monday 9:00am ~ 4:30pm
W

Kinematics and Dynamics
of Machines
ENGR 3270U
Lecture 8
Yuping He
University of Ontario Institute of Technology
October 5, 2011
Example 2: Graphical Analysis of a Crank-Slider
Mechanism
1.1
Position Analysis
1.2
Velocity Analysis
3 ?
1) AB link, i.e. l

Kinematics and Dynamics
of Machines
ENGR 3270U
Lecture 7
Yuping He
University of Ontario Institute of Technology
October 3, 2011
Example1, Graphical Analysis of Four-Bar Mechanism
1.1
Position Analysis
rB rA rB / A
Velocity Analysis
vB v A vB / A

Kinematics and Dynamics
of Machines
ENGR 3270U
Lecture 2
Yuping He
University of Ontario Institute of Technology
September 13, 2011
1.1 Planar Linkage (continued)
Linkage = Links + Joints
1) Links
binary
ternary
quaternary
2) Joints
lower pair
higher

Kinematics and Dynamics
of Machines
ENGR 3270U
Lecture 4
Yuping He
University of Ontario Institute of Technology
September 21, 2011
1.7 Motors (Actuators)
Unless manually operated, a machine will require some type
of driver device to provide the input mo

Kinematics and Dynamics
of Machines
ENGR 3270U
Lecture 6
Yuping He
University of Ontario Institute of Technology
September 28, 2011
Position Analysis
rB rA rB / A
Velocity Analysis
vB v A vB / A vA rB / A
Acceleration Analysis
aB a A aB / A

Kinematics and Dynamics
of Machines
ENGR 3270U
Lecture 5
Yuping He
University of Ontario Institute of Technology
September 26, 2011
Example 1: Design a Quick Return Mechanism
Design a four-bar Grashof crank-rocker mechanism to give 45 of
rocker rotation f