1. Determine the transmission and deviation angle(s) for the mechanism in Fig.

1 for
the case where:
(a) Link 2 is the input and link 4 is the output.
(b) Link 4 is the input and link 2 is the output.

Fig. 1.
2. Please explain the following statements for the property of coupler curve, possible
with a sketch or drawing:
(a) Theoretically, it is possible to design a hinged four-bar linkage to guide a
coupler point through nine position, (x1, y1), (x2, y2), (x9, y9), if no any
coordination of crank angles are specified.
(b) A hinged four-bar linkage can guide a coupler point through no more than
five crank coordinated positions (2-), (3-2), (n-n1).
(c) A coupler curve of a four-bar linkage can tangent (or osculate) with the
maximum number of six infinitesimally separated points in common with a
circle or a straight line.
3. Synthesize all possible gear trains having two degrees of freedom and two
independent loops by the graph approach.
4. For the figure shown below, the circle a rotates on the fixed straight line b.
Please determine the followings analytically.
(a) The inflection circle (and show it on the figure).
(b) The radius of curvature of point A (and check the result with a graphic
method).
(c) The cubic of stationary curvature.

(AC = 500)
5. Synthesize all possible planar 6-link mechanisms with 6 revolute pairs and 1
prismatic pair, in which one of those revolute pairs incident to the ground is the
input joint and the prismatic pair incident to the ground is the output joint.
6. Synthesize all possible planar seven-link kinematic chains with two
degrees-of-freedom. Consider the simple and multiple revolute joints. The chains
having fractional degrees-of-freedom are not desired.
7. For the motion of link 2 relative to frame 1, in the position as shown in Figure 1,
2 =1 rad/s c.w.
(a) By application of Euler-Savary equation, determine the inflection circle kw;
then check the result by using Bobiller construction.
(b) Determine the center of curvature of point C.
(c) Derive the equations of the circling-point curve ku and the centering-point
curve ka.

1
1
1
1
1
1
+
=
+
, ka :
k u : =

p m cos A l sin A
po m cos A l* sin A

(d) Locate the Ball point U.

Figure 1

8. (a) What is Grashof type (class I) 4-bar chains?

(b) What does cognate mean?
(c) Do you agree with the following statements? Discuss and explain.
(i) The cognates of a class I 4-bar are always class I 4-bars.
(ii) The cognates of a class II 4-bar are always class II 4-bars.
9. (a) Design a four-bar linkage to move a plane containing the line segment AB
through the 3 positions shown. Point B is to be one moving pivot and point
C* is to be one fixed pivot. List your steps.
(b) What is the Grashof type of the linkage? Is there any crank can fully rotate
through 360o?
(c) Does it change branch?

10. Which of the quadrilaterals shown are opposite-pole quadrilaterals? For those
which are, indicate the two pairs of opposite side and the two diagonals.

11. A four-bar-linkage vertical posthole drill rig is to be developed. The figure shows
the schematic. The idea is that the drill is to be suspended from a coupler point
having an approximate straight-line motion in the vertical. It will be advantageous
to choose the coupler point on the normal through I, that is, at the inflection pole
K. The links OAA and OBB are to be determined and the vertical section of the
coupler curve traced.

12. Please explain the following terms:

(a) Burmester point
(b) Roberts-Chebyshev theorem
(c) Opposite poles
(d) Number synthesis
(e) Linkage
13. Four positions are specified for a body in plane motion. Position 2 coincides with
position 1. Position 4 coincides with position 3. For two points, A and B,
velocity directions are specified in positions 1 (or 2) and 3 (or 4). Can the
center-point curve be drawn? Analyze and discuss this situation.
14. A rigid body in plane motion is to pass through four specified positions as shown
in the following figure.
(a) Locate all poles.
(b) Indicate all opposite pole quadrangles.
(c) Determine the center-point curve. (In red color)
(d) Find the points (in position 1) fall on a straight line for four positions.
(e) Design a slider-crank mechanism to guide the rigid body, and show its four
positions.
(f) For the slider-crank mechanism in position 1, determine the fixed and
moving centrode equations and plot the two centrodes.

15. (a) Show that the degree of freedom of a gear train can be expressed as
F=JR-JG
(b) Create all possible planetary gear trains with 5 members and two degrees of
freedom.
16. Derive all planar revolute kinematic chains that have constrained motion with
eight links and one degree of freedom. Do not consider redundant chains and
multiple joints.
17. For the linkage of the figure construct the inflection circle and the Bresse circle,
and identify the inflection pole and acceleration pole. Then find the centers of path
curvature for coupler points C and D. The angular velocity (3) of link 3 is 1
rad/sec cw and the angular acceleration (3) of link 3 is 1.7 rad/sec2 cw. Use both
graphical and analytical methods.

OAA
AB
OAB
AC
AD

=1.25in.
=2.5in.
=3.2in.
=1.0in
=3.5in.

18. Determine the proportions of a four-bar linkage that will in one of its positions
satisfy the specifications.
1 =8 rad/sec
2 =1 rad/sec
3 =3 rad/sec

1 =0
2 =20 rad/sec2
3 =0

19. At the instant pictured, link 2 has an angular velocity of 10 rad/s ccw and link 3 an
angular velocity of 10 rad/cw, both constant. Show the inflection circle for motion
of 3 relative to 1. Explain all reasoning clearly.

20. Given three positions of a rigid body, graphically design a double-slider

mechanism at the first position to guide the body to go through the second and the
third positions. Please also draw the lines of travel of the siders.

21. A proposed tachometer (Fig. 2), which uses a rotating governor principle as an
engine speed indicator, requires a function-generator linkage to convert the
movement of the rack into a linear movement around a tachometer dial. The
geared five-bar linkage is chosen to be synthesized for this task. Known quantities
are j, j, T2/T1, and Z5.
(a) Write the loop-closure equation for this linkage in its first and jth position.
(b) Determine the maximum number of positions that this linkage can be
synthesized for.
(c) What is the maximum number of positions for which a linear solution is
obtainable?

Fig. 2
22. (a)

(b)
(c)

23. Design a six-bar linkage such that all points on a coupler link trace identity
coupler curve with a node (double point).
24. For the mechanism of Fig.2, the velocity of link 2 is a constant of 1.5 cm/sec to
the right, find and show the following items:
(a) fixed and moving centrodes for coupler link 3
(b) infection circle and Bresse circle
(c) cubic of stationary curvature

1
1
1
a 2 sin cos
+
+ =0
M cos N sin a

Fig. 2
25. Refer to the figure. For motion of 2 relative to 1, in the position shown, locate the
centers of curvature of the fixed and moving polodes.

26. The level-luffing crane shown is a European type, used for shipbuilding and cargo
handling. Note that point C is a coupler point of the four-bar linkage OAABOB.
Locate the pivot point A so that the coupler point C will pass exactly through
positions C1, C2, and C3.

27. A box of diapers is to be displaced from position 1 to 2, as shown in Fig.2. At

these positions, the box is expected to have instantaneous dwell. Design a six-link
mechanism to guide the box on a parallel path.

Fig. 2
28. Determine the transmission angle of the casement window mechanism at fully
open position, as shown in Fig.1. Show some improvements for better
transmission angle. (Input link: link 2, output link: link 5)

29. Design a slider-crank mechanism to meet the following requirements:

(a) 12=40o c.w., s12=20mm.
(b) 13=70o c.w., s13=40mm.
30. Show that the minimum number of binary links in a closed kinematic chain is four,
i.e. B4.
31. A rigid body in plane motion is to pass through five specified positions. The
positions are such that a part of the pole configuration is as shown in the figure.
Determine the Burmester points.

32. (a) Find the three-precision-point Chebyshev spacing for the function y=sinx, 0o
x90o, where =120o and =60o.
(b) Find j, j (j=2, 3).
(c) Find an acceptable four-bar function generator by the graphical method (with

0=60o, A0B0=1, B0B=0.75).

(d) Find an acceptable four-bar linkage by Freudensteins equation [with the same

1 and 1 as that in (c)].

33. A four-bar path generator (with prescribed timing) is required as arm-actuated
propulsion system for the wheelchair in Fig. 2. The three prescribed path points
shown have been determined to be the most efficient arm motion by a number of
individuals. This movement of the coupler path point (C1, C2, C3) provides the
input, while the output is a rotation of the large wheel with a ground pivot at A0.
(A clutch located at A0 will slip when the grip is returned from C3 to C1 along the
same path.) The other ground pivot B0 is specified as well as the rotations of the
wheel driving link A0A (2=38o c.w., 3=80o c.w.). By the graphical method,
find the initial position of an acceptable four-bar linkage for this task.

Fig. 2
34. Design a slider-crank linkage to guide a body to go through the following three
positions.

35. The geared linkage shown in the figure is to be used as a function generator where

j is the independent (input) variable (a rotation of arm Z1) and Sj is the dependent
(output) variable (a linear displacement of the slider). j and j are prescribed as
well as T2/T1 and Z5.
(a) Write the loop-closure equation for this linkage in its first and jth positions.
(b) Determine the maximum number of positions that this linkage can be
synthesized for.
(c) What is the maximum number of positions for which a linear solution is
obtainable?

36. Consider the circular centrodes of diameter ratio 1:2. Develop a graphical
construction for the inflection circle.

37. A rigid body in plane motion is shown in three positions.

(a) Locate the poles and draw the pole triangle.

(b) Locate that point of the moving system which has its three positions on a
circle arc about Dc as center.
(c) Determine the locus of points belonging to the moving system and having
their three positions on straight lines.

38. For the linkage of the figure construct the inflection circle for the given position.
Then use the Euler-Savary equation to find the center of path curvature of coupler
point C. Check this with the Hartmann construction.

39. Figure 2 shows an automobile hood mechanism [different from the two in Fig.3
and 4].
(a) Draw an unscaled kinematic diagram of this device.

(b) What kind of mechanism is this? What task does it perform?

(c) How would you synthesize the mechanism in the standard form?
(d) Compare this linkages performance to that of the other two hood linkages
based on intuition and knowledge gained in parts (a) to (b).

Fig. 2

Fig. 3

Fig. 4

40. (a) Derive the Grblers equation for planer linkages and then extend it to suitable
for spatial mechanisms. Show detail process.
(b) What is the constrained motion? Use the mobility equation to proof that a
planar four-bar linkage with an input to a crank is a constrained motion
mechanism.
(c) A stationary configuration of a mechanism is defined as, when an input applied
into the mechanism which transitorily generates no output. In a four bar
linkage, list all the possible stationary configurations.
(d) In what situation, will this planar four-bar linkage become un-constrained
motion. Explain.
41. For the motion of body 2 relative to frame 1.
(a) Find the equivalent 4-bar linkage, i.e., locate the corresponding points A0, A,
B0, and B.
(b) Determine the equation of the inflection circle.
(c) Derive the equation of the fixed polode and moving polode and locate the
centers of curvature of these two polodes.
(d) Derive the equations of circling-point curve and centering-point curve.

42. Using point position reduction, design a reasonable four-bar mechanism so that
12=20o, 23=30o, 34=20o, 12=40o, 23=30o, and 34=20o. Input () and output ()
moves clockwise. Check your design graphically.
43. Design a four-bar linkage to generate the function y=x1.5 for an interval in x from 1
to 4. The input link is to start from 30o and is to have a range of 90o; the output
link is to start from 90o and is to have a range of 90o. Use three-point Chebyshev
spacing.
44. Double-boom cranes and excavation devices are commonly used in the building
construction industry. Their popularity is due primarily to their versatility,
mobility, and high load-lifting capacity. This type of equipment is typically
actuated by means of hydraulic cylinders. Figure problem 3 shows a typical
knuckle boom crane.
(a) Determine the degrees of freedom for this linkage.
(b) If we want to redesign the crane without altering the grapple, please give all
possible structural designs with the same link number for the double-boom
crane.

Figure problem 3
45. Please explain the following terms:
(a) polode
(b) Euler formula
(c) kinematic synthesis
(d) return circle
(e) Freudenstein equation
46. Please explain the following terms:
(a) instant center transfer velocity
(b) invariant acceleration component
(c) Hartmanns construction
(d) cognate
(e) motion generation
47. Please explain the following terms:
(a) osculating circle
(b) compatibility linkage
(c) opposite pole quadrangle
(d) coupler curve
(e) Burmester curves
48. Figure 2 shows a tipper-dumper truck. Three desired configurations of the bin are
indicated as I, II, and III in Fig.2. The fixed hinges Ao and Bo are conveniently
located on the body of the truck. Obtain the locations of the hinges A and B on the
body of the bin.

Fig. 2
49. Design a 4-bar crank-rocker to meet the following requirements.
(a) The coupler curve is a symmetric curve.
(b) The couple curve has two cusps C1 and C2, C1C2=4 cm.
(c) The corresponding crank angle is 150o c.w. when the coupler point moves
from C1 to C2.
Then, plot the coupler curve of this linkage and show its cognate linkages.
50. A rigid body is required to pass through three specified position as shown in Fig.1.
Design a suitable slider-crank mechanism to guide the rigid body. If it is
impossible, give your reasons.

Fig. 1
51. Please explain the following terms:
(a) Grashof linkage
(b) isomorphism
(c) Chebyshev spacing
(d) Ball curve
(e) Degree of freedom
52. Please explain the following terms:
(a) Euler-Savary equation
(b) centering-point curve
(c) curve
(d) inflection circle
(e) mechanism
53. As part of an automation process, a four-bar linkage must be designed to remove

boxes from one conveyor belt and deposit them on an upper conveyor belt as
shown in Fig.1 (three prescribed positions). Both fixed and moving pivots must be
located between the upper and lower conveyor belts.
(a) Design an acceptable four-bar by the graphical method.
(b) Design an acceptable four-bar by the ground-pivot specification method, in
which fixed pivots are on the signs +.

Fig. 1
54. For the path generation of four-bar linkage, determine the maximum number of
positions that this linkage can be synthesized for. Note that j are specified.
55. (a) Find two other linkages having coupler curves identical with the path of M.
(b) If in the given linkage the member OBB is driven at a constant angular velocity,
which frame link of each cognate may be driven at the same velocity to have
each cognates M describe the curve at the same rate as the given M?

56. C G

57. Show that the center of curvature for the path which A3 traces with respect to link
2 in this figure is located exactly midway between Z and A.

58. (a) Find the four-precision-point Chebyshev spacing for the function y=sinx,
0ox90o.
(b) Find lj, lj (j=2, 3, 4) for =120o and =60o.
(c) Find an acceptable four-bar function generator by the inversion method (with
A0B0=1).
59. Please explain the following terms:
(a) pole
(b) Gruebler equation
(c) Bresse circle
(d) structural error

(e) circle-point curve

60. Please explain the following terms:
(a) transmission angle
(b) passive degree of freedom
(c) centrode
(d) Burmester point-pair
(e) kinematic inversion
61. Please explain the following terms:
(a) Bobilliers theorem
(b) link adjacency matrix
(c) acceleration pole
(d) cubic of stationary curvature
(e) collineation axis
62. For the pure rolling of circle 2 (R2=1) on circle 1 (R1=2), 2=10 rad/s c.w., 2=0,
determine and shown:
(a) instant center of velocity (pole): P
(b) inflection circle: I
(c) Bresse circle: B
(d) acceleration pole: Jo
(e) center of path curvature of points A and D: Oa, Od
(f) cubic of stationary curvature: C
(g) Balls point: BP

63. The six-bar linkage below is to be synthesized for both path generation of point P
and function generation [j=f(j)].
(a) Write the standard-form equations for this so that the entire linkage may be
synthesized by the standard form.

(b) Determine the maximum number of positions that this linkage can be
synthesized for.

64. A rigid body AB is guided through four positions as indicated in Figure 1.

Locate all poles Pij and intersection points ij.
Select an opposite-pole quadrilateral, and draw the center-point curve m1234.
Show the way, similar to (b), to draw the circle-point curve k1234.
Locate the points (in position 1) belonging to the moving plane and having
its four positions on a straight line.
[(a)(b)(c)(d)
(a)(b)]

(a)
(b)
(c)
(d)

65. Design a crank-lever mechanism such that, with the crank turning at constant
speed, the oscillating lever will have a time ratio of advance to return of 3 to 2.
The lever is to oscillate through an angle of 80 deg. Find a design which is close
to optimum from the transmission-angle standpoint.

66. Determine all 4-bar and 5-bar linkage cognate to the linkage shown.

67. The pole triangle is given for motion of a rigid body through three positions.
(a) Show the locations (in position 1) of all point having three positions on
straight lines.
(b) Find B1 and B3 corresponding to the given B2.

68. Please synthesize compound-lever snips. One of the available snips is shown in
figure. The requirements for determining the structures of suitable snips are (1)
F=-1; (2) there must be at least two binary links because of P and Fr; (3) two
binary links P and Fr must not connect the same link, because in that case the
snips will be simple instead of compound. Please apply structural synthesis to
propose all suitable compound-lever snips you can find.

69. By application of the Euler-Savary equation, find the center of curvature of the
path which A3 traces with respect to link 2 in Fig.

70. For the motion of link 3 relative to link 1 in Fig. 1, V2=1in/s toward right
(constant), determine and show the following items:
(a) inflection circle: In
(b) the moving and fixed centrodes: and
(c) the center of path curvature of coupler point C: Oc (Use both graphical and
analytic methods)
(d) Bresse circle: BC
(e) acceleration pole: Ap
G
(f) the acceleration of point C: Ac (By way of the acceleration field equation)
(g) cubic of stationary curvature: CSC
(h) Balls point: BP

71. For the motion of link 3 relative to link 1 in Fig. 1, the input angular velocity (2)
is 1 rad/sec ccw (constant). If links 2 and 3 are collinear, determine and show
the following items:
(a) inflection circle: In
(b) the center of path curvature of coupler point C: Oc (Use both graphical and
analytic methods)
(c) Bresse circle: BC
(d) acceleration pole: Ap
(e) cubic of stationary curvature: CSC

72. (a) A rigid body in plane motion is to pass through four specified positions. The
positions are such that a part of the pole configuration is as shown in figure (a).
Determine the center curve.
(b) Same for figure (b).

73. The figure shows a version of a lazy-tongs linkage.

(a) Determine the number of degrees of freedom of this mechanism.
(b) Describe briefly how and why it works.
(c) Can you design a different mechanism for this task?

74. Power input to the mechanism, as shown in Fig. 1, is to be by a fixed pneumatic

cylinder operating in a straight line. Locate a suitable line of action for the
cylinder.
OA = (7.0, 5.0)
OAA = 1.0
AB = 3.5
OBB = 2.0
OB = (5.0, 7.5)
1 = 120o
2 = 150o
3 = 180o
Hint: Find a coupler point with three positions on a straight line.

75. Use Bobillers construction to construct the inflection circle for the slider-crank
mechanism of the figure. Check analytically.
OAA=1.25 in
AB=2.5 in
OAB=3.2 in
AC=1 in

76. An end loader is to be designed for attachment onto crawler-type tractors. The
linkage must have two degrees of freedom: one allowing the system to lift the
bucket and the other to allow the bucket to be tipped while the first is held fixed.
Assume that all joints will be those allowing only one relative degree of freedom.
(a) What is the minimum number of links that would produce a linkage with

F=2?
(b) Assuming that a linkage with the fewest number of link in (a) will not work,
what is the fewest number of links in the next more complicated linkage that

will work?
(c) Could one build a 10-link linkage with the desired degrees of freedom?
(d) If the chosen linkage has nine links:
i. How many pair (joints) will have to be purchased or designed?
ii. What is the maximum number of joint elements that can occur on one
link?
iii. How many links can have the maximum number of joint element?
77. Please explain the following terms:
(a) cusp
(b) deviation angle
(c) Balls point
(d) pole changing velocity
(e) function generator
78. For the motion of link 3 relative to link 1,
(a) determine the fixed and moving polodes
(b) plot a portion of polodes
(c) determine the center of curvature

79. The symmetrical 4-bar linkage shown in the figure is suspended from a fixed
pivot, E, at the mid-point of link 2. Link 2, 3, and 5 are relatively light in weight,
but link 4 is heavy, with center of gravity at G. Determine whether the
configuration is stable; i.e., would the linkage return to the position shown after a
small displacement? Neglect friction in the joints. If you find that it is stable,
state the maximum height possible for G above line AB without destroying the
stability. If you find that it is unstable, state how far G would have to be lowered
to achieve stability.

80. Figure problem 4 E

A0ABB0 AE
A1E1, A2E2, A3E3 B0 B2
[]