HW Set #1: DOF and Grashof
Problem 1.14
Determine the mobility of each of the planar linkages shown below.
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Problem 1.21
Refer to the planar linkage shown. If the value of ω is provided (indicating a motor is placed
there to drive that link), can all kinematic parameters (displacement, velocity, acceleration) of
each link be determined uniquely? Explain your answer.
Problem 1.26
Determine the mobility for each of the mechanisms shown below.
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Problem 1.45
The mechanism shown below is drawn in scale.
(a) Sketch kinematic schematics showing the relationships between the members and joints.
(b) Determine the Grashof type of the four-bar linkage. You can estimate the length of each link
through direct measurement on the chart.
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Problem 1.4
Linkages are often used to guide devices such as computer keyboards in and out of
cabinets. One of such mechanisms is as shown. Make a freehand sketch of the
skeleton of the mechanism. Draw the ground link with roughly its own shape and ignore
the spring.
Problem 1.9
A small excavator is shown. Draw the skeleton of excavator’s bucket planar motion
mechanism (fourbar). Draw the ground link with roughly its own shape.
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