CARLETON UNIVERSITY
Department of Mechanical and Aerospace Engineering
MAAE 3004 - Dynamics of Machinery
ASSIGNMENT 1 Introduction
1. For each of the planar linkages shown below, determine the number of links, number
and types of kinematic pairs, and mobility. Show the equations used to determine your
answers.
Answer: (a) n = 9, j1 = 11, j2 = 0, m = 2; (b) n = 11, j1 = 14, j2 = 0, m = 2
2. For each of the planar linkages shown below, determine the number of links, number
and types of kinematic pairs, and mobility. Show the equations used to determine your
answers.
Answer: (a) n = 11, j1 = 13, j2 = 1, m = 3; (b) n = 7, j1 = 9, j2 = 0, m = 0;
(c) n = 8, j1 = 10, j2 = 0, m = 1
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3. For the planar four-bar linkages shown below, indicate whether they satisfy the Grashof
criterion and whether they are crank-rocker, double-crank, or double-rocker mechanisms.
Answer: (a) yes, crank-rocker; (b) no, double-rocker; (c) yes, double-crank a.k.a. draglink
4. For the mechanisms shown below, number each link, label the lower and the higher
kinematic pairs, determine their mobility and identify a suitable input, or inputs, for
the mechanism.
5. For a set of links of the following lengths: 2 in, 4 in, 5 in, and 6 in. Design a four-bar
mechanism that can be driven with a continuously rotating electric motor. Justify
your answer based on the principles developed in class and make a scaled drawing of
the mechanism while labelling the frame, crank, coupler and rocker links.
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