Lesson 1: Basic concepts on Mechanisms# Lesson contents: Definitions Machines vs Mechanisms Blurry limits: machine vs mechanism Parts of a mechanism Parts of a link Kinematic pairs (Joints) Kinematic chain Abstract and topological analysis of mechanisms Open and closed kinematic chains Mobility and degrees of freedom Equivalent mechanisms Inversions of a mechanism Links and joints Links and joints definitions Degree one (I) joints Degree two (II) joints Four bar linkage Bar names Grashof’s formula Try it yourself! Six bar linkage Stephenson mechanism Watt mechanism Motorbike swingarm Pallet pusher Other well-known mechanisms Crank-rod mechanism Quick return mechanism Ginebra wheel Determining the d.o.f. count Grüebler formula for planar mechanisms Kutzbach’s general formula Practical application of the formula Numbering options Joints with more than two links Exceptions and problematic cases Numerical methods criterion DOF solved problems Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Problems: Determine kinematic chain Blind slats Feeder 1 Translate without rotation Car trunk Scissor lift Elliptical Motorbike suspension Stacked joints