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Course Name: Mechanism And Robot Kinematics

Assignment- 3
TYPE OF QUESTION: MCQ
Number of questions: 10 Total mark: 10 X 1 = 10
QUESTION 1:
Given that l1= 3 cm, l2= 1.0 cm, l3 =3.5 cm and l4= 4 cm, what will be the value of 𝜃4 when the
input link (l2) becomes perpendicular to the fixed link for the given assembly mode shown in the
figure?

a. 209.4 deg
b. 97.4 deg
c. 104.4 deg
d. 82.5 deg

Correct Answer: c
𝜋
Detailed Solution: Given: l1= 3 cm, l2= 1.0 cm, l3 =3.5 cm, l4= 4 cm and 𝜃2 = 2 .

The equation for forward kinematics is 𝐴 sin 𝜃4 + 𝐵 cos 𝜃4 = 𝐶 such that,

𝑙1 3
𝐴 = sin 𝜃2 = 1, 𝐵 = cos 𝜃2 − = 0− = −3
𝑙2 1.0
𝑙1 𝑙12 + 𝑙22 − 𝑙32 + 𝑙42 9 + 1 − 12.25 + 16
𝐶=− cos 𝜃2 + = −0 + = 1.718
𝑙4 2𝑙2 𝑙4 8
Thus,
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𝜃4 𝐴 ± 𝐴2 + 𝐵 2 − 𝐶 2 1 ± 1 + 9 − 2.954101 1 ± 2.6544
tan = = =
2 𝐵+𝐶 (−3) + (1.71875) (−1.28215)
Hence,
1 + 2.6544
𝜃41 = 2 tan−1 = 218.660
−1.28215
1 − 2.6544
𝜃42 = 2 × tan−1 = 104.4490
−1.28215
For this assembly mode of the mechanism 104.440 is the correct answer.

Ans: (c)

QUESTION 2:
Calculate the horizontal position of the slider (shown in the figure) from the ground hinge when
the crank angle (𝜃2 ) becomes zero for the given assembly mode. Assume the length of the crank
as 2 cm, the offset (e) = 3 cm and the maximum value of s (smax) = 5 cm.

a. 3.6 cm
b. 2.1 cm
c. 4.4 cm
d. 8.5 cm

Correct Answer: c

Detailed Solution:
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𝑠 will attain its maximum value (𝑠𝑚𝑎𝑥 ), when the crank and the connecting rod become collinear
and completely stretched. Let the length of the crank and the connecting rod be l2 and l3,
respectively. Therefore, the following expression can be written as
2
𝑙2 + 𝑙3 = 𝑒 2 + 𝑠𝑚𝑎𝑥
2
∴ 𝑙3 = 9 + 25 − 2 = 3.8309 cm.

When 𝜃2 = 00 then, (assuming O is the origin of coordinate system) the coordinates of point A
and B are 2,0 and 2 + 3.8309 cos 𝜃3 , −3 respectively. Thus,

𝑙32 = 3.83092 = (1 + 3.8309 cos 𝜃3 − 2)2 + −3 2

2.3823
cos 𝜃3 = ∴ 𝜃3 = 51.54580
3.8309
For this assembly mode, 𝜃3 = 51.54580 ∴ 𝑠 = 𝑙2 + 𝑙3 cos 𝜃3 = 2 + 3.8309 cos 51.4580 =
4.3823 cm

Ans: (c)

QUESTION 3:
What will be the value of crank angle (𝜃2 ) for the given assembly mode in the figure, when the
slider has reached a distance (s) of 5 cm? Assume the lengths of the crank and the connecting rod
are 2 cm and 5 cm, respectively and e= 2 cm.
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a. 46.4 deg
b. 64.5 deg
c. 103.7 deg
d. 72.1 deg

Correct Answer: a

Detailed Solution:

Given: l2= 2 cm, l3= 5 cm, e = -2 cm and s = 5 cm.

(Note that since the plane of the slider is below the reference coordinate attached to the hinge
point O, the offset is taken as negative.)

The origin of the coordinate system is assumed to be at O. The coordinates of point A and B are
𝑙2 cos 𝜃2 , 𝑙2 sin 𝜃2 and 𝑠, −𝑒 respectively. Thus,
𝑙32 = (𝑙2 cos 𝜃2 − 𝑠)2 + (𝑙2 sin 𝜃2 + 𝑒)2 = 𝑙22 − 2𝑠𝑙2 cos 𝜃2 + 2𝑒𝑙2 sin 𝜃2 + 𝑠 2 + 𝑒 2
25 = 4 − 20 cos 𝜃2 + 8 sin 𝜃2 + 25 + 4
20 cos 𝜃2 − 8 sin 𝜃2 = 8
Here, 𝐴 = −8, 𝐵 = 20, 𝐶 = 8. So,
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−1
𝐴 − 𝐴2 + 𝐵 2 − 𝐶 2 −8 − 64 + 400 − 64
𝜃21 = 2 tan = 2 tan−1 = −90.000
𝐵+𝐶 28

−1
𝐴 + 𝐴2 + 𝐵 2 − 𝐶 2 −8 + 64 + 400 − 64
𝜃22 = 2 tan = 2 tan−1 = 46.3970
𝐵+𝐶 28
𝜃22 satisfies current assembly mode.
Ans: (a)
______________________________________________________________________________
QUESTION 4:
The inversion of the slider crank mechanism shown in the figure has the following properties: l1=
4 cm, l2= 6 cm and e =3 cm. Find s when 𝜃2 = 120o.

a. 8.18 cm
b. 9.62 cm
c. 12.31 cm
d. 10.34 cm

Correct Answer: a

Detailed Solution: Given: l1= 4 cm, l2= 6 cm, e =3 cm and 𝜃2 = 120o.

Solution for s.

s= 8.1853 cm, −8.1853 cm.

Ans: (a)
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_____________________________________________________________________
QUESTION 5:
The mechanism shown in figure possesses following link lengths: l1= 5 cm, l2= 2 cm, l3 =4 cm,
l4= 4 cm and l5= 5 cm. Find s when 𝜃2 is 60 deg.

𝜃2

a. 10.7 cm
b. 2.4 cm
c. 3.2 cm
d. 2.9 cm

Correct Answer: b

Detailed Solution:
The mechanism consists of two chains. One 3R1P chain (l4-l5-s) with zero offset is attached to a
4R chain (l1-l2-l3-l4). We will first determine 𝜃4 from the 4R chain, and then, use it to find s.
Given: l1= 5 cm, l2= 2 cm, l3 =4 cm, l4= 4 cm, l5= 5 cm and 𝜃2 = 60o. Substituting these values in

The values of A, B and Care thus obtained as:

5
𝐴 = sin 600 = 0.866, 𝐵 = cos 600 − = −2
2
5 25 + 4 + 16 − 16
𝐶 = − × cos 600 + = 1.1875
4 2×2×4
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The values of A, B and C are replaced in,

Therefore, we get,

0.866 − 0.8662 + (−2)2 − 1.18752

𝜃41 = 2 tan−1 = 99.6020
−2 + 1.1875
0.866 + 0.8662 + (−2)2 − 1.18752
𝜃42 = 2 tan−1 = 213.570 .
−2 + 1.1875
For the assembly mode shown, 99.602o is the desired result. Using the expression,

And then, replacing e = 0, 𝑙2 = 𝑙4 = 4, 𝑙3 = 𝑙5 = 5, and 𝜃2 by 𝜃41 = 99.602o

𝑠 = −3.74, 2.406 cm
For this assembly mode of the mechanism 2.406 cm is the correct answer.
ANS: (b)
______________________________________________________________________________
QUESTION 6:
The 3R1P mechanism can be assembled in the configuration shown below (Link l2 is  to the
fixed link/ground), when
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a. 𝑑2 ≥ 𝑒 2 − 𝑙2 2
b. 𝑑2 ≥ 4𝑒𝑙2
c. 𝑑2 ≤ 𝑒𝑙2
d. 𝑑2 ≥ 𝑒 2 + 𝑙2 2

Correct Answer: a

Detailed Solution:
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From the figure above, BM is a tangent to the circle of radius e.

Therefore, BCDM is a rectangle.
From geometry,

(𝑙2 2 − 𝑒 2 ) tan 𝜃3 2 − 2𝑑𝑙2 tan 𝜃3 + 𝑑 2 − 𝑒 2 = 0,

which yields real values of tan 𝜃3 when 𝑑 2 ≥ 𝑒 2 − 𝑙2 2 .

OR
From the figure, BD2 > e2 , since BD is the hypotenuse of right angled ΔBCM or ΔBMD

 𝑙2 2 + 𝑑 2 ≥ 𝑒 2
ANS: (a)

QUESTION 7:
Starting from the mechanism configuration shown with CD vertical, how much will the cylinder
have to move to make link BC vertical? Given that AB = 200 mm, BD = 100 mm and BC = 125
mm.

a. 519.61 mm
b. 114.29 mm
c. 187.75 mm
d. 228.58 mm

Correct Answer: b

Detailed Solution:
Given: AB = 200 mm, BD= 100 mm and BC= 125 mm.
Also, AD = AB + BD = 300 mm and 𝛽 = 𝜃2 + 𝜃3
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For the initial configuration when CDꞱAC, we need to find the length AC.

From∆ABC, AC2 = AB2 + BC2 + 2(AB)(BC) cosβ………………………(1)

From∆BDC, CD2 = BD2 + BC2- 2(BD)(BC) cosβ………………………..(2)
And from ∆ACD, AC2+ CD2 = AD2…………………………………….(3)
Adding (1) and (2) and then using (3), we get cosβ =7/20.
Replacing this in Eq. (1) we get AC = 270.4163 mm.
When BC is vertical, AC2=AB2– BC2 ⇒ AC = 156.1249 mm.
Therefore, change in AC = (270.4163-156.1249) mm = 114.2913 mm.
ANS: (b)

QUESTION 8:
Given 𝑙1 + 𝑒 < 𝑙2 , the value of 𝜃2 when s attains the minimum value is

a. 1800
b. 00
c. 900
d. None of the above

Correct Answer: b

Detailed Solution:
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From geometry, 𝑃𝑄 2 = 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 cos 𝜃2 = 𝑠 2 + 𝑒 2 ⟹ 𝑠 = 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 cos 𝜃2 − 𝑒 2

𝑑𝑠 𝑙1 𝑙2 sin 𝜃2
= = 0 ⟹ sin 𝜃2 = 0 ⟹ 𝜃2 = 00 , 1800
𝑑𝜃2 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 cos 𝜃2 − 𝑒2

Also,

𝑑2 𝑠 𝑙1 𝑙2
2 = >0
𝑑𝜃2 𝜃2 =00 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 − 𝑒 2

𝑑2 𝑠 𝑙1 𝑙2
2 =− <0
𝑑𝜃2 𝜃2 =180 0 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 − 𝑒 2

Therefore, s becomes minimum when 𝜃2 = 00

Ans: (b)

QUESTION 9:
For the mechanism shown, the number of solutions of the inverse kinematics problem for a given
output angle is/are
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a. 1
b. 2
c. 3
d. cannot be determined

Correct Answer: b

Detailed Solution:

For the four-bar mechanism ACDE, there are two possible values of 𝜃2 for a particular output 𝜃4
(refer lecture 10). In the mechanism ABE, for every value of 𝜃2 , there is one positive value of s
(refer lecture 13). Therefore, the correct option is 2.

Ans: (b)

QUESTION 10:
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The value of 𝜃2 when s attains the maximum value is

a. 1800
b. 930
c. 370
d. 1500

Correct Answer: a

Detailed Solution:

Refer the solution part of question 8.

Hence, s becomes maximum when 𝜃2 = 1800

Ans: (a)

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