1. How many links?
Linkage examples

2. Representing linkage systems with kinematic diagrams
Step 1: Identify the frame.
Step 2: Identify all other links.
Step 3: Identify the joints.
Step 4: Identify any points of interest.
Step 5: Draw the kinematic diagram.
Linkage examples

3. Draw a kinematic diagram.
This shear press is used to cut and trim electronic circuit board laminates.
Draw a kinematic diagram.

4. Step 1: Identify the frame.
The large base that is bolted to the table can be considered the frame. 1
Step 1: Identify the frame.

5. Step 2: Identify all other links.
There are 3 moving links:
Link 2: Handle
Link 3: Cutting blade
Link 4: Bar that connects the cutter with the handle 4 3 1
Step 2: Identify all other links.

6. Step 3: Identify the joints.2
Pin joints connect:
Link 1 to 2 (A)
Link 2 to 3 (B)
Link 3 to 4 (C)
The sliding joint connects link 4 to 1. (D) B A 3 4 C D 1
Step 3: Identify the joints.

7. Step 4: Identify any points of interest.
The motion of the end of the handle is significant.
We can mark this with X. X 2 B A 3 4 C D 1
Step 4: Identify any points of interest.

8. Step 5: Draw the kinematic diagram.X 2 B A 3 4 C D 1
Step 5: Draw the kinematic diagram.

9. Draw a kinematic diagram.
Note the linkage in these locking pliers.
Draw a kinematic diagram.

10. Step 1: identify the frame.

11. Step 1: identify the frame.
No links are grounded here, so the
choice of frame is arbitrary. We could,
for example, identify the top handle as
the frame (1). 1
Step 1: identify the frame.

12. Step 2: identify all other links.

13. Step 2: identify all other links.
The remaining moving parts are the bottom handle (2), the bottom jaw (3), and the bar that connects the top and bottom handles (4). 1 4 3 2
Step 2: identify all other links.

14. Step 3: identify the joints.1 4 3 2
Step 3: identify the joints.

15. Step 3: identify the joints.
The joints are labeled A-D. 1 D A 4 3 C B 2
Step 3: identify the joints.

16. Step 4: identify any points of interest.1 D A 4 3 C B 2
Step 4: identify any points of interest.

17. Step 4: identify any points of interest.
The motion of the end of the bottom
jaw (X) and the end of the bottom
handle (Y) are of interest. 1 D A X 4 3 Y C B 2
Step 4: identify any points of interest.

18. Step 5: draw the kinematic diagram.1 D A X 4 3 Y C B 2
Step 5: draw the kinematic diagram.

19. Step 5: draw the kinematic diagram.1 D A X 4 3 Y C B 2
Step 5: draw the kinematic diagram.