Mechanisms and Dynamics of Machinery

Course Chinese title: 機動學
Course Number: ME4104
Credits: 3
Taught level: 2nd-year undergraduates
Lecturer: Dr. Chin-Hsing Kuo (郭進星)
Teaching Assistant: 謝志青(Office: T3-203, Email

Course Description


This course introduces to the Mechanical Engineering students the motion and force transmission of machine elements. It covers the basic theories of mechanisms, the introduction to linkage, cam and gear mechanisms, and the graphic and analytical methods for the kinematic analysis and synthesis of these mechanisms.

Course Objectives

After the completion of this course, the students are expected to have:

  • the basic knowledge to the theory of mechanisms
  • a working knowledge for the graphical and analytical kinematics of linkage mechanisms
  • a working knowledge for analyzing and designing a cam mechanism
  • a working knowledge for determining the gear specifications and designing the kinematics of a gear train

Course Contents

Introductory course

  • Basic terminology in the study of mechanisms
  • Kinematic links and joints and kinematic chains
  • Four-bar linkages
  • Mobility, kinematic inversion and rotatability of mechanisms

Instantaneous centers of velocity

  • Planar kinematics of rigid bodies
  • Instantaneous centers of velocity
  • Aronhold-Kennedy Theorem

Displacement, velocity and acceleration analysis of linkage mechanisms

  • Vector-loop approach
  • Instantaneous center method

Cam mechanisms

  • Types of cam mechanisms
  • Cam-follower displacement diagrams
  • Introduction for cam profile synthesis

Gears and gear trains

  • Gear tooth action and the law of gearing
  • Gear terminology and standards
  • Spur gears
  • Helical gears, bevel gears and worm gears
  • Gear trains

Robotic mechanisms

  • Robotic manipulators
  • End-effector mechanisms
  • RV reducers and harmonic drives
  • Robot kinematics

Course Plan

Week Course content Notes
1-5 Course overview
Fundamentals of mechanisms
Mobility and rotatability of mechanisms
Instant centers of velocity
Exam (30%)
6-8 Kinematic analysis of linkage mechanisms:
Graphical & analytical methods
Homework 1 (30%)
9-11 Cam mechanisms Homework 2 (Cam mechanisms) (20%)
Exam (30%)
12-14 Gears & gear trains
15-17 Robotic Mechanisms
18 Reading week

Class Calendar


Lecture sildes.

Reference Books

  • Waldron, K. J., Kinzel, G. L., and Agrawal, S. K., 2016, Kinematics, Dynamics, and Design of Machinery, 3rd Ed., John Wiley & Sons, Hoboken, New Jersey.
  • 顏鴻森、吳隆庸,2006,機構學,東華書局,台北。
  • Lenarcic, J., Bajd, T., and Stanišić, M. M., 2013, Robot Mechanisms, Springer, Dordrecht, Netherlands.[Taiwan Tech e-book]
Waldron et al. - Kinematics, Dynamics, and Design of Machinery
顏鴻森與吳隆庸 - 機構學
Lenarcic et al. - Robot Mechanisms

Grading Plan

  • Exams: 60% (2次)
  • Homework 1: 30% (Kinematic analysis of linkage mechanisms)
  • Homework 2: 20% (Cam mechanisms)
  • MOOCs: 10%

E-learning Resources

Lecture Notes

Lecture Animations

Internet Miscellaneous




2016: 跳遠機構