University of Balamand

Faculty of Engineering
Department of Mechanical Engineering

CHAPTER 2: LINKAGES AND MECHANISMS

MECH315: Mechanics of Machines
Submitted to: Dr. Elie Honein(Professor)

Group Members:

• Jennifer Remmane
• Sayed Kareh
• Ihssan Matar
• Samer Taiba
• Nabil Ramia
• Victor Lattouf
1. POSITION ANALYSIS FOR A FOUR-BAR LINKAGE:
 By using the cosine law (Note that the output angle is  4 and  is the
transmission angle):
z = r12 + r22 − 2r1 r2 cos 2
From here we calculate the angles:
z 2 + r12 − r22
cos  = 3 =  − 
2r1 z
 4 = 180 − ( +  )
z 2 + r42 − r32
cos  = .In the case of a crank/rocker:
2r4 z
z 2 + r32 − r42
cos  =
2r3 z   min   2 = 0 0


r32 + r42 − z 2
 max   2 = 180
0
cos  =
2r3 r4
 GRAYSHOF’S LAW:
• Let S be the length of the smallest link, L the biggest and P and
Q the intermediate ones :

• IF S IS ADJACENT TO YES NO
IF
THE FRAME
 CRANK/ROCKER S+L<P+Q • DOUBLE
ROCKER
• IF S IS THE FRAME
 DOUBLE CRANK
• IF S IS OPPOSITE TO
THE FRAME
 DOUBLE ROCKER
 EXAMPLE OF A
EXAMPLE OF A DOUBLE
CRANK/ROCKER
ROCKER
 A DOUBLE CRANK WITH OPPOSITE LINKS

 HAVING SAME LENGTHS;THIS TYPE OF

MOTION WAS A CHARACTERISTIC OF A
STEAM LOCOMOTIVE DRIVE

ANOTHER EXAMPLE OF A
DOUBLE CRANK 
2.POSITION ANALYSIS USING LOOP EQUATIONS AND ITERATIVE METHODS:

y 3 Projecting on the x and y axis:

𝑓1 = 𝑟1 𝑐1 + 𝑟2 𝑐2 + 𝑟3 𝑐3 − 𝑟4 = 0
x 𝑓2 = 𝑟1 𝑠1 + 𝑟2 𝑠2 + 𝑟3 𝑠3 = 0
r2

2 To solve this system we need to

r3 transform it from a non linear system to a
r1
linear one as follows:
1 4 = 
r4 𝜕𝑓1 𝜕𝑓1
𝑓1 𝜃2 + Δ𝜃2 , 𝜃3 + Δ𝜃2 = 𝑓1 + Δ𝜃2 + Δ𝜃3 =0
𝜕𝜃2 𝜕𝜃3
𝜕𝑓1 𝜕𝑓2
𝑓2 (𝜃2 + Δ𝜃2 , 𝜃3 + Δ𝜃2 ) = 𝑓2 + Δ𝜃2 + Δ𝜃3 =0
𝜕𝜃2 𝜕𝜃3
 𝜕𝑓1 𝜕𝑓1
𝜕𝜃2 𝜕 𝜃3 Δ𝜃2 −𝑓1
=
𝜕𝑓2 𝜕𝑓2 Δ𝜃3 −𝑓2
𝜕𝜃2 𝜕𝜃3
−𝜕𝑓2 𝜕𝑓1 𝜕𝑓2 𝜕𝑓1
−𝑓 1 𝜕𝜃 + 𝑓2 𝜕𝜃
𝜕𝜃3 𝜕𝜃3 𝑓1 3 3
𝜕𝑓2 −𝜕𝑓2 𝑓2 𝜕𝑓 𝜕𝑓 −𝑓1 𝑟3 𝑐3 − 𝑓2 𝑟3 𝑠3 −𝑟3 (𝑓1 𝑐3 + 𝑓2 𝑠3 )
𝑓1 2 − 𝑓2 1 𝑓1 𝑟2 𝑐2 + 𝑓2 𝑟2 𝑠2 𝑟2 (𝑓1 𝑐2 + 𝑓2 𝑠2 )
Δ𝜃2 𝜕𝜃2 𝜕𝜃3 𝜕𝜃2 𝜕𝜃2
= = = =
Δ𝜃3 𝜕𝑓1 𝜕𝑓2 𝜕 𝑓1 𝜕𝑓2 𝜕𝑓1 𝜕𝑓2 𝜕 𝑓1 𝜕𝑓2 −𝑟2 𝑠2 𝑟3 𝑐3 + 𝑟3 𝑠3 𝑟2 𝑐2 𝑟2 𝑟3 sin( 𝜃3 − 𝜃2 )
− −
𝜕𝜃2 𝜕𝜃3 𝜕 𝜃3 𝜕𝜃2 𝜕𝜃2 𝜕𝜃3 𝜕 𝜃3 𝜕𝜃2
𝑓1 𝑐3 + 𝑓2 𝑠3
Δ𝜃2 =
𝑟2 sin( 𝜃2 − 𝜃3 )
𝑓1 𝑐2 + 𝑓2 𝑠2
Δ𝜃3 =
𝑟3 sin( 𝜃3 − 𝜃2 )
 Knowing r1 , r2 , r3 , r4 ,1

 2 ,3

f1 , f 2

 2 ,  3
yes no

IF
YES NO
 2 =  2 +  2
 2 , 3 f1 & f 2
Less
 3 =  3 +  3
Than ε
 VELOCITY ANALYSIS:
• • •
.GIVEN 1 AND 1 ,WE FIND  2 AND  3 .WE START BY DIFFERENTIATING THE
LOOP EQUATIONS WITH RESPECT TO TIME:

• • •
r1s1 1 + r2 s2  2 + r3 s3  3 = 0
• • •
r1c1 1 + r2 c2  2 + r3c3  3 = 0
 r2 s 2 r3 s 3  2   s1 
r c     = − 1 r1  

 2 2 r3 c 3   3  c1 
 r3 c 3 − r3 s 3   s1 
−  1 r1 

 c 
 2 
  − r c r2 2  1 
s
=
2 2
 
 3  r2 r3 sin( 2 −  3 )
2   r3 sin( 3 −  1 ) 
   r1  
 1   2
r sin(  −  2 
)
=
1
  
 3  r2 r3 sin( 2 −  3 )

 1 


2 r1 sin( 3 −  1 )
k2 = =
1 r2 sin( 2 −  3 )
3 r1 sin( 1 −  2 )
k3 = =
1 r3 sin( 2 −  3 )
 ACCELERATION ANALYSIS:
.METHOD 1: BY DIFFERENTIATING WITH RESPECT TO TIME:
r1 s11 + r1 c112 + r2 s 22 + r2 c 222 + r3 s 33 + r3 c 332 = 0
r1 c11 − r1 s112 + r2 c 22 − r2 s 222 + r3 c 33 − r3 s 332 = 0
r2 s 2 r3 s 3  
2   s  
 − r c  2 − r c  2 − r c  2 
   = −r11   + 
1
2 
1 1 1 2 2 2 3 3 3
 
r c
 2 2 r c 
3 3  3   1  1 1 1
c  r s  2
r s
2 2 2 2
r 
3 3 3 
s

2  k 21  1  r3 c 3 − r3 s 3  − r1 c11 − r2 c 22 − r3 c 33 
2 2 2

   =    +   2 
  
 3  3 1k  r r
2 3 sin( 2 −  3 
) − r s
2 2 r s 
2 2  1 1 1 r s  2
r s
2 2 2 2
r 
3 3 3 
s

2   k 2  1 
− r3 [r11 cos( 3 −  1 ) + r22 cos( 3 −  2 ) + r33 ]
2 2 2

   =  1   +  
 
 3  3
k r r
2 3 sin(  2 −  ) 
3  2 r [ r 
1 1
2
cos(  2 −  1 ) + r 
2 2
2
+ r 
3 3
2

cos( 2 −  3 )] 
[ r cos(  −  ) + r k 2
cos(  −  ) + r k 2
] 2
 2 = k 2 1 −
  1 3 1 2 2 3 2 3 3
1
r2 sin( 2 −  3 )
[ r 
cos( −  ) + r k 2
+ r3 3 cos( 2 −  3 )]  2
k 2
 3 = k 3 1 +
  1 2 1 2 2
1
r3 sin( 2 −  3 )
 ACCELERATION ANALYSIS:
.METHOD 2: BY DIFFERENTIATING AND CALCULATING THE VELOCITY COEFFICIENTS DERIVATIVES

•• ••dK 2 • •• dK 2 d 1 • •• dK 2 • 2
 2 = K 2 1 + 1 = K 2 1 + 1 = K 2 1 + 1
dt d 1 dt d 1
dK 2 K 2 K 2 d 2 K 2 d 3 K 2 K 2 K 2
= + + = + K2 + K3
d 1  1  2 d 1  3 d 1  1  2  3
K 2 − r1 cos( 3 −  1 )
=
 1 r2 sin( 2 −  3 )
K 2 − r1 sin( 3 −  1 ) cos( 2 −  3 )
= 
cos( −  ) = − K = − K 2 cot( 2 −  3 )
 2 r2 sin ( 2 −  3 )  − 
2 2 3 2
sin( 2 3 )
K 2 r cos( 3 −  1 ) sin( 2 −  3 ) + cos( 2 −  3 ) sin( 3 −  1 ) r1 sin( 2 −  1 ) − r3 1
= 1 = = K
 3 r2 sin 2 ( 2 −  3 ) r2 sin 2 ( 2 −  3 ) sin( 2 −  3 )
3
r2
dK 2 − r1 cos( 3 −  1 ) r 1
= − K 2 cot( 2 −  3 ) − 3 K 3
2 2

d 1 r2 sin( 2 −  3 ) r2 sin( 2 −  3 )
Where dK 2 is the velocity coefficient derivative
d1
 3.SLIDER-CRANK MECHANISM

• THIS MECHANISM IS WIDELY USED IN INTERNAL COMBUSTION ENGINES

AND IN AIR COMPRESSORS
.DISPLACMENT, VELOCITY AND ACCELERATION EQUATIONS FOR A SLIDER
CRANK MECHANISM:

x = R cos + L cos
v = x = − R sin  − L sin 
a = x = − R cos 2 − R sin  − L cos 2 − L sin 
OR
R sin  = L sin 
R
sin  = sin 
L
X = R cos + L2 − L2 sin 2 
X =R+L−x
R2
x = R − R cos + L − L 1 − 2 sin 2 
L
 R2 
x = R (1 − cos ) + L 1 − 1 − 2 sin  
2

 L 
 4.SCOTCH YOKE MECHANISM:

• THIS MECHANISM WILL GIVE SIMPLE HARMONIC MOTION. ITS EARLY

APPLICATION WAS ON STEAM PUMPS BUT IT IS NOW USED AS A
MECHANISM ON A TEST-MACHINE TO PRODUCE VIBRATIONS, IT IS ALSO
USED AS A SINE-COSINE GENERATOR FOR COMPUTING ELEMENTS.
.DISPLACEMENT,VELOCITY AND ACCELERATION EQUATIONS:

x = R cos
v = x = − R sin 

a = x = − R cos − R sin 
2
.MODIFIED SCOTCH YOKE DISPLACEMENT EQUATION:

x = R cos + r cos
v = x = − R sin  − r sin 
a = x = − R cos 2 − R sin  − r cos 2 − r sin 
OR
R sin  = r sin 
R
sin  = sin 
r
X = R cos  + r 2 − r 2 sin 2 
X =R+r−x
R2
x = R − R cos  + r − r 1 − 2 sin 2 
r
 R2 
x = R (1 − cos  ) + r 1 − 1 − 2 sin  
2

 r 
 5.QUICK-RETURN MECHANISMS:
• THESE MECHANISMS ARE USED ON MACHINE TOOLS TO GIVE A
SLOW CUTTNG STROKE AND A QUICK RETURN STROKE FOR A
CONSTANT ANGULAR VELOCITY OF THE DRIVING CRANK AND
ARE COMBINATIONS OF SIMPLE LINKAGES SUCH AS THE FOUR-
BAR LINKAGE AND THE SLIDER CRANK MECHANISM.AN
INVERSION OF THE SLIDER CRANK IN COMBINATION WITH THE
CONVENTIONAL SLIDER CRANK IS ALSO USED .
• IN THE DESIGN OF QUICK-RETURN MECHANISMS,THE RATIO OF
THE CRANK ANGLE FOR THE CUTTING STROKE TO THAT FOR
THE RETURN STROKE IS KNOWN AS THE TIME RATIO AND IS OF
PRIME IMPORTANCE.
• TO PRODUCE A QUICK RETURN OF THE CUTTING TOOL ,THIS
RATIO MUST BE GREATER THAN UNITY AND AS LARGE AS
POSSIBLE.
IN THIS EXAMPLE OF A QUICK-RETURN
MECHANISM, THE CRANK ANGLE FOR THE
CUTTING STROKE FOR THE MECHANISM IS
LABELED 
THE RETURN STROKE IS LABELED 

THEREFORE ,THE TIME RATIO = 


THE MAXIMUM DISPLACEMENT OF THE STROKE IN
EITHER THE POSITIVE OR THE NEGATIVE X-DIRECTION
TAKES PLACE WHEN THE CRANK IS PERPENDICULAR TO
THE LINK O4A
THANK YOU FOR YOUR ATTENTION