Planar Mechanisms

Bronze Crankshaft
bushing eno

Chapter 2
Wrist pin end
Planar Mechanisms
la)

(b
2.1 BASIC KINEMATIC CONCEPTS

Machine: Mechanical system that performs a specitic

task, such as the forming of material, and the trans-

ference and transformation of motion and force. It com
Fig. 2.3 Rigid Body Degrees of Freedom
prises of several rigid bodies connected in Such a way Form-Closed Pair [Self-Closed Pair]: Kinematic
that it produces constrained relative motion between
Quaternary link air the elements of which are constrained to contact
them and transmit forces and couples from the source or Binary link ernary link
each other by means of particular geometric shapes.
input power to result in motion. Fig. 2.1 illustrates
a

shaping machine, which is used to remove the metal N Fig. 2.2. (a) Connecting rod of an internal combustion Fig. 2.4 shows a sphere between two parallel plates
engine, (6) Line diagram of the connecting rod of iving five degrees of freedom for the kinematic pair.
from a work-piece by a cutting tool. The power from an
electric motor is transferred through the crank, sliding Fig. 2.2 (a), (c) types of Kinematic links. ircular cylinder between two parallel plates is shown in
block, rocker arm and connecting link to the cutting tool Joint: The physical realization of a kinematic pair. four degree of freedom
Fig. 2.5, giving rise to a
The rigid bodies, crank, sliding block, rocker arm, con-
kinematic pair.
to which the tool is Kinematic Pair: Idealization of a physical joint that
necting link and the arm cutting
attached, are connected in a suitable manner to give is concerned only with the type of constraint that the
offers. There are many types of links, a few of
constrained motion. joint
which are shown in Fig. 2.2c.
Mechanism: System of bodies designed to convert
motions of, and forces on, one or several bodies into S Kinematic Chain: Assemblage of links and joints
7nmmn
constrained motion of, and forces on, other bodies.
When we deal with a mechanism, the specific task to Linkage: Kinematic chain whose joints are

which it 1S assigned is not important, be it a shaping

equivalent to lower pairs only.
machine or an internal combustion engine etc. The em-
Degree of Freedom [Connectivity]: The number of
phasis is on motion and force of the system and they may relative
independent coordinates needed to describe the (a) (b)
be applicable to any machine in which a specific has six de-
mechanism may be employed. It is also a kinematic positions of pairing elements. A rigid body Fig.2.4 (a) Self-closed Pair, (b) Force-closed Pair
2.3. Depending on the
chain with one of its components (link or joint) con- gree of freedom as shown in Fig
constraints imposed on the motion, the body may loose
nected to the fixed frame.
Some of the six degrees of freedom.

Planar Mechanism: Mechanism in which all points of

of its links describe paths located in parallel planes.
Fig. 2.1. A shaping machine Constraint: Any condition that reduces the degree
some other link so constituting a kinematic pair. The freedom of a system.
Link: Mechanism element (component) carrying connecting rod of an internal combustion engine is
kinematic pairing elements. Thus, the crank, sliding Closure of a Kinematic Pair: Process of constrain-
shown in Fig. 2.2a. The big-end (one
element) is con- two rigid bodies to form a kinematic pair by
force
block, rocker arm, connecting link and the ram are the nected to the crank-pin and the small end ing
(another
ele-
(force closure), geometric shape (form
closure or self
links of the shaping machine. ment) to the piston-pin. Since it is a rigid body, this link
is usually closed), or flexible materials (material closure).
Bar: Link that carries only revolute joints,
represented as a line as shown in Fig. 2.2b
with its two end elements
by small circles goint) In Force-Closed [Open] Pair: Kinematic pair the ele a b)
Element (Pairing Element): Assembly of surfaces, other words, the part of a link which is held in contact by means of external
connected to a ments of which are
lines or DOints of a link through which 1t may contact neighboring link is called an element.
forces. Fig. 2.5 (a) Self-closed Higher Pair, (6) Force-closed Higher Pair
 Problems
Theory of Machines through Solved Planar Mechanisms

Pair that allows only

a

Planar Contact [Sandwich Pair]: Pair for which the

Screw Pair [Helical Pair]: 2.3 GRÜBLER'S CRITERION FOR PLANAR
moton motion between two links,
see Fig. 2,10.8 MECHANISMS motor, the motions of the rest of the links 3 to 6 will be
degree of freedom is three and that allows relative
screw

in parallel planes. A rectangular block between the two The number of

unique
degrees of freedom, F, of a planar Example 2.2: An eight bar linkage is shown in
parallel plates in Fig. 2.6 has only three degrees of freedom. mechanisms with n links,
j lower kinematic Fig
higher kinematic pairs is pairs and h 2.15. Determine the degrees of freedom.

F=3(n-1)--h (2.1)
Forconstrained motion (F=1)
Fig. 2.10 A Screw Pair
formed by surface
2-3n +h+4 =0 (2.2)
Lower Pair: Kinematic pair that is
contact between its elements. If A and B form a pair,
the Although Grübler's criterion is applicable in almost
to element all cases,
a few
path traced by any point on elementA relative exceptions exist, e.g., a fly-press shown
traced by any point on in Fig. 2.13.
(al B is identical with the path
A.
tb) element B relative to element
that is formed by point
Higher Pair: Kinematic pair
Fig. 2.15 A Eight-bar Linkage
Fig. 26 (a) Selt-closed Higher Pair, b) Force-cdlosed Higher Palir elements.
or line contact between its There arefive binary links (=5), two ternary links
Spherical Pair. Pair for which the degree of freedom (73-2) and one quaternary link (,=1).The number of
is three and that allows independent relative rotations 2.2 ELEMENTARY MECHANISMS
joints are
about three separate concurrent axes

Cylindrical Pair: Pair for which the degree of Minimum number oflinks to form a
kinematic chain is three,
j={(2x5+3 x2+4x1) 10
freedom is two and that allows a rotation about a par as shown in Fig. 2.11a. Since no relative
motion is possible
between these links, it foms a structure. The simplest The number of degrees of freedom from equation
ticular axis together with an independent translation in
2.1) is
this axis. A round shaft in a coaxial kinematic chain has four links, as shown in Fig 2.11b.
the direction
cylinder in Fig. 2.7 has only two degrees of freedom. o i s F= 3(8-1)-2x10 = 1

Thus, this linkage has also one degree of freedom. If

the link 1 is fixed to a frame and the link 2 is driven by

A
Fig. 2.13 A Fly Press a motor, the motions of the rest of the links 3 to 8 will be

Example 2.1: A six bar linkage is shown in Fig. 2.14 unique

(al (b) a sttrraai Determine the degrees of freedom. Example 23: A seven bar linkage is shown in Fig.
2.16. Determine the degrees of freedom
Fig 2.7 (a) Se-dosed Higher Pair. () Force-closed Higher Pair 2
Turning Pair [Revolute Pair, Hinge!: Pair that allows
only a rotary motion between its elements, see Fig. 2.8.

Fig. 2.11 (a) A structure (b) A Kinematic Chain

Increasing number of links from four to five as in Fig.
2.12a, the constraint of the system is completely lost. If O6 7m
Fig. 2.14 A Six-bar Linkage
number of links is increased to six as in Fig. 2.12b,
the
the constraint
There are four binary links and two ternary links. The 02 7 O4
Fig. 2.8 A Turning Pair
is regained. number of joints are (you can count them directly from 1

Sliding Pair [Prismatic Pair]: Pair that allows only tiaten Fig. 2.14 or use the following formula) Fig. 2.16 A Seven-bar Linkage

a rectilinear translation between two links, see Fig. 2.9. There are five binary links, 2, 4, 5, 6 and 7 (7, = 5),
j=(2n+3n,) (2x4+3x2) = 7
and two ternary links, 1 and 3 (ns =2). Here, link 1 is
The number of degrees of freedom from equation fixed and has three turning pairs (joints or hinges) and
therefore it is a ternary link. The number of joints are
(2.D15id alad)a)tha j=2x5+3x2) = 8

al F 3(6-1)-2x7=1 o
(b)
Thus, this linkage has one degree of freedom. If the The number of degrees of freedom from equation
Fig. 2.9 A Sliding Palr Fig. 2.12 (a) A Five-link Kinematic Chain link I is fixed to a frame and the link 2 is driven by a (2.1) is
(6) Six-link Kinematic Chain 9
 Solved Problems Planar Mechanisms
Theory of Machines through

2.4 FOUR LINK CHAINS Crossed Double Slider Chain A

quadric cycle
F 3(7-1)-2x8 2 chain with two
sliding pairs located
freedom. If Four link chains with
lower pairs are schematically
rep-
other, Fig. 2.19c opposite to each
Thus, this Iinkage has also two degrees of
the link 1 is fixed to a frame, we need two inputs, e.g resented as shown in Fig. 2.19(a) to (d).
Double Slider Chain: A
links 2 and 5 to be driven, then the motions of the rest of two quadric cycle chain with
sliding pairs located next to
the links 3, 4, 6 and 7 will be unique. each other, Fig. 2.19d.
Example 2.4: A six bar linkage is shown in Fig.
2.17. 2.5 KINEMATIC INVERSION
Link 6 has a sliding motion on the fixed frame link 1
Determine the degrees of freedom. Four-Bar Linkage: Linkage with four
binary links.
Four-Bar Mechanism: Mechanism with four
links. binary Fig. 2.20 Crank-lever Mechanism

Crank: Link that rotates

completely about a fixed
Fig. 2.19a Quadric Cycle Chain axis. 6-1) >-1 (2.3)
Rocker [Lever]: Link that oscillates wíthin a 2. Double-Rocker mechanism
limited (Double-Lever
angle of rotation about a fixed axis. mechanism) This is a four bar mechanism with two
rockers as shown in Fig 2.21. In this case
Input [Driving) Link: Link whereby motion and
force are
imparted to a mechanism. (+ld (h+h
02 G+5 < + 4 ) (2.4)
Output [Driven] Link: Link from which required
motion and forces are obtained.
Fig. 2.17 A Six-bar Linkage
There are two binary links, 3 and 6 in this case, the Coupler [Floating] Link: Link that is not directly
remaining four are ternary links. Here, the fixed link 1 connected to the fixed link or frame.
has two lower pairs (joints or hinges) and one higher pair Slider Chain Slider: Link that forms
Fig. 2.19b Single a
prismatic pair (sliding pair)
(sliding pair) with link 6 (which has a lower pair with with one link and a revolute (turning) pair with another
link 5) therefore it is a ternary link. The number of link.
joints (lower pairs) are G = 7) and there is one higher
pair(h= 1). Q Sliding Block: Compact element of
which slides along a guiding element.
a
prismatic pair Fig. 2.21 Double-lever Mechanism

The number of degrees of freedom from equation 3. Double-Crank mechanism Four bar mechanism
Guide: Element of a prismatic pair that is fixed to a
(2.1) is with two cranks.
frame and constrains the motion of a sliding block.

F=3(6-1)-2x7-1=0 Crosshead: Component between a piston and a con-

a Parallel-Crank mechanism Four-bar mechanism
necting rod which by forming a prismatic joint with the having cranks of equal length anda coupler with length
Thus, this linkage has no degrees of freedom. It forms equal to that of the fixed link (frame), see Fig. 2.22.
frame, prOvides a reaction to the component of force in
a structure. Fig. 2.19c Crossed Double Slider Chain
the connecting rod normal to the line of stroke of the

Example 2.5: Show that the five bar linkage in Fig. piston
2.18 is not capable of producing relative motion. Connecting Rod: Coupler between a piston and or a
cross-head and a crank shaft.
n=5,j=6 and therefore F=0.
Kinematic Inversion: Transformation of one

mechanism to into another by choosing a different mem- 02

ber to be the frame (fixed link) Fig. 2.22 Parallel Crank Mechanism
Inversions of Quadric Cycle Chain: Kinematically
speaking all inversions of Quadric Cycle Chain are b. Drag-Link mechanism See Fig. 2.23. In this case

same, however, by suitably altering the lengths of links, >and 4>h

Fig.2.19d Double Slider Chain
, and 4, different mechanisms can be obtained.
Quadric Cycle Chain: Four link chain with all turn- +h-
ing pairs (joints or hinges), Fig. 2.19a. 1. Crank-and-Rocker mechanism (Crank-Lever
mechanism) This mechanism is shown in Fig. 2.20. Link
h6+1) (2.5)
Single Slider Chain: A quadric cycle chain with one 2 is the crank and link 4 is the rocker or lever. Link Branching Condition [Change Point Condition]:
Fig. 2.18 AFive-bar Linkage
ofits turning pair replaced by sliding pair, Fig. 2.195. proportions for this case are: When
 Problems
10 Theory of Machines through Solved o Planar Mechanisms
11
and
(c) h 20 cm, l2=30 cm, 10 cm rods. The crank is common to all
the five
l4=40 cm. is fixed. Link I is the cylinders and
engine block which rotates. Inversions of Double Slider Chain:
Fig. 2.30 il-
Double-Crank mechanism (b) Whitworth Quick Return Justrates how a double slider chain is formed.
and 2.27.Link 3 is the crank here. mechanism See Fig
(a) 110 cm, /2 20 cm, 3=30 cm I drives a cutting tool Slider 4drives link 1.Link
l440 cm through the connecting rod 5.
forward stroke starts with link 3 in The
40 and
(6) 1 =10 cm, 2 = 20 cm, l3 = cm
at AP through AS. The position AQ and ends
return motion is faster
la= 30 cm. (Change Point) from AP
through AR to AQ
3= 20 and
(c) 1 10 cm, 230cm,
cm

l4=40 cm
Chain: Link 4 of a four
Inversions of Single Slider
is replaced by a slider,
bar mechanism with turning pairs Fig. 2.30 A Double Slider Chain
form a single slider chain. s 1 Imversion with Link 1 fixed Scotch-Yoke
see Fig. 2.24 to

mechanism, see Fig. 2.31. Four-bar mechanism in which

Fig. 2.23 Drag Link Mechanism a crank is connected
bya slider with another link which,
(+-+1 (2.6) in turn, forms a
prismatic pair with the frame. Kinemati-
P cally, these are same as fixing link 3.
the mechanism suffers from branching or change point
condition. At the change point, the center lines of all
links become collinear and the output link may sufter a

change in direction unless additional guidance is Fig. 2.27 The Quick Return Mechanism
provided. [Note that a given four-bar mechanism can be 3. Inversions with Link 3
fixed
drawn in two configurations, one normal-linked and the a9tFig. 2.24 A Single Slider Mechanism9lqua
(a) Oscillating Cylinder Engine See
other cross-linked] 1. Inversion with Link 1 fixed Reciprocating engine
Fig. 2.28.
mechanism, see Fig, 2.25
Example 2.6: The link lengths of a quadric cycle v ait roie
chain are Fig. 2.31 The Scotch Yoke Mechanism
h=10cm, =20 cm, =30 cm and l=40cm. 2. Inversion with Link 2
fixed This gives rise to
Oldhams coupling in Fig. 2.32. Links I and 3 have
Find all the inversions
02 slotted groOves to form
sliding pairs with corresponding
1. Crank-and-Rocker mechanism (Crank-Lever faces of link 4
mechanism) Fig. 2.28 The
Oscillatory Cylinder Engine Mechanism
(a) 20 cm, 2= 10 cm, l3 = 30cm and (b) Quick Return mechanism See Fig. 2.29. Link 2 is
la=40 cm. (Change Point) Fig. 2.25 A Reciprocating Engine Mechanism the crank, link 4 is the rocker arm. The forward
stroke
(6) I = 20 cm, 2 = 10 cm, I3 = 40 cm and 2. Inversions with Link 2fixed starts with link 2 in position P and ends at Q through S.
The return motion is faster
la=30 cm. fromQ through Rto P.
(a) Rotary Engine See Fig. 2.26. The engine shown
) h=30 cm, h = 10 cm, s= 20 cm and has five cylinders. Out of the five connecting rods, one
l4 s40 cm. (Change Point) is a master connecting rod and the other four are slave
(d) l= 30 cm, 2= 10 cm, l3 = 40 cm and
l4= 20 cm
Fig. 2.32 The Oldhams Coupling9
(e) l1= 40 cm, h = 10 cm, 3 = 20 cm and
3. Iversion with Link 4
fixed This gives an Elliptic
l4=30cm. shdo197 Trammel mechanism, see Fig. 2.33.
(0 h= 40 cm. h = 10 cm, la = 30 cm and
l4=20 cm
Double-Rocker mechanism (Double-Lever
mechanisSm)
(a) li = 40 cm, 2= 20 cm, l3= 10 cm and
l430 cm
(b) Ii= 30 cm, l2= 20 cm, l3 = 10 cm and
Fig. 2.29 The Quick Retum Motion Mechanism

l4= 40 cm. 4. Inversion with Link 4 fixed These are same as case
Fig. 2.33 An Eliptcal Trammel Mechanism
Fig. 2.26 Rotary engine
 Problems
12 Theory of Machines through Solved
Planar Mechanisms
2.6 COMPUTER AIDED LEARNING AND those connected to ground links are represented by
ANALYSIS OF PLANAR smaller diameter circles. the linkage, if
so what
LINKAGES number of degrees of type? () Determine the the linkage, if so what type? () Comment on the
CALOPL is a computer program that you can use to
Use CALOPL to draw these linkages and see if you freedom number of degrees of freedom.
can animate them and understand how these linkages 3. Refer to Fig. Addl.
Pr. 2.3.
look at different mechanisms discussed in this section. of and type of Identify (a) Number 4. Refer to
The program allows you to visualize the mechanisms in
work as mechanisms. links (b) Different elements Fig. Addl. Pr. 24, Compare this linkage
Identify (a) Number ()Kinematic pairs and their type (d) with that of Addl. Pr. 2.1 above
and make any
animation and also create your own linkages. This pro- 1 Refer to Fig. Addl. Pr. 2.1.
schematic diagram Draw comments you have
gram is completely user friendly and comes with an of and type of links (b) Different elements representing its kinematic
chain (c) Is there a basic
operating manual. () Kinematic pairs and their type (d) Draw quadric cycle chain in
schematic diagram representing its kinematic
Is there basic quadric cycle chain in
chain (e) a

2.7 ADDITIONAL PROBLEMS what type? (H Determine the

the linkage, if so

number of degrees of freedom.

For all the problems below, learn to use AUTOCADD
Addl. Pr. 2.2. Identify (a) Number
program and draw the linkages. If you want, dimensions 2. Refer to Fig.
of and of links (6) Different elements (c)
of these linkages can be taken from the problems listed type
and their type (d) Draw
Kinematic pairs
in Chapter 3. Identify the hinges of moving
links with
the frame or fixed link or sliding pairs of sliders with the schematic diagram representing its kinematic

there basic quadric cycle chain in

frame following the notations used. Hinges other than chain (e) Is a

Fig. Addl. Pr. 2.3

Fig. Addl. Pr. 2.1

Oa

Fig. Addl. Pr. 2.4

6
Fig. Addl. Pr. 2.2
14 Problems
Theory of Machines through Solved

ao
D 6
4

8 E

5 2in

Fig. Addl. Pr. 2.5

5. Refer to Fig. Addl. Pr. 2.5. Identify (a) Number

of and type of links (b) Different elements

(c) Kinematic pairs and their type (d) Draw

3
schematic diagram representing its kinematic
chain (e) Is there a basic quadric cycle chain in
the linkage, if so what type? (1) Determine the
number of degrees of freedom.

6. Refer to Fig. Addl. Pr. 2.6. Identify (a) Number

D2 Fig. Addl. Pr. 2.6

of and type of links (b) Different elements chain (e) Is there a basic quadric cycle chain in
(c)Kinematic pairs and their type (d) Draw the linkage, if so that type? () Determine the
schematic diagram representing its kinematic number of degrees of freedom.