INVERSION OF MECHANISMS

When one of the links is fixed in a kinematic chain, it is called a mechanism. By

fixing the links of a kinematic chain one at a time, we get as many different mechanisms

as the number of links in the chain. This method of obtaining different mechanism by

fixing different links of the same kinematic chain is known as inversion of the

mechanism. In the process of the inversion, the relative motions of the links of the

mechanism produced remain mechanized in any manner, but their absolute motions

(those measured with respect to the fixed link) may be changed drastically.

Types of kinematic chains and their inversions

The simplest and most important kinematic chains are those which consist of four

kinematic pairs (lower pairs), each pair being a sliding pair or a turning pair. the

important types of kinematic chains with four lower pairs are:

i. Four bar chain or quadric cyclic chain,

ii. Single slider crank chain and

iii. Double slider crank chain

Four Bar Chain

The simplest and the basic kinematic chain is a four-bar chain or quadric chain

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
 Fig. 2.5 is a four-bar chain consisting of four links, each of them forms a turning

pair A, B, C, D. the four links may be of different lengths. A link that makes complete

revolution is known as the crank. The fixed link is known as frame of the mechanism.

The link opposite to the fixed link is known as coupler or connecting rod. The fourth

link is known as lever or rocker (if it oscillates) or another crank (if it rotates).

In case of four-bar mechanism, the following points must be considered:

i. If the length of one of the links is greater than the sum of the lengths of the

other three links, four-bar mechanism is not possible.

ii. According to Grashoff’s law for a four-bar mechanism, the sum of the

shortest and longest link lengths should not be greater than the sum of the

remaining two link lengths if there is to be continuous relative motion

between the two links. Stating Grashof’s law mathematically

Let S= shortest link L = longest link

Length length

P & q = length of other links

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
Grashof’s law states that

L + S < P + q ……………………… (29)

To identify the nature of mechanism, Grashof’s law is used. According to this law if the

chain or mechanism belongs to Grashof’s chain type, then

L +S < p +q

All other chains, which do not satisfy the above law (i.e. eqn. 29) are known as

“non-Grashof’s” type and belong to Rocker-rock type of mechanisms or chains

Note

It a kinematic chain satisfies grashof’s law and

- The shortest link is fixed, the mechanism belongs to the category of double crank

mechanism

- If neither the shortest link nor the link opposite to the shortest link is fixed, then

the mechanism or kinematic chain is of category of “Crank-Rocker” type

iii. One of the links (shortest link) should make a complete revolution relative to the

other three links

Inversions of Four Bar Chain

The following are important inversions of four bar chain

i. Crank and lever mechanism

ii. Double crank mechanism

iii. Double lever mechanism

Crank and lever Mechanism: The four links of the bar chain are 1,2,3,4, (fig. 2.6).

The link 1 is fixed and the lengths of the links 2, 3 and 4 are proportionate in such a
Note prepared by Dr. H. A. Owolabi
Dept. of Mechanical Engineering
OAU, Ile-Ife.
way that crank BA is able to rotate completely. The follower CD only oscillate from C1

to C2 as shown in fig 2.6. The initial position of the mechanism is shown by full lines

whereas the dotted lines show the mechanism for two extreme different positions.

Double Crank Mechanism: A typical example of a double crank mechanism is the

coupled wheels of a locomotive which consists of four links.

The links AB and CD are of equal lengths and acts as cranks. These cranks are

connected to respective wheels. The link AD is a fixed link and link BC acts as a

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
compiling rod. This mechanism is used for transmitting rotary motion from one wheel

to the other wheel.

Double lever Mechanism: An example of a double lever mechanism is a pantograph

which is a copying device. The exact motion of any link to a reduced or enlarge scale

can be obtained with the help of this device.

Single Slider Crank Chain

A single slide crank chain is a modification of the basic for bar chain. It consists

of one sliding pair and three turning pairs, as shown in figure 29. It is usually found in

reciprocating steam engine mechanism. This type of mechanism converts rotary motion

into reciprocating motion and vice versa.

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
 The link 1 corresponds to the frame of the engine, which is fixed. The link 2

corresponds to the crank; link 3 corresponds to the connecting rod and link 4

corresponds to cross-head. As the crank rotates, the cross-head reciprocates in the

guides and thus the piston reciprocates in the cylinder.

Inversions of single slider crank chain

If different links of single-slider crank chain are fixed in turn four different

mechanism, known as inversions, will be obtained.

First Inversion

When link 1 is fixed, link 2 is made crank and link 4 is made slider, then first

inversion of single slider crank chain is obtained. This inversion is shown in figure

2.10(a). here the

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
Link 1 corresponds to frame which is fixed. Link 2 corresponds to crank, link 3

corresponds to connecting rod and link 4 corresponds to slider. This inversion is used

in reciprocating engine and reciprocating compressor as shown in fig.2.10(b). In the

case of reciprocating engine, the link 4 becomes the driver whereas in case of

reciprocating compressor, link 2 (crank) is the driver.

Second Inversion

When link 2 (or crank) is fixed, the second inversion of single slider crank chain

is obtained as shown in fig. 2.11. Link 3 along with the slider at its end C, becomes a

crank. Hence link 3 along with slider (link 4) about B. By doing so, the link 1 rotates

about A long with the slider (link 4) which reciprocates on link 1.

This inversion is used in white worth quick-return mechanism and rotary engine.

White worth Quick-Return Mechanism: This mechanism is used in workshops to cut

metals. The forward stroke cuts the metal whereas the return stroke is idle. The forward

stroke takes a little longer period whereas the return stroke takes a shorter period.

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
Figure 2.12 shows this the whiteworth Quick-Return Mechanism in which link 2 is

fixed. The link 3 along with its slider (i.e. link 4) rotates in a circle about B. by doing

so, the link 1 rotates A along with slider which reciprocates on link 1. On the link 1,

produced downward is a point D where link 5 is connected. The other end of link 5 is

connected to the tool (link 6). The forward stroke of the tool cuts the metal whereas the

return stroke is idle. The point D rotates in a circle about point A.

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
The axis of motion of the tool passes through A and is perpendicular to AB, the fixed

link. The crank 3 rotates in a counter-clockwise direction. Let, initially the slider 4 be

at G. the point D will be then at D, and the tool 6 will be at E, (i.e., the extreme left

position). As the crank rotates counterclockwise form point G to C and then to C2, the

point D will move from D1 to D and then D2. The tool (link 6) will move from E1 to E2

(i.e., extreme right position). The movement of tool 6 from t1 to t2 is known as forward

stroke. The time taken for the forward stroke of tool 6 is proportional to the angle α

(i.e., obtuse angle C1 to C2). When the slider 4 moves from C2 to C1 counter-clockwise,

the tool 6 moves from E2 to E1. The movement of tool from E2 to E1 is known as return

stroke (or backward stroke). The time taken for the return stroke of tool 6 is proportional

to angle β (i.e., acute angle C2BC1). So, we have the relation as

𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 𝑜𝑜𝑜𝑜 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝛼𝛼 𝛼𝛼

= = ……………………………. (30)
𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 𝑜𝑜𝑜𝑜 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝛽𝛽 360𝑂𝑂 −𝛼𝛼

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
Another example of second inversion of single slider crank chain is Rotary Engine or

rotary internal combustion engine.

Third Inversion: When link 3 of figure 2.10(a) is fixed the third inversion of single

slider crank is obtained as shown below

Link 2 acts as a crank and is rotating about point B. Link 4 oscillates.

The third inversion of single slider crank is used in oscillating cylinder engine and crank

and slotted-lever mechanism.

Crank and Slotted-Lever Mechanism

Crank and slotted-lever mechanism is mostly used in shaping machines, slotting

machines and in rotatory internal combustion engines. Figures 2.13(a) shows on crank

and slotted lever mechanism, in which link 1 is a slider which slides in a slotted lever

which is link 4. Link 3 is fixed and link 2 is a crank which rotates in a clock-wise

direction about point B in a circle. Due to this the link 4 oscillates about point C.

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
 Link 4 is extended to point D to which DE (i.e., link 5) is connected. At the end

of link 5, cutting tool i.e. link 6 is attached. Link 6 is constrained to slide as shown in

figure 2.13(a).

Figure 2.13(b) shows the two extreme positions of the crank. The first position

is when the crank (i.e., link 2) is at right angles to link 4 (or link 4 is tangential to crank

radius circle at point A1). The remaining corresponding points in this position will be

D1 and E1 as shown in figure 2.13(b). The stroke of the cutting tool starts from point E1.

The crank is rotating in clock-wise direction. The end of the cutting stroke is marked

by point E2, when again crank after having rotated through an angle α in the clock-wise

direction is again at right angles to the link 4 at position A2. Hence the cutting stroke

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
occurs when crank rotates through an angle α and return stroke occurs when crank

rotates through an angle β or (360-α) in the clock-wise direction.

Since the crank has a uniform angular speed, therefore

𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 𝑜𝑜𝑜𝑜 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝛼𝛼 𝛼𝛼

= =
𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 𝑜𝑜𝑜𝑜 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝛽𝛽 360𝑂𝑂 − 𝛼𝛼

Since the tool travels a distance E1E2 during cutting and return stroke, therefore

travel of the tool or length of stroke will be,

E1E2 = D1D2 = 2D1F = 2CD1 Sin < D1 CF

𝛽𝛽 𝛽𝛽
= 2 CD1 Sin (90O- ) = 2𝐶𝐶𝐶𝐶 𝐶𝐶𝐶𝐶𝐶𝐶 ( 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝐶𝐶𝐶𝐶, = 𝐶𝐶𝐶𝐶)
2 2

𝐵𝐵𝐵𝐵1 𝐵𝐵 𝐵𝐵𝐵𝐵1
= 2 CD x ( Cos = )
𝐵𝐵𝐵𝐵 2 𝐵𝐵𝐵𝐵

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
 𝐵𝐵𝐵𝐵
= 2 CD x ………………………………………. (31)
𝐵𝐵𝐵𝐵

From figure 2.13(b), it is observed that the angle α made by the forward or cutting

stroke is greater than the angle β described by the return stroke. Since the crank rotates

with uniform angular speed, therefore the return stroke is completed within shorter time.

Thus, it is called a quick return motion mechanism.

Fourth Inversion: When link 4 of figure 2.10(a) is fixed, the fourth inversion of single

slider crank chain is obtained as shown in figure 2.14(a). Link b can oscillate about the

fixed-point C on link 4. This makes end B of link 2 to oscillate about C and end A to

reciprocate along the axis of fixed link 4. This inversion is used in hand-dump as shown

in figure 2.14(b). Link 4 is made in the form of a cylinder and plunger fixed to the link

1, reciprocates in the cylinder.

Double-Slider Crank Chain

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
 It consists of four pairs out of which two are turning pairs and other two a sliding

pair. Also, the two pairs of the same kind are adjacent. Double-slider crank chain is

shown in figure 2.15. Link 1 and Link 2 is sliding pair, link 2 and link 3 is turning pair,

link 3 and link 4 is second turning pair, link 4 and link 1 is second sliding pair. Hence

there are two turning pairs and two sliding pairs. Also, the pairs of the same kind are

adjacent. Two adjacent pairs 23 and 34 are turning pairs whereas the other two pairs 12

and 14 are sliding pairs.

Inversions of Double-Slider Crank Chain

By fixing different links in turn of the double-slider crank chain, different

mechanism (known as inversions) will be obtained.

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.
 When link 1 of fig. 2.15 is fixed, the first inversion is obtained. This invasion is

used in elliptical ellipses. When either link 2 or link 4 of the double-slider crank chain

is fixed, the second inversion is obtained. This inversion is used in Scotch Yoke, a

mechanism which is used for converting rotary motion into a reciprocating motion.

When link 3 of the double-slider crank chain in fig. 2.15 is fixed and link 1 is

free to move, third inversion is obtained. This inversion is used in Oldhan’s coupling

which is used for connecting two parallel Shafts when the distance between the two

shafts is small.

Note prepared by Dr. H. A. Owolabi

Dept. of Mechanical Engineering
OAU, Ile-Ife.