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Function, Path and Motion Generation

The design of a mechanism for a desired motion can be
based on the following:

• Function Generation: correlation of an input motion with an output

motion in a mechanism. E.g. rocker to and fro angular motion.

• Path Generation: it is the control of a point in the plane such that it

follows some prescribed path. E.g. rocker output with complex
motion.

• Motion Generation: it is the control of a line in the plane such that it

assumes some prescribed set of sequential positions. E.g. bucket of
a bulldozer.

• We will focus on 2-D mechanisms. Can use and extend to 3-D spatial
mechanisms
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 Limiting Conditions

• One does not want to spend a great deal of time

analyzing a design that can be shown to be inadequate
by some simple and quick evaluations.

• It is necessary to have some quick checks to avoid

limiting conditions such as below.

• Quick checks:
o Toggle Positions
o Stationary Positions
o Transmission Angles

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 Limiting Conditions
• Toggle Positions: Check that the linkage can reach all the specified
design positions without encountering a limit position.

Determined by
co-linearity of 2
moving links.
Non-grashof fourbar
will have 4 toggle
Positions

A grashof double-
rocker will have 2
toggle positions

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 Limiting Conditions
• Stationary Positions: Two stationary positions can be
seen for the grashof crank-rocker: extended colinear or
overlapping colinear.

Cannot be driven from rocker

But ok from crank since grashof

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 Limiting Conditions
• After synthesis of a double or triple rocker, it is important
to check for toggle positions.

• We can use a scaled model of the linkage to check.

• A toggle position may not be a bad thing. Provides self-

locking feature as in tailgate motion.

• It is only bad if it prevents motion to a desired position.

• Same applies to other limiting conditions

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Limiting Conditions

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 Limiting Conditions

• Transmission Angle: is the

angle 𝜇, between the output link
and the coupler during motion.
• Usually, it is the absolute value of
the acute angle of the pair of
angles at the intersection of the
two links and varies continuously
from some minimum to some
maximum value as the linkage
goes through its range of motion.
• Keep the minimum transmission Measure of quality of force
angle above 40 deg to promote and velocity at joint.

smooth running and good force See tailgate example

transmission. and Fig. 3.3 (b)
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 Dimensional synthesis

• We will focus on dimensional synthesis initially - to determine the

lengths of links required to achieve a desired motion.
• The graphical method is a quick and simple way for the fourbar
linkage and works well for up to 3 design positions.
• Otherwise for more design positions it is best to use analytical
means.
• To carry out the graphical synthesis you need:
compass, protractor and ruler

• We will look at examples of two-position and three position

synthesis. Please watch position synthesis video in textbook DVD
• Two-position synthesis can be divided into 2 categories:
1. rocker output (pure rotation) – mainly grashof crank-rocker
2. coupler output (complex motion) – mainly triple-rocker

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 Two-Position Synthesis
Design a fourbar Grashof crank-rocker to give 45 deg of rocker rotation with
equal time forward and back, from a constant speed motor input.

1. Draw the output link O4B in both extreme

positions, B1 and B2 in any convenient
location, such that the desired angle of motion
θ4 is subtended.
2. Draw the chord B1B2 and extend it in either
direction.
3. Select a convenient point O2 on line B1B2
extended.
4. Bisect line segment B1B2, and draw a circle of
that radius about O2.
5. Label the two intersections of the circle and
B1B2 extended, A1 and A2. 2

6. Measure the length of the coupler as A1 to B1

or A2 to B2.
7. Measure ground length 1, crank length 2, and
rocker length 4.
8. Find the Grashof condition. If non-Grashof,
redo steps 3 to 8 with O2 farther from O4.
9. Make a model of the linkage and check its
function and transmission angles.
10. Input into the program LINKAGES to simulate.
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 Two-Position Synthesis

Can have different layout – just an example

You can try and build a model to see if it works

Note: crank center aligned with B1B2 – non quick-return

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Two-Position Synthesis

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 Two-Position Synthesis
Design a fourbar linkage to move link CD from position C1D1 to C2D2.

1. Draw the link CD in its two desired

positions, C1D1 and C2D2.
2. Draw construction lines from point C1 to
C2 and from point D1 to D2.
3. Bisect line C1C2 and line D1D2 and
extend their perpendicular bisectors to
intersect at O4. Their intersection is the
rotopole.
4. Select a convenient radius and draw an
arc about the rotopole to intersect both
lines O4C1 and O4C2. Label the
intersections B1 and B2.
5. Do steps 2 to 8 of the earlier example to
complete the linkage.
6. Make a model of the linkage and
articulate it to check its function and its
transmission angles.

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 Two-Position Synthesis

Trick is to find rotopole

Then proceed as e.g. before
Make assumptions and check
Iterate if necessary

Note link 4 is rigid

L-shape

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Two-Position Synthesis

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Two-Position Synthesis (Coupler output-motion generation e.g.)
Design a fourbar linkage to move link CD from position C1D1 to C2D2 (with
moving pivots at C and D).
Rotopole not used – assume pivot locations

1. Draw the link CD in its two desired

positions, C1D1 and C2D2.
2. Draw construction links from point C1 to
C2 and from D1 to D2.
3. Bisect line C1C2 and line D1D2 and
extend the perpendicular bisectors in
convenient directions. The rotopole will
not be used in this solution.
4. Select any convenient point on each
bisector as the fixed pivots O2 and O4,
respectively.
5. Connect O2 with C1 and call it link2.
Connect O4 with D1 and call it link 4.
6. Line C1D1 is link 3. Line O2O4 is link1.
7. Check the Grashof condition, and repeat
steps 4 to 7 if unsatisfied.
8. Construct a model
9. Check the transmission angles.
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 Two-Position Synthesis

assume pivot locations – rotopole not used

Iterative
No limits at ends – if needed require addition of 2 extra links
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Two-Position Synthesis (Dyad)

Add links 5 and 6 following

e.g. 3-1.
Note B1 does not need to lie
on line joining O2C1

See example 3.4 of textbook 18

 Two-Position Synthesis

See example 3.4 of textbook

If B1 is selected below O2 will have

other configuration. Infinite possibilities

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 Three-Position Synthesis with Specified Moving Pivots
Design a fourbar linkage to move link CD from position C1D1 to C2D2 and then
to position C3D3. Moving pivots are at C and D. Find the fixed pivot locations.

1. Draw the link CD in its three desired

positions, C1D1, C2D2, C3D3.
2. Draw the construction lines from C1 to C2
and from point C2 to C3.
3. Bisect line C1C2 and line C2C3 and extend
their perpendicular bisectors until they
intersect. Label their intersection O2.
4. Repeat steps 2 and 3 for lines D1D2 and
D2D3. Label the intersection O4.
5. Connect O2 with C1 and call it link2.
Connect O4 with D1 and call it link 4.
6. Line C1D1 is link 3. Line O2O4 is link 1.
7. Check the Grashof condition. Any Grashof
condition is potentially acceptable in this
case.
8. Construct a model and check its function to
be sure it can get from initial to final position
without encountering any limit positions.
9. Construct a driver dyad using an extension
of link 3 to attach the dyad.
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Three-Position Synthesis with Specified Moving Pivots

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 Three-Position Synthesis with Alternate Moving Pivots

What’s the alternative when the

location of the fixed pivots O2 and
O4 are undesired but we still want
the 3 positions to be reached?

Possible solutions:
Provide alternate attachment points

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Three-Position Synthesis with Alternate Moving Pivots

Complete Watt sixbar with motor at O6 See e.g. 3-6.

Can have infinite number of solutions depending on choice of EF

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 Three-Position Synthesis with Alternate Moving Pivots
Design a fourbar linkage to move link CD from position C1D1 to C2D2 and then
to position C3D3. Use different moving pivot points than CD. Find the fixed pivot
locations.
1. Draw the link CD in its three desired positions,
C1D1, C2D2, C3D3.
2. Define new attachment points E1 and F1 that
have a fixed relationship between C1D1 and
E1F1 within the link. Now use E1F1 to define
the three positions of the link.
3. Draw construction lines from point E1 to E2 and
from point E2 to E3.
4. Bisect line E1E2 and line E2E3 and extend the
perpendicular bisectors until they intersect.
Label the intersection O2.
5. Repeat steps 2 and 3 for lines F1F2 and F2F3.
Label the intersection O4.
6. Line E1F1 is link 3. Line O2O4 is link 1.
7. Check the Grashof condition.
8. Construct a model and check its function to be
sure it can get from initial to final position
without any limit (toggle) positions. If not change
locations E and F and repeat.
9. Construct a dyad.
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Three-Position Synthesis with Alternate Moving Pivots

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 Review: Inversion

• An inversion is created by grounding a

different link in the kinematic chain.
• There are as many inversions of a given
linkage as it has links.

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Review: Inversion

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Review: Inversion

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 Three-Position Synthesis with Specified Fixed Pivots
Invert a fourbar linkage which moves the link CD from position C1D1 to C2D2
and then to position C3D3. Use specified pivots O2 and O4.

Solution: First find the inverted positions of the ground link corresponding to the
three coupler positions specified.

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Three-Position Synthesis with Specified Fixed Pivots

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Three-Position Synthesis with Specified Fixed Pivots

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 Three-Position Synthesis with Specified Fixed Pivots
Design a fourbar linkage to move the link CD from position C1D1 to C2D2 and
then to position C3D3. Use specified pivots O2 and O4. Find the required
moving pivot locations on the coupler by inversion.

Solution: Using the inverted ground link positions E1F1, E2F2 and E3F3 found
earlier, find the fixed pivots for that inverted motion, then reinvert the resulting
linkage to create moving pivots for the three positions of coupler CD that use
the selected fixed pivots O2 and O4.

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Three-Position Synthesis with Specified Fixed Pivots

If we superimpose the figure on

the left to the figure at the bottom,
we will see that the 3 target
positions are achieved.

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Three-Position Synthesis with Specified Fixed Pivots

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Three-Position Synthesis with Specified Fixed Pivots

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Straight-Line Mechanisms

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Straight-Line Mechanisms

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Watt straight-line linkage

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Roberts straight-line linkage

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Chebyschev straight-line linkage

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Hoeken straight-line linkage

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Evans approximate straight-line linkage

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Peaucellier exact straight-line linkage

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