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Linkage and Mechanism

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18 views10 pages

Linkage and Mechanism

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khadkasweekar44
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Theory of Mechanism and Machine I

ME 653
Chapter 2: Linkage and Mechanism

Bikki Chhantyal
Assistant Professor, Mechanical Engineering
Department of Automobile and Mechanical Engineering
IOE, Thapathali Campus

Tuesday, November 20, 2024


Position Analysis of the four-bar mechanism

Link 1 is the frame, or ground, and is generally stationary.

Link 2 is the driver, which may rotate completely or may oscillate.

If link 2 rotates completely, then the mechanism is transforming


rotary motion into oscillatory motion.

If the crank oscillates, then the mechanism multiplies oscillatory


motion.

Linkage locking

These dead points will occur when the line of action of the
driving force is directed along link 4.

Represented by dashed line.

11/21/2024 Bikki Chhantyal | TMM I – Linkage and Mechanism 2


Position Analysis of the four-bar mechanism
Transmission angle

From O2AO4: 𝑧 2 = 𝑟12 + 𝑟22 − 2𝑟1 𝑟2 cos 𝜃2

From ABO4: 𝑧 2 = 𝑟32 + 𝑟42 − 2𝑟3 𝑟4 cos 𝛾

𝑧 2 − 𝑟32 − 𝑟42
𝛾= cos −1
−2𝑟3 𝑟4

𝛾 = 𝑓(𝜃2) for given r1,r2,r3,r4

For best transmission of force within the mechanism, links


3 and 4 should be nearly perpendicular throughout the
motion cycle.

If the transmission angle deviates from + 90 or -90 by


more than about 45 deg or more the link tends to bind
because of fiction in the joints; also links 3 and 4 tend to Minimum and Maximum transmission angle.
align and may lock.

11/21/2024 Bikki Chhantyal | TMM I – Linkage and Mechanism 3


Position Analysis of the four-bar mechanism
Output angle

𝜃4 is an output angle.
𝑧 2 +𝑟12 −𝑟22
From O2AO4: cos 𝛽 =
2 𝑧𝑟1

𝑟32 +𝑟42 −𝑧 2
From ABO4: cos 𝛾 =
2𝑟3 𝑟4

𝜃4 = 180 − (𝛼 + 𝛽)

For 0∘ ≤ 𝜃2 ≤ 180∘ , 0∘ ≤ 𝛽 ≤ 180∘

For 180∘ ≤ 𝜃2 ≤ 360∘ , 180∘ ≤ 𝛽 ≤ 360∘

The process of finding the variable output angles of a mechanism as functions of the input angle is
known as position analysis.

11/21/2024 Bikki Chhantyal | TMM I – Linkage and Mechanism 4


Position Analysis of the four-bar mechanism
For the four-bar linkage shown in figure below with r1 = 7 in., r2 = 3 in, r3= 8 in., r4 = 6
in and 𝜃2 = 60∘ , Find the transmission angle 𝛾 and the output angle 𝜃4 .

11/21/2024 Bikki Chhantyal | TMM I – Linkage and Mechanism 5


Four bar linkage motion and Grashoff’s law
Grashof’s Law states that for a four-bar linkage system, if the sum of length of shortest and
longest of a planar quadrilateral linkage is less than or equal to the sum of the remaining two links ,
then the shortest link can rotate freely with respect to neighbouring link.

L = Longest
S = shortest
P, Q = other two

L+S ≤ P+Q

Case I: L+S < P+Q

i) Double Crank Mechanism :-


It is also known as Crank Crank Mechanism or Drag Link Mechanism.
In double crank mechanism, the shortest link which is S is fixed or grounded. In this mechanism, both
the links pivoted to the fixed link can rotate 360 degrees.

11/21/2024 Bikki Chhantyal | TMM I – Linkage and Mechanism 6


Four bar linkage motion and Grashoff’s law
Case I: L+S < P+Q

i) Double Crank Mechanism :-


It is also known as Crank Crank Mechanism or Drag Link Mechanism.
In double crank mechanism, the shortest link which is S is fixed or grounded. In this mechanism, both
the links pivoted to the fixed link can rotate 360 degrees.

ii) Double Rocker Mechanism :-


In double rocker mechanism, the link opposite to shortest link is fixed or grounded. In this mechanism
the shortest link can rotate 360 degrees. Shortest link is called coupler. Both the links pivoted to the
fixed links can oscillate. These two links are called rockers.

iii) Crank and Rocker Mechanism :-


In Crank and Rocker Mechanism , the link adjacent to shortest link is fixed or grounded. In this
mechanism, shortest link rotates and the other link pivoted to the the fixed link oscillates.

11/21/2024 Bikki Chhantyal | TMM I – Linkage and Mechanism 7


Four bar linkage motion and Grashoff’s law
Case II: L+S = P+Q

The length of all links are distinct


In this case, the inversions obtained are same as in the case S + L < P + Q. which are :- double crank,
double rocker and crank rocker

The length of any two link are same


If the length of any two links are same, then the length of remaining two links will also be same due to
equation S + L < P + Q.

In such case, two linkages are possible base on placement of links:-


a) Parallelogram Linkage :- In this linkage, links of equal lengths are placed opposite to each other.
b) Deltoid Linkage :- In this linkage, links of equal lengths are placed adjacent to each other.

11/21/2024 Bikki Chhantyal | TMM I – Linkage and Mechanism 8


Four bar linkage motion and Grashoff’s law
L+S > P+Q

In this case, no link can make a complete revolution no matter which of the four link is fixed. So this
case has only one inversion and that is

Triple Rocker Mechanism :- In this mechanism no link will be able to make a complete revolution .
All the three links other than the fixed link will oscillate. These three links are called rockers and
hence the mechanism is called triple rocker mechanism.

11/21/2024 Bikki Chhantyal | TMM I – Linkage and Mechanism 9


Questions?

End of the slide

11/21/2024 Bikki Chhantyal | TMM I - Introduction 10

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