UNIVERSITY OF WAH

WAH ENGINEERING COLLEGE

(Mechanical Engineering Technology Department)

Complex Engineering Problem (CEP)

CRANK SLIDER MECHANISM

CRANK SLIDER MECHANISM:

A slider-crank linkage is a four-link mechanism with three revolute joints and one prismatic (sliding) joint.[1] The rotation
of the crank drives the linear movement of the slider, or the expansion of gases against a sliding piston in a cylinder can
drive the rotation of the crank.

There are two types of slider-cranks: in-line and offset.

1. In-line: An in-line slider-crank has its slider positioned so the line of travel of the hinged joint of the slider passes
through the base joint of the crank. This creates a symmetric slider movement back and forth as the crank
rotates.

2. Offset: If the line of travel of the hinged joint of the slider does not pass through the base pivot of the crank, the
slider movement is not symmetric. It moves faster in one direction than the other. This is called a quick-return
mechanism.

There are also two methods to design each type:

 graphical
 analytical.
Another mechanism that has a very wide usage in machine design is the slider-crank mechanism. It is mainly used to
convert rotary motion to a reciprocating motion or vice versa. Below a she slider-crank mechanism is shown and the
parameters that are used to define the angles and the link lengths are given. As in the four-bar mechanism, the extended
and folded dead centre positions are when the crank and the coupler are collinear (coupler link is commonly called
connecting rod in slider-crank mechanisms). Full rotation of the crank is possible if the eccentricity, c, is less than the
difference between the connecting rod and the crank lengths and the crank length is less than the connecting rod length
(e.g. c<(a3-a2) and a3>a2)
Using the right angled triangles formed at the dead center position

Noting s =se-sf =stroke = the distance slider travels between dead-centers. If we let l= a2/a3 and e = c/a3 , the stroke will

If the eccentricity, c (or a1), is zero ( c = 0) the slider crank mechanism is called an in-line slider-crank and the stroke is
twice the crank length (s = 2a2). If the eccentricity is not zero ( c ¹0), it is usually called an offset slider-crank mechanism.

The transmission angle can be determined from the equation:

a3cos =a2sin -c
12 (1)

Maximum deviation of the transmission angle occurs when the derivative of m with respect to q 12 is zero. Hence
differentiating equation (1) with respect to q 12:

(2)

Maximum or minimum deviation occurs when q 12 is 900 or 2700 (Fig. 7.19 ) and the value of the maximum or minimum
transmission angle is given by:

(3)

If c is positive as shown below, transmission angle is critical when q 12=2700. If c is negative, then the most critical
transmission angle is at q 12=900.
If the eccentricity, c, is zero, maximum value of the transmission angle is:

(4)

In reciprocating pumps, the crank-to-connecting rod ratio is kept less than 1/4, which corresponds to 14.48 0 maximum
deviation of the transmission angle from 90 0. Since the crank length is fixed by the required stroke (a 2 = s/2) one must
increase the connecting-rod length for better transmission angles. However, this will increase the size of the mechanism.

Similar to the transmission angle problem in the four-bar mechanisms, the transmission angle problem in slider-crank
mechanisms can be stated as follows:

In-line kinematics:
The displacement of the end of the connecting rod is approximately proportional to the cosine of the angle of rotation of
the crank, when it is measured from top dead center (TDC). So the reciprocating motion created by a steadily rotating
crank and connecting rod is approximately simple harmonic motion:

where,

x is the distance of the end of the connecting rod from the crank axle, l is the length of the connecting rod, r is the length
of the crank, and α is the angle of the crank measured from top dead center (TDC). Technically, the reciprocating motion
of the connecting rod departs from sinusoidal motion due to the changing angle of the connecting rod during the cycle,
the correct motion, given by the Piston motion equations is:

As long as the connecting rod is much longer than the crank the difference is negligible. This difference becomes
significant in high-speed engines, which may need balance shafts to reduce the vibration due to this "secondary
imbalance".

The mechanical advantage of a crank, the ratio between the force on the connecting rod and the torque on the shaft,
varies throughout the crank's cycle. The relationship between the two is approximately:

where is the torque and F is the force on the connecting rod. But in reality, the torque is maximum at crank angle of less
than α = 90° from TDC for a given force on the piston. One way to calculate this angle is to find out when the Connecting
rod's smalled (piston) speed becomes the fastest in the downward direction given a steady crank rotational velocity.
Piston speed x' is expressed as: For example,

for rod length 6" and crank radius 2", numerically solving the above equation finds the velocity minima (maximum
downward speed) to be at a crank angle of 73.17615° after TDC. Then, using the triangle sine law, it is found that the
crank to connecting rod angle is 88.21738° and the connecting rod angle is 18.60647° from vertical (see Piston motion
equations Example).

When the crank is driven by the connecting rod, a problem arises when the crank is at the center (0°) or bottom center
(180°). At these points in the crank's cycle, a force on the connecting rod causes no torque on the crank. Therefore, if the
crank is stationary and happens to be at one of these two points, it cannot be started moving by the connecting rod. For
this reason, in steam locomotives, whose wheels are driven by cranks, the connecting rods are attached to the wheels at
points separated by some angle, so that regardless of the position of the wheels when the engine starts, at least one
connecting rod will be able to exert torque to start the train.

Design

An in-line crank slider is oriented in a way in which the pivot point of the crank is coincident with the axis of the linear
movement. The follower arm, which is the link that connects the crank arm to the slider, connects to a pin in the center
of the sliding object. This pin is considered to be on the linear movement axis. Therefore, to be considered an in-line
crank slider, the pivot point of the crank arm must be in line with this pin point. The stroke((ΔR4)max) of an in-line crank
slider is defined as the maximum linear distance the slider may travel between the two extreme points of its motion.
With an inline crank slider, the motion of the crank and follower links is symmetric about the sliding axis. This means that
the crank angle required to execute a forward stroke is equivalent to the angle required to perform a reverse stroke. For
this reason, the in-line slider-crank mechanism produces balanced motion. This balanced motion implies other ideas as
well. Assuming the crank arm is driven at a constant velocity, the time it takes to perform a forward stroke is equal to the
time it takes to act a reverse stroke.

Graphical approach

The graphical method of designing an in-line slider-crank mechanism involves the usage of hand-drawn or computerized
diagrams. These diagrams are drawn to scale for easy evaluation and successful design. Basic trigonometry, the practice
of analyzing the relationship between triangle features to determine any unknown values, can be used with a graphical
compass and protractor alongside these diagrams to determine the required stroke or link lengths.

When the stroke of a mechanism needs to be calculated, first identify the ground level for the specified slider-crank
mechanism. This ground level is the axis on which both the crank arm pivot point and the slider pin are positioned. Draw
the crank arm pivot point anywhere on this ground level. Once the pin positions are correctly placed, set a graphical
compass to the given link length of the crank arm. Positioning the compass point on the pivot point of the crank arm,
rotate the compass to produce a circle with radius equal to the length of the crank arm. This newly drawn circle
represents the potential motion of the crank arm. Next, draw two models of the mechanism. These models will be
oriented in a way that displays both the extreme positions of the slider. Once both diagrams are drawn, the linear
distance between the retracted slider and the extended slider can be easily measured to determine the slider-crank
stroke.

The retracted position of the slider is determined by further graphical evaluation. Now that the crank path is found, draw
the crank slider arm in the position that places it as far away as possible from the slider. Once drawn, the crank arm
should be coincident with the ground-level axis that was initially drawn. Next, from the free point on the crank arm, draw
the follower link using it's measured or given length. Draw this length coincident with the ground level axis but in the
direction toward the slider. The unhinged end of the follower will now be at the fully retracted position of the slider.
Next, the extended position of the slider needs to be determined. From the pivot point of the crank arm, draw a new
crank arm coincident with the ground level axis but in a position closest to the slider. This position should put the new
crank arm at an angle of 180 degrees away from the retracted crank arm. Then draw the follower link with its given
length in the same manner as previously mentioned. The unhinged point of the new follower will now be at the fully
extended position of the slider.

Both the retracted and extended positions of the slider should now be known. Using a measuring ruler, measure the
distance between these two points. This distance will be the mechanism stroke, (ΔR4)max.

Analytical approach

To analytically design an in-line slider crank and achieve the desired stroke, the appropriate lengths of the two links, the
crank and follower, need to be determined. For this case, the crank arm will be referred to as L2, and the follower link will
be referred to as L3. With all in-line slider-crank mechanisms, the stroke is twice the length of the crank arm. Therefore,
given the stroke, the length of the crank arm can be determined. This relationship is represented as:

L2 = (ΔR4)max ÷ 2

Once L2 is found, the follower length (L3) can be determined. However, because the stroke of the mechanism only
depends on the crank arm length, the follower length is somewhat insignificant. As a general rule, the length of the
follower link should be at least 3 times the length of the crank arm. This is to account for an often undesired increased
acceleration yield, or output, of the connecting arm.

Offset design

The position of an offset slider-crank is derived by a similar formula to that for the inline form; using the same letters as

in the previous diagram and an offset of :

Its speed (the first derivative of its position) is representable as:

Its acceleration (the second derivative of its position) is representable as the complicated equation of:

Analytical approach
The analytical method for designing an offset crank slider mechanism is the process by which triangular geometry is
evaluated in order to determine generalized relationships among certain lengths, distances, and angles. These
generalized relationships are displayed in the form of 3 equations and can be used to determine unknown values for
almost any offset slider-crank. These equations express the link lengths, L1, L2, and L3, as a function of the stroke,(ΔR4)max,
the imbalance angle, β, and the angle of an arbitrary line M, θM. Arbitrary line M is a designer-unique line that runs
through the crank pivot point and the extreme retracted slider position. The 3 equations are as follows:

L1 = (ΔR4)max × [(sin(θM)sin(θM - β)) / sin(β)]

L2 = (ΔR4)max × [(sin(θM) - sin(θM - β)) / 2sin(β)]

L3 = (ΔR4)max × [(sin(θM) + sin(θM - β)) / 2sin(β)]

With these relationships, the 3 link lengths can be calculated and any related unknown values can be determined.

OBSERVATIONS AND CALCULATIONS:

2 30 7.9

3 60 6.6

4 90 5

5 120 3.5

6 150 2.8

7 180 2.5

8 210 2.8

9 240 3.5

10 270 5

11 300 6.6

12 330 7.9
 13 360 8.3

GRAPH:

Y-Values
9

0
0 50 100 150 200 250 300 350 400

GRAPH EXPLANATION:

Crank Angles 0° and 360°: The slider movement is 8.3 units, indicating that the slider is at one extreme of its path.
Crank Angles 90° and 270°: The slider movement is 5 units, representing the mid-position of the slider.
Crank Angles 180°: The slider movement is 2.5 units, showing that the slider is at the other extreme of its path.

RESULTS AND DISCUSSIONS:

In conclusion, the result obtained by this experiment shows that the pattern of the angular velocity is constant.
Through this experiment, the characteristic of the mechanism is learned as if the mechanism is meant to be used in
complex and complicated motion applications such as foot pumps and engines. The graph of results plotted helps the
calculations of the

maximum displacement, velocity, and acceleration. From the result obtained, the experimental errors are minor in the
range of 0.5mm to 1.5mm. This concludes that the error might be a parallax error during the reading. For improvement
for better and more accurate results, the reading must be taken more than one time until a fixed reading is obtained