Chapter 2

More on Linkages

By: Muse D.
March, 2020

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 Linkages

 A linkage is a kinematic chain in which one of the links is

fixed to the ground which usually is the frame.
 A linkage permits relative motion between its links and
may have one or more degrees of freedom.

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 A linkage with zero or negative degree of freedom is a
structure which does not allow any relative motion between
the links.
 There are many linkages formed by different connections
of members. The members of linkages are connected so as
to produce the motion required by the design.

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 Different types of links

Four-bar linkage
Mechanism Straight line Mechanism

Slider crank Mechanism Parallel Mechanism

Scotch yoke Mechanism Intermittent Mechanism

Quick-return Mechanism Steering gear Mechanism

Toggle Mechanism

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 Four-bar Linkage

 The kinematic linkage shown in

fig. 2.1 is known as the four-bar
linkage.

 The conventional numbering

system is to label the ground or frame
as link 1, and then to number links
clockwise around the mechanism
"loop" as shown in fig. 2.1

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 Cont.
 Link 1 is the frame or ground; generally,
it is stationary.
 Link 2 is the driver which may rotate or oscillate.
 Link 3 is the coupler, sometimes known as the
connecting rod. This link undergoes general plane
motion.
 Link 4 is the follower or driven element, which
may rotate or oscillate depending on the rotary or
Oscillatory motion of link 2, and on link dimensions.
 These four links are joined by four revolute joints.
Four bar linkage
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 Grashoff's condition

Grashoff 4-bar linkage: A linkage that contains one or more links capable of undergoing a full
rotation.
 A linkage is Grashoff if:

where: S = shortest link length, L = longest,

P, Q = intermediate length links
 Non Grashoff 4 bar: No link can rotate 360 if: S + L > P + Q
 In Grashoff’s linkage at least one link will be capable of making a full revolution with
respect to the ground plane.
 In non-Grashoff’s linkage no link will be capable of a complete revolution relative to any
other link.

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Grashoff's condition

 If the sum of the lengths of the longest and shortest links is less than or equal to the sum of
the lengths of the other two links, then
a) two different crank rockers will be formed when the shortest link is the crank and either of the
adjacent links is the fixed link;
b) a double crank will be formed when the shortest link is the fixed link;
c) a double rocker will be formed when the link opposite the shortest link is the fixed link.
ii) If the sum of the lengths of the longest and shortest links is greater than the sum of the
lengths of the other two, only a double-rocker mechanism will be formed.

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Inversions of four bar chain mechanism

 Different mechanisms can be obtained by fixing different links of the same

kinematic chain. These are called as inversions of the mechanism.
 By changing the fixed link, the number of mechanisms which can be obtained is
equal to the number of links.
 Excepting the original mechanism, all other mechanisms will be known as
inversions of original mechanism. The inversion of a mechanism does not
change the motion of its links relative to each other.

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Types of Inversions of four bar chain mechanism

1. Crank-rocker mechanism
2. Double crank mechanism
3. Double rocker mechanism

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Inversions of four bar chain mechanism

1. Crank-rocker mechanism:

 In this mechanism, either link 1 or link 3 is fixed. Link 2 (crank) rotates completely and link 4
(rocker) oscillates.

Link 1 Fixed Link 3 fixed

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Inversions of four bar chain mechanism

2. Double crank mechanism

 Here link 2 is fixed and both links 1 and 3 make complete
rotation but with different velocities.

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Inversions of four bar chain mechanism

3. Double rocker mechanism

 In this mechanism, link 4 is fixed. Link 2 makes complete rotation, whereas
links 1 & 3 oscillate

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Inversions of four bar chain mechanism
If S + L > P + Q, all inversions of the four bar chain mechanism
will be triple-rockers in which no link can fully rotate.

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Four-bar Linkage-Transmission Angle

 The angle γ between the coupler 3 and the output link 4

(follower) is called the transmission angle.

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 Four-bar Linkage-Transmission Angle

From which we obtain the transmission angle.

 In general, for good force transmission to

the output link, the transmission angle
should be in the range of
< γ<

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Slider-Crank Mechanism

 Slider-crank mechanism is basically a four-bar mechanism with three revolute

joints, or turning pairs and a prismatic joint or a sliding pair.

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  In the slider crank mechanism, commonly
 link 1 is the frame, considered to be fixed;
 link 2 is the crank which is the driver (rotating motion);
 link 3 is the connecting rod, the link b/n the driver & follower;
 link 4 is the slider which is the driven element (reciprocating)

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 The slider crank mechanism converts rotary motion into
reciprocating motion and vice-versa.
It is commonly applied in internal combustion engines.

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 Inversion of the Slider-Crank Mechanism

 In an n -link kinematic chain, choosing each link in turn as the frame

yields n distinct kinematic inversions of the chain, n different
mechanisms.

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 The Scotch Yoke mechanism

 In this mechanism, the slider is fixed.

 When the link rotates, the slider A’

reciprocates in the vertical slot.

 It gives exact simple harmonic motion

of the slider in response to a constant

speed input to the crank.

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 Scotch Yoke mechanics

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 Cont..

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 Quick-Return Mechanism

 Many times mechanisms are designed to perform repetitive operations.

 During these operations for a certain period the mechanisms will be under load
known as working stroke and the remaining period is known as the return
stroke, the mechanism returns to repeat the operation without load.
 The ratio of time of working stroke to that of the return stroke is known a time
ratio.

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 Quick return mechanisms are used in machine tools to give a slow cutting stroke
and a quick return stroke.
 The various quick return mechanisms commonly used are
i) Whitworth
ii) Drag link.
iii) Crank and slotted lever mechanism,

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Quick-Return Mechanism

 Quick return mechanisms are combinations of simple linkages

which give a quick return-stroke of the follower for a constant
angular velocity of the driver.
 The quick return mechanism has a slower work stroke and a quick
return stroke.

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 In the design of quick-return mechanisms, the ratio of the crank angle
for the working stroke to that of the return stroke is known as the time-
ratio.
 The time-ratio for quick-return mechanisms is always greater than
unity to give a slower cutting stroke and a faster return stroke.

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Quick-Return Mechanism

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 Quick-Return Mechanism

 The shaping machine is used to machine flat metal

surfaces especially where a large amount of metal
has to be removed.
 As the disc rotates the top of the machine moves
forwards and backwards, pushing a cutting tool.
 The cutting tool removes the metal from work
which is carefully bolted down.
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1. Whitworth quick return mechanism

This mechanism is mostly used in

shaping and slotting machines.
In this mechanism, the link CD (link 2)
forming the turning pair is fixed. The
link 2 corresponds to a crank in a
reciprocating steam engine.

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 The driving crank CA (link 3) rotates at a uniform angular speed. The slider (link 4)
attached to the crank pin at A slides along the slotted bar PA (link 1) which oscillates
at a pivoted point D.
 The connecting rod PR carries the ram at R to which a cutting tool is fixed. The
motion of the tool is constrained along the line RD produced, i.e. along a line passing
through D and perpendicular to CD.

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 Cont.

 When the driving crank CA moves from the position CA1 to CA2(or the
link DP from the position DP1 to DP2) through an angle in the clockwise
direction, the tool moves from the left hand end of its stroke to the right
hand end through a distance 2PD.
 Now when the driving crank moves from the position CA2 to CA1(or the
link DP from DP2 to DP1) through an angle βin the clockwise direction,
the tool moves back from right hand end of its stroke to the left hand end.
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 The time taken during the left to right movement of the ram (i.e. during
forward or cutting stroke) will be equal to the time taken by the driving
crank to move from CA1 to CA2.
 Similarly, the time taken during the right to left movement of the ram
(or during the idle or return stroke) will be equal to the time taken by
the driving crank to move from CA2 to CA1.

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 Cont.

The ratio between the

time taken during the
cutting and return strokes
is given by:

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 2. Drag link quick return mechanism

 The drag link mechanism is developed by connecting two four-bar linkage in

series.
 Schematically, it is shown in Fig. below. Links 1, 2, 3 and 4 comprise a
four-bar drag link mechanism in which both links 2 and 4 rotate 360 degrees.
 Links 1, 4, 5 and 6 comprise a four-bar crank-slider mechanism.

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 The two four-bar mechanisms are connected via the triangle-shaped link
4, known as ternary link, and they have a common ground link 1.
 Assembling the two four-bar mechanisms in this way results in a single
six-bar mechanism.

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 Cont.

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 Cont.

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 3. Crank and slotted lever quick return motion mechanism

This mechanism is mostly used in shaping machines, slotting machines

and in rotary internal combustion engines.
In this mechanism, the link AC (i.e. link 3) forming the turning pair is
fixed.
The link 3 corresponds to the connecting rod of a reciprocating steam
engine.
The driving crank CB revolves with uniform angular speed about the fixed
center C.
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A sliding block attached to the crank pin at B slides along the slotted bar
AP and thus causes AP to oscillate about the pivoted point A.
A short link PR transmits the motion from AP to the ram which carries
the tool and reciprocates along the line of stroke R1R2. The line of
stroke of the ram (i.e. R1R2) is perpendicular to AC produced.

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 Cont.

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 Cont.

In the extreme positions, AP1 and AP2 are tangential to the circle and the
cutting tool is at the end of the stroke.
The forward or cutting stroke occurs when the crank rotates from the
position CB1 to CB2 (or through an angle β) in the clockwise direction.

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The return stroke occurs when the crank rotates from the position CB2 to
CB1 (or through angle α) in the clockwise direction.
Since the crank has uniform angular speed, therefore,

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Toggle Mechanisms

 Simple toggle consists of two links which tend to line-up

in a straight line at one point in their motion.
 The mechanical advantage of the simple toggle above is
the velocity ratio of the input point A to the output point B

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 Cont.

 Mechanical advantage

 As angle αapproaches 90 degree, CA& AB come in to toggle.

 This type of mechanism is used in punch presses, riveting machines,
stone crusher, etc

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 Cont.

Stone Crusher

 The stone crusher shown uses two

toggle linkages in series to obtain high
mechanical advantage.
 When links 2 and 3 are in toggle, links
4 & 5 are also in toggle to produce high
crushing force needed.
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 When link 2 reaches the lowest point of its

stroke, it comes into toggle with link 3 and at

the same time links 4 and 5 come into toggle

with each other.

 This configuration results in a very large

crushing force.

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 Straight Line Mechanism
 These are mechanisms which can generate straight lines from rotary
motion. Point on one of the links moves in a straight line with out the need
of guides.
⇒Converts rotary motion into straight line motion.

Watt mechanism

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 Produces an approximate straight line
motion
 For equal lengths of links 2 & 4, the
tracing point P traces an approximate
straight line.
 This will happen if AP/PB =
O4B/O2A.

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 Parallel Mechanism

 Used to produce parallel motions & reproducing motions at different scale.

 Common Example The Pantograph

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 Cont.

The Pantograph
 Used to enlarge or reduce trajectories to different
scales.
 Commonly used in cutting tools to duplicate
complicated shapes to desired scales.
 Links 2, 3, 4, & 5 form a parallelogram
 Link 3 is extended to contain point C and point E
lies on the intersection of lines O2C and DB.
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 Intermittent Motion Mechanism

 Converts continuous motion into intermittent motion.

 Common examples are the Geneva Mechanism & ratchet mechanism.

Geneva Mechanism
 Provides intermittent rotary motion.
 During one cycle of the crank, the Geneva wheel
rotates through fraction part of a revolution.
 The circular segment attached to the crank locks
the wheel against rotation when the roller is not
engaged.

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 Cont.

 Locking-slid Geneva
 In the position shown, the drive pin P 2 is
about to enter the slot to index the Geneva,
whereas the locking pin P1 is just clearing
out the slot of the Geneva.

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 Cont.

 Ratchet Mechanism
 This mechanism is used in producing intermittent
rotary motion member.
 A ratchet and Pawl mechanism consists of a ratchet
wheel 2 and a pawl 3 as shown in the figure.
 When the lever 4 carrying pawl is raised, the ratchet
wheel rotates in the counter clock wise direction
(driven by pawl).
 As the pawl lever is lowered the pawl slides over the
ratchet teeth.
 One more pawl 5 is used to prevent the ratchet from
reversing.
 Ratchets are used in watches and counting devices.

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 Steering Gear Mechanism

 Used to change the direction of the wheel axle with respect to the chassis which
enables motion of an automobile in any desired direction.

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 Cont.

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 GOD IS GOOD!

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