INVERSIONS OF MECHANISMS

Four-Bar, Single-Slider and Double-Slider Crank Chains

Experiment 2

Name: Manyata Gupta

Roll No.: 525ME0009
Kinematics of Machines Experiment 2

Aim

To study inversions of four-bar mechanism, single-slider crank mechanism and double-slider crank
mechanism.

Theory of Inversion

A mechanism is one in which one of the links of a kinematic chain is fixed. Different mechanisms can be
obtained by fixing different links of the same kinematic chain. These are called inversions of the
mechanism. The possible number of inversions is the same as the number of links in a mechanism. Three
mechanisms are studied here for their inversions:

• Four-bar mechanism
• Single-slider crank mechanism
• Double-slider crank mechanism

1 Inversion of Four-Bar Mechanism

Figure 1: Inversions of the four-bar mechanism

A four-bar mechanism consists of four rigid links joined in the form of a quadrilateral by four pin joints. A
link that makes a complete revolution is called a crank; the link opposite the fixed link is the coupler; and
the fourth link is a lever or rocker if it oscillates, or another crank if it rotates.

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Kinematics of Machines Experiment 2
In a four-bar mechanism, the following points must be remembered:

1. If the length of one link is greater than the sum of the lengths of the other three links, a four-bar
mechanism is not possible.

2. The four links may be of different lengths. According to Grashof’s law, the sum of the lengths of the
shortest and longest links should not be greater than the sum of the lengths of the remaining two
links for continuous relative motion between two links.

3. One link, normally the shortest link, should make a complete revolution relative to the other three
links.

The three types of inversions are obtained by changing the position of the shortest link, such as frame,
crank and coupler. The following types are obtained:

• By fixing the shortest link: double-crank mechanism.

• Shortest link as crank or follower: crank-lever mechanism.

• Shortest link as coupler: rocker-rocker mechanism.

2 Inversion of Single-Slider Crank Mechanism

2.1 First inversion

When link 1 is fixed, link 2 is made the crank and link 4 is made the slider, the first inversion of the single-
slider crank chain is obtained.

Figure 2: First inversion of single-slider crank chain

2.2 Second inversion

When link 2 (the crank) is fixed, the second inversion is obtained. Link 3, together with the slider at its end
C, becomes a crank. Thus, link 3 and slider 4 rotate about B. Link 1 rotates about A along with slider 4, which
reciprocates on link 1. This inversion is used in the Whitworth quick-return mechanism and in the rotary
engine.

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Kinematics of Machines Experiment 2

Figure 3: Second inversion of single-slider crank chain

(a) Whitworth 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 longer period and the return stroke takes a shorter period. Here
link 2 is fixed. Link 3, along with slider 4, rotates in a circle about B. Link 1 rotates about A along with the
slider, which reciprocates on link 1. On the downward extension of link 1 there is a point D to which 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. Point D rotates in a circle about A.

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Kinematics of Machines Experiment 2

Figure 4: Whitworth quick-return mechanism

(b) Rotary engine

This is the rotary-engine mechanism. Link 2 is fixed, link 4 is the piston and link 1 is the cylinder. Instead of
one cylinder, seven or nine cylinders are symmetrically placed at regular intervals in the same plane. All
cylinders rotate about the same fixed centre A. Fixed link 2 is common to all cylinders. The difference from
the first inversion is that the crank rotates and the body is fixed in the first inversion, whereas here the crank
is fixed and the body rotates.

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Kinematics of Machines Experiment 2
Figure 5: Rotary engine mechanism

2.3 Third inversion

When link 3 is fixed, the third inversion of the single-slider crank is obtained. This inversion is used in the
oscillating-cylinder engine and the crank and slotted-lever mechanism.

Crank and slotted-lever mechanism

In this mechanism, link 1 is a slider that slides in a slotted lever, link 4. Link 3 is fixed and link 2 is a crank
that rotates clockwise about B in a circle. Consequently, link 4 oscillates about C. Link 4 is extended to D, to
which link DE (link 5) is connected. At the end of link 5, the cutting tool (link 6) is attached. Link 6 is
constrained to slide. The two extreme positions occur when the crank is at right angles to link 4. The
corresponding points are D1, E1 and D2, E2. The cutting stroke begins at E1 and ends at E2 after the crank
rotates through angle α in the direction of the fixed-link axis.

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Kinematics of Machines Experiment 2

Figure 6: Crank and slotted-lever mechanism

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Kinematics of Machines Experiment 2
Fourth inversion
When link 4 of the single-slider crank chain is fixed, the fourth inversion is obtained. Link 3 oscillates about
the fixed point C on link 4. This makes end B of link 2 oscillate about C and end A reciprocate along the axis
of fixed link 4. This inversion is used in a hand pump. Link 4 is made in the form of a cylinder and a plunger
fixed to link 1 reciprocates in the cylinder.

Figure 7: Fourth inversion of single-slider crank chain - hand pump

3 Double-Slider Crank Chain

It consists of four pairs, of which two are turning pairs and the other two are sliding pairs. The two pairs of
the same kind are adjacent. Link 1 and link 2 form a sliding pair, link 2 and link 3 form a turning pair, link 3
and link 4 form the second turning pair, and link 4 and link 1 form the second sliding pair. Thus the
adjacent pairs 23 and 34 are turning pairs, whereas pairs 12 and 14 are sliding pairs.

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Kinematics of Machines Experiment 2

Figure 8: Double-slider crank chain inversion_diagrams

3.1 Inversions of Double-Slider Crank Chain

By fixing different links in turn of the double-slider crank chain, different mechanisms, known as
inversions, are obtained.

First inversion

When link 1 is fixed, the first inversion is obtained. The adjacent pairs 23 and 34 are turning pairs, whereas
pairs 12 and 14 are sliding pairs. This inversion is used in the elliptical trammel, an instrument for drawing

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Kinematics of Machines Experiment 2
ellipses. Fixed link 1 has two straight grooves at right angles. With movement of the sliders, any point C on
link 3, except the midpoint of AB, traces an ellipse on the fixed plate. The midpoint of AB traces a circle.

Figure 9: First inversion of double-slider crank chain - elliptical trammel

Second inversion

When link 2 or link 4 is fixed, the second inversion is obtained. With link 2 fixed, end B of link 3 rotates
about A and link 1 reciprocates horizontally. This inversion is used in the Scotch yoke, which converts
rotary motion into sliding motion. The horizontal portion of link 1 reciprocates in fixed link 2 as crank 3
rotates.

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Kinematics of Machines Experiment 2

Figure 10: Scotch yoke mechanism

Third inversion

When link 3 of the double-slider crank chain is fixed and link 1 is free to move, the third inversion is
obtained. Each slide block, links 2 and 4, can turn about pins A and B. If one slide block, say link 2, turns
through a definite angle, the frame, link 1, and the other block, link 4, turn through the same angle.
This inversion is used in Oldham’s coupling, which connects two parallel shafts when the distance between
their axes is small. The shafts have flanges at their ends, rigidly fastened to the shafts. These flanges form
links 2 and 4, and each forms a turning pair with link 3. A diametrical slot is cut in the inner face of each
flange.
An intermediate circular disc, link 1, has tongues T1 and T2 on its two faces at right angles. These tongues
slide-fit in the slots of flanges 2 and 4. Link 1 can slide or reciprocate in the slots, while the frame and
bearings form fixed link 3.

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Kinematics of Machines Experiment 2
When the driving shaft rotates, flange A (link 2) rotates through the same angle.

Figure 11: Third inversion of double-slider crank chain

(two extreme positions)piece then rotates through the same angle, and flange B (link 4), connected to
the driven shaft, also rotates through the same angle. Therefore links 2, 4 and 1 have the same angular
velocity at every inversion_diagrams

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instant. The distance between the shaft axes is constant, so the centre of the intermediate piece describes
a circle whose diameter equals the distance between the axes. Sliding occurs between link 1 and links 2 and
4. The maximum sliding speed of each tongue along its slot equals the peripheral velocity of the disc centre
along its circular path.

Conclusion

The inversions of four-bar, single-slider crank and double-slider crank chains were studied. Fixing different
links of the same kinematic chain produces useful mechanisms such as the quick-return mechanism, rotary
engine, hand pump, elliptical trammel, Scotch yoke and Oldham’s coupling.

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Kinematics of Machines Experiment 2

Figure 12: Oldham’s coupling

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