5.

Four Bar Mechanism

A co-planar four-link mechanism with four revolute joints
(R-R-R-R) is known as a four bar mechanism. Like the
slider-crank mechanism and its kinematic inversions (R-R-
R-P) it is one of the basic building blocks of many
machines.
After covering kinematic and force analysis in general we
will concentrate on four-bar mechanisms.

ME 301 Theory of Machines I

 5. Four Bar Mechanism
All uses of a four-bar can be categorized in one of these
three groups:
1. Correlation of Crank Angles / Function Generation
𝜃14 = 𝑓 𝜃12

By [Link]: User:Bromsklossderivative work: Andy Dingley (talk) - [Link], CC BY-SA 3.0,

[Link]
ME 301 Theory of Machines I
 5. Four Bar Mechanism
All uses of a four-bar can be categorized in one of these
three groups:
1. Correlation of Crank Angles / Function Generation
𝜃14 = 𝑓 𝜃12
𝑦 = 𝑥2

[Link]

ME 301 Theory of Machines I

 5. Four Bar Mechanism
All uses of a four-bar can be categorized in one of these
three groups:
1. Correlation of Crank Angles / Function Generation
𝜃14 = 𝑓 𝜃12

[Link]

ME 301 Theory of Machines I

 5. Four Bar Mechanism
All uses of a four-bar can be categorized in one of these
three groups:
2. Coupler point curve

[Link]

ME 301 Theory of Machines I

 5. Four Bar Mechanism
All uses of a four-bar can be categorized in one of these
three groups:
2. Coupler point curve

[Link]

ME 301 Theory of Machines I

 5. Four Bar Mechanism
All uses of a four-bar can be categorized in one of these
three groups:
2. Coupler point curve

[Link]

ME 301 Theory of Machines I

 5. Four Bar Mechanism
All uses of a four-bar can be categorized in one of these
three groups:
3. Positions of Coupler Link / Rigid Body Guidance

[Link]

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Grashof’s Rule:
The motion characteristics of a four-bar mechanism will
depend on the ratio of link lengths.
The links that are connected to the fixed link may have one
of these two types of motion:
• The link may have a full rotation around the fixed axis.
This is called a crank (crank is also used for the input
link)
• The link may oscillate between two limiting angles. This
is called a rocker.

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Grashof’s Rule:
A four-bar mechanism may have one of the following three
types of motion:
• Both links connected to the fixed link can have full
rotation. This is called double crank or drag link
mechanism.
• Both links connected to the fixed link can oscillate
between two limiting positions. This is called double
rocker mechanism.
• One of the links connected to the fixed link oscillates
between two limiting positions while other can make full
rotation. This is called crank rocker mechanism.

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Grashof’s Rule:
ℓ: Length of the longest link
s: Length of the shortest link
p, q: lengths of the two intermediate links
1. If ℓ + 𝑠 < 𝑝 + 𝑞
a. Two different crank-rocker mechanisms are possible. In either
case shortest link is the crank and the fixed link is either of the
adjacent links.
b. One drag link (double crank) is possible when the shortest link
is fixed.
c. One double rocker mechanism is possible when the link
opposite to the shortest is fixed.

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Grashof’s Rule:
2. If ℓ + 𝑠 > 𝑝 + 𝑞
Only four different double rocker mechanisms are possible.
3. If ℓ + 𝑠 = 𝑝 + 𝑞
Same as case 1 however these mechanisms suffer from a condition
known as change point position. At this position all the link center
lines are collinear and this is a kinematically singular
(undetermined) position. The follower at this position may rotate in
either direction. The sign () that determines the closure is subject
to change at this position.

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Dead-Center Positions of a Crank Rocker Mechanism:
Grashof’s Rule
ℓ + 𝑠 < 𝑝 + 𝑞, 𝑠 is the crank
a. Two different crank-rocker mechanisms are possible. In either
case shortest link is the crank and the fixed link is either of the
adjacent links.

ME 301 Theory of Machines I

 2. Kinematic Analysis
Velocity and Acceleration Analyses B3
Four-Bar Mechanism 3
a3 B4
𝑖𝜃12 𝑖𝜃13 𝑖𝜃14 A
𝑎2 𝑒 + 𝑎3 𝑒 = 𝑎1 + 𝑎4 𝑒 13
Re: 𝑎2 𝑐𝑜𝑠𝜃12 + 𝑎3 𝑐𝑜𝑠𝜃13 = 𝑎1 + 𝑎4 𝑐𝑜𝑠𝜃14 1
a2 a4
Im: 𝑎2 𝑠𝑖𝑛𝜃12 + 𝑎3 𝑠𝑖𝑛𝜃13 = 𝑎4 𝑠𝑖𝑛𝜃14 2 2 4
1ሶ : −𝜃ሶ12 𝑎2 𝑠𝑖𝑛𝜃12 − 𝜃ሶ13 𝑎3 𝑠𝑖𝑛𝜃13 = −𝜃ሶ14 𝑎4 𝑠𝑖𝑛𝜃14 12
14
2ሶ : 𝜃ሶ12 𝑎2 𝑐𝑜𝑠𝜃12 + 𝜃ሶ13 𝑎3 𝑐𝑜𝑠𝜃13 = 𝜃ሶ14 𝑎4 𝑐𝑜𝑠𝜃14 A0 a1 B0
Let 𝜃12 , 𝜃ሶ12 and 𝜃ሷ12 be the input:
−𝑎3 𝑠𝑖𝑛𝜃13 𝑎4 𝑠𝑖𝑛𝜃14 𝜃ሶ13 𝑎2 𝑠𝑖𝑛𝜃12
= 𝜃ሶ
𝑎3 𝑐𝑜𝑠𝜃13 −𝑎4 𝑐𝑜𝑠𝜃14 𝜃ሶ14 −𝑎2 𝑐𝑜𝑠𝜃12 12
𝑎 𝑠𝑖𝑛 𝜃12 − 𝜃13
ሶ𝜃14 = 2 𝜃ሶ12 = 𝑔24 𝜃ሶ12
𝑎4 𝑠𝑖𝑛 𝜃14 − 𝜃13
𝜃 − 𝜃13 = 0, Extended dead center
𝜃ሶ14 = 0 when 𝑠𝑖𝑛 𝜃12 − 𝜃13 = 0 → ቊ 12
𝜃12 − 𝜃13 = 𝜋, Folded dead center

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Dead-Center Positions of a Crank Rocker Mechanism:
𝜃12 − 𝜃13 = 0, Extended dead center 𝜃12 − 𝜃13 = 𝜋, Folded dead center

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Transmission Angle:
Alt[1] defined the transmission angle as:
𝐹3 𝑑 𝐹3 𝑑
𝑡𝑎𝑛𝜇 = 𝑝 or 𝑠𝑖𝑛𝜇 =
𝐹3 𝐹3
[1] Alt, Hermann (1889 - 1954). Der Übertragungswinkel und seine Bedeutung für das Konstruieren periodischer
Getriebe (The transmission angle and its importance for designing periodic mechanisms). Werkstattstechnik 26 (1932)
61–64.
F3∠13+
B

2F F3d
3
a3 B
F3∠13 
13
F3p
F3∠13
F3∠13+
A 4
2F+M
a2 a4
12 14 F3∠13+
2F+M 2
B0
A0
F3∠13 T14
T12
ME 301 Theory of Machines I
 2. Kinematic Analysis
2. Stepwise Solution of Loop Closure Equations
Law of cosines: 3
B
A
𝑠2 2 2
= 𝑎1 + 𝑎2 − 2𝑎1 𝑎1 𝑐𝑜𝑠𝜃12 a3

𝑠 2 = 𝑎3 2 + 𝑎4 2 − 2𝑎3 𝑎4 𝑐𝑜𝑠𝜇 2
a2 a4
4
12

A0
𝑎3 2 + 𝑎4 2 − 𝑎1 2 − 𝑎2 2 + 2𝑎1 𝑎2 𝑐𝑜𝑠𝜃12 a1 B0
𝑐𝑜𝑠𝜇 =
2𝑎3 𝑎4
The extremums of the transmission angle is

𝑑𝜇 𝜃 =0
= 𝑠𝑖𝑛𝜃12 = 0 → ቊ 12
𝑑𝜃12 𝜃12 = 𝜋

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Transmission Angle:

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Mechanical Advantage:
Definition: The mechanical advantage of a mechanism is
the instantaneous ratio of output torque (force) to input
torque (force).
For a four bar mechanism where input is link 2 and output
is link 4 F ∠ + 3 13
B
𝑇14
𝑀𝐴 = 2F F 3
d
𝑇12 3
a3 B
F3∠13 
13
F3p
F3∠13
F3∠13+
A 4
2F+M
a2 a4
12 14 F3∠13+
2F+M 2
B0
A0
F3∠13 T14
T12 ME 301 Theory of Machines I
 5. Four Bar Mechanism
Mechanical Advantage:
𝑇14
𝑀𝐴 =
𝑇12
Neglecting friction, kinetic and gravitational potential energy
changes of the links
ℙ 𝑖𝑛 =ℙ 𝑜𝑢𝑡
−𝑇12 𝜔12 = 𝑇14 𝜔14
𝑇14 𝜔12
𝑀𝐴 = =−
𝑇12 𝜔14

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Mechanical Advantage:
𝑇14 𝜔12 𝜃ሶ12 𝑎4 𝑠𝑖𝑛 𝜃14 − 𝜃13
𝑀𝐴 = =− =− =
𝑇12 𝜔14 ሶ
𝜃14 𝑎2 𝑠𝑖𝑛 𝜃12 − 𝜃13
𝑠𝑖𝑛 𝜃12 − 𝜃13 = 0, 𝑀𝐴 → ∞ Dead centers!
𝑠𝑖𝑛 𝜃14 − 𝜃13 = 0, 𝑀𝐴 = 0, 𝜇 = 0

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Body Guidance-Two Position Synthesis:
Chasles Theorem: The motion of a rigid body from one
position to another in plane motion occurs most simply by
a rotation about the pole P12 which is located at the
perpendicular bisectors of two pairs of homologous points.
Please note that when the separation between the two
positions of the plane diminishes the homologous points
define the velocity and the pole P12 boils down to instant
center of zero velocity (ICZV).

ME 301 Theory of Machines I

 5. Four Bar Mechanism
Body Guidance-Two Position Synthesis:
Chasles Theorem:

ME 301 Theory of Machines I