Department of Mechanical and Industrial Engineering

Mechanisms of Machinery
(MEng 3162)

Chapter Two
Linkages By Mikru M.
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 Linkages
✓ A linkage permits relative motion between its links and may have one or
more degrees of freedom.

✓ A linkage with zero or negative degree of freedom is a structure which

does not allow any relative motion between the links.

✓ There are very 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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Four-Bar Linkage

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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 Grashof’s linkage at least one link will be capable of making a full revolution with respect
to the ground plane.
✓ In non-Grashof’s linkage no link will be capable of a complete revolution relative to any
other link.

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 Four-Bar Linkage Categories
Case I :shortest link + longest link < summation of the other two links.
Grashof condition – one link rotates 360

a)Double crank b)crank-rocker c)Double rocker, coupler

Where, s=shortest link length makes a full revolution
l=longest link length ,
p&q=intermediate link length
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Double rocker, coupler makes a full
revolution

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 Four-Bar Linkage Categories
Case II: shortest link + longest link > summation of the other two links,
Non-grashof’s condition.

d) triple rocker, the coupler is

also a rocker

Case III: shortest link + longest link = summation of the other two links (it is
with in grashof’s condition)

e)Change-point mechanism in Toggle configuration 8

Triple rocker, the coupler is also a rocker

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 Four bar linkage categories
✓ If s+l<p+q, four Grashof’s mechanism exist: double-crank, crank-rocker, double–
rocker(coupler makes a full revolution).
✓ If s+l=p+q, four Grashof’s mechanism exist: double-crank, crank-rocker, double–
rocker, rocker-crank. But change point conditions occurs where the centerlines of all
the links become collinear and the mechanism can toggle.
✓ If s+l>p+q, non-Grashof’s triple rocker mechanism exist: depending on which is
the ground link, but continuous rotation is not possible.

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 Four bar linkage categories

1. Double crank mechanism: if both of the side links rotates.

2. Crank rocker mechanism: if the shorter side link rotates and the other one rocks oscillates.
3. Double rocker mechanism: if both of the side links rock or oscillates.(coupler makes a full
revolution)
4. Triple rocker mechanism: one link is fixed while the other three oscillates. It is a non grashof
linkage.
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5. Change point: the centerlines of all the links become collinear and the mechanism can toggle.
Four bar linkage categories
Case Criteria Shortest link Category
1 s+l<p+q frame Double crank
2 s+l<p+q side Crank -rocker
3 s+l<p+q coupler Double rocker
4 s+l=p+q any Change point
5 s+l>p+q any Triple rocker

Table: Categories of four bar mechanism

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 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 below.

✓ Link 1 is the frame or ground, 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
Figure: Four-bar Linkage
of link 2, and on link dimensions.

✓ These four links are joined by four revolute joints. 13

Inversions of Four Bar Chain Mechanism
✓ Inversions of the mechanism: Different mechanisms can be obtained by
fixing different links of the same kinematic chain.

✓ 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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 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.
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- Locking
✓ The links of a four-bar mechanism should be proportional in such a way that
locking is avoided.

✓ Position A’B’O4 shows the case of locking. Figure: Locking of four-bar mechanism

✓ When link 2 is rotating completely, there is no danger of linkage locking.

However, if link 2 oscillates, care must be taken in proportioning the links to
avoid locking.

✓ For such a position link four can move in any of the two directions as indicated
in the figure. 19
 Four-bar Linkage- Transmission Angle
✓ Transmission angle: The angle  between the coupler 3 and the output link 4
(follower).

Figure: Transmission angle

✓ The equation for the transmission angle can be derived as follows. From figure
above using low of cosines i.e.
z = r + r − 2r1r2 cos  2 = r + r − 2r3 r4 cos 
2
1
2
2
2
3
2
4
2
cos  =
r32 + r42 − z 2
2r3 r4
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 Four-bar Linkage- Transmission Angle
• From which we obtain the transmission angle.

 = cos 
−1  (r1
2
+ r2
2
− r3
2
− r4 − 2 r1r2 cos  2 )
2

− 2 r r 
 3 4 

• For good force transmission to the output link, the transmission angle should be in
the range of 40o< <140o.

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 Slider-Crank Mechanism
✓ When one of the turning pairs of a four-bar chain is replaced by a sliding
pair, it becomes a single slider-crank chain or simply a slider-crank
chain.

✓ It is a four-bar mechanism with three revolute joints, or turning pairs and

a prismatic joint or a sliding pair.

✓ It Converts rotary motion into reciprocating motion and vice-versa.

✓ It is commonly applied in internal combustion engines.

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 Slider-Crank Mechanism
In the slider crank mechanism, commonly:

✓ link 1 is the frame(fixed), link 2 is the crank(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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 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.

✓ single slider crank chain has four inversions mechanisms.

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Figure: Four Inversions of the Slider-Crank Mechanism
 Inversion of the Slider-Crank Mechanism
✓ Reciprocating engine

✓ Reciprocating compressor

✓ Whitworth quick-return mechanism

✓ Rotary engine

✓ Oscillating cylinder engine

✓ Crank and slotted-lever mechanism

✓ Hand Pump

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 Inversion of the Slider-Crank Mechanism
✓ Figure a shows the basic slider-crank mechanism, as found in most internal
combustion engines today. Link 4, the piston, is driven by the expanding gases
and forms the input; link 2, the crank, is the driven output. The frame is the
cylinder block, link l.

✓ when link 1 is fixed and links 2 and 4

are made the crank and slider
respectively.

Figure a: Inversions of the Slider-Crank Mechanism(for internal combustion engine )

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 Inversion of the Slider-Crank Mechanism
✓ Figure b shows the same kinematic chain; however, it is now inverted and link 2
is stationary. Link 1, formerly the frame, now rotates about the revolute at A. This
inversion was used as the basis of the rotary engine found in early aircraft.

Figure b: Inversions of the Slider-Crank Mechanism(for rotary engine air craft)27

 Inversion of the Slider-Crank Mechanism
✓ Figure. c; it has link 3, formerly the connecting rod, as the frame link. This
mechanism was used to drive the wheels of early steam locomotives, link 2 being
a wheel.

✓ By Fixing of the link 3 of the slider-crank

mechanism, Now link 2 again acts as a
crank and the link 4 oscillates.

Figure c: Inversions of the Slider-Crank Mechanism(for steam locomotives) 28

 Inversion of the Slider-Crank Mechanism
✓ Figure d; it has the piston, link 4, stationary. Although it is not found in engines,
by rotating the figure 90° clockwise this mechanism can be recognized as part of a
garden water pump.
✓ If the link 4 is fixed, Link 3 can oscillates
about the fixed pivot C on the link 4. This
makes the end B of the link 2 to oscillate
about C and the end A to reciprocate along
the axis of the fixed link 4.

Figure d: Inversions of the Slider-Crank Mechanism(for garden water pump) 29

 Quick-Return Mechanism
✓ 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.

✓ Are used in machine too1s to give a slow cutting stroke and a quick return stroke.

✓ Types of Quick return mechanisms commonly used are:

i) Whitworth ii) Drag link. iii) Crank and slotted lever mechanism.
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 Quick-Return Mechanism
✓ Are combinations of simple linkages which give a quick return-stroke of the
follower for a constant angular velocity of the driver.

✓ 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.

angle of cutting stroke

time ratio = 1
angle of return stroke
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Quick-Return Mechanism

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 Quick-Return Mechanism
• 1

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 Quick-Return Mechanism
Shaping Machine
✓ It 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.

Figure: shaping machine 34

Quick-Return Mechanism(Shaping Machine)
1.

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 Types of Quick Return Mechanism
Drag Link Mechanism

✓ It is developed by connecting two four-bar linkage in series.

✓ 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.

✓ The two four-bar mechanisms are connected via the triangle-shaped link 4(
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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 Types of Quick Return Mechanism
Drag Link Mechanism

✓ A steering drag link is part of the steering system which converts the rotary
motion of a crank or steering box to a second crank or link. Converting the
motion of the steering box into the linear motion required to pull the tie rods,
enables the vehicle's wheels to be turned.

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 Types of Quick Return Mechanism
Crank and slotted lever quick return motion mechanism

✓ It is used in shaping machines, slotting machines and in rotary internal

combustion engines.

✓ Since the crank rotates with uniform angular speed, therefore the return stroke is
completed within shorter time.

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 Types of Quick Return Mechanism
Crank and slotted lever quick return motion mechanism

✓ Transform circular movement into reciprocating movement.

✓ It is used in shaping and slotting machines.

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Double Slider Crank Chain mechanism
✓ It has four links joined in a kinematic chain consisting of two revolute joints and
two sliding or prismatic joints. In this double slider, one sliding constraint is
perpendicular to the other.

✓ It is a kinematic chain consisting of two turning pairs and two sliding pairs.

✓ It has three major inversions: Elliptical Trammels, Scotch Yoke Mechanism,

Oldham's Coupling.

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 Scotch Yoke mechanism
✓ The slider is fixed, when link 2 rotates, the slider reciprocates in the vertical slot.

✓ It gives exact simple harmonic motion of the slider in response to a constant speed input to the
crank.

✓ It converts rotary motion into reciprocating linear motion using a pin in a moving slot.

✓ Used to open and close valves.

✓ The crank is connected to the slider by the pin, and as the crank turns the pin it moves the
slider.

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 Scotch Yoke mechanism
1

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 Double Slider Crank Chain (Scotch Yoke mechanism)
✓ The displacement of the slider x in moving from A to A’ is given by

x = r (1 − cos t )
✓ Substituting  = t, the displacement is

x = r − r cos  = r (1 − cos  )
✓ The velocity and acceleration of the follower is

dx
v= = r sin t = r sin 
dt
d 2x
a = 2 = r 2 cos t = r 2 cos 
d t
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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.

✓ It is used in punch presses, riveting machines, stone crusher, etc

✓ Mechanical advantage FB x vA
= = tan( ) =
FA y vB

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 Toggle Mechanisms
Stone Crusher
✓ It 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.
✓ 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.

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 Toggle Mechanisms (Stone Crusher)
1

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 Straight Line Mechanism
✓ It is four bar linkage mechanism

✓ Are 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
▪ 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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 Straight Line Mechanism
1

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 Parallel Mechanism
✓ Used to produce parallel motions & reproducing motions at different scale.
Example: Pantograph

Pantograph
✓ Used to enlarge or reduce trajectories to different
scales.
✓ Commonly used in cutting tools to duplicate
complicated shapes to desired scales.
✓ Links 1, 2, 3, & 4 form a parallelogram
✓ Link 3 is extended to contain point C and point E
lies on the intersection of lines O2C and DB. 49
 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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 Intermittent Motion Mechanism
Geneva Mechanism

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 Ratchet Mechanism
✓ It 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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Ratchet Mechanism

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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.
➢ To avoid skidding or slipping of the wheels sideways, the front two wheels must turn
about the same instantaneous center C which lies on the axis of the back wheels.

➢ To avoid wear in the tires due to correct steering and eliminates skidding of the front
wheel.

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Ackerman Steering Gear
✓ Consists of a four bar mechanism joined by revolute joints.

✓ Used to allows for the rear wheels to have no slip angle.

✓ It is used to minimizes tire wear.

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Steering Gear Mechanis

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