1.

Title
Slider Crank and Four Bar Chain

2. Introduction
The four-bar chain is one of the most powerful and fundamental planar mechanisms in
mechanical engineering (both studies and practice). It is a four-link rigid bar with pivot joints
linking them such that they form a closed chain (In here, one of the bars is the frame). It
typically contains a fixed frame, a crank, a coupler, and a follower or a rocker. As these
connections translate concerning one another, the mechanism can convert rotary motion into
oscillating or complex motion, depending on the configuration and dimensions of the
connections. A crank-rocker type of four-bar linkage is examined in this experiment to
examine motion and velocity relations between the links. Special focus is placed on where
and how the instantaneous center of rotation may be utilized in determining the velocity
profile of different members of the mechanism. Graphical analysis comes in handy to
simplify the analysis process of complex link motion and is a valuable tool to own in
kinematic analysis. Four-bar mechanisms are found to be extensively applied in all fields of
engineering. Their common applications are in robotic manipulator arms, engine valve trains,
suspension mechanisms, aircraft landing gear, bicycle suspensions, and most mechanical
linkages utilized in machinery manufacture. Due to their simplicity, flexibility, and
controllability, they form crucial parts of motion transmission systems.

The slider crank chain mechanism is a fundamental machine kinematics and dynamics
element. It is among two fundamental mechanisms, the second being the four-bar chain or
Chebyshev linkage, from which the most complex motions are built. The primary function of
the slider crank mechanism is to convert rotary motion into reciprocating motion, or
reciprocating motion into rotary motion. This is a principle of universal use in internal
combustion engines, where combusting-pressure-induced reciprocating motion is translated
into useful rotary power. The slider crank mechanism is typically a four-link mechanism with
one slider joint and three revolute joints. The slider or the piston is restricted to move in a
straight line but not rotate. The slider crank mechanism varies by applying the inversion of
the kinematic chain, which generates a variety of mechanical configurations.

3. Materials And Apparatus

Slider Crank

Four-Bar Chain
4. Procedure
 Slider Crank
 Initially, the crank was adjusted to zero on the circular scale.
 A connecting rod (Con-rod) of length to test as 175 mm was taken.
 Next both knurled nuts were relaxed, and the position of piston pivot was altered.
ensured that the spacer washer is between the piston and the con-rod.
 The con-rod and piston were kept in proper alignment by a washer spacer between the
two.
 Locking motion was provided by tightening both the knurled nuts; in normal working
conditions, these nuts were kept lightly loose.
 Later, the crank's reference point was 45 mm, and the con-rod length used was 130
mm and for every 10° of crank rotation, piston displacement and cross-scale readings
were taken.
 The above process was repeated by changing con-rod length to 155 mm.
 Finally, required tables and graphs were prepared and calculated the piston velocities.

Four-Bar Chain
 A given rocker (follower) length was selected by adjusting the screw.
 The lengths of the crank, follower, coupler, and frame members were measured using
a ruler.
 The crank was set at an initial angle of 0°, and the corresponding rocker position was
written down.
 The extra link with the angular scale was aligned to match the rocker angle to find the
distance.
 The distance OAD from the scale was read by observing where the centerline of the
follower crossed the scale (there is a centerline in each component marked).
 The crank angle was increased in steps of 10°, and the measurement of OAD was
repeated for each angle and tabulated using the given format.

5. Theory
Slider Crank
The slider crank can be tackled by the instantaneous center of rotation. It is a location on the
connecting rod where, at any time, there is zero velocity. The other point of the link may then be
located by relation to the link turning about this center.

Four-Bar Chain
 6. Observation
Slider Crank
Con-Rod Length = 130mm
Crank OX OX VB Piston Piston
Angle Readings Readings Displacem
ent
 0 45 0 0 45 0
10 38 7 7 45.5 0.5
20 32 13 13 47 2
30 26 19 19 50 5
40 21 24 24 54 9
50 18 27 27 59 14
60 15 30 30 65 20
70 14 31 31 72 27
80 14 31 31 77 32
90 15 30 30 84 39
100 17 28 28 90.5 45.5
110 21 24 24 97 52
120 25 20 20 101 56
130 28 17 17 105 60
140 31 14 14 109 64
150 36 9 9 112 67
160 40 5 5 114 69
170 43 2 2 115 70
180 45 0 0 115 70
190 48 -3 -3 114.5 69.5
200 51 -6 -6 113.5 68.5
210 54 -9 -9 112 67
220 59 -14 -14 109 64
230 62 -17 -17 105 60
240 66 -21 -21 101.5 56.5
250 68 -23 -23 97 52
260 71 -26 -26 91 46
270 73 -28 -28 85 40
280 75 -30 -30 80 35
290 76 -31 -31 74 29
300 75 -30 -30 67 22
310 73 -28 -28 61 16
320 69 -24 -24 56 11
330 65 -20 -20 51 6
340 59 -14 -14 48 3
350 52 -7 -7 46 1
360 45 0 0 45 0

Con-Rod Length = 140mm

Crank OX OX VB Piston Piston
Angle Readings Readings Displacem
ent
0 45 0 0 35 0
10 40 5 5 35 0
20 33 12 12 37 2
30 26 19 19 40 5
 40 21 24 24 44 9
50 17 28 28 49 14
60 15 30 30 55 20
70 14 31 31 61 26
80 14 31 31 67 32
90 15 30 30 73 38
100 16 29 29 79 44
110 20 25 25 85 50
120 24 21 21 91 56
130 27 18 18 95 60
140 31 14 14 98 63
150 35 10 10 101 66
160 39 6 6 103 68
170 43 2 2 104 69
180 45 0 0 105 70
190 48 -3 -3 104 69
200 52 -7 -7 103 68
210 56 -11 -11 101 66
220 59 -14 -14 99 64
230 63 -18 -18 95 60
240 66 -21 -21 91 56
250 69 -24 -24 86 51
260 73 -28 -28 81 46
270 74 -29 -29 75 40
280 75 -30 -30 69 34
290 76 -31 -31 62 27
300 75 -30 -30 57 22
310 72 -27 -27 51 16
320 69 -24 -24 46 11
330 64 -19 -19 41 6
340 59 -14 -14 38 3
350 53 -8 -8 36 1
360 45 0 0 35 0

Con-Rod Length = 155mm

Crank OX OX VB Piston Piston
Angle Readings Readings Displacem
ent
0 45 0 0 20 0
10 38 7 7 20.5 0.5
20 31 14 14 22 2
 30 25 20 20 24.5 4.5
40 19 26 26 29 9
50 14 31 31 34 14
60 12 33 33 39 19
70 10 35 35 46 26
80 9 36 36 52 32
90 10.5 34.5 34.5 58 38
100 12.5 32.5 32.5 64 44
110 11 34 34 70 50
120 19 26 26 75 55
130 23.5 21.5 21.5 79 59
140 27 18 18 82 62
150 33 12 12 86 66
160 37 8 8 88 68
170 44 1 1 89 69
180 45 0 0 90 70
190 50 -5 -5 89 69
200 53 -8 -8 88 68
210 58 -13 -13 86 66
220 63 -18 -18 84 64
230 67 -22 -22 80 60
240 71 -26 -26 76 56
250 74 -29 -29 71 51
260 77 -32 -32 65 45
270 79 -34 -34 59 39
280 80 -35 -35 53 33
290 79 -34 -34 47 27
300 77 -32 -32 41 21
310 74 -29 -29 36 16
320 71 -26 -26 31 11
330 65.5 -20.5 -20.5 26 6
340 64.5 -19.5 -19.5 23 3
350 51 -6 -6 21 1
360 45 0 0 20 0

Con-Rod Length = 175mm

Crank Angle OX Readings OX VB Piston
Displacemen
t
0 45 0 0 0
10 37.5 7.5 7.5 0.5
 20 30 15 15 2
30 24.5 20.5 20.5 5
40 29 16 16 9
50 15 30 30 14
60 12 33 33 19
70 10 35 35 25
80 10 35 35 31
90 10 35 35 37
100 12 33 33 43
110 15 30 30 49
120 19 26 26 54
130 23 22 22 58.5
140 27 18 18 62
150 31.5 13.5 13.5 65
160 36 9 9 67
170 41 4 4 69
180 45 0 0 70
190 49 -4 -4 70
200 53 -8 -8 68
210 58 -13 -13 67
220 62 -17 -17 63
230 66 -21 -21 60
240 70 -25 -25 55
250 74 -29 -29 50
260 76 -31 -31 45
270 78 -33 -33 39
280 79 -34 -34 32
290 79 -34 -34 26
300 76.5 -31.5 -31.5 20
310 74 -29 -29 14
320 70 -25 -25 10
330 64 -19 -19 6
340 57.5 -12.5 -12.5 3
350 50 -5 -5 1
360 45 0 0 0
Four Bar Chain
Crank Rocker OAD VB AD ωAB
Angle Angle
0 68 20 0.5 37.42498 5.28601
5
10 66 17 0.425 33.59312 4.74479
1
20 65 13 0.325 32.14979 4.54093
1
30 65 8 0.2 33.76008 4.76837
2
40 64 2 0.05 38.18158 5.39287
8
50 65 -6 -0.15 45.82188 6.47201
7
60 66 -14 -0.35 53.94316 7.61909
70 67 -18 -0.45 57.98298 8.18968
7
80 69 -23 -0.575 62.73112 8.86032
8
90 71 -30 -0.75 69.05972 9.75419
7
100 75 -40 -1 78.10368 11.0315
9
110 77.5 -44 -1.1 80.65196 11.3915
2
120 82 -51 -1.275 86.11669 12.1633
7
130 87 -58 -1.45 91.41926 12.9123
2
140 93 -63 -1.575 94.90138 13.4041
5
150 98.5 -65 -1.625 95.19494 13.4456
1
160 104.5 -58 -1.45 87.1328 12.3068
9
170 110 -50 -1.25 78.1025 11.0314
3
180 114 -48 -1.2 73.93151 10.4423
190 116 -28 -0.7 54.78529 7.73803
5
200 117.5 -10 -0.25 42.47848 5.99978
5
210 117.5 8 0.2 41.13291 5.80973
3
220 116.5 20 0.5 48.71871 6.88117
4
230 115 30 0.75 59.2814 8.37307
8
240 112 34 0.85 66.56275 9.40151
8
250 107.5 40 1 75.75441 10.6997
8
260 104 51 1.275 89.04081 12.5763
9
270 100 45 1.125 84.67767 11.9601
 2
280 96 45 1.125 84.9484 11.9983
6
290 91.5 45 1.125 83.89854 11.8500
8
300 87 43 1.075 79.5866 11.2410
5
310 84 40 1 73.64039 10.4011
8
320 80 38 0.95 67.55738 9.54200
3
330 76.5 35 0.875 60.16845 8.49836
9
340 73.5 31 0.775 52.08071 7.35603
3
350 71 29 0.725 45.58588 6.43868
3
360 68 20 0.5 37.42498 5.28601
5
7. RESULTS
Plot a graph of piston velocity against crank angle. Comment on the form of the graph.
Maximum piston velocity occurs at what angles? Are these at 90⁰ and 270⁰? If not, why?

Piston velocity Vs Crank angle

(130mm)
40
Piston Velocity(mms-1)

30
20
10
0
0 50 100 150 200 250 300 350 400
-10
-20
-30
-40

Crank Angle (deg)

 Piston velocity Vs Crank angle
(140mm)
40
Piston Velocity (mms-1)

30
20
10
0
0 50 100 150 200 250 300 350 400
-10
-20
-30
-40
Crank Angle (deg)

Piston Velocity Vs Crank Angle

(155mm)
40
Piston Velocity(mms-1)

30
20
10
0
0 50 100 150 200 250 300 350 400
-10
-20
-30
-40
Crank Angle (deg)
 Piston Velocity Vs Crank Angle
(175mm)
40
Piston Velocity(mms-1)

30
20
10
0
0 50 100 150 200 250 300 350 400
-10
-20
-30
-40
Crank Angle (deg)

No, the maximum piston velocity does not occur exactly at 90 degrees and 270 degrees.
Instead, the maximum velocity occurs at angles that are slightly before 90 degrees (e.g., 75
degrees) and slightly after 270 degrees (e.g., 285 degrees). The precise angles depend on the ratio
of the connecting rod length to the crank radius.

Reason Explanation

Connecting Rod The connecting rod swings through an angle during the crank rotation.
Angularity This angularity makes the piston motion asymmetrical.

Velocity
Equation Term (
V p=ω r sin θ+
sin 2 θ
2n )
If the rod were infinitely long, the piston motion would be pure Simple
Deviation from Harmonic Motion (SHM), and the maximum velocity would be at 90
SHM degrees and 270 degrees. However, the finite rod length prevents true
SHM.

Maximum Maximum velocity occurs when the connecting rod is closest to being
 Reason Explanation

perpendicular to the crank. Due to the geometric constraints, this

Leverage Point maximum "leverage" is reached before 90 degrees (on the way down)
and after 270 degrees (on the way up).

Plot on the same axes the piston displacement against crank angle. What is the effect of
increasing ratio on the form of the graph?
 Piston Displacement Vs Crank
Angle (130mm)
80
Piston Displacement (mm)

70

60

50

40

30

20

10

0
0 50 100 150 200 250 300 350 400
Crank Angle (deg)
The effect of increasing the connecting rod ratio is that the piston velocity graph becomes more
symmetrical and more closely resembles a pure sine wave. A larger ratio means the connecting
rod is longer relative to the crank, which reduces the geometric effect known as connecting rod
angularity. This reduction in angularity makes the correction term in the velocity formula much
smaller, causing the piston's movement to more closely approximate Simple Harmonic Motion
(SHM). Consequently, the points of maximum piston velocity shift closer to the mid-stroke
positions of 90 and 270, and the differences in acceleration between the top and bottom halves of
the stroke are minimized.

Under what conditions would the piston motion be simple harmonic motion?
Condition for Simple Harmonic Motion (SHM)
The piston motion becomes Simple Harmonic Motion only when the connecting rod ratio is
infinite.
This condition requires one of two scenarios:
1. Infinitely Long Connecting Rod:
o The connecting rod length would have to be infinite for a given crank radius.

o In this case, the connecting rod would always remain parallel to the cylinder axis.
This removes the effect of connecting rod angularity, which is the sole cause of
asymmetry in the piston's motion.
2. Zero Crank Radius/Stroke:
o The crank radius would have to be zero (meaning zero stroke length), which is
mechanically irrelevant as there would be no movement.

From the graphs of piston velocity find the maximum acceleration, which is given by the
maximum slope of the graph. At what crank angles does the maximum acceleration occur?
Location of Maximum Acceleration
The maximum piston acceleration and maximum piston deceleration do not occur at the dead
centers ($0^\circ$ or $180^\circ$), but slightly after and slightly before, respectively.
Maximum acceleration (maximum positive slope) and maximum deceleration (maximum
negative slope) occur at crank angles very close to the dead centers:
  Maximum Deceleration (Max. Negative Slope): Occurs slightly before Top Dead
Center .This is the highest negative acceleration (maximum force required to slow the
piston down before TDC).
 Maximum Acceleration (Max. Positive Slope): Occurs slightly after Top Dead Center.
This is the highest positive acceleration (maximum force required to speed the piston up
after TDC).
 Maximum Piston Force: In general, the maximum piston acceleration (and thus the
maximum inertia force on the piston) is typically found very close to Top Dead Center.

Do maximum velocity and acceleration occur at the same crank angles?

No, maximum velocity and maximum acceleration do not occur at the same crank angles in
a piston engine mechanism.
This difference is due to the nature of their relationship:
 Maximum Velocity: Occurs when the piston is not accelerating, meaning its
acceleration is zero.
 Maximum Acceleration (or Deceleration): Occurs when the piston's speed is changing
the fastest, which happens when the velocity is near its minimum (at the dead centers).
Four Bar Chain Results

VB vs θ
1.5

0.5

0
0 50 100 150 200 250 300 350 400
VB

-0.5

-1

-1.5

-2
Crank Angle

Angular Velocity vs Crank Angle

16

14

12

10
ωAB

0
0 50 100 150 200 250 300 350 400

Crank Angle