LECTURE SLIDES

• Chapter 3

Planar Linkage
Design

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1
 Chapter 3 Contents
• 3.1 Introduction 105
• 3.2 Two-Position Double Rocker Design 109
• 3.2.1 Graphical Solution Procedure 109
• 3.2.2 Solution Using Geometric Constraint Programming 111
• 3.2.3 Numerical Solution Procedure 112
• 3.3 Synthesis of Crank-Rocker Linkages for Specified-Rocker Amplitude113
• 3.3.1 The Rocker Amplitude Problem: Graphical Approach 113
• 3.3.2 Alternative Graphical Design Procedure Based on Specification of A*B* 120
• 3.3.3 Use of GCP To Design Crank-Rocker and Crank-Shaper Mechanisms 123
• 3.4 Motion Generation 130
• 3.4.1 Introduction 130
• 3.4.2 Two Positions 131
• 3.4.3 Three Positions with Selected Moving Pivots 133
• 3.4.4 Synthesis of a Crank with Chosen Fixed Pivots 134
• 3.4.5 Design of Slider Cranks and Elliptic Trammel 136
• 3.4.6 Order Problem and Change of Branch 137
• 3.4.7 Using GCP for Rigid-Body Guidance144
• 3.5 Path Synthesis 154
• 3.5.1 Design of Six-Bar Linkages Using Coupler Curves 154
• 3.5.2 Motion Generation for Parallel Motion Using Coupler Curve 161
• 3.5.3 Cognate Linkages 165
• 3.5.4 Using GCP for Path Synthesis 168

Kinematics, Design, and Dynamics of Machinery 2

 Introduction

• Generating irregular motions

• Electromechanical systems
• Linkages
• Non-circular gears
• Cams

• Large number of sources available to help in

selecting the type of device to use

• Usually want 1 dof systems for simplicity

• Linkages are desirable because they can

transmit large amounts of power
Kinematics, Design, and Dynamics of Machinery 3
Types of Four-Bar Mechanisms
• Four-Revolute
Four-Bar
Linkage

• Slider Crank

• Elliptic
Trammel

• Rapson Slide

Kinematics, Design, and Dynamics of Machinery 4

 Linkage Design

• Four-Bar linkage heavily studied

• All revolute joints
• Very simple
• Given good approximate solutions to a wide range
of problems

• Approaches to linkage design

• Exact precision point approach with limited
number of positions that can be matched
• Use a large number of positions which are
matched in an optimum way approximately

Kinematics, Design, and Dynamics of Machinery 5

 Types of Synthesis Problems
• Double-rocker problems for two positions

• Rocker amplitude problem (crank-rocker

design

• Motion generation problem (rigid body

guidance)

• Function generation – largely superseded in

modern times by electro-mechanical systems

• Path generation problem involving coupler

curves
Kinematics, Design, and Dynamics of Machinery 6
 Evolution of Approaches to Kinematic Synthesis

• Historically, all work was done using drawing instruments

• In 1960’s digital computers began to be used for

calculations

• In late 1970’s interactive graphics programs were

developed
• A large number of university-based and commercial programs
were available for special purpose kinematic designs
• After 2010, few design programs were still available
• Several kinematic analysis programs exist

• Often kinematic design now done using analysis and

solid-modeling programs and trial and error

• GCP offers a hybrid approach to kinematic design that is

both simple and accurate.
Kinematics, Design, and Dynamics of Machinery 7
 Double Rocker Design

• Historically, all work was done using drawing instruments

• In 1960’s digital computers began to be used for

calculations

• In late 1970’s interactive graphics programs were

developed
• A large number of university-based and commercial programs
were available for special purpose kinematic designs
• After 2010, few design programs were still available
• Several kinematic analysis programs exist

• Often kinematic design now done using analysis and

solid-modeling programs and trial and error

• GCP offers a hybrid approach to kinematic design that is

both simple and accurate.
Kinematics, Design, and Dynamics of Machinery 8
 Evolution of Approaches to Kinematic Synthesis

• Historically, all work was done using drawing instruments

• In 1960’s digital computers began to be used for

calculations

• In late 1970’s interactive graphics programs were

developed
• A large number of university-based and commercial programs
were available for special purpose kinematic designs
• After 2010, few design programs were still available
• Several kinematic analysis programs exist

• Often kinematic design now done using analysis and

solid-modeling programs and trial and error

• GCP offers a hybrid approach to kinematic design that is

both simple and accurate.
Kinematics, Design, and Dynamics of Machinery 9
 Two Position Double Rocker Design

• One of the most common design problems in kinematics

• We will need to introduce inversion and scaling to solve the
problem.
• As the input link moves through the angle , the output link
moves through .

Kinematics, Design, and Dynamics of Machinery 10

 Inversion

• Normally we observe the motion of the linkage by

fixing ourselves to the frame.
• With inversion, we fix ourselves to a moving link.
• Relative to us, the moving link becomes the
reference link or frame.

Kinematics, Design, and Dynamics of Machinery 11

 Scaling
• If only angular relationships are of interest, the size of the linkage does
not matter.
• We can draw the linkage to any scale and get the same angular results.
• The ratio of the link lengths is a constant if the linkages are drawn to
scale
R1 R2 R3 R4
   K
r1 r2 r3 r4

Kinematics, Design, and Dynamics of Machinery 12

 Double Rocker Design Procedure
• The two positions of the linkage each form a quadrilateral. In
a given position, the quadrilateral is the same shape when
viewed from any link.
• A*B is the diagonal of the quadrilateral
• Viewed from link 1, as link 2 moves through the angle , link 4
goes through the angle .

Kinematics, Design, and Dynamics of Machinery 13

 Look at Inverted Relationships
• If the observer is on link 2, that link looks stationary.
• The quadrilateral A*A2B2B* is the same regardless of where
the observer is. Therefore, we can treat it as a rigid body.
• Viewed from link 2, quadrilateral A*A2B2B* appears to be
rotated about A* through the angle -.

Kinematics, Design, and Dynamics of Machinery 14

 More on Inverted Relationships
• Note that lines A*B* and A*B2 both rotate through an angle of
- relative to their original positions when they were viewed
from link 2.
• Also note that B’2 is located on an arc that is of radius A*B2
and the rotation angle is  .
• Notice also that B moves on a circle arc about A.

Kinematics, Design, and Dynamics of Machinery 15

 Graphical Procedure

• Draw positions of links 2 and 4

• Select length of link 2 and locate B1 and B2
• Rotate line A*B2 through the angle  to locate B’2
• Draw the perpendicular bisector of B1 B’2 to locate A1 and r2.

Kinematics, Design, and Dynamics of Machinery 16

Solution Using Geometric Constraint Programming

• Draw the two positions of the input and output links

• Draw two arbitrary four-bar linkages with the
common base link of the input positions
• Constrain the two input links to be equal
• Constrain the two output links to be equal
• Constrain the two couplers to be equal
• Constrain the two input links to coincide with A*A1
and A*A2
• Constrain the two output links to coincide with B*B1
and B*B2
• Draw a third four-bar linkage in a position between
the first two linkages. Constrain the link lengths of
the third linkage to be equal to the corresponding
links of the other two.
Kinematics, Design, and Dynamics of Machinery 17
 Solution Using GCP Cont’d

• The intermediate linkage can move; the others are fixed

• Dimension one of the linkages. There are a total of eight variables (lengths
and angles) to dimension. Select any two to be driving (black) dimensions
and the rest must be driven (red) dimensions. One set is shown below.
Change dimensions for different designs.

Kinematics, Design, and Dynamics of Machinery 18

 Numerical Solution Procedure

• Determine equations for MATLAB or EXCEL

program
• Start by finding (x, y) coordinates of B1, B2, A1, A2 in
terms of linkage variables

Kinematics, Design, and Dynamics of Machinery 19

 Equation Development
2  1  
2  1  
x A1  r2 cos1 xB1  r1  r4 cos1
y A1  r2 sin1 yB1  r4 sin1

xA2  r2 cos2 xB2  r1  r4 cos2

y A2  r2 sin2 yB2  r4 sin2

• The distance between A and B is a constant for all positions

r3  ( xA1  xB1 )2  ( y A1  yB1 )2  ( x A2  xB2 )2  ( y A2  yB2 )2

Kinematics, Design, and Dynamics of Machinery 20

 Equation Summary

r3  ( xA1  xB1 )2  ( y A1  yB1 )2  ( xA2  xB2 )2  ( yA2  yB2 )2

• After substitution of expressions for

coordinates in terms of linkage variables,
rearranging, and simplifying:

• r1, r4 given

1 4 cos2  cos1
rr
r2 
r4 cos(1  1)  r1 cos2  cos1  r4 cos(2  2 )

Kinematics, Design, and Dynamics of Machinery 21

 Synthesis of Crank Rocker Linkages

• Crank-rocker is Grashof linkage with r2 the shortest

link
• Link 4 is output link or rocker which moves through
an angle of 

Kinematics, Design, and Dynamics of Machinery 22

 Rocker-Amplitude Problem: Graphical Approach

• Crank rotates 360°, rocker moves through angle of 

• Time for forward to back motion of rocker is time ratio

Kinematics, Design, and Dynamics of Machinery 23

 Time Ratio

• Assume constant velocity  for crank

• Angle for forward stroke is 
• Angle for return stroke is 360 – or 180-
• Time ratio Q
time A1 A2  /
Q 
time A2 A1 (360  ) / 
 180  
 
(360  ) 180  
and
Q 1
  180
Q 1

Kinematics, Design, and Dynamics of Machinery 24

 Graphical Procedure Given , , and r4

• Draw arbitrary line through B1

• Draw second line through B2 at angle  to line through B1
• Intersection of lines is at A*

Kinematics, Design, and Dynamics of Machinery 25

 Relationships for Link Lengths

• r4 is given
• r1 = A*B*

r2  r3  A* B1
r3  r2  A* B2
A* B1  A* B2
r2 
2
A* B1  A* B2
r3 
2

Kinematics, Design, and Dynamics of Machinery 26

Limits for Locations of B1 and B2

• B1 is and B2 must be on same side of A*B*

• Restricts orientation of line through B1

Kinematics, Design, and Dynamics of Machinery 27

 Transmission Angle for Crank as Input Link

• Transmission angle is 
• Want to be as small as possible
 / 2 
 ’= when  is positive; otherwise =+’
max/min

 r42  (r1  r2 )2  r32   r 2  ( r  r )2  r 2

3 
 'max  cos 1  'min  cos1 4 1 2
 2r3r4   2r3r4 

Kinematics, Design, and Dynamics of Machinery 28

 Scaling
• If only angular relationships are of interest, the size of the linkage does
not matter.
• We can draw the linkage to any scale and get the same angular results.
• The ratio of the link lengths is a constant if the linkages are drawn to
scale
R1 R2 R3 R4
   K
r1 r2 r3 r4

Kinematics, Design, and Dynamics of Machinery 29

 Case when  = 0 and Q = 1

• A* can be anywhere other than

between B1 and B2

Kinematics, Design, and Dynamics of Machinery 30

 Limiting values for ±

• Maximum value for  is /2+/2

• Minimum value when  is negative is –(/2-/2)

Kinematics, Design, and Dynamics of Machinery 31

Example 3.1 Problem Statement

Kinematics, Design, and Dynamics of Machinery 32

Example 3.1 Solution (1/2)

Kinematics, Design, and Dynamics of Machinery 33

Example 3.1 Solution (1/2)

Kinematics, Design, and Dynamics of Machinery 34

Alternative Procedure when A*B* Given
• Assume we know  and A*B*
• First select a base length for A*B* which establishes the linkage
scale
• Draw the line A*G at an angle of  /2 - (CW+) relative to A*B*
• Draw the line B*G at an angle of  /2 (CCW+) relative to A*B*
• Draw a circle arc of radius A*G with center at G
• Draw a circle arc of radius A*G with center at G
• Draw line B*B2m through B* at an angle of  (CCW+) relative to A*B*

Kinematics, Design, and Dynamics of Machinery 35

 Designing Linkage
• Any point on circle arc between A and B2m can be selected for B2
• Line B*B2 is r4
• Find B1 by rotating B*B2 about B* through the angle 
• Once B1 and B2 are known, determine r2 and r3

Kinematics, Design, and Dynamics of Machinery 36

Example 3.2 Problem Statement

Kinematics, Design, and Dynamics of Machinery 37

Example 3.2 Solution (1/2)

Kinematics, Design, and Dynamics of Machinery 38

Example 3.2 Solution (2/2)

Kinematics, Design, and Dynamics of Machinery 39

 Using GCP to Design Crank-Rocker and Crank-
Shaper Mechanisms
• Once  and A*B* are specified, locus for B2 is established
• Also, limit B2m for B2 is established
• Locus for B2 defined by the angle 
• Depending on values for  and , four different cases must be considered

Kinematics, Design, and Dynamics of Machinery 40

 Case When 0 <  < 
• General case

Kinematics, Design, and Dynamics of Machinery 41

Case When ( / 2  / 2)    0

Kinematics, Design, and Dynamics of Machinery 42

 Case When  = 
• Can be used for crank-rocker
• or crank-slider if B2 is located at infinity

Kinematics, Design, and Dynamics of Machinery 43

Case When  / 2   / 2    

Kinematics, Design, and Dynamics of Machinery 44

Time Ratio for Crank Shaper ( = 
• For a crank shaper, the time ratio can be very large depending on 

Q   
 

Kinematics, Design, and Dynamics of Machinery 45

 Programming Crank-Rocker Design
• In MATLAB, a single program can be written
• With GCP, each case must be programmed separately
• Both types of programs permit any of  ,  or A*B* to be changed
for new designs

Kinematics, Design, and Dynamics of Machinery 46

 Using GCP to Solve Case When 0 <  < 
• Develop a program by solving a specific problem – here Example 3.2 where 80°
and 23.47°
• We can then change any dimension for other designs
• Base GCP program on second design procedure
• Open blank document , set units, ensure that snap feature is activated, and set up
layer structure
• Draw and dimension (driving) line corresponding to A*B*
• Draw a line through B* and above A*B* and dimension it to be at an angle of 
relative to A*B*
• Compute external to the program  /2 –  (16.53°)
• Draw a line through A* and dimension it to be  /2 –  relative to A*B*
• Draw a line through B*, below A*B*, and pointed to the left. Use graphical
construction to constrain it to be at an angle of  /2 relative to A*B*
• The intersection of the lines through A* and B* and below A*B* gives the location
of G which is the center of the circle giving the locus of B2
• Draw the circle locus for B2
• Draw a line from B* and constrain the other end to be coincident with the circle.
This locates a specific B2 and r4.
• Draw a third line through B* pointed up and to the right. Use graphical
construction to constrain the new line to be at an angle of  relative to the line
B*B2

Kinematics, Design, and Dynamics of Machinery 47

Using GCP To Locate B2 and B1

Kinematics, Design, and Dynamics of Machinery 48

 Determining Link Lengths with GCP
• Draw A*B2=r3-r2 and A*B1=r3+r2.
• Locate C such that A*B2 = A*C. CB1= 2r2
• Construct A*A2 = r2 to be equal to (CB1)/2 and collinear with A*B2
• r3 = A 2 B 2

Kinematics, Design, and Dynamics of Machinery 49

 Final Crank-Rocker Linkage
• Draw the red four-bar linkage with base A*B*
• Constrain A*A = A*B2, and AB = A2B2, and B*B = B*B2
• Dimension (driven) lines A*A, AB, and B*B
• Draw fixed pivots at A* and B*
• Draw circles for bushings at A and B

Kinematics, Design, and Dynamics of Machinery 50

 Using GCP to Design Crank Shaper

• Develop a program by solving a specific problem and then changing

the inputs – use a time ratio of 5 and A*B* = 10”
• The problem is independent of length units as long as consistent
units are used
• Because  =  for the crank shaper,

Q 1
    180  180 5 1  120
Q 1 5 1

Kinematics, Design, and Dynamics of Machinery 51

 Design Process for Crank Shaper
• Draw a horizontal line for A*B* and constrain it to be 10” (driving constraint)
• Draw a line from B* up and to the left. Constrain it to be 60° (120°/2) relative to A*B*.
• Draw a circle about A* and constrain it to be tangent to the line drawn at 60°
• Crank is radius of circle. Dimension it as a driven constraint.
• Construct ground pivots and slider block if desired.

Kinematics, Design, and Dynamics of Machinery 52

 Using Program for Alternate Design
• Design for A*B* = 2 and a = 3
• Notice that q is a function of the time ratio and vice versa

Kinematics, Design, and Dynamics of Machinery 53

 Introduction to Motion Generation
• Also call rigid-body guidance
• Idea is to drive a rigid body through a series of positions
• Common linkages used are four-bar linkages and slider-crank
linkages where rigid body is the coupler

Kinematics, Design, and Dynamics of Machinery 54

 General Rigid Body Drawing
• A rigid body can be defined by a CAD drawing and a
reference line

Kinematics, Design, and Dynamics of Machinery 55

 Identifying location of Rigid Body in Space
• The reference line can be defined by two points or by a
line and a point

Kinematics, Design, and Dynamics of Machinery 56

Minimum Information Required To Locate Rigid Body
• If we have the drawing of the link, we need only keep track of the
reference line to uniquely define the position of a rigid body

Kinematics, Design, and Dynamics of Machinery 57

General Four-Bar Linkage

Kinematics, Design, and Dynamics of Machinery 58

Motion of C and D Relative To Frame

Kinematics, Design, and Dynamics of Machinery 59

Motion of C* and D* relative to Coupler

60
Finding Positons of C Given A and B

Kinematics, Design, and Dynamics of Machinery 61

Finding C Using Distances

Kinematics, Design, and Dynamics of Machinery 62

Finding C Using Angles

Kinematics, Design, and Dynamics of Machinery 63

 Two Position Synthesis
• Design a four-bar linkage that will guide a line from position 1 to
position 2
• Any two points in the link can be selected at the circle points
• Any two points in the frame can be selected as the center points
• In each case, for a given circle point, the center point is not unique
• For a given center point, the circle point is not unique

Kinematics, Design, and Dynamics of Machinery 64

Linkage with One Set of Circle Points Selected

Kinematics, Design, and Dynamics of Machinery 65

Linkage for a Second Set of Circle Points

Kinematics, Design, and Dynamics of Machinery 66

Displacement Pole for Positions 1 and 2

Kinematics, Design, and Dynamics of Machinery 67

General Motion Using Displacement Pole

Kinematics, Design, and Dynamics of Machinery 68

Three Positions of a Point

Kinematics, Design, and Dynamics of Machinery 69

Finding the Center of Motion of Three Positions of a Point

Kinematics, Design, and Dynamics of Machinery 70

 Identifying Crank in Three Positions
• Note that A1, A2, A3 represent three positions of the same point. They are
circle points
• A* is the center of the circle or center point
• The line from A* to Ai gives the positon of the link in position i.

Kinematics, Design, and Dynamics of Machinery 71

Three Positions of a Point

Kinematics, Design, and Dynamics of Machinery 72

Three Positions of a Rigid Body

Kinematics, Design, and Dynamics of Machinery 73

 Design Using C and D as Circle Points
• Find locations of C and D in three positions and then draw
perpendicular bisectors

Kinematics, Design, and Dynamics of Machinery 74

Synthesis of a Crank with Chosen Fixed Pivots
• Assume that C* is specified and we want to find the
position in the coupler of circle point C
• Need to use inversion by “standing” in the coupler

Kinematics, Design, and Dynamics of Machinery 75

Location of Centerpoint Relative to Three Positions

Kinematics, Design, and Dynamics of Machinery 76

Apparent Positions of Center Point Relative to Position 1

Kinematics, Design, and Dynamics of Machinery 77

Apparent Positions of Center Point Relative to Position 2

Kinematics, Design, and Dynamics of Machinery 78

Apparent Positions of C* Before Constructions

Kinematics, Design, and Dynamics of Machinery 79

 Solution For Original Positions when C* and D* are given

• Invert the linkage and find C* and D* in each position

relative to position 1 of the coupler

Kinematics, Design, and Dynamics of Machinery 80

 Design of Slider Cranks and Elliptic Trammels
• Slider-crank linkages and elliptic trammels are special
cases of four bar linkages
• One link is infinitely long
• For Synthesis, we must restrict our search to those circle
points which have three positions on a straight line

Kinematics, Design, and Dynamics of Machinery 81

 Slider Designs Involves Poles
• For slider-crank and elliptic trammels, we need to find
three displacement poles for three position synthesis

Kinematics, Design, and Dynamics of Machinery 82

Geometric Effect of Replacing Fixed Revolute Joint with Slider

• Replacing a link with a slider is a way of representing the

motion of a point on the end of an infinitely long link

Kinematics, Design, and Dynamics of Machinery 83

 Slider Designs for 3 Positions
• Identify positions
• Locate three poles for three positions
• Select position for drawing final linkage (usually 1)
• Determine pole that does not involve position chosen in 3 above. (Usually
P23)
• Locate image pole by reflecting P’23 about line through P12 and P13 (if
drawing linkage in position 1)
• Draw circle of sliders through P12, P13, P’23
• Pick any point on circle of sliders. This is slider point.
• Find other two positions of slider point. These will lie on straight line – this
straight line gives direction for slider line.
• Draw slider on slider line.
• Pick a circle or center point for the crank.
• Find corresponding center or circle point – procedure exactly the same as
for 4-bar linkage.
• Draw the linkage in positions 1, 2, 3 or animate to check motion.
Kinematics, Design, and Dynamics of Machinery 84
Construction of a Slider Link and Slider Line

Kinematics, Design, and Dynamics of Machinery 85

 Potential Solution Problems for Four-Bar Linkage
• The procedures will always give “a” solution
• Potential problems:
• 1) Order Problem
• 2) Branch Problem
• 3) Grashof Problem

• Order problem implies body is moved through the

positions in the wrong order. For two and three positions,
the order problem can sometimes be solved by turning the
input link in the opposite direction.
• The Grashof problem means the input link may not rotate
a full 360º. Solution is to pick another circle point or
circle point if a full rotation is truly necessary.

Kinematics, Design, and Dynamics of Machinery 86

 Order and Grashof Problems
• Order Problem: Linkage goes through all
positions but in the wrong order
1) 1 – 2 – 3
2) 1 – 3 – 2
3) 2 – 3 – 1
4) 3 – 2 – 1 (run backwards)

• Grashof Problem: May need crank rocker

but get only Type II linkages

Kinematics, Design, and Dynamics of Machinery 87

 To Check for Branch Problem

• To check for branch, draw linkage in each position and

check sign of transmission angle (’ – and  +).
• If the transmission angle is the same sign in all three
positions, there is no change in branch
• If some are plus and some minus, there is a change in
branch.

Kinematics, Design, and Dynamics of Machinery 88

 Example of Branch Problem

• ((
• Change of branch

Kinematics, Design, and Dynamics of Machinery 89

 Potential Solution Problems for Slider Crank

• Again, the procedure will always give “a” solution

• Potential problems:
• 1) Order Problem
• 2) Branch Problem

• The order problem is the same as with the four

bar linkage. The linkage moves through the
positions in the wrong order

Kinematics, Design, and Dynamics of Machinery 90

 Branch Problem with Slider Crank

• Slider-crank can be assembled in two valid

configurations (branches)

• Get a different branch problem when the slider

drives from when the crank drives

• For each condition, some of the positions can

correspond to one branch and some may
correspond to the other

Kinematics, Design, and Dynamics of Machinery 91

Branch Problem For Different Drivers

Kinematics, Design, and Dynamics of Machinery 92

 Branch Problem with Crank Driving
• Draw linkage in each position and check sign of angle
between the normal to the slider velocity and the coupler
• If the angle is the same sign in all three positions, there is
no change in branch
• If some are plus and some minus, there is a change in
branch.

Kinematics, Design, and Dynamics of Machinery 93

 Branch Problem with Slider Driving

• Draw linkage in each position and check sign of transmission

angle between the crank and the coupler
• If the transmission angle is the same sign in all three positions,
there is no change in branch
• If some are plus and some minus, there is a change in branch.

Kinematics, Design, and Dynamics of Machinery 94

Example 3.3 Problem Statement

Kinematics, Design, and Dynamics of Machinery 95

Example 3.3 Solution (1/3)

96
Example 3.3 Solution (2/3)

Kinematics, Design, and Dynamics of Machinery 97

Example 3.3 Solution (3/3)

Kinematics, Design, and Dynamics of Machinery 98

Example 3.4 Problem Statement

Kinematics, Design, and Dynamics of Machinery 99

Example 3.4 Solution (1/3)

Kinematics, Design, and Dynamics of Machinery 100

Example 3.4 Solution (2/3)

Kinematics, Design, and Dynamics of Machinery 101

Example 3.4 Solution (3/3)

Kinematics, Design, and Dynamics of Machinery 102

 Using GCP for Rigid Body Guidance

• GCP is an especially powerful method for creating

designs involving rigid-body guidance
• The procedure is different from that implemented
in the earlier material
• Using GCP, the procedure can be extended
transparently to 4 or even 5 positions without a
detailed knowledge of kinematics
• Original procedure developed by E. Kinzel and J.
Schmiedeler using SolidEdge, but any parametric
design program can be used.

Kinematics, Design, and Dynamics of Machinery 103

 Using GCP for 3 Positions to Design 4-Bar Linkage
• Procedure can be explained best within the context of a specific problem represented below.
First draw and use dimension constraints to define the three positions
• Any of the input variables for any position can be changed to solve a new problem

Kinematics, Design, and Dynamics of Machinery 104

 GCP Procedure for Single Crank

• Set up blank spreadsheet and layer structure and draw and constrain the
three positions
• Draw a triangle at each position with D and C as the base in each position
• Constrain the triangles to be congruent. These will define an arbitrary circle
point.

Kinematics, Design, and Dynamics of Machinery 105

 GCP Procedure for Single Crank Cont’d

• Constrain the triangles to be congruent but do not constrain the

lengths of the legs. These triangles define a candidate circle point.
• Draw an arbitrary circle near the apexes of the triangles

Kinematics, Design, and Dynamics of Machinery 106

 GCP Procedure for Single Crank Cont’d
• Constrain the apex of each triangles to be coincident with the circle. The apex point
becomes a circle point, and the center of the circle becomes a center point.
• Drag the center of the circle to explore other center points and drag the apex of any triangle
to explore other circle points.
• The radius of the circle is one of the cranks of the 4-bar linkage when specific circle and
center points are selected.

Kinematics, Design, and Dynamics of Machinery 107

 GCP Procedure for Second Crank
• Temporarily select specific circle and center points for first crank.
• Draw a second set of triangles with the position lines as the base and make the second set of
triangles congruent but not constrained otherwise for the second circle point.
• Draw a second arbitrary circle near the apexes of the second set of triangles.
• Constrain the apexes of the second set of triangles to be coincident with the circumference
of the second circle.
• Draw a coupler line between the two circle points in each position

Kinematics, Design, and Dynamics of Machinery 108

 GCP Procedure for Second Crank Cont’d
• Draw an arbitrary 4-bar linkage with the two center points as the base.
• Constrain the coupler of the 4-bar linkage to be equal to the line between the circle points.
• Constrain each crank of the linkage to be equal to the radius of the circle corresponding to
the circle point for the crank.
• This linkage is a candidate solution to the problem; however, we need to attach a line to the
couple plate between circle points to determine if the linkage will move the line through the
input positions.

Kinematics, Design, and Dynamics of Machinery 109

 GCP Procedure for Second Crank Cont’d
• Drag the circle points or center points to select a new candidate linkage if desired
• Locate the coupler plate by drawing a quadrilateral with the coupler of the linkage and CD as
sides and the sides of the two triangles to define the rest of the geometry
• Dimension each link of the linkage treating them as driven dimensions and add bushings and
fixed pivots.
• Animate the linkage to ensure that the line CD passed through all of the positions. If it does
not, drag either a circle point or circle point to identify a different candidate linkage.

Kinematics, Design, and Dynamics of Machinery 110

 Using GCP to Design a Slider-Crank Linkage
• Procedure can be explained best within the context of a specific problem represented below.
First draw and use dimension constraints to define the three positions
• Any of the input variables for any position can be changed to solve a new problem

Kinematics, Design, and Dynamics of Machinery 111

 GCP Procedure for Slider Crank

• Set up blank spreadsheet and layer structure and draw and constrain the
three positions
• Draw a triangle at each position with D and C as the base in each position
• Constrain the triangles to be congruent.

Kinematics, Design, and Dynamics of Machinery 112

 GCP Procedure for Slider Crank Cont’d

• Draw an arbitrary line as a candidate for the slider line

• Constrain the vertex of each triangle to be coincident with line
• Both line and vertices will adjust as constraints are set

Kinematics, Design, and Dynamics of Machinery 113

 GCP Procedure for Slider Crank Cont’d
• Draw triangles for a second coupler point for the circle point
• Constrain the triangles to be congruent
• Draw an arbitrary circle near the vertices of the new triangles
• Constrain the vertices of the triangles to lie on the circle
• The center of the circle is the crank center point, and the vertex on the circle is the circle point
• Draw the coupler lines from the circle points to the slider points
• Draw an arbitrary slider crank linkage with the crank as the circle radius and the coupler fixed to the
slider line.

Kinematics, Design, and Dynamics of Machinery 114

 GCP Procedure for Slider Crank Cont’d
• Constrain the coupler of the arbitrary slider crank (red linkage) to be equal to the
coupler lines in the triangles
• Construct a triangle on the coupler of the red linkage to constrain the line CD to be fixed
to the coupler
• Add a slider, fixed pivot, and bushings to make the red linkage more realistic
• Animate the linkage to ensure that the coupler line passes through the required
positions

Kinematics, Design, and Dynamics of Machinery 115

Using GCP to Guide a Four-Bar Linkage through 4
positions
• This is a simple extension of the procedure for three
positions
• Note that the theory behind four-position synthesis is
usually beyond a first course in kinematics but GCP
make the design process simple
• Only a unique set of points in the coupler can be
circle points in 4 positions, and GCP automatically
constrains the points to lie on the center point curve
which is a cubic curve
• By dragging candidate points after the GCP program
is developed, it is possible to explore the solution
space
Kinematics, Design, and Dynamics of Machinery 116
 Process for Four Position Synthesis
• Procedure can be explained best within the context of a specific problem
represented below. First draw and use dimension constraints to define the
four positions
• Any of the input variables for any position can be changed to solve a new
problem after the GCP program is developed

Kinematics, Design, and Dynamics of Machinery 117

 Process for Four Position Synthesis Cont’d
• Draw a triangle at each position using the position line as the base
• Constrain the triangles to be congruent
• Draw a circle near the vertices of the triangles
• Constrain the vertices to be coincident with the circumstance of the circle.
• This procedure identifies one center point and one circle point

Kinematics, Design, and Dynamics of Machinery 118

 Process for Four Position Synthesis
• Temporarily hide the first center and circle points in a separate layer
• Draw a second triangle at each position using the position line as the base and make them congruent
• Draw a second circle near the vertices of the triangles and constrain the vertices of the triangles to be coincident with the circumstance of
the circle.
• This procedure identifies a second center point and circle point
• Unhide the first set of triangles and draw the coupler line in each position between the two circle points
• Draw a trail linkage with the cranks defined by the two circles and constrain the coupler to be equal to the coupler line defined by the circle
points.
• Animate the linkage to check for branch problems. If the coupler of the trial linkage passes through the coupler line in the four positions,
there will be no branch problem.

Kinematics, Design, and Dynamics of Machinery 119

 Process for Four Position Synthesis Cont’s
• Drag the triangle vertices to explore other candidate designs
• If the constraints are set correctly, all of the parameters will adjust as new
circle points are selected.
• Can also drag the center points to explore other designs
• Draw ground pivots and bushings to improve the appearance
• Also draw triangles on the trial linkage to show the original coupler line

Kinematics, Design, and Dynamics of Machinery 120

Comments on Using GCP for Rigid Body Guidance

• Can also explore 5 position synthesis although an

acceptable solution is rarely found for 5 positions
• If the animated trial linkage does not move the
coupler through the prescribe position in the right
order, try other circle and center points
• Recognize that there may not be a valid solution
to the problem
• When constructing the triangles defining the
positions of the circle points, make sure that they
are truly congruent and not mirror images

Kinematics, Design, and Dynamics of Machinery 121

 Path Synthesis

• In path synthesis, we use the path traced by a

coupler point to design a linkage
• May use the coupler curve directly or use it to
drive another link of a more complex linkage
• Design usually a trial and error process requiring
the designer to look up suitable coupler curves
using a computer program or an atlas
• Most text books on kinematics include a program
that will generate four-bar and slider-crank
coupler curves

Kinematics, Design, and Dynamics of Machinery 122

Example of Linkage Using Coupler Curve

• Linkage used to
transport
products along a
straight path

• Coupler curve is
“D” shaped

Kinematics, Design, and Dynamics of Machinery 123

 Carousel Ride Using Coupler Curve

• The saddle of a
carousel horse
traces a coupler
curve of an oval-
like shape

• The linkage is an
inverted slider-
crank
mechanism

Kinematics, Design, and Dynamics of Machinery 124

 Use of Coupler Curve to Design a Six-Link
Mechanism
• The output link (6) of a Stephenson six-link mechanism
can be designed for a variety of motions by using a four-
bar linkage coupler curve to drive the output dyad

Kinematics, Design, and Dynamics of Machinery 125

 Procedure for Defining the Location of a Coupler
Point on a Four-Bar Linkage
• Define coupler point location relative to AB by the angle  and the
distance AC

Kinematics, Design, and Dynamics of Machinery 126

Example 3.5 Problem Statement

Kinematics, Design, and Dynamics of Machinery 127

Example 3.5 Solution (1/3)

Kinematics, Design, and Dynamics of Machinery 128

Example 3.5 Solution (2/3)

Kinematics, Design, and Dynamics of Machinery 129

Example 3.5 Solution (3/3)

Kinematics, Design, and Dynamics of Machinery 130

 Movie File for Solution to Example 3.5

• A Solidworks movie file (Example3p5) illustrates

the motion of the solution linkage

Kinematics, Design, and Dynamics of Machinery 131

Example 3.6 Problem Statement

Kinematics, Design, and Dynamics of Machinery 132

Example 3.6 Solution (1/3)

Kinematics, Design, and Dynamics of Machinery 133

Example 3.6 Solution(2/3)

Kinematics, Design, and Dynamics of Machinery 134

Example 3.6 Solution (3/3)

Kinematics, Design, and Dynamics of Machinery 135

 Movie File for Solution to Example 3.6

• A Solidworks movie file (Example3p6) illustrates

the motion of the solution linkage

Kinematics, Design, and Dynamics of Machinery 136

 Design for Parallel Motion using Coupler Curves

• Sometimes necessary to guide a body along a curve while the

body does not rotate
• A solution mechanism is an 8 link mechanism

Kinematics, Design, and Dynamics of Machinery 137

 Solution Mechanism
• DCAE and EAE*A* are parallelograms
• C is the coupler point of a four-bar linkage

Kinematics, Design, and Dynamics of Machinery 138

Replacing Parallelogram Linkages with Timing Belts

• Sometimes we need continuous motion for the

cranks
• Parallelogram linkage has inconsistent force
transmission characteristics

Kinematics, Design, and Dynamics of Machinery 139

Equivalent Linkages

Kinematics, Design, and Dynamics of Machinery 140

Example 3.7 Problem Statement

Kinematics, Design, and Dynamics of Machinery 141

Example 3.7 Solution (1/2)

Kinematics, Design, and Dynamics of Machinery 142

Example 3.7 Solution (2/2)

Kinematics, Design, and Dynamics of Machinery 143

 Cognate Linkages
• Every four-bar linkage coupler curve can be generated by 3 four-bar linkages
• These linkages are called cognate linkages
• The cognate linkages will have different motion characteristics except at the coupler point
• To find cognate linkages use Robert’s Linkage as a guide

Kinematics, Design, and Dynamics of Machinery 144

 Example Cognate Linkages
• Three linkages that will generate same coupler path

Kinematics, Design, and Dynamics of Machinery 145

 Five-Bar Cognate Linkages
• A five-bar linkage can generate the same coupler
curve as a four-bar linkage if both cranks are driven
at the same speed in the same direction

Kinematics, Design, and Dynamics of Machinery 146

Sample Ways of Driving Cranks in five-Bar Linkage

Kinematics, Design, and Dynamics of Machinery 147

 Using GCP for Path Synthesis

• GCP can be used for the solution process

once a suitable coupler curve is identified
• The constructions available in GCP are
especially suited for path synthesis
• GCP can also be used to quickly generate
cognate linkages and to evaluate the
results

Kinematics, Design, and Dynamics of Machinery 148

Example 3.8 Problem Statement

Kinematics, Design, and Dynamics of Machinery 149

Example 3.8 Solution (1/4)

Kinematics, Design, and Dynamics of Machinery 150

Example 3.8 Solution (2/4)

Kinematics, Design, and Dynamics of Machinery 151

Example 3.8 Solution (3/4)

Kinematics, Design, and Dynamics of Machinery 152

Example 3.8 Solution (4/4)

Kinematics, Design, and Dynamics of Machinery 153

Example 3.9 Problem Statement

Kinematics, Design, and Dynamics of Machinery 154

Example 3.9 Solution (1/3)

Kinematics, Design, and Dynamics of Machinery 155

Example 3.9 Solution (2/3)

Kinematics, Design, and Dynamics of Machinery 156

Example 3.9 Solution (3/3)

Kinematics, Design, and Dynamics of Machinery 157