LECTURE NOTES

MECE 303 Theory of Machines

2 – Four Link Mechanisms

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Four link mechanisms are most common mechanisms used in many machines,
they are either certain part(s) of machines or form main part of whole machines.
Four link kinematic chains and mechanisms obtained from them are illustrated
below. (Textbook, Chapter 4)

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Ref: http://ocw.metu.edu.tr/course/view.php?id=132&lang=en
FOUR-BAR MECHANISM
A four-link mechanism with four revolute joints (RRRR) is called a
four-bar mechanism or a four-bar linkage.

The links are called with various

names depending on their usage Coupler link, R
and motion characteristics output link, ..
R
Follower, output link, rocker, ..
Driver, input link, crank, ..
R R

Degrees-of-fredom of four-bar-mechanism j
F   (l  j  1)   f i
λ=3, l =4, j=4 (4R), i 1


j
fi=1 for R joints, then i 1
fi = 1+1+1+1 = 4
Hence,
F=3(4-4-1)+4=1

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The motion characteristics of a four-bar mechanism depend on the link length
dimensions. The links that are connected to the fixed link can possibly have two
different types of motion;

1) The link may have full rotation (360° rotation) about the fixed axis (this
type of link is called crank or input)
2) The link may oscillate (swing) between two limiting angles (this type of link
is called rocker or follower)

Crank-rocker type 4-bar mechanism*

*Reference for the figure: Mechanism Design: Analysis and Synthesis; A.G. Erdman, G.N. Sandor, S. Kota, Pearson, 4th Ed., 2001
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In a four-bar mechanism, we can have the following 3 different types of motion;

1) Both of the links connected to the fixed link can have a full rotation
(This type of four-bar is called double-crank or drag-link)

Drag-link or double-crank 4-bar mechanism*

*Reference for the figure: Mechanism Design: Analysis and Synthesis; A.G. Erdman, G.N. Sandor, S. Kota, Pearson, 4th Ed., 2001
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 2) Both of the links connected to the fixed link can only oscillate
(This type of four-bar is called double-rocker)

Double-rocker 4-bar mechanism*

*Reference for the figure: Mechanism Design: Analysis and Synthesis; A.G. Erdman, G.N. Sandor, S. Kota, Pearson, 4th Ed., 2001
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3) One of the links connected to the fixed link oscillates while the other has a full
rotation (This type of four-bar is called crank-rocker)

Crank-rocker type 4-bar mechanism*

The type of motion is a function of link lengths.

Grashof’s Theorem (or Grashof’s Rule) gives the criteria for these various
conditions as follows:
*Reference for the figure: Mechanism Design: Analysis and Synthesis; A.G. Erdman, G.N. Sandor, S. Kota, Pearson, 4th Ed., 2001
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Grashof’s Rule:
For a planar four-bar linkage, the sum of the shortest and longest link lengths
cannot be greater than the sum of remaining two links if there is to be
continuous relative motion between two members.

Let,
s = length of the shortest link l
l = length of the longest link p
p, q = lengths of other two links

if s  l  p  q then Grasshof' s type mechanism

if s  l  p  q then Non - Grasshof' s type mechanism

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CASE 1: s + l > p + q

No link can make full revolution relative to any of the other links. So
there can’t be any crank.
Resulting mechanism is a non-Grashof DOUBLE ROCKER or TRIPLE
ROCKER MECHANISM (four different mechanisms, depending on
the fixed link). Continuous relative motion is not possible in this
case.

*Reference for the figure: Mechanism Design: Analysis and Synthesis; A.G. Erdman, G.N. Sandor, S. Kota, Pearson, 4th Ed., 2001 9
CASE 2: s + l < p + q

There may be cranks depending on which link is the fixed link.

a, b) One of the links adjacent to the link s is fixed . Link s can make
full rotation. The other link connected to the fixed link oscillates.

The two resulting mechanisms are CRANK-ROCKER MECHANISMs.

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CASE 2: s + l < p + q

c) The shortest link is the fixed link. Then, both links connected to
the fixed link are cranks.

The resulting mechanism is DOUBLE CRANK MECHANISM.

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CASE 2: s + l < p + q

d) The link opposite to the shortest link is fixed. The links connected
to the fixed link oscillate and the link s makes full rotation.

The resulting mechanism is DOUBLE ROCKER MECHANISM.

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Reference for the figure: Mechanism Design: Analysis and Synthesis; A.G. Erdman, G.N. Sandor, S. Kota, Pearson, 4th Ed., 2001
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CASE 3: s + l = p + q

The same possibilities of CASE 2 occur.

But the mechanisms will suffer from a condition known as change
point when all links are collinear. At this change point, follower link
may change its rotation direction which is an undetermined
condition.

*Reference for the figure: Mechanism Design: Analysis and Synthesis; A.G. Erdman, G.N. Sandor, S. Kota, Pearson, 4th Ed., 2001 14
Special cases of CASE 3 (s + l = p + q)
Parallelogram linkage: Opposite link lengths are equal. Which ever
link is fixed, it results a DOUBLE CRANK MECHANISM.

To eliminate change point problem of Parallelogram linkage, two

parallelogram linkages are used in combination as,

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Special cases of CASE 3 (s + l = p + q)
Deltoid Linkage: Two equal length links are connected to equal
length longer links as shown.

If long link is fixed, this yields CRANK-ROCKER MECHANISM.

If short link is fixed, this yields DOUBLE CRANK MECHANISM.
(in this mechanism, short link may rotate twice while the long link
will rotate once-known as the Galloway mechanism patented in
1844*)

* Mechanisms; E. Söylemez, METU Publication, 4th Ed., 1999. 16

Dead-Center Positions of Crank-Rocker Mechanisms
The most common four bar mechanism is crank-rocker mechanism
with crank as input and rocker as output link. Constant rotation of
crank is converted to an oscillation of rocker link. Rocker oscillates
between two limiting angles. Limiting positions of the rocker are
called DEAD CENTER POSITIONs.

Position A’B’ is
extended dead center position
and
Position A”B” is
folded dead center position

Note: At dead-center positions, rocker changes its rotation direction

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Mechanical Advantage
Is the ratio of the output torque to the input torque . In a four bar
mechanism this is the ratio of torque at the follower to the torque
at the driver.

In force analysis we’ll see that mechanical advantage of a four bar

linkage is directly proportional to the sine of angle between coupler
and follower and inversely proportional to the sine of angle
between coupler and driver. Note that these angles are changing
continuously during motion of the mechanism.
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Transmission Angle
The angle μ between coupler and follower is called transmission
angle. If this angle becomes small mechanical advantage decreases.
It is common to use the four bar mechanism where this angle is
around 45 -50 degrees. Note that angle μ changes place if driver
and driven links (follower) are changed.

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Coupler-Point Curves
Curves traced by the points on the coupler link gives a variety of
paths, these are called coupler point curves or coupler paths.
These curves can be determined using analytical or graphical
methods, and may be utilized for various applications.

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