Mechanics of Machinery
Chapter 2. LINKAGES
Four-bar linkage;
Contents
Slider crank mechanism;
Scotch yoke;
Quick-return mechanism;
Toggle mechanism;
Straight line mechanisms;
Parallel mechanisms;
Intermittent motion mechanisms;
Steering gear mechanisms.
KINEMATIC CHAIN-4 bar Linkage
• Assembly or combination of link and pairs to produce required/ specified
output motion or for given input motions.
• Group of links either joined together or arranged in a manner that permits
them to move relative to one another.
•
•
•
•
(link 1) frame
(link 2) crank
(link 3) coupler
(link 4) rocker
Additional notes :
2
INVERSIONS OF MECHANISM
 The process of obtaining different mechanisms by fixing different links in a kinematic
chain is known as inversion of the mechanism.
 If a mechanism has ‘n’ number of links, then ‘n’ number of mechanisms can be
obtained by fixing its different links one at a time.
 For example, a kinematic chain having four links can produce four different
mechanisms by fixing its different links one at a time.
 It may be noted that relative motion between links is not changed with inversion. This is
because relative motion between different links is the property of the kinematic chain
and not of the mechanism.
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Grashof’s law
In a planar 4- bar kinematic chain with revolute pair, if the sum of the link
lengths of shortest and longest link is less than or equal to the sum of the other
two link lengths.
Categories of four bar mechanisms
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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
INVERSIONS OF FOUR BAR CHAIN
a. b Crank-rocker mechanism
c. Double crank or Drag link mechanism
d. Double rocker mechanism
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Crank-rocker mechanism
• When the shortest link is next to the fixed link then the type
of inversion is crank rocker mechanism
• In this mechanism, either link 1 or link 3 is fixed. Link 2 (crank)
rotates completely and link 4 (rocker) oscillates.
Shortest link
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side
6
Explain any three inversions of four bar chain mechanism
•
Application: Beam engine (crank
and lever mechanism)
Shortest link
side
• When the shortest link is next to the fixed link then the type of inversion is crank
rocker mechanism
• In this mechanism, either link 1 is fixed. Link 2 (crank) rotates completely and
link 4 (rocker) oscillates.
• A part of the mechanism of a beam engine (also known as crank and lever
mechanism) which consists of four links,
• In this mechanism, when the crank rotates about the fixed centre A, the lever
oscillates about a fixed centre D.
• The end E of the lever CDE is connected to a piston rod which reciprocates due to
the rotation of the crank.
• In other words, the purpose of this mechanism is to convert rotary motion into
reciprocating
motion.
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Double crank mechanism
Application: coupling rod of a locomotive (also known as
double crank mechanism)
Shortest link
Frame
• When the shortest link is fixed, then the type of inversion is double crank mechanism
• Double crank mechanism. This is one type of drag link mechanism, where, links 1& 3
are equal and parallel and links 2 & 4 are equal and parallel
•
In this mechanism, the links AD and BC (having equal length) act as cranks and are
connected to the respective wheels.
•
The link CD acts as a coupling rod and the link AB is fixed in order to maintain a
constant centre to centre distance between them.
•
This mechanism is meant for transmit-ting rotary motion from one wheel to the other
wheel.
DOUBLE CRANK MECHANISM or DRAG LINK MECHANISM
• When the shortest link is fixed,
then the type of inversion is
double crank mechanism
• Double crank mechanism. This
is one type of drag link
mechanism, where, links 1& 3
are equal and parallel and
links 2 & 4 are equal and
parallel
Coupling rod of a locomotive





Shortest link
side
This is an example of double crank mechanism
The both cranks rotate about the points in fixed link
The opposite links 1 and 3 are equal length
The link 1 and 3 work as two cranks
This mechanism also known as rotary- rotary
converter
 This mechanism used to transmit rotary motion
from one wheel to other wheel.
Double rocker mechanism
Application: Watt’s indicator
mechanism (Double lever
mechanism)
• When the link opposite to the shortest link is
fixed, then the type of inversion is double
rocker.
Shortest link
coupler
•
Watt’s indicator mechanism (also known as Watt's straight-line mechanism or double lever mechanism)
which consists of four links is shown in Fig. 5.21. The four links are: fixed link at A , link AC , link CE
and link BFD. It may be noted that BF and FD form one link because these two parts have no relative
motion between them.
•
The links CE and BFD act as levers. The displacement of the link BFD is directly proportional to the
pressure of gas or steam which acts on the indicator plunger. On any small displacement of the
mechanism, the tracing point E at the end of the link CE traces out approximately a straight line.
•
The initial position of the mechanism is full lines whereas the dotted lines show the position of the
mechanism when the gas or steam pressure acts on the indicator plunger.
SLIDER CRANK MECHANISM(FIRST INVERSION)
Slider crank chain:
This is a kinematic chain having four links.
It has one sliding pair and three turning pairs.
Link 2 has rotary motion and is called crank.
Link 3 has got combined rotary and reciprocating motion and is called
connecting rod. Link 4 has reciprocating motion and is called slider.
Link 1 is frame (fixed).
This mechanism is used to convert rotary motion to reciprocating and
vice versa.
Inversions of slider crank chain
Inversions of slider crank mechanism is obtained by
fixing links 2, 3 and 4.
(B) crank fixed
(C) connecting rod fixed
(D) slider fixed
Rotary internal combustion engine or Gnome engine
(second inversion)
• Sometimes back, rotary internal combustion engines were used in aviation.
But now-a-days gas turbines are used in its place.
• It consists of seven cylinders in one plane and all revolves about fixed centre D,
while the crank (link 2) is fixed.
• In this mechanism, when the connecting rod (link 4) rotates, the piston (link
3) reciprocates inside the cylinders forming link 1
Oscillating cylinder engine (third inversion)
• The arrangement of oscillating cylinder engine mechanism is used to
convert reciprocating motion into rotary motion.
• In this mechanism, the link 3 forming the turning pair is fixed. The link 3
corresponds to the connecting rod of a reciprocating steam engine
mechanism.
• When the crank (link 2) rotates, the piston attached to piston rod (link 1)
reciprocates and the cylinder (link 4) oscillates about a pin pivoted to the fixed
link at A.
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Pendulum pump or Bull engine (fourth inversion)
• In this mechanism, the inversion is
obtained by fixing the cylinder or link 4
(i.e. sliding pair).
• In this case, when the crank (link 2)
rotates,
the
connecting
rod
(link
3)
oscillates about a pin pivoted to the fixed
link 4 at A and the piston attached to the
piston rod (link 1) reciprocates.
• The duplex pump which is used to supply
feed water to boilers have two pistons
attached to link 1
Scotch yoke mechanism
Slider •
(Link 4)
This mechanism is used for
converting
rotary
motion
into a reciprocating motion.
The inversion is obtained by
fixing either the link 1 or
link 3. Link 1 is fixed.
• In this mechanism, when the
DOUBLE SLIDER CRANK CHAIN
• It is a kinematic chain consisting of
two turning pairs and two sliding
pairs.
SCOTCH –YOKE MECHANISM
• Turning pairs –1&2, 2&3;
• Sliding pairs – 3&4, 4&1
link 2 (which corresponds to
crank) rotates about B as
centre, the link 4 (which
corresponds
to
a
frame)
reciprocates. The fixed link 1
guides the frame.
Oldham’s Coupling (second
inversion)
•
•
An Oldham’s coupling is used for connecting two
parallel shafts whose axes are at a small distance apart.
The shafts are coupled in such a way that if one
shaft rotates, the other shaft also rotates at the same
speed.
This inversion is obtained by fixing the link 2, as
shown in Fig. a. The shafts to be connected have
two flanges (link 1 and link 3) rigidly fastened at
their ends by forging.
Elliptical trammels
•
It is an instrument used for drawing ellipses. This inversion is
obtained by fixing the slotted plate (link 4).
•
The fixed plate or link 4 has two straight grooves cut in it, at
right angles to each other. The link 1 and link 3 are known as
sliders and form sliding pairs with link 4. The link AB (link 2) is a
bar which forms turning pair with links 1 and 3.
•
When the links 1 and 3 slide along their respective grooves,
any point on the link 2 such as P traces out an ellipse on the
surface of link 4.
•
A little consideration will show that AP and BP are the semimajor axis and semi-minor axis of the ellipse respectively.
Crank and slotted lever mechanism

Timeof
cuttingstroke


360

Time taken for cutting
 

stroke to return stroke:
Timeof return stroke 

360  
• mechanism mostly used in shaping machines/ slotting machines/in
rotary internal combustion engines.
• In this mechanism, the link AC (i.e. link 3) forming the turning pair
is fixed, as shown in Fig. The link 3 corresponds to the connecting
rod of a reciprocating steam engine. The driving crank CB revolves
with uniform angular speed about the fixed centre C.
• A sliding block attached to the crank pin at B slides along the
slotted bar AP and thus causes AP to oscillate about the pivoted
point A.
• A short link PR transmits the motion from AP to the ram which
carries the tool and reciprocates along the line of stroke R1 R2.
• The line of stroke of the ram (i.e. R1 R2) is perpendicular to AC
produced. In the extreme positions, AP1and AP 2 is tangential to
the circle and the cutting tool is at the end of the stroke.
• The forward or cutting stroke occurs when the crank rotates from
the position CB 1 to CB 2 (or through an angle β) in the clockwise
direction. The return stroke occurs when the crank rotates from the
position CB 2 to CB 1 (or through angle α) in the clockwise
direction. (crank has uniform angular speed)
Crank and slotted lever quick return motion mechanism
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Timeforforwardstroke Boˆ 2 B 1


Timeforreturnstroke
Boˆ 2 B  2
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Parallelogram Mechanisms
• Mechanisms are often comprised of links that form
parallelograms to move an object without altering its pitch.
• These mechanisms create parallel motion for applications
such as balance scales, glider swings, and jalousie windows.
• Two types of parallelogram linkages are given in Figure
2.19a which shows a scissor linkage and Figure2.19b which
shows a drafting machine linkage.
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Straight-Line Mechanisms
•
Straight-line mechanisms cause a point to travel in a straight line without being guided
by a flat surface.
•
Historically, quality prismatic joints that permit straight, smooth motion without
backlash have been difficult to manufacture. Several mechanisms have been conceived
that create straight-line (or nearly straight-line) motion with revolute joints and
rotational actuation.
•
Figure 1.a shows a Watt linkage and Figure. 1.b shows a Peaucellier-Lipkin linkage.
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Ackermann steering gear mechanism
Steering Linkage Arrangement
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