Theory of Machines (ME313)

Instructor: Sohail Malik

Teaching Assistant: Engr. Haider,
Engr. Ahmad Younis

2. Graphical Linkage
Synthesis
GRAPHICAL LINKAGE SYNTHESIS
Summary
Chapter 3 + Lecture Notes
Type of motion
Limiting conditions
Dimensional Synthesis
Two Position
Three Position
Quick Return Mechanisms
Four bar quick return
Six bar quick return
Coupler Curves
Cognates
Straight line mechanisms
Graphical Linkage Synthesis

Qualitative synthesis: The creation of potential solutions in the

absence of a well-defined algorithm that configure or predicts the
solution
Type synthesis: The definition of the proper type of mechanism best
suited to the problem and is a form of qualitative synthesis
Quantitative or analytical synthesis: The generation of one or
more solutions of a particular type of mechanism
Dimensional synthesis: The determination of the proportions
(lengths) of the link necessary to accomplish the desired motion and
can be a form of quantitative synthesis
3.2 Function Generation

The correlation of an input motion with an

output motion in a mechanism
Conceptually a black box that delivers
some predictable output in response to a
known input
 3.2 Path Generation
The control of a point in
the plane such that it
follows some prescribed
path
This is typically
accomplished with atleast
four bars, wherein a point
on the coupler traces the
desired path
3.2 Motion generation

The control of a line in a plane such that it

assume some prescribed set of sequential
positions
Here, orientation of the link containing the
line is important
Path generation is a subset of motion
generation
Geometry Tools

You are required to have following tools

Set Squares
Compass
Proctractor
Ruler
Pencil, eraser and sharpener
From next class it will be checked and
anyone without tools will be marked absent.
3.3 Limiting conditions
Toggle position: A position where the link cannot
rotate anymore.
The toggle positions are determined by the
colinearity of two of the moving links
A fourbar double- or triple-rocker mechanism will
have at least two of these toggle positions in
which the linkage assumes a triangular
configuration
Grashof double rocker will have 2 toggle points
Triple rocker (Non Grashof) will have 4 toggle
points
Double crank will have no toggle points
3.3 Limiting conditions
Stationary positions: Where angular velocity of an
output path becomes zero. e.g. In Crank-rocker
mechanism when input is crank and output is
rocker.
Stationary positions are determined when input
links keep on moving and output becomes
stationary with toggle.
Double crank will have no stationary positions or
toggle positions.
Crank Rocker mechanism will have 2 stationary
positions (when driven from crank) and 2 toggle
positions (when driven from rocker)
Toggle Positions
 Toggle Position
It is important to realize
that a toggle position is
only undesirable when it
is preventing the linkage
from getting from one
desired position to the
other
In other circumstances
the toggle is very useful
Transmission angle
The angle between the output link and the coupler,
represented by
It is usually taken as the absolute value of the
acute angle of the pairs of angles at the
intersection of the two links and varies
continuously from some minimum to some
maximum value as the linkage goes through its
range of motion
It is the measure of the quality of force and
velocity transmission at the joint
Transmission angle in the fourbar linkage
Transmission angle
Optimum value of transmission angle is 90 o
Most machine designers try to keep the
minimum transmission angle above about
40o (Why?)
When is less than 45 the radial
component will be larger than the tangential
component. Most machine designers try to
keep the minimum transmission angle
above about 40 to promote smooth running
and good force transmission.
3.4 Dimensional Synthesis (Graphical)

The determination of the proportions (lengths) of

the links necessary to accomplish the desired
motions
Two-Position synthesis: can be subdivided into
two categories
Rocker output (pure rotation): most suitable for situations in
which a Grashof crank-rocker is desired
Coupler output (complex motion): more general and is a
simple case of motion generation in which two positions of a
line/curve in the plane are defined as the output
Example 3-1

Design a fourbar Grashof crank-rocker to give

45o of rocker rotation with equal time
forward and back, from a constant speed
motor input
Example 3-1

Measure ground length 1, crank length 2,

and rocker length 4
Find the Grashof condition. If non-Grashof,
redo with changed O2
Example 3-1
Example 3-1

Rocker Output- two positions with angular displacement

(Function generation)
Example 3-2

Rocker Output- two positions with complex

displacement (Motion Generation)
Problem:
Design a fourbar linkage to move link CD from
position C1D1 to C2D2
D1

C1 C2
D2
 Example 3-2
Want to move from C1D1 to
C2D2
Construct perpendicular
bisectors C1C2 and D1D2
Intersection of the bisectors is
the rotopole (the ground
location)
The output link is shown in its
two positions
Example 3-2
 Alternate method (Exp. 3-3)
With Coupler output
 Alternate method (Exp. 3-3)
Add a driver Dyad (twobar chain).
Will make the arrangement sixbar watts mechanism
 Alternate method (Exp. 3-3)
Alternate location of the
driver dyad
And there may be other
solutions
Three point Synthesis with specified
moving pivots

Three position synthesis allows the definition of

three positions of a line in the plane and will
create a fourbar linkage configuration to move it
to each of those positions
This is a motion generation problem
The resulting condition may be of any Grashof
condition and will usually require the addition of a
dyad to control and limits its motion to the
positions of interest
Example 3.5: Coupler Output 3 positions with
complex displacement (motion generation)
Problem: Design a fourbar linkage to move CD
shown from position C1D1 to C2D2 and then to
position C3D3. Moving pivots are at C and D.
Find the fixed pivot locations.
D1 D2 D3
C2
C1 C3
 Three Position Motion Synthesis with Specified
Moving Pivots (Exp. 3-5)
Construct bisector of C1C2
and C2C3. Where they
intersect at O2.
Construct bisector of
D1D2 and D2D3. Where they
intersect at O4.
Links are O2C1, C1D1, and
D1O4, and ground is O2O4
Is the mechanism valid?
Home Assignment # 1

A link CD is to be displaced from C1D1 to C3D3 as shown on

next slide. The actuator must be attached to the joint on the
frame (ground). Propose a 4-bar mechanism and draw it to
some suitable scale. Analyze the mechanism to answer;
1. Is it valid or get toggle?
2. If valid, explain how?
3. If get toggle, suggest the solution and draw.

Submit your individual assignment with your comments in

hard form not later than 8/2/2015.
Home Assignment # 1

Take blue
box as last
three digits
of your
reg. no. xxx
Use proper 3(xxx)
scale if
needed. 6(xxx)
Three-Position synthesis with specified fixed
pivots

Reading Assignment
3.5 Quick Return Fourbar Mechanism

Quick return goes quicker in

one direction () then the
other ()
Time Ratio
TR=
=360
=360/(1+TR)

Max TR of 1:1.5
Construction angle
=|180-|=|180-|
Quick Return Fourbar Mechanism

Redesign Example 3-1 to provide a time ratio of 1:1.25 with

same 45o output rocker motion.
 Quick Return Fourbar Mechanism
Calculate , and (160o, 200o
and 20o).
Draw initial angle 4
Extend line through B1 crossing
B2O4
Draw line through B2 at angle


Intersection is O2
Extend arc from B1 to find
twice driver length
Return is , going is

Example 3-10: Sixbar drag quick-return linkage
for specified time ratio
Problem: Provide a time ratio of 1:1.4 with 90 o rocker angle
 Sixbar Quick-Return
Draw line of centers X-X at convenient location
Generate line Y-Y at convenient location
Draw circle of radius O2A at O2
Draw symmetric
about quadrant 1
Find points A1 and
A2

A
1

A
2
Sixbar Quick-Return

Pick radius for coupler CA such that it will cross X-X twice. Find C 1 and C2
Bisect C1C2 to find O4
Points B1 and B2 are the same distance apart as C1 and C2
Draw a line at an angle (180-)/2 from B1 and B2 to find O6

Where is the
angle given in
problem O
A
statement 6
(180-)/2 1
O C
4
2
C
B B A
1
1 2
2
Crank Shaper Quick Return

6 bar linkage with a full-slider

joint
Can be used for larger time
ratios such as 1:2
Has disadvantage??
Home Assignment 2

Design a quick return mechanism for a time ratio based on your reg.
no.
Construct the cardboard working model.
Calculate and mention the time ratio in your report.
Text, illustrations and idea/mechanism taken from any where must
be referenced.
 3.6 Coupler Curves
Path of a point on the coupler
Closed path, even for non-Grashof
linkages
Capable of generating approximate
straight lines and circular arcs
Source Video of Norton
 3.6 Coupler Curves
Categorized by shape
Cusp instantaneous zero velocity
Crunode multiple loop point
3.6 Coupler Curves

Hrones and Nelson has atlas

of fourbar coupler curves
contains about 7000 coupler
curves and defines the
linkage geometry for each of
Grashof crank-rocker
linkages
Coupler Curves (Examples)

Film advance mechanism in camera is used to pause between

frames
 Coupler Curves (Examples)
Suspension is used to make the point of tire contact
move vertically
 3.7 Cognates

Roberts-Chebyschev theorem
Three different planar, pin-jointed fourbar linkages will trace
identical coupler curves
3.8 Straight-Line Mechanisms

A common application of
coupler curves is in the
generation of straight lines
3.8 Straight-Line Mechanisms

Straight line mechanism from 4-bar

Watt straight line Roberts straight line Chebychev

linkage linkage straight line
linkage
3.8 Straight-Line Mechanisms

Straight line mechanism from

4-bar

Hoeken straight line 8-bar Peaucellier

linkage (1864) straight line
linkage
3.8 Straight-Line Mechanisms
Hoekens Linkage Geometry
To generate exact straight
line with only pin joints,
more than 4 links are
required i.e. 6.
A geared 5 bar mechanism
can also be used to
generate straight line.
Example 3-12

Solution:
L2= 30.88 mm
L1= 81.88 mm
L3=L4=BP= 106.18 mm
Vx= 1.679*L2*2
Dwell Mechanisms

A dwell is defined
as zero output
motion for some
input motion
In other words,
the motor keeps
going, but the
output link stop
moving
Single-Dwell from 6bar Linkages

Design a sixbar linkage for 90o rocker

motion over 300 crank degrees with dwell
for the remaining 60o.
Read

3-9 Double-Dwell Linkages

3-10 Other useful linkages
Prob 3-19

Design a pin-jointed linkage that will guide the forks of the fork lift truck in
Figure up and down in an approximate straight line over the range of motion
shown. Arrange the fixed pivots so they are close to some part of the existing
frame or body of the truck.

Table 3-1
Prob 3-19
Prob 3-46
Assignment Session 2 + Quiz

Problems
3-2, 3-7, 3-8, 3-9, 3-19, 3-23, 3-31, 3-32, 3-46,
3-47, 3-49, 3-50, 3-52, 3-53