06 Sept - Inversions of Slider Crank

Mechanics of Machinery
ME301
3-1-0-4
LINK
 Each part of a machine which is a resistant body and also which moves relative to some other part, is
known as a kinematic link or element. Types of links
KINEMATIC PAIR
 If the relative motion between two links or elements is completely or successfully constrained, they
form a kinematic pair. Types of kinematic pair
KINEMATIC CHAIN
 Kinematic pairs coupled in such a way that last link is joined to first link to transmit definite motion
MECHANISM
 When one of the links of a kinematic chain is fixed to transmit or transform motion
TYPES OF KINEMATIC CHAIN
• FOUR BAR CHAIN OR QUADRIC CYCLIC CHAIN
• SINGLE SLIDER CRANK CHAIN
• DOUBLE SLIDER CRANK CHAIN
INVERSION OF MECHANISMS
• We can obtain as many mechanisms as the number of links in a
kinematic chain by fixing different links in it.
• Inversion of the mechanism - The method of obtaining different
mechanisms by fixing different links in a kinematic chain.
• Relative motions between various links is not changed in any manner
through the process of inversion, but their absolute motions (wrt
fixed link) may be changed drastically.
INVERSIONS of Four Bar Chain
• Beam engine (crank and lever mechanism)
• Coupling rod of a locomotive (double crank mechanism)
• Watt’s indicator mechanism (Double lever mechanism)

Single slider crank chain
Modification of basic four bar chain
Consists of one sliding pair (3-4) and three turning pairs (1-2,
2-3, 3-4).
Link 1 – Frame
Link 2 – Crank
Link 3 – Connecting rod
Link 4 – Cross-head
As the crank rotates, the cross-head reciprocates in in the

guides, and thus piston reciprocates in the cylinder.
Inversions of single slider crank chain
1) Pendulum pump (Bull Engine)

- Inversion is obtained by fixing the cylinder or
link 4.
When the crank rotates, the connecting rod
oscillates about a pin to the fixed link and the
piston attached to the piston rod reciprocates.
The duplex pump used to supply feed water to
the boilers.
2) Oscillating cylinder engine
- To convert reciprocating motion into
rotary motion
- Link 3 corresponding to connecting
rod of reciprocating steam engine is
fixed.
- When link 2 rotates, piston attached
to link 1 reciprocates and link 4
oscillates about a pin pivoted to the
fixed link.
3) Rotary internal combustion engine
(Gnome Engine)
- Consists of 7 cylinders in one plane all
revolves about fixed centre D
- Link 2 (crank) is fixed.
- When link 4 (connecting rod) rotates,
link 3 (piston) reciprocates inside link 1
(cylinders)
- Used in aviation before gas turbines
4) Crank and Slotted lever quick return motion mechanism
- Used in shaping machines, slotting machines and in
rotary combustion engines.
- Link 3 is fixed.
- Link 2 (crank) rotates about the fixed centre C at uniform
angular speed.
- Link 1 (slider attached to crank) slides along a slotted bar
(link 4) which makes the slotted bar to oscillate about its
pivot.
- A short link transmits this motion to a ram which carries
the tool and reciprocates along its line of stroke R1R2.
- This line of stroke is perpendicular to AC produced.
Crank and Slotted lever quick return motion
mechanism (cont.)
-• In
the extreme positions AP1 and AP2 are tangential to
circle made by crank rotation with cutting tool at end of
the stroke.
- Forward motion occurs for crank rotating from CB1 to CB2
through angle β in CW.
- Return stroke occurs for crank rotating from CB2 to CB1
through angle α in CW.
- = = ; (< )
- Length of stroke = R1R2 = P1P2 = 2 P1Q

= 2AP1sin (90 - ) = 2AP1cos
= 2 AP X = 2 AP X
Inversions of single slider
crank chain
Whitworth quick return motion mechanism
- Mostly used in shaping and slotting machines.
- Link 2 is fixed.
- Link 3 is the driving crank and rotates at uniform
angular speed.
- The slider (link 4) attached to the crank pin slides along
the slotted bar (link 1) which oscillates at its pivot, D.
- A connecting rod PR carries ram at R to which tool is
connected.
- Motion of tool is constrained along the line RD
produced, through D and perpendicular to CD.
(Contd.)
- For driving crank moving from CA1 to CA2 through an angle α in
CW the tool move from left end to right end – cutting stroke
- For driving crank moving from CA2 to CA1 through an angle β in
CW the tool move from left end to right end – return stroke
= = ; (< )
Effective length of stroke = R1R2 = 2PD

( or draw the space diagram such that P1R1 = P2R2 = PR; then
measure R1R2)
(Contd.)
Problems
1) A crank and slotted lever mechanism used in a shaper has a centre
of distance of 300 mm between centre of oscillation of the slotted lever
and centre of rotation of the crank. The radius of the crank is 120 mm.
Find the ration of time of cutting to the time of return stroke.
Problems
2) In a crank and slotted lever quick return motion mechanism, the
distance between the fixed centres is 240 mm and the length of the
driving crank is 120 mm. Find the inclination of the slotted bar with the
vertical in the extreme position and the time ratio of cutting stroke to
return stroke.
If the length of slotted bar is 450 mm, find the length of the stroke
if the line of stroke passes through the extreme positions of the free
end of the lever.
Problems
3) In a Whitworth quick return motion mechanism, the distance
between fixed centres is 50 mm and the length of the driving crank is
75mm. The length of the slotted lever is 150 mm and the length of the
connecting rod is 135 mm. Find the ratio of the time of the cutting
stroke to the time of return stroke and also the effective stroke.
Double slider crank chain
• A kinematic chain consisting of two turning pairs and two sliding pairs
• Turning pairs : link 1 and link 2, link 2 and link 3
• Sliding pairs : link 3 and link 4, link 4 and link 1
3 4
2
1
Inversions of Double Slider crank chain
1) Elliptical trammels
- Slotted plate (link 4 ) is fixed which has two straight
grooves at right angles to each other.
- Link 1 and link 3, sliders, form sliding pair with link
4.
- Link 2, a bar(AB in the fig), forms turning pair with
links 1 and 3.
- When link 1 & 3 slides in their respective grooves,
any point P on link 2 traces out an ellipse on the
surface of link 4 with AP and BP as the semi-major
axis and semi-minor axis respectively.
•Proof

Let OX and OY be horizontal and vertical axis.
Let the link BA be inclined at an angle θ with horizontal.
Now the co-ordinates of point P on link BA will be
x = PQ = AP cos θ, y = PR = BP sin θ
i.e, x/AP = cos θ, y/BP = sin θ
Squaring and adding,
+ = cos^2 θ + sin^2 θ = 1
Which is an equation of ellipse. Hence the path traced by point P is an ellipse with
AP as semi major axis and BP as semi minor axis.
• 2) Scotch yoke mechanism
- For converting rotary motion to reciprocating
motion.
- Obtained by fixing either link 1 or link 3.
- In the fig, link 1 is fixed
- Link 2 (crank) rotates about the point B
- Link 3 forms a slider.
- Motion is transferred as link 4 (frame –slotted
plate in previous) reciprocates as guided by
link 1.
• Oldham’s coupling
- Used for connecting two parallel
shafts whose axes are at a small
distance apart.
- The shafts are coupled such that if
one rotates, the other too rotates
at the same speed.
- For this inversion link 2 is fixed.
- Link 1 and link 3 are two flanges
rigidly fastened at the ends of
shafts by forging.
• Link 1 and 3 forms turning pairs with link 2.
• Link 1 and 3 have diametrical slots cut in their inner faces.
• Link 4 is an intermediate disc with two tongues
(diametrical projections) on each face at right angles to
each other which closely fit into the slots in flanges.
• Link 4 can slide or reciprocate in the slots forming sliding
pair with links 1 and 3.
• When driving shat rotates, the flange(link 1) causes the
intermediate disc (link 4) to rotate at the same angle and
it further rotates the next flange (link 3) at the same angle
and thus the second shaft (driven shaft) rotates.
• Link 1, 3 and 4 have same angular velocity at each instant.

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Mechanics of Machinery

• Coupling rod of a locomotive (double crank mechanism)

• Watt’s indicator mechanism (Double lever mechanism)

As the crank rotates, the cross-head reciprocates in in the

1) Pendulum pump (Bull Engine)

- Length of stroke = R1R2 = P1P2 = 2 P1Q

Effective length of stroke = R1R2 = 2PD

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