Chapter 4

Straight Line Motion and Universal Coupling

Every link in a mechanism performs a repeated motion. Therefore any point on

these links also performs a repeated motion passing through a specified curve called
a coupler curve. In this chapter we will study special cases where the path traced
is a straight line or special cases when two inclined shafts are connected through a
universal coupling.

Coupler Curve

Curve traced by a point on one of the coupler links in a mechanism.

Exact Straight Line Motion Mechanism

Mechanism containing a link in which a point describes a coupler curve as an exact

straight line.

Approximate Straight Line Motion Mechanism

Mechanism containing a link in which a point describes a coupler curve having a

portion of it as an approximate straight line.
The interest in straight line or approximate straight line motion became important
with the advent of beam engines such as those shown in Figure 4.13. Producing
an exact straight line is difficult and hence approximate straight line motion was
attempted. Watt’s approximate straight line motion played a significant role in the
initial designs of the reciprocating steam engine.
With further developments, engineers began to develop testing of their engines
and recording of the data. The initial instruments developed were Indicators and
a pen to record the motion. These indicators related some state quantities of the
engine and utilized the principles of straight line motions. Other applications were

J.S. Rao, Kinematics of Machinery Through HyperWorks, History of Mechanism and Machine 85
Science 18, DOI 10.1007/978-94-007-1156-3_4, © Springer Science+Business Media B.V. 2011
86 4 Straight Line Motion and Universal Coupling
OT.OS = Constant
90

S
80

70
Mag = 73.04
T

Mag = 32.86
60

Distance
O X OS
H OT
50 OT.OS/100

40

Y
30
z X OT.OS = Constant

20
1 1.5 2 2.5 3
Time

Fig. 4.1 Condition to be satisfied to generate an exact straight line

e.g., steering gears designed for steering an automobile around turns. We describe
these linkages below.

4.1 Condition for Exact Straight Line Motion

We will first study the conditions to be satisfied to generate an exact straight line.
Let O, T and S be three distinct points of a mechanism, which lie in a straight line,
for all configurations as shown in Figure 4.1.
The path of S will be a straight line perpendicular to the horizontal diameter
OH of the circle along the circumference of which T moves, provided OT.OS is a
constant. It follows from similar triangles OTH and OSX that
OS × OT
OX = (4.1)
OH