Dr. S. H.

Upadhyay
MIED, IIT Roorkee
Four bar linkage – Crank and Rocker mechanism
 Rocker oscillates between two
limiting angles
 Crank is the input and rocker is
the output
 The positions of the
mechanism when the rocker is
at a limit position are called the
dead-centre positions of the
four-bar.
Four bar linkage – Drag link mechanism
 Used to convert a uniform
continuous rotation into a
non uniform continuous
rotary motion
 Can be used in series with
crank-rocker mechanism to
obtain a different motion
characteristics.
 Drag link connects to
the steering arm located at
the wheel.
Four bar linkages
• convert rotational motion to reciprocating motion (e.g., pumpjack)
• convert reciprocating motion to rotational motion (e.g., bicycle)
• constrain motion (e.g., knee joint & suspension with watt’s linkage)
Quick Return mechanism
 Produce a reciprocating
motion in which the time
taken for travel in one
direction (reverse – in case
of shaper) is less than in
the other (forward).
 Driven by a circular
motion source like motor
 Action is performed in
only one direction of the
stroke
Four-stop Geneva mechanism
 Translates a continuous rotation
into an intermittent rotary motion
 Driven wheel has four slots and
hence for each rotation of the
drive wheel it advances by one
step of 90°.
 The rotating drive wheel is usually
equipped with a pin that reaches
into a slot located in the other
wheel (driven wheel) that
advances it by one step at a time.
 Applications:
 Film movie projectors and movie
cameras, where the film is pulled
through an exposure gate with periodic
starts and stops.
 banknote counting machines
 Tool changers in CNC machines
 Turrets of turret lathes
 Indexing heads of Lathe/Milling
Ratchet and Pawl Mechanism
 The purpose of is to allow a shaft
to rotate in one direction only.
 A ratchet is a wheel with a shape
similar to a circular saw blade or
horizontal milling cutter.
 A ratchet fits onto a shaft and is
locked onto the shaft by a "key".
Toggle mechanism
 Combination of solid, usually
metallic links (bars), connected by
pin (hinge) joints that are so
arranged that a small force
applied at one point can create a
much larger force at another
point.
 Used in Toggle press
Scotch yoke Mechanism
 Reciprocating motion mechanism,
converting the linear motion of a
slider into rotational motion, or vice
versa.
 The piston or other reciprocating part
is directly coupled to a
sliding yoke with a slot that engages
a pin on the rotating part
 It is used in water piston pump.
Parallel mechanism- pantograph
 Mechanical linkage connected in a
manner based on parallelograms so
that the movement of one pen, in
tracing an image, produces identical
movements in a second pen.
 Different kinds of pantographs are
used for other forms of duplication in
areas such as sculpture, minting,
engraving and milling.
 Used extensively in railway engines
Straight line Mechanism – Watt’s mechanism
 The straight line
mechanism development by Watt for
guiding the piston of early steam
engines.
 Although it does not generate an
exact straight line, a good
approximation is achieved over a
considerable distance of travel.
 Application:
 suspension with watt’s linkage
Straight line Mechanism - Scott Russell Mechanism
 Gives a theoretically linear motion by using a
linkage form with three portions of the links
all equal, and a rolling or sliding connection.
 It can be used to form a right-angle change of
motion, linear-to-linear.
 Applications:
 Pick-and-place type robot end-
effector (modified to scott
Russell mechanism
Straight line Mechanism - Robert's Mechanism
 Converts a rotational motion to
approximate straight-line motion.
 Roberts mechanism can be
classified as Grashof rocker-
rocker and symmetrical four-bar
linkage.
Straight line Mechanism – Tchebycheff’s mechanism
 Mechanical linkage that converts
rotational motion to
approximate straight-line motion.
 It was invented by the nineteenth-
century mathematician Pafnuty
Chebyshev.
Straight line mechanism – Peaucellier’s mechanism
 Invented in 1864
 First true planar straight line
mechanism .
 First planar linkage capable of
transforming rotary motion
into perfect straight-
line motion, and vice versa.
Steering Gear Mechanism - Davis Steering gear mechanism
 Exact steering gear mechanism
 This mechanism fulfills the above
steering condition
 But due to presence of more
sliding members, the wear will be
increased and this eliminates the
accuracy.
Steering Gear Mechanism - Ackermann Steering gear
mechanism  The inside front wheel is rotated
slightly sharper than the outside wheel
(reduces tire slippage).
 Provides a fairly accurate dead-
reckoning solution while supporting
traction and ground clearance.
 Generally the method of choice for
outdoor autonomous vehicles.
Steering Gear Mechanisms – Ackermann / Davis / 4- bar
Universal Joint - Hooke's Joint
 Used to transmit rotary motion from one
shaft to another when they are not coaxial
i.e., when their axes are inclined to each
other
 Application of the Hooke’s Joint is in
automobiles where it is used to connect
shafts that transmit the power from the
gearbox to the differential.