Mechanisms

Prof.dr.ing. Csaba Antonya

antonya@unitbv.ro
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Lecture 4

 Mobility, spatial mechanisms

 Structural synthesis – in 2-3 weeks
 Today:
 Kinematic analysis of mechanisms
 Graphical kinematics.
 Four bar mechanisms.
 Slider-crank mechanism
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2 Lecture 4
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Chapter 2. Kinematic analysis of mechanisms

 Kinematics is the study of motion, i.e., the

study of displacement, velocity, and
acceleration, regardless of the forces that
produce the motion.
 Typically, the time history of one (or
more) element in the system is prescribed
 We are interested in how the rest of the
element in the system move
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 Displacement, velocity and acceleration in

the form of:
 s(t), v(t), a(t)
 s(s1), v(v1), a(a1)
3 Lecture 4
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Displacement Analysis

 2 main methods:
 Analytical
 Graphical
 Analytical kinematics is a systematic
process that is most suitable for developing
into a computer program. However, for very
simple systems, analytical kinematics can
be performed by hand calculation
 In graphical kinematics, instead of
analytically solving sets of linear or non-
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linear equations, the unknowns are found

graphically. Direct measurements from a
graph provide the values for the unknowns.

4 Lecture 4
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Graphical kinematics of mechanisms

 By sketching the mechanisms in different

positions and measuring linear
displacements and angular displacements
 The analysis is performed by systematically
enforcing the condition of links being rigid
bodies as well as the geometric constraints
imposed by the joints.
 Graphical method is inexact, inconvenient
for repeated analysis
 Many times graphical displacement analysis
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are developed for the purpose of computer

animation

5 Lecture 4
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Graphical kinematics of mechanisms

 Step 1: Identify the links (bodies) and joints.

Draw a schematic of the mechanism at known
scale by replacing all rigid bodies in the
mechanism with appropriate and
representative lines.
 Step 2: Determine the number of DOF and
input actuators (can be performed via the
Mobility).
 Step 3: Represent the input links in several
distinct positions (usually equidistant
positions) according to the input actuator’s law
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of motion and draw the entire mechanism

 Step 4: Measure displacements, orientations,
coordinates of the links
6 Lecture 4
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Graphical kinematics of planar mechanisms

 Position analysis of planar linkage

mechanisms relies on essentially three
analytical tools.
 The same tools, expressed in terms of
algebraic equations, have their
counterparts in all analytical approaches
as well.
 These are computation of intersections
between
 A pair of lines
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 A line and a circle

 Two circles

7 Lecture 4
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Graphical kinematics of planar mechanisms

 Any single-loop, planar mechanism will

have two unknowns (dependent
variables)
 Need a method to solve for these
variables in terms of known mechanism
parameters
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8 Lecture 4
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Graphical kinematics of the Four Bar Linkage

 Defined by the length of the links : l1 l2 l3 l4

B l3
3
C B

l C
2 2

4
l4
A D
1

A l1 D Structural analysis DOF=1

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9 Lecture 4
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Nomenclature

 CRANK: Link that makes a complete

revolution and is pivoted to ground.
 ROCKER: Link that has oscillatory (back
and forth) rotation and is pivoted to
ground.
 COUPLER (or connecting rod): Link that
has complex motion and is not pivoted to
ground.
 GROUND: defined as any link or links that
are fixed (nonmoving) with respect to the
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reference frame

10 Lecture 4
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Four bar mechanisms - applications

Gripping
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11 Lecture 4
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Four bar mechanisms - applications
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12 Lecture 4
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Four bar mechanisms - applications
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13 Lecture 4
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Four bar mechanisms - applications
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14 Lecture 4
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Four bar mechanisms - applications

 Bycicle
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15 Lecture 4
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Four bar mechanisms - applications

 Boeing 787 Flaps mechanisms

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16 Lecture 4
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Four bar mechanisms - applications
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17 Lecture 4
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Grashof’s law

 In a planar four bar revolute pair kinematic

chain if the sum of the lengths of the
shortest and the longest links is less than or
equal to the sum of the lengths of the other
two intermediate links at least one link will
have full rotation.
 Mechanisms obtained from the kinematic
chain satisfying these conditions are known
as Grashofian Mechanisms.
 Mechanisms obtained from the kinematic
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chain which are not obeying these

conditions are known as Non-Grashofian
Mechanisms.

18 Lecture 4
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Grashof’s classification of Four Bar Mechanism

 Double Crank Mechanism

 Crank – Rocker Mechanisms
 Double – Rocker Mechanism
 l – lengths of the longest link
 s – lengths of the shortest link

l+s<p+q l+s=p+q l+s>p+q

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Shortest bar is the Short bar is the side Shortest bar is the
frame (s) link (s) coupler (s) Parallelogram, can DOUBLE –
DOUBLE CRANK – DOUBLE be flattened ROCKER
CRANK ROCKER ROCKER

19 Lecture 4
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Double Crank
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20 Lecture 4
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Crank – Rocker
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21 Lecture 4
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DOUBLE ROCKER

CRANK – ROCKER
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DOUBLE CRANK

l+s<p+q

22 Lecture 4
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parallelogram

l+s=p+q
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23 Lecture 4
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l+s>p+q
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DOUBLE ROCKER

24 Lecture 4
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Extreme position of the output (Crank Rocker)

 The input link and the coupler are extended

as a straight line
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25 Lecture 4
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Extreme position of the output (Crank Rocker)

 the input link and coupler are folded as a

straight line.
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26 Lecture 4
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 The toggle positions are determined by

the co-linearity of two of the moving links
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27 Lecture 4
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Graphical kinematics, the input link

 Input link in revolute motion

 The position (orientation) of the input link
measured with the angle φ2
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28 Lecture 4
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One independent parameter (DOF=1)–the angle φ2

 The angle φ2=0o, 30o, 60o, 90o, …, 180o …,

330o, 360o (=0o).
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29 Lecture 4
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Obtaining the position of C

 At the intersection of circle with radius l3

(with center in B) and l4 (with center in D)
– the sketch is at scale
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30 Lecture 4
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 The mechanism with input φ2=0o (scale

drawing). The angle φ4 is measured.
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31 Lecture 4
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 The mechanism with input φ2=60o (scale

drawing). The angle φ4 is measured.
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32 Lecture 4
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Kinematic curves

 Graphic representation of two variables

depending on each other.
 The variables represented are usually
position, velocity and acceleration of a
point or a link in a mechanism related to
the parameter of its input link.
 Four bar mechanism the angle φ4 related
to the input angle φ2
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33 Lecture 4
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Graphical kinematic of the four bar mechanisms
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34 Lecture 4
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Graphical kinematic of the four bar mechanisms

 Known lengths
 Known input
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35 Lecture 4
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Slider-crank mechanism (crank - slider)

 Defined by the length of the links : l1 l2

and e
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36 Lecture 4
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Slider-crank mechanism

 Most mechanisms are driven by motors,

and slider-cranks are often used to
transform rotary motion into linear
motion.
 Case slider as the input link and the crank
as the output link: the mechanism
transfers translational (linear) motion into
rotary motion. The pistons and crank in an
internal combustion engine
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37 Lecture 4
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Internal Combustion Engine

 In an Internal Combustion Engine, link 1

is the engine block. Link 2 is the
crankshaft, link 3 is the connecting rod
and link 4 is the piston.
 The pin joint between 2 and 1 is named
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the main bearing. The pin joint between

the 2 and 3 is named the rod bearing. The
pin joint between 3 and 4 is named the
wristpin.
38 Lecture 4
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Nomenclature

 The sliding contact between 4 and 1 is the

cylinder bore in the engine block and the
displacement of 4 is called the stroke
 In the case of an engine, the line of action of
the wristpin, shown by the dashed line,
passes through the center of the main
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bearing and the offset d is zero. When d=0,

the crank-slider mechanism is called an “in-
line crank-slider”.
 The crank-slider shown in figure is an “offset
crank-slider” 39 Lecture 4
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Inversions of a mechanism

 Inversions change which of the

mechanism’s links is fixed
 An n-link mechanism has n inversions
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40 Lecture 4
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Inversions of the slider-crank

 Standard slider-crank
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41 Lecture 4
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Inversions of the slider-crank

 Freeing the slide, and fixing link 2

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42 Lecture 4
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Inversions of the slider-crank

 Fixing link 3 (note: 4 is still free to rotate)

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43 Lecture 4
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Inversions of the slider-crank

 Fixing 4 (1 slides, but does not rotate,

w.r.t. 4)
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44 Lecture 4
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45
Lecture 4
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Slider-crank mechanisms - applications
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46 Lecture 4
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Slider-crank mechanisms - applications
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47 Lecture 4
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Slider-crank mechanisms - applications
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48 Lecture 4
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Slider-crank mechanisms - applications
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49 Lecture 4
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Slider-crank mechanisms - applications

 Airbus 320 Flaps mechanism

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50 Lecture 4
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Slider-crank mechanisms – extreme positions
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51 Lecture 4
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Graphical kinematics, the input link

 Input link in revolute motion

 The position (orientation) of the input link
measured with the angle φ2
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52 Lecture 4
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One independent parameter (DOF=1)–the angle φ2

 The angle φ2=0o, 30o, 60o, 90o, …, 180o …,

330o, 360o (=0o).
MECHANISMS

53 Lecture 4
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Obtaining the position of C

 At the intersection of circle with radius l3

(with center in B) and the line of the
translational joint D) – the sketch is at scale
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54 Lecture 4
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 The mechanism with input φ2=0o (scale
drawing). The displacement s4 is measured.
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55 Lecture 4
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Graphical kinematic of the crank-slider mechanisms
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56 Lecture 4
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Graphical kinematic of the crank-slider mechanisms
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57 Lecture 4
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Graphical kinematic of the crank-slider mechanisms
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58 Lecture 4
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Graphical kinematic of the McPherson suspension
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59 Lecture 4
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Planar 1 DOF with P (prismatic) and R (revolute) joints
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60 Lecture 4