• Problem Statement

1. To determine if the linkage is Grashof or Non-Grashof

2. To plot the angles of the output link for each angular input
to the input link using MATLAB.
3. Compare the above plot with theoretical solution obtained
by loop closure equation.
1. Identifying if Linkage is Grashof or Non-Grashof
• When the sum of the lengths of smallest and longest link is less than the
sum of the remaining two intermediate links then the linkage is called
Grashof Linkage.
s+l<m+n
• In this experiment two linkage were considered , Grashof and Non-
Grashof
• The Grashof linkage is shown below, where,
a) Length of the white link = 10cm
b) Length of the black link (input) = 7.5 cm
c) length of the brown (thick) link (output) = 5.5cm
d) length of the brown(thin) link = 9cm

• The non-Grashof linkage is shown below, where,

a) Length of the white link = 7cm
b) Length of the brown(thick) link (input) = 5.5cm
c) length of the black link (output) = 7.5cm
d) length of the orange link = 10
2. Observations and Graphs.
• For Grashof Linkage the variation of theta_4 vs theta_2 obtained is
• According to loop closure equation the analytical solution plot is
• For Non- Grashof the variation of Theta_4 vs Theta_2 is

• The analytical solution obtained for Non-Grashof is

 3. Conclusion and Comments
• In figure 1 as Theta_2 goes from 0 to 2pi, Theta_4 goes from 40 degrees
to 110 degrees. Hence, it is a crank- rocker mechanism.
• For Non-Grashof linkage, as both Theta_2 and Theta_4 both lie between
0 to 2pi , it is a rocker-rocker mechanism.
• For Grashof linkage continuous curve is obtained, while for Non-Grashof
linkage discontinuous curve is obtained.