224 KINEMATICS AND DYNAMICS OF PLANE MECHANISMS

terminal point of d(. Alternatively, the problem may be solved by

Bobillier's construction, described next.

10-3. Bobillier's Construction ; Collineation Axis

Bobillier's construction differs from the reverse construction of Fig. 10-5
only in that the auxiliary line and point Z are no longer arbitrary. Here
the auxiliary line coincides with the line through the moving points Q and
<S,

and point located at the intersection of QS with OqOs.

is Because of
Z

Iq
this particular combination of line and point, the two inflection points
I,

and are obtained simultaneously.

Figure 10-7 shows the application of Bobillier's method to the con
struction of the inflection circle for the coupler of a four-bar mechanism

Fig. 10-7

(P = Pu). It can be seen that coincides with the instantaneous

Z

relative-velocity pole P24 of the driving and driven links.

Collineation Axis. The line PZ in Bobillier's construction known as
is

the collineation axis of the rays and s. Thus, in four-bar mechanism,

a
q

the line connecting the relative instant centers Pu and Pu of the physi
cally separate links the collineation axis of driving and driven links;
is
it
is

also referred to as the collineation axis of the mechanism.

Bobillier's Theorem. This theorem states that the angle between the
pole tangent and one ray equal to the angle between the other ray and
is

the collineation axis of the two rays, both angles being measured in the
same sense. The usefulness of the theorem in analysis and synthesis will
be demonstrated later in this chapter.
The correctness of the theorem may be verified with the aid of Fig. 10-7.
ptPnh = hIaPn property of circle
<fc •£

< <

and IJaPu = IaPnP24