GRAPHICAL TECHNIQUES AND THE DESIGN ANALYSIS OF

A DWELL LINK MECHANISM

A thesis submitted in partial fulfilment of the requirements for the award of the degree of

MASTER OF ENGINEERING

In

MECHANICAL ENGINEERING

(Machine Design)

By

DEBMALYA DATTA

(Regd.No.312207033017)

Under the guidance of

Dr. K. T. BALARAM PADAL

M.E, Ph.D., MIE, MCSI
Associate Professor

DEPARTMENT OF MECHANICAL ENGINEERING

ANDHRA UNIVERSITY COLLEGE OF ENGINEERING (A)
ANDHRA UNIVERSITY
VISHAKHAPATNAM-530-003
2012-2014

[I]
 DEPARTMENT OF MECHANICAL ENGINEERING

A.U.COLLEGE OF ENGINEERING (A)

VISAKHAPATNAM

CERTIFICATE

This is to certify that the thesis entitled “GRAPHICAL TECHNIQUES AND THE
DESIGN ANALYSIS OF A DWELL LINK MECHANISM” is being submitted by
DEBMALYA DATTA (Regd. No: 312207033017) in partial fulfilment of the requirements, for
the award of the Degree of MASTER OF ENGINEERING in MECHANICAL
ENGINEERING with specialization in MACHINE DESIGN to the Department of Mechanical
Engineering, Andhra University College of Engineering (A), Visakhapatnam during the
academic year 2012-2014. The candidate worked right under my supervision and guidance.

Project Guide Head of the Department

(Dr. K.T. Balaram Padal) (Prof.M.Pramila Devi)

[II]
 EVALUATION SHEET

1. Name of the candidate : DEBMALYA DATTA

2. Title of the project : GRAPHICAL TECHNIQUES AND THE DESIGN

ANALYSIS OF A DWELL LINK MECHANISM

3. Specialization of M.E : MACHINE DESIGN

4. Date of examination/viva voce :

This Dissertation is approved by the Following Board of Examiners

Chairman, Board of Examination :

Chairman, Board of Studies :

External Examiner :

Internal Examiner :

[III]
 DECLARATION

I hereby declare that the thesis entitled “GRAPHICAL TECHNIQUES AND THE

DESIGN ANALYSIS OF A DWELL LINK MECHANISM” is an original work done by me for

the award of Master of Engineering with specialization in Machine Design, submitted to the
Department of Mechanical Engineering, Andhra University College of Engineering (A),
Visakhapatnam, during the academic year 2012-2014.

DEBMALYA DATTA

(Regd. No. 312207033017)

[IV]
 ABSTRACT

A mechanism is a collection of rigid bodies connected by joints in order to accomplish a

force or a motion transmission. Members of a mechanism can be of various shapes and sizes and
thus a large variety of motion can be built up by connecting the different groups of mechanism
such as members, gears, cams, linkages, screws, ratchets, belts etc. Of these linkages are of
prime importance because of their diversity and motion peculiarities. The most striking feature
of a linkage is the coupler curve traced by the coupler link. The main aim of designers is to
create a number of useful path motions for machineries using linkages. The study provides
various useful, simplified and accurate ways to identify the center of curvature of the coupler
curve through graphical techniques and computer analysis.

A technique to locate the center of curvature of the path traced by an arbitrary point fixed in
the coupler link of a planar four-bar linkage is presented. The method is purely graphical and
the center of curvature; i.e., the center of the osculating circle, can be located in a direct manner
with a few geometric constructions. The advantage of this technique, compared to the classical
approach using the Euler-Savary equation, is that measurements of angles and distances
between points are not required. Also, it is not necessary to locate inflection points or draw the
inflection circle for the instantaneous motion of the coupler link. The technique is based on the
concept of a virtual link which is valid up to, and including, the second-order properties of
motion of the coupler link. The virtual link is coincident with the path normal to the coupler
curve; i.e., the line connecting the coupler point to the velocity pole of the coupler link. The
absolute instant center of the virtual link defines the ground pivot for the link and is, therefore,
coincident with the center of the osculating circle.

A graphical technique to obtain the radius of curvature of the path traced by a coupler
point of a planar, single-degree-of-freedom, indeterminate eight-bar linkage commonly referred
to as the double flier linkage has also been presented. The first step is to find the pole for the
instantaneous motion of the coupler link, i.e., the point co-incident with the absolute instant
center of the coupler link. Since the double flier is a linkage with kinematic indeterminancy then
the Aronhold-Kennedy theorem cannot locate the instant center. Therefore, a technique, which
requires few geometric constructions to locate the instant center, is used. Then the radius of
curvature of the path of an arbitrary coupler point for a given position of the input link is
determined by graphical techniques. The technique begins by obtaining an equivalent five-bar
linkage and four kinematic inversions of this linkage. A four-bar linkage is obtained from each
inversion. Finally, the systematic procedure provides a four-bar linkage in which the motion of
the coupler link is equivalent up to, and including, the second order properties of motion of the
coupler of the original double flier linkage. The radius of curvature of the path traced by the
coupler point is then obtained from the Euler-Savary equation.

[V]
 An approach for the analysis and the design of a dwell mechanism is presented in this paper.
The process starts by selecting a four-bar linkage, the coupler point of which traces a closed
coupler curve, having a nearly approximate circular arc. The oscillatory motion having a period
of rest is required in many situations. The four-bar linkage that is selected should be of crank-
rocker type so that the coupler point moves continuously in a closed loop (curve). The extent of
the coupler curve which can be best approximated by the osculating circle is determined
automatically by the program developed for the purpose of analysis. When the coupler point is
on the coupler curve, a fifth link (i.e. the radius link) is added to join the coupler point position
at the center of the nearly circular arc to the center of the osculating circle. The fifth link is then
connected to another link (i.e. the sixth link) the other end of which is connected to a pivot. Thus
when the crank rotates, the sixth link, which is the output member, oscillates about the pivot
point between the two extreme positions, but remains approximately stand-still for a period
within the cycle time. This period of momentary pause is known as dwell. The pivot point
position of the output link is found by trials and the most ideal position is then selected. With the
addition of the two links, a six-link mechanism is formed but it is based on the original linkage.
Examples under various given conditions illustrated show that the technique is simple, efficient
and accurate.

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 ACKNOWLEDGEMENT

The satisfaction that accompanies the successful completion of any task would be
incomplete without the mention of those who made it possible and whose guidance and
encouragement crown all the efforts with success. This acknowledgement transcends the reality
of formality. I would like to express my deepest gratitude and respect to all those behind the
screen, who inspired and helped me for the completion of my project, especially my parents who
guided me in this direction.

I am very much thankful to Dr.K.T. Balaram Padal, Associate Professor, Department of

Mechanical Engineering, Andhra University College of Engineering (A), Visakhapatnam, for his
kind co-operation, constant guidance and encouragement. I am also thankful to the teaching and
non-teaching staff, my class mates and everyone else specially Mr. Pavan Singh who had helped
me directly and indirectly during the journey.

I express my deep sense of gratitude and heartful thanks to Prof.M.Pramila Devi, Head
of the Department of Mechanical Engineering, Prof.K.Venkata Subbaiah, Chairman, Board of
Studies, and my friends and others for providing the necessary facilities for the project.

DEBMALYA DATTA

(Regd. No. 312207033017)

[VII]
 TABLE OF CONTENTS

CHAPTER NO. TITLE PAGE NO.

ABSTRACT V

ACKNOWLEDGEMENT VII

LIST OF FIGURES XI

LIST OF TABLES XIV

1. INTRODUCTION
1.1 Introduction 1
1.2 Types of mechanisms 1
1.2.1 Kinematic pairs 1
1.2.2 Planar mechanism 2
1.2.3 Spherical mechanism 2
1.2.4 Spatial mechanism 2
1.2.5 Gears and gear trains 2
1.2.6 Cam and follower mechanisms 2
1.2.7 Linkages 2
1.2.8 Flexure mechanisms 2
1.3 Linkages 3
1.4 Identification of the problem 3
1.5 Scope of the research study 4
1.6 Aim of the objective 5
1.7 Organization of the thesis 5

2. REVIEW OF LITERATURE
2.1 Introduction 6
2.2 The coupler curve equation of a four-bar linkage 6
2.3 The osculating circle 8
2.4 The Euler-Savary equation 10
2.5 Center of curvature 14
2.6 Aronhold-Kennedy theorem 14
2.7 The Bobillier’s theorem 14
2.8 Grashof’s Criterion 15

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 2.9 Instantaneous center of rotation 16
2.10 Center of curvature of the coupler curve of a four-bar linkage 16
2.10.1 Overview of the four-bar linkage 17
2.11 Center of curvature of the coupler curve of the double butterfly linkage 17
2.11.1 Overview of the double butterfly linkage 18
2.12 Design and analysis of a dwell link mechanism 18
2.12.1 Overview of the dwell link mechanism 19
2.13Summary of the literature 19

3. CENTER OF CURVATURE OF THE COUPLER CURVE OF LINKAGES

3.1 Center of curvature of the coupler curve of a four-bar linkage 20
3.1.1 Introduction 20
3.1.2 Description of the linkage 21
3.1.3 Graphical technique to locate the center of curvature of the coupler
curve 21
3.1.4 Graphical technique to locate the pole tangent 23
3.2 Center of curvature of the coupler curve of an eight-bar linkage 24
3.2.1 Introduction 24
3.2.2 Description of the linkage 25
3.2.3 Location of the poles of the two coupler links 25
3.2.4 Location of the center of curvature of the coupler curve 27

4. DESIGN AND ANALYSIS OF A DWELL LINK MECHANISM

4.1.1 Designing the basic four-bar linkage 39
4.1.2 Determining the osculating circle 40
4.1.3 Selection of the radius link and the pivot point for the output lever 43
4.1.4 Analysis of the movement of the output link 44

5. ANALYSIS AND CASE STUDIES

5.1 Introduction 49
5.2 Case studies of the four-bar linkage 49
5.3 Analysis of the double butterfly linkage 54
5.4 Analysis of a dwell link mechanism 65
5.4.1 MATLAB program 66
5.4.2.1 Case study 1 71
5.4.2.2 Case study 2 75
5.4.2.3 Case study 3 78
5.4.2.4 Case study 4 82
5.4.2.5 Case study 5 85

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6. CONCLUSION OF THE STUDY
6.1 Center of curvature of the coupler curve of the four-bar linkage 89
6.2 Center of curvature of the coupler curve of the eight-bar linkage 89
6.3 Design and analysis of a dwell link mechanism 89
6.4 Future scope 90

7. REFERENCES 91

[X]
 LIST OF FIGURES
Fig. No. TITLE Page. No.
2.1 Co-ordinate system to develop coupler curve equation 7
2.2 Osculating Circle 9
2.3 Coupler curve and its osculating circle 10
2.4 Fixed polodes and their displacement 11
2.5 Inflection circle for the kinematic system of fig. 2.4 12
2.6 Four-bar linkage formed by the links 1, 2, 3, and 4 15
2.7 Collineation axis and the pole tangent 15
2.8 Four-bar linkage satisfying Grashof criterion 15
2.9 Finite and infenitesimal displacement 16
3.1 Coupler point trajectory and the osculating circle 21
3.2 Description of the linkage 21
3.3 Instant center I24 and pole 22
3.4 Collineation axis 1 22
3.5 Four-bar linkage formed by the links 1, 2, 3 and 5 22
3.6 Construction circle and the collineation axis 2 22
3.7 Instant center I25 and I15 23
3.8 Center of curvature of the coupler point C 23
3.9 Technique to locate the pole tangent 24
3.10 Description of the double butterfly linkage 25
3.11 Poles P71 and P31 26
3.12 OM and ON 28
3.13 Equivalent five-bar linkage OMMBNON 28
3.14 Finding O*M and O*N 29
3.15a Four-bar linkage formed by the links 2’, 4’, 5, and 1 30
3.15b The pole tangent and the collineation axis 30
3.16a Finding the actual center of curvature of the inflection circle 31

[XI]
Fig. No. TITLE Page No.
3.16b The inflection circle for 5/2’ and the position of O T 32
3.17a Four-bar linkage formed by the links 6’, 8’, 1, and 5 33
3.17b The pole tangent and the collineation axis 33
3.18 The inflection circle for 1/6’ and the position of O U 33
3.19 Four-bar linkage formed by the links 2’, 9, 6’, and 10 34
3.20a Four-bar linkage formed by the links 7, 3, 2’, and 11 35
3.20b The pole tangent and the collineation axis 35
3.21 The inflection circle for 2’/7 and the position of O W 36
3.22 Center of curvature of the coupler point B 37
3.23 Osculating circle for the coupler point B 38
4.1 Description of the linkage 39
4.2 Possible error while selecting the osculating circle 43
4.3 Dwell link mechanism 44
4.4 Position of the coupler point C 45
4.5 Geometric solution of ϕ Configuration 1 46
4.6 Geometric solution of ϕ Configuration 2 46
4.7 Determination of the direction of point D and ϕ 47
5.1 The four- bar linkage with specified link lengths (Config. 1) 51

5.2 Output link lengths 51

5.3 The four- bar linkage with specified link lengths (Config 2) 53
5.4 Output link lengths 53
5.5 Link lengths 54
5.6 Angular notation 54
5.7 Poles P71 and P31 55
5.8 Finding OM and ON 56
5.9 Finding O*M and O*N 57
5.10a Four-bar linkage formed by the links 2’, 4’, 5, and 1 59

[XII]
Fig. No. TITLE Page No.
5.10b The pole tangent and the collineation axis 59
5.11 The inflection circle for 5/2’ and the position of O T 59
5.12a Four-bar linkage formed by the links 6’, 8’, 1, and 5 60
5.12b The pole tangent and the collineation axis 60
5.13 The inflection circle for 1/6’ and the position of O U 61
5.14 Four-bar linkage formed by the links 2’, 9, 6’, and 10 62
5.15a Four-bar linkage formed by the links 7, 3, 2’, and 11 63
5.15b The pole tangent and the collineation axis 63
5.16 The inflection circle for 2’/7 63
5.17 Center of curvature of the coupler point B 64
5.18 Osculating circle for the coupler point B 65
5.19 The four-bar linkage and the coupler curve 73
5.20 The radius link. output link, pivot point, output curve and 74
matching points
5.21 Crank position VS angular displacement of the output lever 74
5.22 The four-bar linkage and the coupler curve 77
5.23 The radius link. output link, pivot point, output curve and 77
matching points
5.24 Crank position VS angular displacement of the output lever 78
5.25 The four-bar linkage and the coupler curve 80
5.26 The radius link. output link, pivot point, output curve and 81
matching points
5.27 Crank position VS angular displacement of the output lever 81
5.28 The four-bar linkage and the coupler curve 84
5.29 The radius link. output link, pivot point, output curve and 84
matching points
5.30 Crank position VS angular displacement of the output lever 85
5.31 The four-bar linkage and the coupler curve 87
5.32 The radius link. output link, pivot point, output curve and 88
matching points
5.33 Crank position VS angular displacement of the output lever 88

[XIII]
 LIST OF TABLES
Table No. TITLE Page No.
5.1 The link dimensions and the angular position of the linkage 50
5.2 Dimensions obtained from Fig. 5.1 49
5.3 The link dimensions and the angular position of the linkage 52
5.4 Dimensions obtained from Fig. 5.4 52
5.5 The link dimensions and the angular position of the linkage 54
5.6 Link Dimensions 58

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