Basic types of

mechanisms
There is a great variety of mechanisms used in
mechatronics, in this occasion we will know the most
basic mechanisms and their use in engineering.
Mechanical advantage

 Is the ratio of the output torque exerted by the

driven link to the input torque needed on the
impeller.

𝑇𝑝
𝑀𝐴 =
𝑇𝑠
Transmission Angle
 The angle between the coupler and the Transmission Angle
follower is called transmission angle.
As this decreases, the mechanical
advantage is reduced and even a small
amount of friction will cause the
mechanism to close or lock. A common
rule is that the four-link linkage should
not be used in the region where the
angle of transmission is less than, 45 or
50 °.
Four-bar Linkage
A planar four-bar linkage consists of four rigid rods
in the plane connected by pin joints.
Examples
a & b) Crank – oscillator c) Double crank d) Double Oscillator
Grashof’s Law

 Grashof's law, specifies that one of the links, in particular

the smallest, will continuously rotate relative to the other
three only when:

s + l <= p + q
Activity

 Create 3 types of four-bar linkage, make a report

of them and prove the grashof’s law.
Example:
Crank and Slider mechanism (Centric
and offset)
Used to perform repetitive operations such as: pushing
pieces along an assembly line; fasten parts together while
welding; folding cartons in an automated packaging
machine; In machine tools to produce a slow cut-off stroke
and a fast return stroke; etc.
Basic Schematization (Centered)
Activity:

 Calculate the linear speed and the stroke using

solidworks motion, to the mechanism given by
your teacher:

 Motor= 75 RPM
 Any linkages of your choice
Scotch yoke (Yugo escocés)
It’s a mechanism that basically consist in a Crank and a
slider that redirects the rotational movement of the
crank to its slider to create a linear movement, there a
different inversions of this mechanism considering the
single crank-slider one of the most common
Examples: