Machine design Report 3 - Four-bar Linkages

Jesus Urbaneja (C1TB1706)

October 2023

1 Introduction
Four-bar linkages are mechanical systems consisting of four rigid bars, also
known as links, connected by hinged joints. These linkages play a crucial role in
various applications, such as oil well pumps systems, bicycle motion and car sus-
pension systems. This paper introduces these previous examples and analyzes
them geometrically.

2 Oil Well Pumps

A pumpjack is a mechanical drive system, featuring a four-bar linkage, as illus-
trated below. The substantial rotating counterweight is positioned to descend
during the pump’s upward stroke, effectively raising the oil against gravitational
force.
For oil extraction, it’s essential to ensure that the pump rod moves vertically
to efficiently lift oil from the well. The lengths of each of the four bars in the
linkage are designed based on the specific requirements of the oil well.
In a four-bar linkage used in oil pumps, there are typically two coupler
links (green and blue). These links connect the input link (red) to the output
link (pink). The interaction between these two coupler links is fundamental to
achieving the desired motion.
When both coupler links are of equal length, the four-bar linkage forms a
parallelogram. This configuration ensures that the output link follows a straight-

Figure 1: Oil Pump motion

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 Figure 2: Bicycle Motion

line motion. Moreover, using the Grashof condition on the oil pump (which
enables the rotating motion), the following relationship is obtained:

a + b ≤ c1 + c2 (1)
Here, ”a” is the length of the input link, typically connected to the motor.
”b” is the length of the output link, connected to the pump rod. ”c1” is one of
the coupler link lengths. ”c2” is the length of the other coupler link.

3 Bicycles
Bicycles employ a mechanism involving two four-bar linkages to transform the
back-and-forth movement of a cyclist’s legs into continuous rotary motion.
These linkages consist of the two sections of the rider’s legs, the bicycle frame,
and the crank, as illustrated in Figure 7.
Here, the continuous downward and upward motion of the rider’s legs pushes
the pedals in a circular path. The pedal’s connection to the crank causes it
to rotate. On the other hand, notice how the pedal and crank-arm can be
considered a simple slider-crank mechanism.
Later, the crank is linked to the chain-ring, which transmits the rotary mo-
tion to the rear wheel.
This systems follows equation 1. Where ”a” represents the length from the
hip joint to the knee joint. ”b” represents the length of the shin bone from the
knee to the ankle joint. ”c1” and ”c2” represent the lengths of the pedal and
crank, respectively.

4 Suspensions with Watt’s linkage

A suspension system employing Watt’s linkage is designed to provide stability
and effective shock absorption. The central advantage of Watt’s linkage in
suspension systems is its ability to control and limit the lateral movement of
the suspension, preventing unwanted side-to-side sway.
Watt’s linkage is made up of two lengthy, nearly parallel links with a small,
movable link situated between them. This configuration results in approxi-
mately straight-line motion for a connection point located in the middle of the

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 Figure 3: Bicycle Motion

Figure 4: Motion of suspension with Watt’s linkage

movable link. This type of linkage is frequently employed in suspension systems,

as illustrated in the diagram below.
Notice how the join points go through a semicircular motion while the middle
join goes through an up and down motion with rotation described in the picture
below.
Here, from the Grashof condition:

• ”a” would represent the length of one of the nearly parallel links.
• ”b” would represent the length of the other nearly parallel link.

• ”c1” would represent the length of the small floating link on one side.
• ”c2” would represent the length of the small floating link on the other
side.

Finally, it is important to say that this intricate interplay of motions is

crucial for Watt’s linkage’s effectiveness in maintaining stability and absorbing
shocks in suspension systems.

5 Slider-crank chain
A slider-crank mechanism comprises four links with three joints and one sliding
joint. The crank’s rotation either propels the slider linearly or is driven by the
expansion of gases against a sliding piston in a cylinder.
There are two main varieties of slider-cranks:
In-line: In this configuration, the slider is positioned so that the line of
motion of the hinged joint on the slider aligns with the base joint of the crank.
This results in symmetrical back-and-forth movement of the slider as the crank
rotates.

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 Figure 5: Slider-crank chain

Offset: When the line of motion of the hinged joint on the slider doesn’t pass
through the base pivot of the crank, the slider’s movement is asymmetrical. It
travels faster in one direction than the other, and this is referred to as a quick-
return mechanism.

6 Double Slider-crank chain

When the four bar chain has two turning and two sliding pairs such that two
pairs of the same kind are adjacent is known as double slider crank chain. The
general structure of the slider is as follows:
Fixed Link (Base): As in the single slider-crank chain, there is a fixed link
that serves as a reference point. It typically does not move.
Two Sliders (Slider A and Slider B): Instead of a single slider, a double
slider-crank chain has two sliders that move along linear paths. These sliders
are labeled as Slider A and Slider B.
Two Cranks (Crank A and Crank B): There are also two cranks, each con-
nected to one of the sliders. Crank A is connected to Slider A, and Crank B is
connected to Slider B. Both cranks rotate about their respective pivot points.

7 Crossed slider chain

In a crossed slider mechanism, the slider (the element that moves in a linear
path) and the crank (the rotating element) are not directly connected in a

Figure 6: Double Slider-crank chain

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 Figure 7: Crossed Slider

typical slider-crank configuration. Instead, they are indirectly connected, often

by an additional linkage, creating a ”crossed” configuration.
The main characteristic of a crossed slider mechanism is that the slider’s
motion is achieved indirectly through the additional linkage, and it typically
follows a path that crosses over the fixed link during its motion. This unique
configuration can be used for specific applications where a particular motion or
force transmission is required.
One potential application of a crossed slider mechanism is in certain types
of mechanical presses and stamping machines, where the crossed configuration
can help control and adjust the path of the slider to meet specific requirements.
Moreover, some key geometric aspects of a crossed slider chain are: Crossing
Point. Point where the slider path crosses over the crank path. This point is
determined by the design of the connecting linkage. Link Lengths. They directly
influence the range and amplitude of motion as well as the relative positions of
the crossing point and pivot points. Position and Orientation. The position and
orientation of the slider at any given time depend on the angular position of the
crank and the design of the connecting linkage. All these geometric relationships
determine the motion of the slider.

8 References
Engineering at Illinois. (n.d.). Advanced Machinery Laboratory. University of
Illinois Urbana-Champaign. https://dynref.engr.illinois.edu/aml.html