Mechanism 4

Four bar Mechanism

 Mechanism
• A mechanism is a kinematic chain in which at
least one link is connected to a frame of
reference (ground), where the ground is also
counted as a link.
• The simplest mechanism’s mobility is 1.
 four-bar linkage
• It is the simplest movable closed chain linkage.

• It consists of four bodies, called bars or links, connected

in a loop by four joints.

• Generally, the joints are configured so the links move in

parallel planes, and the assembly is called a planar four-
bar linkage.

• Spherical and spatial four-bar linkages also exist and

are used in practice
 Planar four-bar linkage
• Planar four-bar linkages are constructed from four
links connected in a loop by four one-degree-of-
freedom joints.
• A joint may be either a revolute, that is a hinged joint,
denoted by R, or a prismatic, as sliding joint, denoted
by P.
Four bar mechanism examples
 Four bar linkage
• Its the simplest movable closed chain linkage.
• It consists of four bodies, called bars or links,
connected in a loop by four joints.
• Generally, the joints are configured so the
links move in parallel planes, and the
assembly is called a planar four-bar linkage.
Definitions
 Definitions
• Coupler : A link that has complex motion and is
not pivoted to ground.
• Connecting Link : A coupler that connects a
crank and a slider.
• Rocker : A link that has oscillatory (back and
forth) rotation and is pivoted to ground.
• Ground : In every machine, at least one link
either occupies a fixed position relative to the
earth or carries the machine as a whole along
with it during motion. This link is the frame of the
machine and is called the fixed link.
Ground Examples
 Types of Planar four bar Linakage
• There are three basic types of planar four-bar
linkage depending on the use of revolute or
prismatic joints.

1. Four revolute joints (RRRR):

2. Three revolute joints and a prismatic joint
(RRRP):
3. Two revolute joints and two prismatic joints
(PRRP):
 1. Four revolute joints:
• The planar quadrilateral linkage is formed by
four links and four revolute joints, denoted
RRRR.
 planar quadrilateral linkage
• Have four rotating joints.
• One link of the chain is usually fixed, and is called
the ground link, frame.
• The pivoted link that is connected to the driver or
power source is called the input link.
• The other pivoted link that is attached to the frame
is designated the output link or follower.
• The coupler or connecting arm “couples” the
motion of the input link to the output link.
 planar quadrilateral linkage
• The mobility of a four-bar mechanism consists of the
following:

• Because the four-bar mechanism has one degree of

freedom, it is constrained or fully operated with one
driver. The wiper system in is activated by a single DC
electric motor
 Grashof condition

• Grashof’s theorem states that a four-bar mechanism

has at least one revolving link if:

S + L ≤ P + Q,

• where S is the shortest link, L is the longest,

and P and Q are the other links.
• Conversely, the three non-fixed links will merely rock
if:
S + L > P + Q,
 Category of the 4 Bar RRRR
Mechanism
• All four-bar RRRR linkage fall into one of the
five categories.
Category of the 4 Bar RRRR
Mechanism
 Double Crank Mechanism
(drag link mechanism)
• Continuous motion (Grashof’s hold) .
• Shortest link is the frame.
• The two pivoted links, input and follower, are
both able to rotate through a full revolution.
S+l<p+q
s+l >p+q
 Crank-Rocker
• Continuous motion (Grashof’s hold).
• Shortest link is the crank, and the output link
is the rocker.
s+l<p+q
• The wiper system is crank-rocker.
 Double Rocker
• No continuous motion(Grashof’s hold)
• The link opposite the shortest link of the four-bar mechanism
configured as the frame.
• Both input and output links are constrained to oscillate
between limits, and are called rockers.
• However, the coupler is able to complete a full revolution.
S+l<p+q
 Triple Rocker
• No continuous motion (Grashof’s doesn’t
hold).
• The triple rocker has no links that are able to
complete a full revolution. Thus, all three
moving links rock.
S+l>p+q
 Change Point Mechanism
• Continuous motion (Grashof’s hold).
• The change point is called a singularity
configuration.

S+l=p+q
Inversions of 4 bar chain mechanism
2. Three revolute joints and a prismatic
joint
• It has four links connected by three revolute and
one prismatic joint, or RRRP.
• The slider-crank linkage is constructed with
crank and a slider connected by the connecting
rod.
Inversions of crank slider mechanism
Inversions of crank slider mechanism
 Quick return mechanism (QR)
• Synthesis of QR device requires determination of a mechanism to produce
a desired Time ratio (TR) and a necessary stroke.
• Note that there is not necessarily a unique mechanism design for a Quick
return task: many mechanism types (e.g., offset slider-crank, Whitworth,
drag-link, etc.) may be capable of performing it.
• Even within one mechanism type, many different link-length combinations
(perhaps an infinity of several dimensions ) may perform the required
task.
• Choosing a type of mechanism for a task is called type synthesis. Selecting
link lengths for a chosen type is referred to as dimensional synthesis .
• When many mechanisms of various types and/or dimensions that satisfy
the primary task exist, concerns such as mechanism size, minimum
transmission angles, maximum accelerations, etc., can be considered to
isolate a preferred design.
Quick return mechanism
(Off-set crank slider)
Whiteworth Quick return mechanism
 Whiteworth Quick return mechanism
• A Whitworth mechanism is formed when the crank of the
slider-crank inversion is greater than the base distance.
• Let the crank (member 2) is rotating counter-clockwise.
• The follower (member 4) of the Whitworth is dragged
through a full rotation during a revolution of the crank.
Whiteworth Quick return mechanism
 3. Two revolute joints and two
prismatic joints
• The double slider is a PRRP linkage.