CHAPTER TWO

2. LINKAGES MECHANISMS
2.1 Introduction
What kind of mechanism causes the wind shield wiper on
the front of a car to oscillate?
• According to relative motion of the two contacting bodies mechanism
can be classified as:
 Planar mechanism
 Spherical mechanism and
 Spatial mechanism
- In a planar mechanism, all of the relative motion of the rigid bodies are
in one plane or in parallel planes. e.g: the plane four bar linkage, the
plate cam and follower and slider-crank mechanism.
- If the movement of the object in all components lie in concentric
spherical shells around a fixed point, the mechanism is called spherical
mechanism. e.g: Hooks universal joint
- If there is any relative motion that is not in the same plane or in parallel
planes, the mechanism is called a spatial mechanism. e.g: screw pair
• A mechanism composed of rigid bodies and lower pairs are called a
linkage.
• In planar mechanism, there are only two kinds of lower pairs
revolute/turning pairs and prismatic/sliding pairs.
2.2 Function of Linkages
• The function of a link mechanism is to produce rotating, oscillating
and reciprocating motion from the rotation of the crank or vice versa.
 Specifically linkages are may be used to convert:
i. Continuous rotation into continuous rotation with a constant or
variable angular velocity ratio.
ii. Continuous rotation into oscillation or reciprocation (or the reverse)
with a constant or variable velocity ratio.
iii. Oscillation into oscillation or reciprocation into reciprocation with a
constant or variable velocity ratio.
 The primary goal of mechanism are:
- Function generation - the relative motion between the links
connected to the frame(input-output relation)
- Path generation - the path of a tracer point (line on coupler)
- Motion generation – the motion of the coupler link (coupler point)
2.3 Common Linkage Mechanisms
• The four-link mechanisms have two classes
a) four-bar linkage mechanism and
b) Slider-crank mechanism
1. Four-Bar Linkage
 Motion of a four-bar mechanism

• The type of motion that a four-bar linkage executes depends on the

proportional size of its links. There are three basic types of motion
which a four-bar linkage can produce.
• These basic types of motion are characterized by the terms crank-
rocker to indicate that link 2 rotates and link 4 oscillates; double crank
to indicate that both the driver and follower rotate; and double-rocker
to indicate that both the driver and follower oscillate (rocks) through
certain angles.
Grashof’s Law
• states that for a planar four-bar linkage, the sum of the shortest and
longest link lengths cannot be greater than the sum of the remaining
two link lengths if there is to be continuous relative rotation between
two members. In particular the shortest link, will rotate continuously
relative to the other three links if and only if: s + l <= p + q
• If this inequality is not satisfied, no link will make a complete
revolution relative to another.
• In a four bar linkage, we refer to the line segment between hinges on
a given link as a bar where:
– s = length of shortest bar
– l = length of longest bar
– p, q = length of intermediate bar
 Grashof’s classifies a four-bar linkage by considering their link
arrangements and proportions.
i. If the sum of the lengths of the longest and shortest links is less than
the sum of the lengths of the other two links, then
a) two different crank rockers will be formed when the shortest
link is the crank and either of the adjacent links is the fixed link;
b) a double crank will be formed when the shortest link is the fixed
link;
c) a double rocker will be formed when the link opposite the
shortest link is the fixed link.
ii. If the sum of the lengths of the longest and shortest links is equal to
the sum of the lengths of the other two links with any fixed link it is
called a point change.
iii. If the sum of the lengths of the longest and shortest links is greater
than the sum of the lengths of the other two, only a double-rocker
mechanism will be formed.
Four-Bar Linkage Categories (contd.)
 Transmission Angle
• The angle γ between the coupler 3 and the output link 4 (follower) is
called the transmission angle. The transmission angle γ is shown in
Fig. below.
• The equation for the transmission angle can be derived as follows.

• from which we obtain the transmission angle

• In general, for good force transmission to the output link, the

transmission angle should be in the range 40⁰ < γ < 140 ⁰ .
• Zero torque at output link if γ=0º or γ=180º
 Application areas
• Most commonly used in control valve actuators in high pressure
oil and gas pipe lines.
• It is used in making double hacksaw.
• It is used in reciprocating pumps and beam engine pumps to
convert rotational motion into reciprocating motion required for
piston movement.
• In making toys which have too and fro motion.
 Dead Point
• During a cycle there are two dead points A ' and A " in which
the crank and the connecting rod are in line.

Fig. Range of transmission angle

Various form of four-bar linkage
 2. Slider – Crank Mechanism
• This type of special configuration is created by making one or
more links of four bar mechanism infinite in length.
• This configuration translates a rotational motion into a translational
one.
• In the slider-crank mechanism only a double-rocker mechanism
will be formed.
 Slider-Crank Mechanism (contd.)
• Commonly the slider-crank mechanism is applied in internal
combustion engines, where in the application the slider, link 4, is
the driver and the crank, link 2, is driven.
 Two types of slider-crank mechanism

(a) In-line slider crank mechanism (b) Offset slider-crank mechanism

 Inversions of the slider-crank mechanism

• In the slider crank mechanism, by fixing links other than link 1, it is

possible to obtain three other inversions. Fig. below shows these various
inversions of the slider crank mechanism. It should be noted that an
inversion of a mechanism does not change the relative motion of the links,
however, the absolute motion is altered.
Application of Slider-Crank Mechanism

IC Engine A pump device

 3. Scotch Yoke Mechanism
• Scotch yoke mechanism is a reciprocating motion mechanism,
converting the linear motion of a slider into rotational motion, or
viceversa. The piston or other reciprocating part is directly
coupled to sliding yoke with the slot that engages a pin on a
rotating part.
 Application areas
• Most commonly used in control valve actuators in high pressure
oil and gas pipe lines.
• It is used in making double hacksaw.
• It is used in reciprocating pumps and beam engine pumps to
convert rotational motion into reciprocating motion required for
piston movement.
• In making toys which have too and fro motion.
 4. Toggle Mechanisms
• Toggle mechanisms are used where large resistances are to be
overcome through short distances.
• A simple toggle consists of two links which tend to line-up in a straight
line at one point in their motion. Fig. below shows a schematic
representation of such links in toggle mechanisms.

• The simple toggle is used in stone crushers, punch presses, riveting

machines, etc.
 Stone Crusher
• The stone crusher uses two toggle linkages in series to obtain a high
mechanical advantage. When links 2 and 3 are in toggle, links 4 and 5 are
also in toggle to produce the high crushing forces needed.
• When link 2 reaches the lowest point of its stroke, it comes into toggle with
link 3 and at the same time links 4 and 5 come into toggle with each other.
This configuration results in a very large crushing force.

(b) Schematic
3D stone crusher
•  
where P = resistance to be overcome and
F = required force to overcome the
resistance
• It can be observed that for a given force F, P increases as the angle
a. diminishes.
Punch Press
• For a punch press the large punching
force needed is obtained when the crank
A and connecting rod AB come into toggle
at the lower end of the punch stroke exactly
at the time where it is most needed.
 5. STRAIGHT LINE MECHANISMS
• These are mechanisms designed so that a point on one of the links
moves in a straight line without the need for guides, thus converting
rotary motion to straight line motion. Some examples of straight
line mechanisms are discussed below.
Watt mechanisms
• The Watt mechanism, schematically shown in Fig. below, generates
an approximate straight line motion. If links 2 and 4 are of equal
length, the tracing point P traces an approximate straight line with a
symmetric figure 8 towards the ends of the stroke length. The figure
8 is straighter if
 Evans' Linkage
•This linkage, shown in Fig. below, has an oscillating drive arm which has a maximum
operating angle α of about 40⁰. For a relatively short guided slide, a large reciprocating
output stroke DD' is obtained. The output motion of point D is on a true straight line.
•If the guide way in slide at point A is replaced by a link rotating about an axis, the
motion obtained approaches a straight line if the link length is equal to the stroke with a
slight deviation.
Straight Line Generator Linkages (con’d)
 6. Quick Return Mechanisms

• These types mechanisms are combinations of simple linkages that

are designed to give a quick return stroke to the driven link for a
constant angular speed of the driver link.
• It is used to convert circular motion into reciprocating motion.
This mechanism is mostly used in shaping machines, slitting
machines and a faster return stroke.
• Time Ratio, Q:. the ratio of the crank angle for the working stroke
to that of the return stroke.
• The time-ratio for quick-return mechanisms is always greater than
unity to give a slower cutting stroke and a faster return stroke.
Quick Return Mechanisms (con’d.)

(a) Offset Slider Crank

 Quick Return Mechanisms (con’d)
• The Whitworth mechanism is another variation of the slider crank
mechanism in which the crank is held fixed. Links 1, 2, 3 and 4
comprise an inverted slider-crank mechanism. Links 1, 4, 5 and 6
comprise a crank-slider mechanism.

(b) Whitworth Quick Return Mechanism

Quick Return Mechanisms (con’d)

(c) crank-Shaper Mechanism

Quick Return Mechanisms (con’d)

The drag link mechanism is developed by connecting two four-bar

linkage (1, 2, 3,4 and 1, 4, 5, 6) in series .

(d) Six-bar drag-link mechanism

Time ratio =
 7. Parallel Mechanism
• These mechanisms are employed for producing parallel motions
and reproducing motions at different scales. Common examples of
parallel mechanisms are the pantograph and the drafting machine.
Pantograph
• The pantograph is used to enlarge or reduce trajectories to
different scales. They are commonly used in cutting tools to
duplicate complicated shapes to desired scales.
 Drafting Machine
• The straightedges attached to ring DE can be rotated and clamped
at any angle relative to the ring DE. Moreover, the straightedges
can move to any parallel position on the drawing board as shown
in· the figure.
 8. Intermittent Motion Mechanism
• These mechanisms convert continuous motion into intermittent
motion. Common examples of intermittent motion mechanisms are
the Geneva wheel and ratchet mechanism.
Intermittent Motion Mechanism (contd.)
A. Geneva Wheel

(i) Geneva mechanism in a locked position

(iii) Crank and slot at two extreme

positions during engagement

(ii) Geneva mechanism in an unlocked position

Intermittent Motion Mechanism (contd.)
B. Intermittent Gearing
 9. Steering Gear Mechanism
• The steering gear mechanism is used to change the direction of the
wheel axle with respect to the chassis which enables motion of an
automobile in any desired direction.
• Commonly, steering in automobiles is done by means of the front
wheels, the back wheels having fixed direction with respect to the
chassis.
2.3 Application of Linkage Mechanisms