13216-2-26P

AID: 1825 | 05/09/2014

Show the crank and rocker mechanism as in Figure (1).

O4O2 A

From Figure (1), use cosine law for triangle

s 2 r12 r2 2 2r1r2 cos 2

(1)
r1
r2
2
Here, diagonal distance is s, link 1 is link 2 is , and crank angle is .
ABO4

From Figure (1), use cosine law for triangle

s 2 r32 r4 2 2r3r4 cos

.
(2)

r3
Here, diagonal distance is s, link 3 is

r4
link 4 is

, and transmission angle is

2
Equate Equation (1) and (2) and differentiate with respect to .
d
d
r12 r2 2 2r1r2 cos 2
r32 r4 2 2r3r4 cos

d 2
d 2
2r1r2 sin 2 2r3 r4 sin

d
d 2

d
r r sin 2
12
d 2 r3r4 sin

(3)
d
d 2
From Equation (3), substitute 0 for
r r sin 2
0 1 2
r3r4 sin

2
to find the values of

sin 2 0

2 180, 360,K
180, 360,K

Thus crank angle values of

transmission angle.

corresponds to the extreme values of the