Linkages

FUNDAMENTALS Topic 4
Gerald Rothenhofer
9/21/2009

What is a Linkage?
A mechanical linkage is a series of rigid links connected with joints
to form a closed chain, or a series of closed chains. Each link has two
or more joints, and the joints have various degrees of freedom to
allow motion between the links. A linkage is called a mechanism if two
or more links are movable with respect to a fixed link. Mechanical
linkages are usually designed to take an input and produce a different
output, altering the motion, velocity, acceleration, and applying
mechanical advantage.
A linkage designed to be stationary is called a structure.
en.wikipedia.org/wiki/Linkage_(mechanical)

History

Leonardo da Vinci (1452, 1519), Codex Madrid I.

Industrial Revolution was the boom age of linkages: cloth
making, power conversion, speed regulation, mechanical
computation, typewriting and machining

Linkages Today
In many applications (typewriting) linkages have been replaced by
electronics.
Still linkages can have a cost advantage over electronic solutions:
Couple different outputs by a mechanism rather than using one motor
per output and electronics to achieve the coupling.
Current applications: Sports Equipment, Automotive (HVAC
modules), Precision Machinery (Compliant Mechanisms), Medical
Devices

Linkage Categorization
Planar Linkages
Three bar
Four bar
Slider Crank

Five bar
Six bar
be creative

Spatial Linkages

Degrees of Freedom
Planar Linkages:
F=3*(N-1)-2*J1-Jh
F total degrees of freedom
N number of links
J1 constraints by 1DOF joints
Jh constraints by 2DOF joints

Four Bar

Grashof: The sum of the shortest (S) and longest (L) links of a
planar four-bar linkage must be smaller than the sum of the
remaining two links (P, Q). In this case the shortest link can rotate
360degree relative to the longest link.
L + S < P + Q: crank-rocker, double-crank, rocker-crank, doublerocker
L + S = P + Q: crank-rocker, double-crank, rocker-crank, doublerocker, note: linkage can change its closure in singularity
positions (all links aligned)
If L + S > P + Q, double-rocker, no continuous rotation of any link

Transmission Angles Four Bar

C
B
A

A ground link
B input link
C coupler
D output link

Angle between coupler and output link

should be 40140
Zero torque at output link if =0 or
=180

Transmission Angles Slider Crank

y

2
b
a

Especially important in critical position such as within the

main working range or high load positions
Minimize
Minimize |2-90|
No stick condition: 1/tan()<

Four Bar Synthesis

C
D

B
A

A ground link
B input link
C coupler
D output link

Function Generation (input/output relation)

Line Path Generation (line on coupler)
Point Path Generation (coupler point)

Four Bar Two Position Synthesis

Four Bar Three Position Synthesis

Cognate Mechanisms
Provide identical
motion of a point
or link
Here: coupler
point cognate

Four Bar Function Generation

Two angular displacements
Only one initial position;
either primary or secondary
side can be chosen freely
(here 60)
E.g.:
Primary side moves by
2x 20
Secondary side moves
by 35+30

Crank Rocker Design

Design in extreme positions
Typically design for crank
movement >180
depending on required
transmission ratio i.e. rocker
should move slowly when
load is heavy, the return fast
In this example rocker
moves through 60 while the
crank moves through
180+10=190

Slider Crank Synthesis I

Two point synthesis

Slider Crank Synthesis II

Three point
synthesis by
geometrical
inversion

Other Basic Four Bar Design

Methods
Approximate function generation
Approximate coupler point path generation
Uncorrelated with input
Correlated with input

Slider crank synthesis by approximation

What is possible with advanced

design methods?
Four coupler position synthesis
In some cases five coupler position synthesis is
achievable
Straight line motion
Complex linkages (more than four bars)
Spatial linkages

Five Bar

How many degrees of freedom?

Why does it work?

Six Bar
Watt & Stephenson Linkages

approximate dwells or better MTB suspension

Four Bar Analysis I

lawof cosine:
rp 2 =a 2 +b 2 -2abcos(180-1+ )

rp 2 =c 2 +d 2 -2cdcos(180- 2 )
a 2 +b 2 +2abcos( 1 - )=d 2 +c 2 +2cdcos( 2 )
ey

c sin( 2 ) a sin(1 )
b
d c cos( 2 ) a sin(1 )
cos ( )
b
aftersome math :
sin( )

rp

ex

a 2 b 2 c 2 d 2 2ad cos(1 ) 2cd cos( 2 ) 2ac cos(1 2 ) 0

take time derivative of (), assume & const , & const
1

2ad1 sin(1 ) 2cd2 sin( 2 ) 2ac(1 2 ) sin(1 2 ) 0

transmission ratio :

T ad sin(1 ) ac sin(1 2 )
r 2 1
1 T2 cd sin( 2 ) ac sin(1 2 )

2 is a complicated trigonometric function of 1, 2=f(1)

Four Bar Transmission Ratio

a 2 b 2 c 2 d 2 2ad cos(1 ) 2cd cos( 2 ) 2ac cos(1 2 ) 0
substitute :
K1 a 2 b 2 c 2 2ad cos( 1)
K 2 2cd 2ac cos( 1)
K 3 2ac sin( 1)
K1 K 2 cos( 2) K 3sin( 2) 0
two solutions :
K1 K 3 2 +K 2 (K 3 2 (K 2 2 -K12 +K 3 2 ))0.5 -K 2 K1+(K 3 2 (K 2 2 -K12 +K 3 2 ))0.5
21 atan(,
)
K 3 (K 2 2 +K 3 2 )
(K 2 2 +K 3 2 )
-K1 K 3 2 +K 2 (K 3 2 (K 2 2 -K 12 +K 3 2 ))0.5 K 2 K1+(K 3 2 (K 2 2 -K12 +K 3 2 ))0.5
22 =atan(
,)
K 3 (K 2 2 +K 3 2 )
(K 2 2 +K 3 2 )
transmission ratio :
r

2 T1 ad sin(1 ) ac sin(1 2 )

1 T2 cd sin( 2 ) ac sin(1 2 )

Slider Crank Analysis

x a cos(1 ) b cos( 2 )
y a sin(1 ) b sin( 2 )
( x x0 ) 2 ( y y0 ) 2 R 2

a 2 b 2 x0 2 y0 2 R 2 2ab cos(1 2 ) 2[ x0 (a cos(1 ) b cos( 2 )) y0 (a sin(1 ) b sin( 2 ))] 0

substitute :
Q0 a b x0 y0 R
2

Q1 Q0 2 y0 a sin(1 ) 2 x0 a cos(1 )

F, V

Q2 2ab cos(1 ) 2 x0b

Q3 2ab sin(1 ) 2 y0b

T1, 1

Q1 Q2 cos( 2 ) Q3 sin( 2 ) 0
two solutions :
Q1Q3 2 +Q2 (Q3 2 (Q2 2 -Q12 +Q3 2 ))0.5 -Q2Q1+(Q3 2 (Q2 2 -Q12 +Q3 2 ))0.5
21 atan(,
)
Q3 (Q2 2 +Q3 2 )
(Q2 2 +Q3 2 )

22 =atan(

0.5

-Q1Q3 +Q2 (Q3 (Q2 -Q1 +Q3 ))

Q3 (Q2 2 +Q3 2 )

,-

0.5

Q2 Q1+(Q3 (Q2 -Q1 +Q3 ))

)
(Q2 2 +Q3 2 )

y0
x0

transmission ratio :
a sin(1 2 )
V T1
r
R 2
2 0.5
1 F
(x0 +y0 ) sin( 2 ) a sin(1 2 )

F is maximum available force (no friction or other loads taken

into account)

Slider Crank Transmission Ratio

transmission ratio :

a sin(1 2 )
V T1
r
R 2
1 F
(x0 +y0 2 )0.5 sin( 2 ) a sin(1 2 )

2
F, V
R

T1, 1
1

y0
x0

The transmission ratio determines the relation of slider

(flapper) position and motor angle.

Power Budget
Pout Pin
Pin Tinin Tin

l
Pout Fload P
t
and therefore
Fload P l Tinin

in
t

y
b
a
Tin

in
x

Fload P F friction FpressureP Fothers

( Ffriction FpressureP Fothers ) l Tinin

Assumes that load forces are constant

Average and max load forces should be used to check
for safety factors
l arc length between starting point and end point of
slider movement

Slider Friction I
y

at the slider,
forces can only be applied
in the direction of the link:
R F,
could also be obtained by
a force balance in x- and y- directions
moment balance around crank pivot:

2
b
a

cos( 2 )
a cos(1 )

Tez F sin( 2 ) a sin(1 )

0
0
FP F cos( )

F
y

F F sin( )

after some trigonometry :

T cos( )
FP
a sin(1 2 )

a
T

R
F

T sin( )
a sin(1 2 )

Ffriction F

T sin( )
a sin(1 2 )

note : 2 is a function of 1, is a function of 1

2 =f( 1 ), =g( 1 )

Slider Friction II
y

2
a

FP

F tan( )
Ffriction F
sticking if : FP F
and therefore at any point along the slider track it must be :
1

tan( )

Questions