Design of Drag-Link Mechanisms

With Optimum Transmission Angle

Lung-Wen Tsai
Mechanical Research Department,
General Motors Research Laboratories,
Warren, Mich. 48090
In this paper, a new criterion for the design of a drag-link mechanism with optimum
transmission angle is established. The transmission angle, the angle between the
coupler link and output link of a four-bar linkage, is considered to be optimized
when its extreme values deviate equally from 90 deg. Based on this criterion, design
equations and design charts are developed. It is shown that the optimum drag-link
mechanism is a turning-block linkage. It is also shown that to displace the drag-link
mechanism with optimum transmission angle from its minimum lag to its maximum
lag position, the input link must always rotate 180 deg and the corresponding
angular displacement of the output link depends only on the link-length ratio of the
output link to the fixed-link.

Introduction Drag-Link Mechanism With Optimum Transmission

A drag-link mechanism is usually designed to transform Angle
uniformly rotating motion into cyclically varying rotational The transmission angle is defined as the included angle
motion. For this reason, a drag-link mechanism is normally between the coupler link and the output link. This angle plays
placed in series with another mechanism or device to alter the an important role in the quality of motion transformation of a
motion characteristics of the latter mechanism. Practical four-bar linkage. The force transmission from the coupler
applications such as drag-link driven slider-crank mechanisms link to the output link is most effective when the transmission
and drag-link driven cams can be found in the literature [1-5]. angle is 90 deg. As the input link rotates, the value of the
The angle between the coupler link and output link of a transmission angle changes. It is desirable that the deviation
four-bar linkage is called the transmission angle. It is well of the transmission angle from the ideal value of 90 deg is as
known that the transmission angle of a drag-link mechanism small as possible. In what follows, the transmission angle of a
must be optimized to provide a motion transformation of drag-link mechanism is considered optimum when its extreme
good quality. The optimization of the transmission angle of a values deviate equally from 90 deg. Figure 1 shows the ex-
four-bar linkage has been studied extensively by many authors treme transmission angles /*max and /imin which occur at two
[5-9]. In general, the transmission angle is considered to be positions where the input link AB coincides with the fixed-link
optimized when its extreme values are deviated equally from AD, i.e., 0 = 0 and 180 deg. Applying the cosine law to the
90 deg. triangles B t C, D and B2 C2 D and using the condition:
Hain described the design of a drag-link mechanism with
optimum transmission angle in terms of the angular /"max - 90deg = 90deg - ^min (1)
displacement of the output link corresponding to 180 deg of we obtain
input-link rotation [3]. The 180 deg of input-link rotation is (b-a)2 =c2 +d2 - 2cdcosjxmin, (2)
defined in terms of the two extreme positions of a four-bar
linkage where the input link coincides with the fixed-link. and
However, this method of qualifying the capability of a drag- (b + a)2=c2+d2+ 2cdcosixmin (3)
link mechanism is sometimes misleading, since the 180 deg of
input link rotation chosen for the design is quite arbitrary.
The difference between the 180 deg of input link rotation and
the corresponding angular displacement of the output link
given by Hain does not necessarily reflect the maximum Coupler link JX s Output link
capability of a drag-link mechanism. Therefore it is the intent
of this paper to define the optimum design of a drag-link
mechanism in terms of its maximum capability to provide a
c ><, X, max
desired delay or advance in its output motion. . < * -
-F
Input link
7" A J D\
V I \
Fixed link -H a r \ /Jmin
Contributed by the Mechanisms Committee and presented at the Design and
Production Engineering Technical Conference, Washington, D.C., September
12-15, 1982, of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS.
Manuscript received by the Design Engineering Division, March 26, 1982.
Paper No. 82-DET-9. Fig. 1 Two extreme positions of a drag-link mechanism

2 5 4 / V o l . 105, J U N E 1983 Transactions of the ASME

Copyright 1983 by ASME
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 Adding equations (2) and (3), yields:
-d2=0 (4)
Subtracting equation (2) from (3), yields:
ab - fcos/xmin = 0 (5)
Equation (4) is the necessary condition for a drag-link
mechanism to have optimum transmission angle and equation
(5) relates the minimum transmission angle to the linkage
parameters. Equation (1) implies that for a drag-link
mechanism with optimum transmission angle, /xmin is always
less than 90 deg and >max is always greater than 90 deg.

Design Criterion
Fig. 2 A drag-link mechanism in its two positions, AB-, C-, D and
The motion characteristics of a drag-link mechanism can be A B 2 C 2 D having unity angular velocity ratio
described by the angle L defined as:
L = 4>-t (6)
The angle L can be thought of as the lag between the input and
and output links. The lag increases when the angular velocity
ratio of the output link to the input link is less than one and ft = 180deg-/3, =cos~l(a/d) (14)
vice versa. As the input link rotates, the lag changes cyclically From the geometric relationship of Fig. 2, we have:
from a minimum to a maximum. Therefore, in applying the
drag-link mechanism to achieve a desirable delay in the output 4>i =180deg- a i (15)
motion, it is necessary to have the event of interest occurring 02 = 36Odeg-a2 (16)
in the range where the lag is increasing. Maximum possible
delay is obtained when the event starts at the position where lh=0i (17)
the lag is minimum and ends at the position where the lag is and
maximum. i2 = 180deg + /32 (18)
Differentiating equation (6) with respect to <j>y yields:
Therefore the angular displacements of the input and
dL _ cty output links are given by:
(7)
d~4> ~ d~4> A< = (fc-(h = 180 deg (19)
Hence, the extreme values of the lag L occur at and
d\P
=1 (8) Atf=* 2 -lh=20 2 (20)
d<t> Hence, we conclude that for a drag-link mechanism with
This corresponds to the two positions of the drag-link optimum transmission angle to displace from its minimum lag
mechanism where the coupler link BC is parallel to the fixed- to maximum lag position, the input link must always rotate
link AD as shown in Fig. 2. In Fig. 2, configuration A B ^ D 180 deg. Furthermore, the corresponding angular dis-
is the position of minimum lag and AB2C2D is the position of placement of the output link depends only on the link-length
maximum lag. Line AE, is parallel to DC, and line AE2 is ratio d/a.
parallel to DC 2 . Applying the cosine law to triangles A B ^ The delay in the output motion is given by:
and AB2E2, we obtain:
A</>-Ai/<=180deg-2ft, (21)
d2 = (c-a)2+b2-2b(c-a)cosal, (9) This delay, 180 deg - 2@2 > ' s tne
maximum achievable delay
2 2 2
d =(c + a) +b -2b(c + a)cosa2, (10) for any arbitrary 180 deg of input link rotation of a drag-link
b2=d2 + (c-a)2-2d{c-a)cosPi, (11) mechanism with optimum transmission angle. Therefore the
angle 2/32 or A\p may be used to characterize the capability of a
and drag-link mechanism. Consequently, in what follows, we
b2=d2 + (c + a)2-2d(c + a)cos(]2 (12) shall use equations (4), (5), (19) and (20) as the design
equations for the optimization of a drag-link mechanism. It
Substituting equation (4) into (9), (10), (11) and (12) and should be noted that 4>x and <j>2 given by equations (15) and
simplifying, we obtain: (16) are the two positions of the input link where the
ay = a2 = cos~l (c/b) (13) minimum and maximum lags occurred.

Nomenclature

4> = angular displacement of the

a = fixed link length of drag-link
mechanism, mm
b = input link length of drag-link
mechanism, mm
c = coupler link length of drag-
link mechanism, mm
d = output link length of drag-
link mechanism, mm
L = lag between the input and
output links, deg
output link, deg
4> = angular displacement of the
input link, deg
Ai/< = angular displacement of the
output link when a drag-link
is displaced from its
minimum lag to its maximum
lag position, deg
A</> = angular displacement of the
input link when a drag-link is
displaced from its minimum
lag to its maximum lag
position, deg
on,Pi as defined in Fig. 2, deg
Mmin the minimum transmission
angle of a drag-link
mechanism, deg
the maximum transmission
angle of a drag-link mech-
anism, deg

Journal of Mechanisms, Transmissions, and Automation in Design JUNE 1983, Vol. 105/255

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 Table 1 Linkage parameters versus (A\f s n d
)
V- min 20

b/a 1 o
o
oo
I
1
1

A iji ^min

min
50 55 60 65 70 75 80
15 " 1 LA
o =i //
ie2 6.865 1 '""
184
let
4.453
3.777
1 "
1o c
ies 3.481
1 r*" "B
1 " la.

65
lie 3 . 164
112 3.886 6.662 M
1 c
o O
114 2.899 4.918 ? 10 1
v
O 1 1 'E
-R LA 1
I3*
116 2.827 4. 182
118 2.782 3.781
1 c
1 C

min
up
120 2.756 3.535 \=5.
122 2.748 3.376 7.375
1=5. 'a
1=1
124 2.753 3.274 5.466 \=*
126 2.772 3.21 1 4.684
128 2.883 3. 179 4.263

136 2.846 3. 172 4.013

132 2.981 3 . 185 3.862 8.271
134 2.967 3.218 3.776 6. 182
136 3.846 3.268 3.737 5.347
138 3 . 138 3.336 3.736 4.915

146 3.245 3.423 3.767 4.677 i

142 3.368 3.528 3.827 4.555 9.478
144 3.518 3.653 3.915 4.512 7 . 181 100 120 140 160 180
146 3.673 3.882 4.032 4.530 6.383
148 3.868 3.977 4. 188 4.601 5.891
Forward angle: A(fr (deg.)
158 4.877 4. 182 4.362 4.721 5.789
152 4.329 4.423 4.583 4.891 5.674 11.285 Fig. 3 Linkage parameter versus forward angle
154 4.624 4.789 4.858 5 . 117 5.758 8.758
156 4.972 5.848 5. 173 5.484 5.925 7.899
158 5.387 5.455 5.566 5.766 6. 199 7.614
IB
160 5.890 5.951 6.048 6.221 6.583 7.648
162 6.509 6.563 6.647 6.797 7. 188 7.925 14.545
164 7.288 7.335 7.488 7.536 7.789 8.439 11.898
166 8.295 8.335 8.398 8.586 8.716 9.232 11.433
168 9.643 9.676 9.729 9.819 9.992 18.480 11.915

170 11.537 11.564 11.688 11.681 11.828 12.139 13.215

172 14.386 14.408 14.442 14.588 14.608 14.850 15.616 12
174 19.145 19.161 19.187 19.229 19.389 19.484 28.812
176 28.679 28.689 28.786 26.734 28.787 28.988 29.233
178 57.311 57.317 57.325 57.339 57.365 57.421 57.582

Table 1 (cont.)

c/a d/a

A^ ^min Ai/> d/a

50 55 60 65 70 75 80
102 5.937 102 1 . 589
104 4.265 104 1.624
166 3.537 106 1.662
108 3 . 110 106 1.701

110 2.823 116 1.743

112 2.615 6.495 112 1.788
114 2.457 4.662 114 1.836 100 120 140 160 160
116 2.331 3.864 116 1.887
116 2.229 3.396 118 1.942

3.081
Forward angle: A <JJ (deg.)
126 2.144 120 2,000
122 2.072 2.853 7 . 151 122 2.663
124 2.011 2.679 5 . 132 124 2 . 130
Fig. 4 Linkage parameter versus forward angle
126 1.958 2.542 4.253 126 2.203
128 1.912 2.430 3.737 128 2.281

130
132
1.671
1.635
2.337
2.259
3.392
3 . 141 7.960
130
132
2.366
2.459
Design Optimization
134 1.804 2.192 2.951 3.716 134 2.559
136 1.775 2 . 135 2.600 4.739 136 2.669 Substituting equation (14) into (20), yields:
138 1.750 2.085 2.678 4 . 168 138 2.790

140 1.727 2.041 2.376 3.785 140 2.924 l d

142 1.706 2.002 2.492 3.309 9.022 142 3.072 = (22)
144 1.687 1.968 2.420 3.299 6.488 144 3.236
146 1.671 1.938 2.338 3 . 134 5.388 146 3.420 a cos(Ai/</2)
148 1.655 1.911 2.304 3.001 4.747 148 3.628
Hence, corresponding to each chosen value of A^, equation
150
152
1.642
1.629
1.887
1.866
2.256
2.217
2.891
2.680
4.320
4.013 10.549
150
152
3.864
4 . 134
(21) yields the link-length ratio d/a uniquely. The remaining
134
156
1.618
1.606
1.847
1.630
2 . 182
2 . 151
2.723
2.658
3.782
3.602
7.612
6.346
154
156
4.445
4.810
link-length ratios b/a and c/a can be found by solving
158 1.599 1.815 2 . 124 2.603 3.458 5.613 158 5.241 equation (4). Since there are two unknowns in one equation,
160 1.591 1.802 2 . 100 2.536 3.342 5.131 160 5.759 we can choose either one of the two unknowns arbitrarily and
162
164
1.564
1.378
1.798
1.788
2.088
2.062
2.516
2.482
3.247
3.178
4.790
4.538
13.103
9.536
162
164
6.392
7 . 185
solve equation (4) for the other. Alternatively, since the
166
168
1.373
1.368
1.771
1.763
2.047
2.834
2.453
2.429
3.106
3.054
4.347
4.280
8.024
7.172
166
168
6.206
9.567
transmission angle is an important factor in determining the
170 1.564 1.757 2.023 2.409 3.012 4.086 6.633 170 11.474
motion quality of a mechanism, we may choose /xmin ar-
172 1.561 1.752 2.615 2.393 2.979 4.002 6.273 172 14.336 bitrarily and solve equations (4) and (5) for the link-length
174 1.559 1.748 2.008 2.361 2.955 3.940 6.031 174 19.J07
176 1.557 1.746 2.004 2.373 2.937 3.897 5.875 176 28.654 ratios b/a and c/a. After some algebraic manipulations, we
178 1.556 1.744 2.001 2.368 2.927 3.672 5.767 178 57.299
obtain:

256/Vol. 105, JUNE 1983 Transactions of the ASME

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 20 360

15

IB .

# *

140 160 3B0

100 120 180 270 1*2

Forward angle: A^Meg.) Input displacement: <>

f (deg.)
Fig. 5 Linkage parameter versus forward angle Fig. 8 Output displacement versus input displacement

Locus of B

ToB

A D
Fig. 6 Graphical solution of a drag-link mechanism

1.5

360

Input displacement: <Mdeg.)

1.25
Fig. 9 Lag versus input displacement
s-

-3- (d/af -1
(23)
a L 2
(rf/a) C0S /Xmin2
.-,]
and
b e d
8 COS/tin (24)
> a a a
It can be shown that all of the linkages obtained by solving
equations (22), (23), and (24) satisfy the Grashof criterion for
a drag-link mechanism. Equation (22) implies d is always
greater than a. For equation (23) to yield a positive real root,
it is necessary that:
2

360 O' cos>min>l (25)

Input displacement: <Ji(deg.)

or, equivalently
Fig. 7 Velocity ratio versus input displacement /i m i n <A^/2 (26)

Journal of Mechanisms, Transmissions, and Automation in Design JUNE 1983, Vol. 105/257

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 In the design of drag-link mechanisms, it is desirable to
choose jUmin to be as large (as close to 90 deg) as possible.
Therefore, for each given Ai/-, the optimum design is obtained
when nmin is chosen to be equal to A\j//2. At optimum design,
the link-length ratios bla and c/a are infinite and the link-
length ratio d/a is defined by equation (22). This optimum
design is a turning-block linkage. However, if it is desirable to
obtain a drag-link mechanism other than the turning-block
linkage, equations (22), (23), and (24) may be used to find the
link-length ratios. Using equations (22), (23), and (24), the
link-length ratios bla, c/a, and dla versus the angle A^ were
calculated for several values of /*min. The results are tabulated
in Table 1 and plotted in Figs. 3,4, and 5. Either Table 1 or
the charts shown in Figs. 3, 4, and 5 may be used for selecting
a drag-link mechanism with optimum transmission angle.
Graphical Solution
A graphical solution of a drag-link mechanism with op-
timum transmission angle is possible. An examination of Fig.
2 and equation (22) indicates that at the minimum lag
position, line BC is parallel to AD and line AC must be
perpendicular to AD. Therefore, the desired drag-link
mechanism can be graphically constructed as follows (Fig. 6).
1. Select the position of the fixed pivot A and draw line AY
to be perpendicular to AX.
2. On line AX, select the fixed pivot D so that fixed-link
length AD is of a desirable length. Note that length AD is
arbitrary.
3. At D draw line DC such that angle ADC = Ai/*/2. Let the
intersection of line DC with line AY be C.
4. At C draw line CB, so that line CBro is parallel to line
AX.
5. Locate B0 on line CB^ so that CB0 = AD.
6. Line BoB,*, is the locus of B. Any point on line segment
B0B, can be used as the joint B.
7. Four-bar ABCD is the desired drag-link mechanism with
optimum transmission angle.
Numerical Example
In order to demonstrate the theory, assume that it is desired
to obtain a drag-link mechanism whose output link will rotate
140 deg while the input link makes 180 deg of rotation. From
Fig. 5, or Table 1, it can be found that for Ai/-=140 deg,
d/a = 2.924 regardless of what jiimin is chosen. From equation
(26), the maximum fimin is 70 deg. Assume that ^min = 65 deg is
desired. Then, from Figs. 3 and 4, or Table 1, it is found that
bla = 4.677 and c/a = 3.785. Using these linkage
parameters, the angular velocity ratio of the output link to the
input link, the angular displacement of the output link, and
the lag between the input link and the output link versus the
input-link angular displacement were calculated and plotted
258/Vol. 105, JUNE 1983
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in Figs. 7, 8, and 9. From Fig. 7, it can be seen that d\j//d4>=\
occurs at the positions 4>i = 144 deg and <j>2 = 324 deg. From
Fig. 8, it can be found that corresponding to <j>i = 144 deg and
02=324 deg, \j/i =110 deg and yj/2=25Q deg. Therefore the
input link rotates 4>2~4>\ = 180 deg and the output link rotates
\l/2 \l/i =140 deg as expected. An inspection of Fig. 9 in-
dicates that at 4>i = 144 deg, Lx =34 deg is the minimum lag
and at <j>2 = 324 deg, L2 = 74 deg is the maximum lag. The
change in lag is 40 deg. This 40 deg change in lag is the
maximum possible delay in the output motion for any ar-
bitrary 180 deg of input link rotation.
Conclusions
A new design criterion, based on the maximum capability
of a drag-link mechanism to provide a desired delay or ad-
vance in its output motion, was established. Based on this
criterion, design equations and design charts were developed
for the optimum design of a drag-link mechanism. It is shown
that the optimum design of a drag-link mechanism with
optimum transmission angle is a turning-block linkage. It is
also shown that for a drag-link mechanism with optimum
transmission angle to displace from its minimum lag to its
maximum lag position, the input link must always rotate 180
deg. The corresponding angular displacement of the output
link depends only on the link-length ratio of the output to the
fixed-link. A graphical solution of a drag-link mechanism
with optimum transmission angle is also presented. The
theory is demonstrated by a numerical example.
References
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York, 1954.
2 Hall, A. S., Kinematics and Linkage Design, Prentice-Hall, Inc.,
Englewood Cliffs, N.J., 1961.
3 Hain, K., "How to Apply Drag-Link Mechanisms in the Synthesis of
Mechanisms," Trans, of Fourth Conference on Mechanisms, Purdue
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4 Kwong, C. W., Wiederrich, J. L., and Gupta, K. C , "Design and
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Transactions of the ASME