Hrones and Nelson Atlas PDF

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ANALYSIS of the
FOUR- BAR LINKAGE
to the
I t8 Application
Synthesis , of Mechanisms
from
Design of Machinery 4ed
by Robert L. Norton
McGraw-Hill
Copyright 2008
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ANALYSIS of the
FOUR- BAR LINI(AGE

Its Application to the
Synthesis of Mechanisms
John A. Hrones George L. Nelson

PROFESSOR OF ASSISTANT PROFESSOR OF
MECHANICAL ENGINEERING MECHANICAL ENGINEERING
TilE MASSACHUSETTS INSTITUTE OF TECHNOLOGY
Published Jointly by THE TEC~NOLOGY PRESS of

THE MASSACHUSETTS INSTITUTE of . TECHNOLOGY
and JOHN WILEY & SONS~ INC., NEW YORK
CHAPMAN & HALL, LIMITED , LONDON
from
by Robert L. Norton
McGraw-Hill
Copyright 2008
( viiiJ
Classes of Linkage Operation

The basic four-bar linkage is shown in figure 1. The fixed member
is the line of centers. . Pinned to the are the cranks 1

extremities of
The moving ends of the cranks are joined by the fourth bar , the
The F our- Bar Linkage and B.
coIWecting rod A. The driving crank 1 " and the follower crank move
in rotation about their fixed axes located on the .line of centers G. The
Determi~ate linkage motion results when the number of independent in general moves jn combined translation and rotation.
input angular motions is two less than the number of links, All links
connecting rod
The nature of the motion of the conhecting rod and the follower
are assumed to be rigid members and are pin-connected to one another. fora given input motion to the
Freedom of relative angular motion exists between any two members at
crank relative to the line of centers
driving crank 1 is determined by the three basic link length ratios

All;
the pin joint. The minimum number of links which will permit relative , B and G. The shortest
BIl; Gl1 which will hereaJterbe designated by
motion between links is four. In the majority of applications one of the
link will always be designated as unity, The remaining links will be
links (the line of centers) is stationary while a second link (the driving , B ahd in order around the linkage. It is convenient to
labeled
crank) is driven from an outside motion source. The motion of the remain- possible motions into three main categories
separate the geometrically
ing two links isa function of the geometry of the linkage and the motion
of operation.
of the driving crank and the line of centers.
Crank and Rocke

Four Bar Linkage
Fig. 2
Fig. 1
A four-bar linkage isschema.tically shown in figure 1. It consists of

the four links having pin-to-pin lengths of 1 , B and G. The geometry
of the linkage is determined by the three ratios
All , Bl1 and GI1.
Up ,to this point the four-bar linkage has been represented as consisting
of four lines, Actually, each member is a solid body which from purely
theoretical aspects can be considered as being of indefinite extent (figure 6).
Manufacturing and design considerations place very real limitations
on the size of the members. Within these limits a wide variety of motions
are available. In this volume the points indicated in figure 6 on the con-
necting rod included.. within a rectangular boundary extending a distance
equal to the driving crank length in directions parallel to and at
right
angles to the centerline of the connecting rod have been investigated and,
from
Crank and Rocker
their trajectories and velocities presented, Thus , for each series of linkage
ratios the behavior of the points indicated in figure 6 has been studied
and the results published for class (a) type linkage operation.
Fig. 3
by Robert L. Norton
McGraw-Hill
Copyright 2008
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Class (a) One crank is capable of rotation through a complete revo-

lution while the second crank can only oscillate.
Class (b) Both cranks are capable of rotating through 3600
Class (c) Both cranks oscillate , but neither can rotate through a
complete revolution. '
1: '
t c
~he above classifications arise from a consideration of the motions
of the variolls links relative to the fixed link. As any link can be fixed
, arbitrarily the classification of a given linkage is dependent upon the choice
of a fixed member. In figure 2, link is fixed. Crank 1 can make a
complete revolution while the crank can only oscillate. The linkage
operating as a class (a) unit commonly known as a crank-and-rocker
linkage, Similarly, if link A is fixed (figure 3), Class (a) operation results,
If link 1 is fixed (figure 4), both cranks are capable of full 3600 rotation
and class (b) operation results, ' This linkage is often referred to as a
drag link mechanism, If link is fixed (figure 5), the two cranks A and
can only oscillate , hence class (c) operation takes place.
Though the above clas.sifications are helpful in design , it is important
to realize that the relative. motion of any link to the remaining members
of the linkage is the same , regardless of which member is fixed.
determining the class of operation when link ratios are
Criteria for
known are listed below.
Class (a) (crank and rocker mechanism),
(1) Drive crank mustbe the shortest link (1).
(2) C.c (A 1).
(3) C;:. (IA BI* +1).
Class (b) (drag link mechanism),
(1), Line of centers
(2)
(3)
C.c (A
C;:. (IA
B-
BI
1).
+ I),
"
must be the shortest link (1).
Same as class (a).
Class (c) (double rocker mechanism). Two

(1) All cases where the connecting rod is the shortest link (1). Rockers
(2) All linkages in ~hich (2) and (3) for classes (a) and (b) are Fig,
not satisfied;
The above conditions have been graphically expressed in figure 7.
The ratio is the abscissa; and values of ratio A
is the ordinate; ratio
are plotted as 450 lines, For a given value of A , if the point specified by Fig. 6
the coordinates Band falls inside the oblique rectangular spa~e bounded
by the lines of constant A , the ' linkage will operate in ' class (a) or (b):
class (a) if the shortest link is made a crank; class (b) if the shortest liI~lk
is made the line of centers, If Jhe point determined by the coordinates
from
IA- BI = absolute value of (A B). Design of Machinery 4ed
by Robert L. Norton
McGraw-Hill
(ixJ
Copyright 2008
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Band C falls outside the rectangular area bounded by the lines of constant
class (c) operation is indicated, Crank and rocker linkages (class (a)
operation) included in heavily outlined area are covered in this book.
Example:
'1; Data: Drive crank = 4" ; Connecting Rod = 10"
Follower Crank = 8" ; Line of Centers = 12"
Find: (1) Class of operation.
(2) Variation in link ratios possible without changing class
Solution
10
of operation.
(see figure 8):
- = 2, 5; = - = 2; C=
Drive crank is the shortest link, Refer to figure 7. Point (B = 2

C = 3) falls within oblique rectangular area- bounded by lines =2.
Therefore class (a) operation is indicated
= 2, = 2 C may be varied from 1.5 to 3.
= 2. , C = 3 may be varied from 1.5 to 4.
= 2, C = may be varied from 2 to 4
bs.
I\~
bs.
'1.
Fig; 7
FOUR~BAR LINKAGE CLASSIFICATION CHART

from
Linkage whose ratios Band determine a point which lies in the oblique rectangular
Link,
area bounded by lines of constant ratio operates as a Crank and Rocker or as a Drag
Fig,
by Robert L. Norton
McGraw-Hill
Copyright 2008
;~,;.it1i'&"~;,:J!f;;t. iii III ...c,,
The relationships for displacemen~,
Mathematical Relationships Motion of Points on Connecting Rod.
Driver-Follower Crank. (See figure 9. ) The follower crank ,angular velocity, and acceleration of a point located anywhere on the connecting"
r()d are considerably more cu~bersome than the above equations and are
position is given by 4.
given in reference 1.
1ft = al-
sin 8 IUustrative Exam les, (See reference 2.
al
C+cos8 1. DwellPeriod from Straight-Line Path. Figure 10 shows the path
K2 +2C cos 8 of a point on the connecting rod of a linkage which is approximately straight
a2 = cos
2BL between points and b. A rotation of 550 of the drive crank produces this
K2 = 1 + B2 C2 straight portion, This is indicated by the eleven dashes which constitute
= 1 + C2 2C cos 8 the path lying between and
M'i K2 +2C cos 8 If the point having this displacement path drives a member with a
an angular motion l;,
=, an
...J 4B2V radial slot constrained to rotate about the fixed point
S2 M4
sin K2 2C cosO of 27P will result. In terms of drive crank angle there will be a 550 dwell
1.
'Y
cos (1) These figures are obtained
+ cos 8 2BL a 2200 forward stroke , and an 850 return stroke.
directly from the trajectory by counting the number of dashes in each phase
Differentiating equation 1 with respect to time yields the following of the motion and multiplying by 50
dt V S2
equation for the velocity of the follower crank: If the pivot of the rotating link is located at the total angular motion
d1ft sin 8 of the link is 200 . At a uniform drive crank speed approximately one-half
dt (C cos 8 + 1) 2 +
of each cycle is used for the forward stroke , one~third for the return stroke
and one-sixth of each cycle for the dwell.
A second differentiation yields an expression for the angularaccelera-
All alternative method of obtaining a dwell is to drive a " scotch yoke
tion of the follower crank: " a member slotted parallel to the straight portion ab but constrained to
1ft
dt2
d28
dt2 V
l(Ccos 8 +
202
1) +
sin2 8
S2
sin 8
(2B2 -
2 +
M2) C cos 8
move in the direction ef perpendicular to
forward return stroke is not adjustable" and is equal to 51/21 or

ratio of the length of stroke to drive crank length is 1.37.
ab, In this case the ratio of
2, 4. The
2C2
VS2sin2 8
1 -
sin 8
1 -
2(C
L2
cos 8 + I
of a point
Dwell Period from Circular-Line Path.
2.
on tbF connecting rod of a four-

are 4; 2, 5;3. 5. IBetween points
bar
Figure 11 shows the path
linkage whose basic ratios
andb an approximate circular arc exists
over a 900 drive crank angle displacement, Link pinned to the midpoint ac
of the connecting rod drives a bell crank rotating about the same fixed
axis as the drive crank, Link proportions are selected such that is the
center of curvature ' of the arc ab. The bell crank has a dwell period of
one-fourth the total cycle and a total angle of travel of 340 with approxi-
mately equal times for advance and return.
OIC':
"2 The "time ratio of forward to return stroke and the angle of oscillation
f/I can be adjusted by choosing other locations for the bell crank fixed axis
with corresponding changesin the length of the bell crank arm so that
remains the center of curvature of the arc ab. For instance , it is possible
6r~9)
using this linkage to locate the bell crank axis at the fixed axis of the
follower crank, Care must be taken to avoid a dead center position between
from
the iink ac and the" bell crank arm to which it is p illned.
The same fundamental linkage can be employed to produce a straight
Fig, Design
line reciprocating motion with the same dwell period at of Machinery 4ed
the end of the
by Robert L. Norton
McGraw-Hill
Copyright 2008
(xi)
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(xii) ,
driven by a point on the connecting rod

whose trajectory exhibits an inter-
stroke, Substitute for the bell crank ~ slider constrained to move in a section, The two output oscillations can differ in amplitude and time,
fixed" straight slot passing through point c, Adjust the direction of this is of the sa~e
Figure 14 illustrates the special case where each oscillation point
ratio of forward to return stroke. For a. The
slot to obtain the desired time amplitude : The pivot of the output member is located at
example , using the line cd as the axis of the slot
, the slider will dwell at
time required for each part of the cycle is obtained by counting the dashes
point cfor 900 , advance to point d in 1500
, and return to point c in 1200 between the points of tangency b , c , d , and e and is given in the table below,
, and 2, The drive point is at the
rotation of the drive crank, The linkage has the basic ratios 2
coordinate location (+1 1).
3, Computer Linkages. Four-bar linkages are often used as computers.
Drit'e Crank
Because of the infinite number of output-input relationships available a
Stroke Path Dashes Degrees
wide variety of functions can be represented over limited ranges of the
variables appearing in the desired
functions. Where a high degree of 1st forward
necessary, 1st return
accuracy is required more than one four-bar linkage is often 2d forward
135
desired relationship
In this event the primary linkage approximates the 2d return
errors
while additional linkages apply corrections to bring the maximum
within the tolerance limits required, (See reference 3. Pat~s. In a number of applications it is
5. Symmetrical-Motion
function4'=~(~l5
desirable to obtain a path which is
Figure 12 shows a linkage which closely satisfies the symmetrical with respect to some
follower crank are
finding reference line. Linkages where the connecting rod and
over a range of (Hrom 0 to 550 , when used as indicated below, In have points on the connecting rod whosetrajec-
crank angle was of equal length (A =
B)
this mechanism the procedure was as follows. The drive circle of radius A
tories meet this condition, The locus of such points is a
assumed to be the variable (), The value of 4'corresponding to values of the follower crank.
on the connecting rod with its center at the moving end of '
() from 0 to 750 at 50 intervals was calculated. The
calculated angular
Repeated Figure 15 shows the paths of twelve points on the connecting rod
positions 4' were then accurately laid out on transparent paper. points are equally
a four-bar linkage with the basic ratios 2; 2; 2, 5. The
superposition of this layout on various charts resulted in finding a trajectory symmetrical
cp (of the overlay) fell , spaced on the dashed circle. The trajectory of each point is
about the straight line passing through the follower crank fixed axis and
on which the lines representing the angular position
on successive dash terminals, The point on this particular linkage giving The twelve trajectories illustrate a
pivoted the zero position of the trajectory.
this desired result can be used to drive a radially slotted member
a~ the intersection of the lines on the overlay sheet.
5, The drive point
typical set of symmetrical-motion paths and show the great variety of
curves available for use where symmetry of forward and return stroke is
The selected linkage has the basic ratios 2; 3; 2,
the conne~ting rod has the coordinate
location + 1.5 , + 1. The slotted essential.
member is pivoted ata. Within the range of () from 0 to 550 a good repre-
sentation of cp is obtained. . J
is the logarithm
Figure 13 shows a linkage in which the output position
the previous problem an
of the input position over a limited range. As in
overlay was constructed and the charts searche d for satisfactory matching
desired range. In the mechanism shown , the
of the overlay over the
radially slotted output member pivoted at a has angular displacements
displacement in the range
proportional to the logarithm of the drive crank
of positions 1 to 10. Except at
position 1 the accuracy is good, Two
linkages of this type feeding a differential unit could be used as a multiplier,
location of
, The basic linkage ratios are 2, , 2, 5, and 1.5. The coordinate
, + 1.
the point on the connecting rod is + 1.5
A slotted crank whose frequency of from

14, It Design of Machinery 4ed
4, Double Oscillating Crank,
oscillation is twice that of the drive crank is shown in figure

by Robert L. Norton
McGraw-Hill
Copyright 2008
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J. A. Hrones Ond G. L. Nelson
A= 2.
B=
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Fig.
LOGARITHMIC
LINKA. from
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~" '= - . =
Cam versus Linkage struct a simple scale

The cam is in wide the linkage for bad angularity , excessive ' torque ratio , and
solution. In many instances , however , the cam design limits the perform- possible interferences.
ance of the machine. Often , in such circumstances , a suitable linkage II!
removes the cam-imposed difficulties. Because of the Velocity Determination

sizing a linkage to achieve a . Consider the trajectory shown in figure
eliminate the linkage from the design in favor of the cam despite certain the trajectory traverses a distanceab measured along the path in an interval
limitations. It is required for the drive crank to If the drive crank
linkages . in such . problems. rotating at a uniform angular speed the average velocity
The cam has certain distinctive this travel is the length ab divided by the time the drive crank requires to
can be easily designed to give a wide variety of motions. move through 50
small and compact. , however, subjected to very high stresses at the (ab)""
(V"b)
points of contact. The

cam contour either by a spring which where V"b = average velocity of point
or by a, grooved slot in which the backlash causes trouble at high point to point (inches per second).
of operation. In order to limit the ab = length between measured along trajectory
and
able levels the degree of "" = angular speed of drive crank

contour is beyond the abilities of most shops and in any event results in Acceleration Determination
an extremely expensive operation.
The acceleration of a point moving in space
of many machines are set by the limitations of relationships.
results in excessive
design and careful machining can raise such limitations.
= lim
dt
~t ~t--O
Linkages very often offer distinct

motion is determined by the relative length of the , small percentage acc.
dV
= hm
~t--O
variations in these lengths do not radically influence the
Vb" - V"b (be -
Furthermore , the machining
With precision in any shop.
~t ~t 25 .
the link pivots is standard Thus , an approximation of the acceleration at is found by evaluating
of ::i::O. OO2 inch are easily the vector 2/25).
facture required tolerances for high-speed operation are of the
::i::O. OOO2 inch. In addition
more favorable than they are at the cam
Balancing of Linkages
Ifa
must be paid to the dynamic keep
the mass of the moving links as small as possible.
. alloys with a low-weight
members with low inertia
oscillating forces to the linkage supports , inertia forces should be balanced.
The subject of balancing
Use of Models in Design Work
Ti!e charts give motion characteristics of many linkages aIid therefore
Fig. 16 from
lead directly to the selection of the basic link ratios. It Design of Machinery 4ed
by Robert L. Norton
McGraw-Hill
(xix)
Copyright 2008
,"
(xx)
As the acceleration is determined by subtraction , where the acceleration

is small the vectors be and ab are nearly equal and very
acceleration determination can ' be encountered. However , at points on
the trajectory
relatively low. , errors in acceleration
from as low as 10 per cent to as high as , greater. LIST OF REFERENCES
the error tends to be excessive , owing to the.
equal velocity vectors , the use of (1) Talbpurdet , Guy J. Mathematical Solution of Four-Bar Linkages;
drive crank angle is , instead of using average Machine Design; May, June and July,
vectors for a 50 crank increment , values for a 150 -increment (2) Nelson , George L. Synthesis of Four-Bar Linkages for the Repro-
desirable. duction of Desired Motio n Paths; " Master of
Dept. of Mechanical
Accuracy ofTraject~ries
Technology; June , 1949.
Link lengths of the machine used in producting the ,trajectories were
held 005 inch. For a given (3) Svoboda , Antonin Computing Mechanisms and Linkages; edited by
of the machine over
HubertM. James , McGraw-Hill; 1948.
detectable by the naked eye. (4) Hrones , John A. Key Factors in
::!::0. 01 inch. The Machine Design; April , May and June , 1949 , and " An Analysis
resulting from a possible accumulation of machining errors on the timing of the Dynamic Driven System; Transactions
cam , variable time lag in the pen operating mechanism , etc. of the American Sodety of Mechanical Engineers Vol. 70 , 1948.
tions are that the errors in
usually are very much smaller.
The length of the drive crank of the 00 inches ' and
tolerances indicated above are referred to this basic size.
are one-half the scale of the originals. For
crank the point moves
the dot to the tail of the dash.
from
by Robert L. Norton
McGraw-Hill
Copyright 2008
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, " " . "' .. '.. "" ,.

FOUR- BAR LINI(AGE

John A. Hrones George L. Nelson

TilE MASSACHUSETTS INSTITUTE OF TECHNOLOGY

Published Jointly by THE TEC~NOLOGY PRESS of

Classes of Linkage Operation

is the line of centers. . Pinned to the are the cranks 1

driving crank 1 is determined by the three basic link length ratios

Crank and Rocke

A four-bar linkage isschema.tically shown in figure 1. It consists of

Class (a) One crank is capable of rotation through a complete revo-

Class (c) (double rocker mechanism). Two

Drive crank is the shortest link, Refer to figure 7. Point (B = 2

FOUR~BAR LINKAGE CLASSIFICATION CHART

forward return stroke is not adjustable" and is equal to 51/21 or

on tbF connecting rod of a four-

driven by a point on the connecting rod

A slotted crank whose frequency of from

oscillation is twice that of the drive crank is shown in figure

. Analysis ofth~ Fo,ur Bar

Cam versus Linkage struct a simple scale

removes the cam-imposed difficulties. Because of the Velocity Determination

points of contact. The

able levels the degree of "" = angular speed of drive crank

Linkages very often offer distinct

As the acceleration is determined by subtraction , where the acceleration

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