Experiment No.

4
Four-Bar Linkage Mechanism
Aim: -
To study the working of Four-Bar Linkage Mechanism.
Introduction: -
A four bar linkage includes four bar-shaped links and four turning pairs (A,
B, C and D), as shown in Figure 1

Some important concepts in link mechanisms are:

Crank: A side link which revolves relative to the frame is called a crank.
Rocker: Any link which does not revolve is called a rocker.
Crank-rocker mechanism: In a four bar linkage, if the shorter side link
revolves and the other one rocks (i.e., oscillates), it is called a crank-rocker
mechanism.
Double-crank mechanism: In a four bar linkage, if both of the side links
revolve, it is called a double-crank mechanism.
Double-rocker mechanism: In a four bar linkage, if both of the side links
rock, it is called a double-rocker mechanism.
Classification
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 = lengths of intermediate bar
Grashof's theorem states that a four-bar mechanism has at least one
revolving link if
s + l <= p + q

All four-bar mechanisms fall into one of the four categories presented in
Figure 2:
1) When the shortest link is the frame of the mechanism, the mechanism
is a double-crank mechanism.
2) When the shortest link is a side link, the mechanism is a crank-rocker
mechanism. The shortest link is the crank in the mechanism.
3) When the shortest link is the coupler link, the mechanism is a double-
rocker mechanism.
Range of Input Angles for Crank-Rocker Mechanisms: -
Limits to the input angle occur in the configurations below, Figure 3. Using
the cosine law, we obtain: -
c2 = a2 + b2 — 2ab cos(θ)
Also, it can be measured graphically by sketching the Four-Bar Linkage.
 PROCEDURE: -
Linkage Program is used to understand the working of Four-Bar
Linkage mechanism.
The mechanisms of Double-Crank, Crank-Rocker and Double-Rocker will be
operated using this program.
Calculations and Results: -
Using Figure 1, Link 1 = 50 mm, Link 2 = 140 mm, Link 3 = 70 mm, and Link 4
= 130 mm
• Apply Grashof's theorem (s + l <= p+q)
50+140 <= 70+130
190 < 200 (double-crank)
• Find θ max and θ min graphically and by using cosine law
• Find the swing angle, θs = θ max - θ min
• Fill the table below by using (Link1 = 50 mm, Link2 = 140 mm, Link3 = 70 mm)

# Link 4 (mm) θ max θ min Swing Angle θs

1 130 96.9 138.8 -41.9
2 140 104.4 146.7 -42.3
3 150 111.8 156.7 -44.9

Discussion and Conclusion: -

• Discuss and compare your results.
We see that as we increase the value of link 4, θ max and θ min will
increase while we see that the value of Swing Angle θs decreases.
This means the proportion between link 4, θ max and θ is
proportional and the proportion between link 4 and Swing Angle θs
is inverse
• Discuss what you have learned from Linkage Program.
This linkage program saves the amount of time in a substantial
service or research project for the mechanical engineer

• Give 3 examples for Four-Bar Linkage mechanism.

A few examples are internal combustion engines, compressors and
oil well pumps

• Show your conclusion.