CEBU INSTITUTE OF TECHNOLOGY

UNIVERSITY

Mechanical Engineering Department

MACHINE ELEMENTS
Shiela Marie A. Bering, ME
Instructor
 Grashof Condition

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 Kinematic Inversion is the process of choosing different
links in the chain as frames and is created by grounding a
different link in the kinematic chain. There are as many
inversions of a given linkage as it has links.

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 Kinematic Inversion

Internal Rotary engine used

combustion in early aircraft /
engine quick-return
mechanism

Steam engine / Farm hand pump

crank shaper
mechanism

MACHINE ELEMENTS
 Watch this video (ctrl + click the link):
Grashof Law

Take note of the following while watching the video:

a. The two conditions under Grashof condition
b. The different mechanisms resulting from grounding/fixing joints
c. The different inversions using from Grashof Condition

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 Length:
Left – 2.5 inches
Right – 4 inches
Bottom – 4.5 inches
Top – 5 inches

MACHINE ELEMENTS
 Length:
Left – 2.5 inches
Right – 4 inches
Bottom – 4.5 inches
Top – 5 inches

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 Lengths:
Left – 2.5 inches
Right – 4 inches
Bottom – 4.5 inches
Top – 5 inches

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Lengths:
Left – 2 inches
Right – 3 inches
Bottom – 5 inches
Top – 3 inches

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MACHINE ELEMENTS
 Class III Case (Special-case Grashof)
Left and right – 2 inches, Top and Bottom – 4 inches
)
The “change points” occurs twice per
revolution of the input crank, when the links
all become collinear.

The motion must be limited to avoid reaching

the change points or an additional out-of-phase
link is provided to guarantee a “carry through”
of the change points.

MACHINE ELEMENTS
 Class III Case (Special-case Grashof)

A common example of a double

parallelogram is the linkage used in steam
locomotives used to connect the drive wheels
together. The “change points” are handled by
providing the duplicate linkage, 90 degrees
out of phase, on the other side of the
locomotive’s axle shaft. When one side is at
a change point, the other side would drive it
through.

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 Application: Motor-driven Windshield Wiper Mechanism

Crank rocker - shortest link will fully rotate and the other link
pivoted to ground will oscillate.
Parallelogram – input motion is duplicated at a remote location

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