Chapter 3

Taibah University
Mechanical Engineering
Instructor:
Mohamed A Omar
Taibah University Course: ME 341

Mechanical Engineering Mohamed A Omar
Chapter 3 – Graphical Linkage Synthesis
1. Introduction 2. Six bar Quick-Return
2. Synthesis 7. Coupler Curves
3. Function, Path, and Motion 8. Cognates
Generation 1. Parallel Motion
4. Limiting Conditions 2. Geared Rive bar Cognates of the
5. Dimensional Synthesis Four bar
Two-Position Synthesis
1. 9. Straight-Line Mechanisms
2. Three-Position Synthesis with 1. Designing Optimum Straight-
Alternate Moving Pivots Line Four bar Linkages
3. Position Synthesis for More Than10. Dwell Mechanisms
Three Positions 1. Single-Dwell Linkages
6. Quick-Return Mechanisms 2. Double-Dwell Linkages
1. Four bar Quick-Return

Fundamentals
 Number Scheme
1. Ground
2. Crank: input link or driver
3. Coupler
4. Rocker: output link
 Joint naming:
 O2: Crank to ground
 A (C): Crank to coupler
 B (D): Couple to rocker
 O4: Rocker to ground Ground 1

Example:
Folding chair

C
A D D
C

3.1 Introduction: Synthesis
 Qualitative Synthesis: means the creation of potential solutions in
the absence of a well-defined algorithm which configures or
predicts the solution.
 Type Synthesis: The definition of the proper type of mechanism
best suited to the problem and is a form of qualitative synthesis.
 Example:
 Design a device to track the straight-line motion of a part on a
conveyor belt and spray it with a chemical coating as it passes by.
 This has to be done at high, constant speed, with good accuracy and
repeatability, and it must be reliable.
 Moreover, the solution must be inexpensive.
 Devices: Straight-line linkage, cam and follower, air cylinder,
hydraulic cylinder, robot, solenoid.
3.1 Introduction
 Quantitative Synthesis: (Analytical Synthesis) means the
generation of one or more suitable alternative to the problem
solutions of a particular type one for which there is a
synthesis algorithm defined.
 Dimensional Synthesis: of a linkage is the determination of
the proportions (lengths) of the links necessary to accomplish
the desired motions.
 Can be a form of quantitative synthesis if an algorithm is
defined for the particular problem
 Also can be a form of qualitative synthesis if there are more
variables than equations.

3.2 Function, Path, and Motion Generation
 Function Generation – correlation of an input motion
with an output motion a mechanism
 Path Generation – control of a point in the plane such
that it follows some prescribed path

Mechanical Engineering Mohamed A10Omar
3.2 Function, Path, and Motion Generation
 Motion Generation – the control of a line in the plane
such that it assumes some prescribed set of
sequential positions

Mechanical Engineering Mohamed A11 Omar
3.3 Limiting Conditions (Toggle)
 Toggle – a point where the
link cannot rotate
anymore.
 Determined by the
colinearity of two moving
links.
 Need to check when
making a design (either
by making a cardboard
model or working model).
Taibah University 12
Course: ME 341
3.3 Limiting Conditions
 Transmission angle (m) – the absolute value of the acute
angle of the pair of angles at the intersection of the two
links.
 Want the force in link 3 to rotate link 4
 Optimum value of 90 degrees
 Try to keep the minimum
value about 40 degrees
Course: ME 341
3.4 Dimensional Synthesis
 Dimensional Synthesis – the determination of the
proportions (lengths) of the links necessary to accomplish
the desired motions.
 Types of synthesis –
 Rocker output (pure rotation) (path generation)
 Coupler output (complex motion) (motion generation)
Taibah University Ground 1 Course: ME 341

14
Dimensional Synthesis
A. Two Point Synthesis:
1. Rocker Output: (Function Generation) output function is
defined by two discrete angular position of rocker
2. Coupler Output: ( Motion generation) two position of line
in a plane is defined as output.
B. Three Position Synthesis:
1. Specified moving pivots
2. Alternate moving pivots
3. Specified fix pivots
Course: ME 341
Rocker Output -Two Positions
with Angular Displacement
Course: ME 341
Rocker Output -Two Positions
with Angular Displacement
Course: ME 341
Rocker Output
• Draw O4B in two the
extreme positions
• Draw chord between
B1B2 in either direction
• Bisect B1B2 .
• Select point O2
• Draw a circle at O2 of
radius of half the
distance B1B2 .
• Crank-O2A, Coupler
AB, Rocker O4B,
Ground O2O4.
Course: ME 341
Rocker Output
Course: ME 341
Rocker Output
Course: ME 341
Rocker Output – Two positions with
Complex Displacement.
 The line CD is located on the rocker link.
 Design four-bar linkage to move this line between initial
position C1D1 to final position C2D2 during crank cycle.
 We know that line CD is
translating and rotating at
the same time.
 But we also know that the
rocker link is only rotating.
 We need to find the rocker
center of rotation (Rotopole)
such that the line will
achieve its positions.
Course: ME 341
 Construct perpendicular
bisectors C1C2 and D1D2
 Intersection of the bisectors
is the rotopole (the center of
rotation of link 4, O4, with
respect to the ground).
 The output link is shown in
its two positions.
 At this stage, the design
problem is similar to the first
design case.
Course: ME 341
 You can add a dyad by picking point B on the output link
Course: ME 341
Coupler Output – Two Positions with
 The line CD is located on the coupler link.
 Design four-bar linkage to move this line between initial position C1D1 to final
position C2D2 during crank cycle.
 We know that line CD is translating and rotating at the same time.
 Keep in mind that:
 Point C is located on link 2 and 3.
 Motion of C is due to rotation of link 2.
 Point D is located on link 3 and 4.
 Motion of D is due to rotation of link 4.
 The main task is:
 Find the center of rotation for link 2 to
move C between C1 and C2.
 Find the center of rotation for link 4 to
move D between D1 and D2.
Course: ME 341
 Want to move from C1D1 to
C2D2
 Construct ^ bisectors of C1C2.
 Any point of bisector of C1C2
can be O2 .
 Construct ^ bisectors of D1D2.
Pick
 Any point on bisector of D1D2
can be O4
 Links are O2C1, C1D1, D1O4, Pick
and ground O2O4.
 Measure the links’ lengths.
Course: ME 341
 Measure the links’ lengths.
 If the mechanism will be driven
by a motor, you need to make
sure that it satisfies Grashof
condition:
S+L  P+Q
 If the condition is not satisfied,
you will not be able to use a
motor.
 In order to use a motor, we
design an additional four bar to
drive the mechanism (Dyad).
Course: ME 341
Driving a non-Grashof linkage with a dyad
 The dyad does not have to be along the O2C1 line.
 This allows a choice of many places for O6
B1
B1
Course: ME 341
Problems: Dimensional Synthesis: Two-Position
 3-2, 3-3, 3-4. 3-20, 3-46,3-47. 3-49, 3-50, 3-52, 3-53. 3-55,3-56, 3-59,
3-60, 3-63,3-64, 3-76, 3-77
 3-2 Design a fourbar Grashof crank-rocker for 90° of output rocker
motion with no quick return. (See Example 3-1, p.103.) Build a
model and determine the toggle positions and the minimum
transmission angle from the model.
 *3-3 Design a fourbar mechanism to give the two positions shown in
Figure P3-1 of output rocker motion with no quick return. (See
Example 3-2, p. 105.) Build a model and determine the toggle
positions and the minimum transmission angle from the model.
 3-4 Design a fourbar mechanism to give the two positions shown in
Figure P3-l of coupler motion. (See Example 3-3. p. 105.) Build a
model and determine the toggle positions and the minimum
transmission angle from the model. Add a driver dyad. (See Example
3-4, p. 107.)
Three Position Motion Synthesis
 Want the coupler to go from C1D1 to C2D2 to C3D3
D1
C1
D2
C2
D3
C3
Course: ME 341
Three Position Motion Synthesis
 Construct ^ bisector of C1C2
and C2C3.
 Where they intersect is O2.
 Construct ^ bisector of D1D2
and D2D3.
 Where they intersect is O4.
 Links are O2C1, C1D1, and D1O4,
and ground is O2O4
 Measure the lengths of all the
links.
 Check if the mechanism
requires a dyad.
36
Three position motion with specified fixed
pivots
Course: ME 341
Problems: Three-Position with Specified Moving Pivots
3-5, 3-48, 3-51, 3-54, 3-57. 3-61.3-65
 ·3-5 Design a fourbar mechanism to give the three positions
of coupler motion with no quick return shown in Figure P3-2.
(See also Example 3-5, p. 109.) Ignore the points 02 and 04
shown. Build a model and determine the toggle positions and
the minimum transmission angle from the model. Add a
driver dyad. (See Example 3-4, p. 1 107.)

Problems: Three-Position with Specified Moving Pivots
 3-5, 3-48, 3-51, 3-54, 3-57. 3-
61.3-65
 3-48 Design a fourbar linkage
to move the object in Figure
P3-13 through the three
positions shown using points
A and B for attachment. Add a
driver dyad to limit its motion
to the range of positions
designed, making it a sixbar.
All fixed pivots should be on
the base.

Quick Return Fourbar Mechanism
 Quick return mechanisms are used to manage power and increase
productivity in some machines.
 Considering one cycle of the mechanism motion, the mechanism
could be designed to perform work during motion in one direction
(working direction or stroke) then returns to the initial position
doing no work (return direction or stroke).
 In quick return mechanism, the output link goes quicker in the
return direction (a) than the
working direction (b )
 The fourbar crank-rocker
mechanism could be designed
to produce this action.
Course: ME 341
 Quick return goes quicker in the return direction (a) than the
working direction (b) where the sum of a and b= represent one
complete cycle. i.e. a+b=360.
 The mechanism Time Ratio: TR=a/b, usually specified in the form
of a:b=1:1.25
 Using the above definitions the following relation is typically used,
b=360/(1+TR)
 Max TR of 1:1.5
 Design Considerations:
 Rocker output angle.
b
 Transmission angle.
a
Course: ME 341
 Draw the rocker initial and final position (output angle 4)
 Extend a line passing through B1 and crossing the line B2O4
 Make sure the angle between this line and B1O4 should be greater
than the minimum transmission angle.
 Determine the angle : 
=|b-180|=|180-a|
 Draw line through B2 at angle 
 The intersection is O2
 Extend arc from B1 to find
twice driver length b
 Coupler +Crank=O2B1
 Coupler – Crank = O2B2 a
 The return angle is a, and working angle is b
Course: ME 341
Reading Assignment
Sixbar Quick-Return
 Larger time ratios of 1:2 can be obtained
 Based on a Grashof fourbar crank-crank mechanism
Course: ME 341
Reading Assignment
Sixbar Quick-Return
 Draw line of centers X-X at convenient location
 Generate line Y-Y at convenient location
 Draw circle of radius O2A at O2
(a-90)/2
 Draw a
symmetric a
about
A1
quadrant 1
 Find points
A1 and A2
A2
Course: ME 341
Sixbar Quick-ReturnReading Assignment
 Pick radius for coupler CA such that it will cross X-X
twice. Find C1 and C2
 Bisect C1C2 to find O4
 Points B1 and B2 are the same distance apart as C1 and
C2
 Draw a line at an angle (180-
g g)/2 from B1 and B2 to
find O6 O
a
6
A1
(180-g)/2
O4 C2
C1
B1 B2 A2
Course: ME 341
Reading Assignment
Sixbar Quick-Return
 Same base fourbar
linkage (O2ACO4)
can be used for a
slider output
Course: ME 341
Shaper Quick Return

Shaper Quick Return

Crank Shaper Quick Return
x
H1
H2
Course: ME 341
 Can be used for larger time ratios
 Has disadvantage of a slider joint
Course: ME 341
Reading Assignment
 Locate ground on vertical line. Draw a line at angle a/2.
Pick length for link 2.
 Draw line ^ to first at slider.
same length
 Where this line intersects
vertical line is
the ground
 Length of output motion
can be chosen by moving
attachment point up or down
a/2
Course: ME 341
Coupler Curves
 Coupler Curve is the path of a point on the coupler.
 This path will form a closed path, even for non-Grashof
linkages.
 The coupler curve could have variety of shapes such as
straight lines, arcs, circle, and complex curves.
Course: ME 341
Coupler Curves
 Categorized by shape features likes Cusp
and Crunode.
 Cusp: is a sharp point on the curve

which has the useful property of
instantaneous zero velocity.
Course: ME 341
Coupler Curves
 Crunode – creates a multi-loop
curve which has double points
at the crossovers.
Course: ME 341
Coupler Curves
 Hrones and Nelson has
Atlas of coupler curves
 Each dash represents 5
degrees of rotation.
 Useful resources:
 https://www.youtube.co
m/watch?v=CXDWpLb
yBU8
 https://saltire.com/atlas/
webatlas.html
 https://demonstrations.w
olfram.com/CouplerCur
veAtlasForTheFourBarL
inkage/
69
Coupler Curves (Examples)
 Film advance mechanism in camera is used to
pause between frames
 Suspension is used to make the point of tire
contact move vertically
Course: ME 341
3.7 Cognates
 The term cognate was used by Hartenberg and Denavit to
describe a linkage, of different geometry, which generates
the same coupler curve.
 Roberts-Chebyschev theorem
 Three different planar, pin-jointed four-bar linkages will
trace identical coupler curves
 Two different planar slider-crank linkages will trace
identical coupler curves.
 The coupler-point curve of a planar four-bar linkage is also
described by the joint of a dyad of an appropriate six-bar
linkage.
Course: ME 341
3.7 Cognates
 Roberts-Chebyschev theorem: Three different planar, pin-
jointed four-bar linkages will trace identical coupler
curves
Course: ME 341
Cognate Construction
 Start with linkage with
desired coupler curve
 Align links 2 and 4
with AB
 Create similar triangles to
obtain other links geometry.
 Note the parallel links of
equal length
Course: ME 341
Cognate Construction Cont.
 Restore links 2 and 4 to the
ground position.
 OC will move to its new
position.
 Can also create from
parallel lines and similar
triangles from this
position
Course: ME 341
Final Cognates Together
 All cognates can move
together
Course: ME 341
Cognates of a Straight Line Linkage
 Similar cognates can be found, even if the coupler is not triangular
Course: ME 341
Cognate creation
st
 For the 1 cognate, point P is between A and B
 For the 2nd cognate, point B is between A and P
 For the 3rd cognate, point B is between P and A
 OC is between OA and OB
B1 A1
B2
B3
A2 A3
Course: ME 341
Parallel Motion
 Cognates can be used to create parallel motion.
 Watt’s sixbar based on two eightbar cognates
Course: ME 341
Reading Assignment
3.8 Straight-Line Mechanisms
 A common
application of coupler
curves is in the
generation of straight
lines
Course: ME 341
Reading Assignment
Straight-Line Mechanisms
Watt
Hoeken
Chebychev
Peaucellier
Roberts
Course: ME 341
Optimum Straight-
Line Linkages
 Based on Hoekens
straight-line linkage
 Optimized for straightness or
constant velocity
 Basic geometry given in figure.
Calculated from a table.
Course: ME 341
Optimum Straight-Line
Linkages
 Based on table
Range of Motion Optimized for Straightness

Db start % of Maximum DV _Vx_ Link Ratios
(deg) (deg) cycle Dcy % % L2w2 L1/L2 L3/L2 Dx/L2
20 170 5.6% 0.00001% 0.38% 1.436 2.975 3.963 0.601
40 160 11.1% 0.00004% 1.53% 1.504 2.950 3.925 1.193
60 150 16.7% 0.00027% 3.48% 1.565 2.900 3.850 1.763
80 140 22.2% 0.001% 6.27% 1.611 2.825 3.738 2.299
100 130 27.8% 0.004% 9.90% 1.646 2.725 3.588 2.790
120 120 33.3% 0.010% 14.68% 1.679 2.625 3.438 3.238
140 110 38.9% 0.023% 20.48% 1.702 2.500 3.250 3.623
160 100 Taibah
44.4%
University
0.047% 27.15% 1.717 2.350 3.025 3.933
Course: ME 341
82
180 90 Mechanical
50.0%Engineering
0.096% 35.31% 1.725 2.200 2.800 Mohamed A Omar
4.181
Optimum Straight-Line
Linkages
 Based on table
Range of Motion Optimized for Constant Velocity

Db start % of Maximum DV _Vx_ Link Ratios
(deg) (deg) cycle Dcy % % L2w2 L1/L2 L3/L2 Dx/L2
20 170 5.6% 0.006% 0.137% 1.045 2.075 2.613 0.480
40 160 11.1% 0.038% 0.274% 1.124 2.050 2.575 0.950
60 150 16.7% 0.106% 0.387% 1.178 2.025 2.538 1.411
80 140 22.2% 0.340% 0.503% 1.229 1.975 2.463 1.845
100 130 27.8% 0.910% 0.640% 1.275 1.900 2.350 2.237
120 120 33.3% 1.885% 0.752% 1.319 1.825 2.238 2.600
140 110 38.9% 3.327% 0.888% 1.347 1.750 2.125 2.932
160 100 Taibah
44.4%
University
5.878% 1.067% 1.361 1.675 2.013 3.232
Course: ME 341
83
180 90 Mechanical
50.0%Engineering
9.299% 1.446% 1.374 1.575 1.863 Mohamed A Omar
3.456
Single-Dwell Linkages
 Find a coupler curve with a circular
arc
 Add a dyad with one extreme position
at the center of the arc
Course: ME 341
Double Dwell Sixbar Linkage
 Find a coupler curve with two straight line segments
 Use a slider pivoted at the intersection of the straight lines
Course: ME 341
Reading Assignment
3.10 Other Useful Linkages
Constant Velocity Piston Motion: piston pump for metering
fluids whose flow rate needs to be constant during the
delivery stroke (Watt sixbar). The varying angular velocity becomes the
"input" to the crank-slider stage 4-5-6 whose input link is now link 4..Thus, the drag
link's velocity oscillation effectively “corrects" or modulates the slider velocity to be
close to constant on the forward stroke as plotted in the figure.
Course: ME 341
Reading Assignment
 See book for other examples
 Remote Center Circular Motion
Course: ME 341
Reading Assignment
Course: ME 341
Assignment:
 3.1  3.46
 3.2  3.68
 3.3
 3.4
 3.5
 3.6
 3.9
 3.15
 3.22
 3.42

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Taibah University

Taibah University Course: ME 341

Taibah University Course: ME 341

Taibah University Course: ME 341

Taibah University Course: ME 341

Taibah University Course: ME 341

Taibah University Course: ME 341

Taibah University Course: ME 341

Taibah University Course: ME 341

Taibah University Ground 1 Course: ME 341

Taibah University Course: ME 341

Taibah University Course: ME 341

Taibah University Course: ME 341

Taibah University Course: ME 341

 Cusp: is a sharp point on the curve

Range of Motion Optimized for Straightness

Range of Motion Optimized for Constant Velocity

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