KInematics and Dynamics of Machinery SOLUTION MANUAL 2-22-1

PROBLEM 2-22
Statement: Find the Grashof condition and Barker classifications of the mechanisms in Figure P2-4a, b, and d.
Solution: See Figure P2-4 and Mathcad file P0222.
1. Use inequality 2.8 to determine the Grashof condition and Table 2-4 to determine the Barker classification.
Condition( a 
bc
d) 
 S  min ( a 
bc
d)
L  max (a 
bc
d)
SL  S L
PQ  a b c d SL
return "Grashof" if SL PQ
return "Special Grashof" if SL = PQ
return "non-Grashof" otherwise

a. This is a basic fourbar linkage. The input is link 2 and the

output is link 4. The cross-hatched pivot pins at O2 and A
O4 are attached to the ground link (1). 2
L1 
174 L2 
116
3
L3 
108 L4 
110

Condition
L1 
L 2 L 4"non-Grashof"
L3  O2
4
C
This is a Barker Type 5 RRR1 (non-Grashof, longest O4
link grounded).

b. This is a fourbar linkage. The input is link 2, which in B

this case is the wheel with a pin at A, and the output is A
2 3
link 4. The cross-hatched pivot pins at O2 and O4 are
attached to the ground link (1).

L1 
162 L2 
40 O2
4
L3 
96 L4 
122

Condition
L1 
L 2 L 4"Grashof"
L3 

This is a Barker Type 2 GCRR (Grashof, shortest link is O4

input).

d. This is a fourbar linkage. The input is link 2, which in this

case is a wheel with a pin at A, and the output is the
vertical member on the coupler, link 3. Since the lengths
of links 2 and 4 (O2A and O4B) are the same, the coupler
link (3) has curvilinear motion and AB remains parallel to
O2O4 throughout the cycle. The cross-hatched pivot 3
A
pins at O2 and O4 are attached to the ground link (1). 2 B
L1 150 L2 
30
O2 O4 4
L3 
150 L4 
30

Condition
L1 
L 2 L 4"Special Grashof"
L3 

This is a Barker Type 13 S2X (special case Grashof, two

equal pairs, parallelogram).