Experiment #3 To calculate and draw velocity, acceleration diagram of four bar mechanism.

Theory
A four bar chain is the most fundamental of the plane kinematics chains. It is a much preferred
mechanical device for the mechanization and control of motions due to simplicity and versatility.
A four bar chain consists of four rigid links which are connected in the form of a quadrilateral by
four pin joints. When one of the links is fixed, it is called as linkage or mechanism. The link that
makes a complete revolution is called as crack, the link opposite to the fixed link is called as
coupler and the fourth link is called as rocker or lever if it oscillates or another crank if it rotates.

Grashof four bar mechanism

The four bar linkage system is called as Grashof four bar mechanism if they follow
Grashof’s law. The law states that for a four-bar linkage system, the sum of the shortest and
longest link of a planar quadrilateral linkage has to be lesser than or equal to the sum of the
remaining two links, then the shortest link can rotate fully with respect to a neighbouring link.
Denote the smallest link by S, the longest link by L and the other two links by P and Q. If the
Grashofâ Law condition is satisfied i.e S+L> P+Q, then depending on whether shortest link is
connected to the ground by one end, two ends, or no end there are 3 possible mechanisms and
they are provided in Fig. 4.
Procedure
 Bring the crank and rocker at reference points and mark these points.
 For a given angle of rotation(fixed), note down the displacement of rocker plot a graph
between the rocker displacement and crank rotation
 Assume that crank is rotating with uniform speed
 Replace crank angle with equal interval of time and draw rocker displacement versus
time, find slope at each reading. then draw velocity time graph
 From velocity time graph take slope of velocity curve and draw acceleration graph
 Compare results of each graph and draw them on single graph with time along x-axis
Sr # Crank Rocker Rocker Time
rotation(degrees) displacem displacement (s)
ent (radians)
(degree)
1.
2.

3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
Typical experimental result
o Experiment #4: To study and investigate the properties (Time period and natural
frequency) of rod pendulum
Experiment: Comparison of rod and thread pendulum with same reduced pendulum
length Lred