Department of Mechanical and Industrial Engineering Autumn-2022

Indian Institute of Technology, Roorkee

Computer Aided Mechanism Design [MIN – 554]

Tutorial 4

1. The four-bar linkage shown in figure has an external load P = 120lb2200 acting on link 4 at
point Q . For the posture shown, find the constraint forces and the crank torque T12 to hold
the linkage in static equilibrium. FYI: Gravitational forces are negligibly small in comparison
with applied force P and frictional forces can also be neglected. Solve using both graphical
and analytical methods.

2. Assuming a coefficient of static friction  = 0.15 between links 1 and 4. Determine the torque
T12 necessary to overcome friction. Also determine the magnitude and direction of the torque
that must be applied to link 2 to maintain static equilibrium at the posture shown (without
involvement of friction).

3. A car (link 2) that weighs 2000 lb is slowly backing a 1000 lb trailer (link 3) up a 300 inclined
ramp. The car wheels are of 13-in radius, and the trailer wheels have 10-in radius; the center
of the hitch ball is also 13 inches above the roadway. The centers of mass of the car and trailer
are located at G2 and G3 respectively, and gravity acts vertically downward. The weights of

Prof. S H Upadhyay, Professor, MIED

 Department of Mechanical and Industrial Engineering Autumn-2022
Indian Institute of Technology, Roorkee

Computer Aided Mechanism Design [MIN – 554]

the wheels and friction in the bearings are considered negligible. Assume that there are no
brakes applied on the car or on the trailer and that the car has front-wheel drive. Determine
the loads on each of the wheels and the minimum coefficient of static friction between the
driving wheels and the road to avoid slipping.

4. Make a complete dynamic analysis of

the four-bar linkage in the posture
when 2 = 2700 . The constant angular
velocity of input link 2 is
2 = 18 rad s ccw , and the external force
at point D is FD = 8.94kN 64.30 . The
known kinematics are:
3 = 46.60
 4 = 80.50
 3 = 178 rad s cw
2

 4 = 256 rad s cw
2

AG3 = 112 m s 2 22.7 0

AG4 = 119 m s 2 352.50

***

Prof. S H Upadhyay, Professor, MIED