BG - C02 - CCPTKT - 2019 - en

Theory of Machine and Design of machine elements - Do Van Hien -
Chapter 02:
PLANAR MECHANISMS WITH LOWER PAIRS
I. Introduction 1.1 Common mechanisms

1.2 Four-bar mechanisms
1.3 Inversion
II. Kinematic analysis of four bar mechanism
2.1 Transmission ratio
2.2 Grashof’s criteria
III. Kinematic analysis
3.1 Position analysis
3.2 Velocity analysis
3.3 Acceleration analysis
IV. Force analysis
HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design
UTE TECHNICAL EDUCATION 1
Faculty of Mechanical Engineering
I. Introduction
1.1 Common planar linkage mechanisms
Slider – crank
mechanism
Four-link mechanism Whitworth Quick-

1.2 Four link mechanism Return Mechanism
Geneva Mechanism
Planar four-bar linkages are constructed from four links
connected in a loop by four one-degree-of-freedom joints.
A joint may be either a revolute, that is a hinged joint,
denoted by R, or a prismatic, as sliding joint, denoted by P
Slider crank mechanisms of a steam engine
Lever mechanism of a windscreen wiper

I. Introduction
1.2 Four link mechanism
 A four-bar linkage, also called a four-bar, is
the simplest movable closed chain linkage
 Planar four-bar linkages are constructed from
four links connected in a loop by four one-
degree-of-freedom joints. A joint may be either a
revolute, that is a hinged joint, denoted by R, or a
prismatic, as sliding joint, denoted by P
 Links:
 Crank: is able to make full rotation
 Rocker: oscillates between two limit points with an amplitude of “Δ4”
 Application of four bar mechanisms:

+ Double-Crank mechanism
+ Crank-and-Rocker mechanism
+ Double-Rocker mechanism

1.3 Inversions of mechanisms  Các biến thể

 Rule 1: Revolute Joints  Prismatic Joints (Thay đổi kích thước khâu động)
Rule 2: Change the fixed link (Thay đổi giá)


II. Kinematic analysis of four-bar mechanism

2.1 Transmission ratio (Tỷ số truyền)
+ Given a four-bar mechanism as shown in Fig, the driving link 1
rotates with angular velocity 1 through link 2 to transfer motion to
link 3
+ Transmission ratio between link 1 and link 3:
+ Based on the knowlegde of engineering mechanics:

+ Willis’ theorem: In four bar mechanism, the connecting rod (BC)

devides the frame (AD) into two segments inversely proportional to
angular velocity of two links connected with the frame.
+. Note:
 Transmission ratio u13
 Position of point P

2.2 Conditions to make full rotation of the link connected with frame
 Condition of link 1 is a crank:
+ Given a four bar mechanism:
 Link 1 is a crankjoint B?
Trajectory of B1 is a circle (A, l1)
+ Decompose the joint B B1 and B2
 the maximum distance of B2
 the minimum distance of B2 ?

+ Link 1 is a crank if the conditions is satisfied:

 Grashof’s criteria for four-bar mechanism:
 If we distinguish the lengths in a 4-bar mechanism as follow:
 s: the length of the shortest link
 l: the length of the longest link
 p, q: the length of the other two links
 The following relationship (Grashof’s criteria) must be satisfied in

order to be able to assemble the kinematic chain:
s+lp+q

Class I Kinematic chain Class II Kinematic chain

s+l  p+q s+l > p+q
If s = fixed link
Then double - crank
(Fig. a)
If s = input link
Then crank-rocker The mechanism is rocker-rocker
(Figs. b+c)
Fig. a
If otherwise
Then rocker-rocker
(Fig. d)
Fig. b Fig. c Fig. d


Examples: Using Grashof’s Criteria

 If the following mechanism has the following dimensions what type of
4-bar mechanism has been implemented ?
a = 50 cm ; b = 20 cm ; h = 10 cm ; g = 5 cm
If a is the input link ? g + a > b + h Answer: Rocker-Rocker mechanism
What if: a = 10 cm ; b = 25 cm ; h = 20 cm ; g = 25 cm
If a is the input link ? g + a < b + h ; Shortest link = input link
Answer: Crank-Rocker Answer: Double-crank
If a is the base link ? g+a <b+h ; Shortest link = fixed link

III. Kinematic analysis (Phân tích động học)

3.1 Position analysis
Given: Driving link and mechanism diagram
Find: Determine rule of motion for driven link and rule of motion any
point belong to links in the mechanism.

3.2 Velocity and acceleration analysis
3.2.1 Solve vector equations based on graphical method
3.2.2 Vector velocity and acceleration equation

+ Linear movement links:

+ Rotation of a link about a fixed axis: The tangential component of acceleration

is perpendicular to link with sign
Velocity: corresponding to its angular acceleration.
Acceleration:
Acceleration separating two acceleration
components. The normal component of
acceleration of point A is along
with link directed towards point O
Relative velocity Equation of two points on a link

Velocity:
Acceleration:

+ Relative velocity Equation of two coincident points belong to two links:
Velocity:
Acceleration:
=2 .
3.2.3 Velocity problems Coriolis component of acceleration is
perpendicular to the relative velocity vector
Trình tự giải: Tách nhóm Atxua Viết PT vectơ vận tốcVẽ HĐVT vận tốc…
3.4 Example
Ex 01: Given a four bar mechanism as shown in Fig, link 1 is the input link
with constant angular velocity and the length of links
as , find the velocity of point C and
the angular velocity of link 2 and link 3 based on the graphical method
Solution
•Assur group decomposition
•Relative velocity equation:
Link 2:
Link 3:

Velocity equation of point C:
Line of action
Direction In the direction of
Magnitude
•Velocity diagram of Point C:
• Find velocity of point C, angular velocity of link 2, 3:

EX 02: Given a mechanism as shown in Fig. Find velocity of point B2 and angular
velocity of link 3 by graphical method? The angular velocity of the driver link is
constant and equal to . Length of AC is
SOL:
•Relative velocity equation:

Link 2:
Link 3:
Relative velocity equation of point B2 and B3:
Line of action
Magnitude
Relative velocity equation of point B2 and B3:
Line of action
Magnitude (m/s)
Find linear velocity of point B2 and angular velocity of link 3:

3.2.4 Acceleration analysis

Known:
 Kinematic diagram, driver link.
 Angular velocity of links.
 Acceleration of free joint in Assur’s group
Find:
 Acceleration of some point in links.
 Angular acceleration of links
Solution step: Assur’s group decomposition Acceleration vector equations
 Draw acceleration vector diagram …
EX 03: Draw an acceleration vector diagram and find an acceleration of point

C and angular acceleration of link 2 and 3 for mechanism in EX 01?
•Acceleration vector equation:
Acceleration of point C2:
Acceleration of point C3:
Acceleration vector equation of point C:
Line of action
Direction
Magnitude
• Acceleration diagram of point C:

• Find linear acceleration of point C and angular acceleration of link 2 & 3
Linear acceleration of point C :
 Angular acceleration of link 2:
 Angular acceleration of link 3:

EX 04: Draw acceleration diagram, find linear acceleration of point B2 and

angular acceleration of link 3 in EX 02?
• Acceleration diagram
Line of action
//AC
Direction
Magnitude(m/s2)

• Determine linear and angular acceleration


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Theory of Machine and Design of machine elements - Do Van Hien -

PLANAR MECHANISMS WITH LOWER PAIRS

I. Introduction 1.1 Common mechanisms

Four-link mechanism Whitworth Quick-

Slider crank mechanisms of a steam engine

Lever mechanism of a windscreen wiper

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

 Application of four bar mechanisms:

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

1.3 Inversions of mechanisms  Các biến thể

Rule 2: Change the fixed link (Thay đổi giá)

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

II. Kinematic analysis of four-bar mechanism

+ Based on the knowlegde of engineering mechanics:

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

+ Willis’ theorem: In four bar mechanism, the connecting rod (BC)

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

Trajectory of B1 is a circle (A, l1)

+ Decompose the joint B B1 and B2

 the maximum distance of B2

 the minimum distance of B2 ?

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

 Grashof’s criteria for four-bar mechanism:

 If we distinguish the lengths in a 4-bar mechanism as follow:

 s: the length of the shortest link

 l: the length of the longest link

 p, q: the length of the other two links

 The following relationship (Grashof’s criteria) must be satisfied in

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

Class I Kinematic chain Class II Kinematic chain

Fig. b Fig. c Fig. d

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

Examples: Using Grashof’s Criteria

If a is the base link ? g+a <b+h ; Shortest link = fixed link

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

III. Kinematic analysis (Phân tích động học)

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

3.2 Velocity and acceleration analysis

3.2.1 Solve vector equations based on graphical method

3.2.2 Vector velocity and acceleration equation

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

+ Rotation of a link about a fixed axis: The tangential component of acceleration

Relative velocity Equation of two points on a link

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

+ Relative velocity Equation of two coincident points belong to two links:

•Relative velocity equation:

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

Velocity equation of point C:

•Velocity diagram of Point C:

• Find velocity of point C, angular velocity of link 2, 3:

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

•Relative velocity equation:

Relative velocity equation of point B2 and B3:

Find linear velocity of point B2 and angular velocity of link 3:

HCM HO CHI MINH CITY UNIVERSTY of Dept: Fundamental of Machine Design

3.2.4 Acceleration analysis

EX 03: Draw an acceleration vector diagram and find an acceleration of point

•Acceleration vector equation:

Acceleration of point C2:

Acceleration of point C3:

Acceleration vector equation of point C: