Debre Berhan University

College of Engineering
Department of Mechanical Engineering

Mechanisms of
Machinery
MEng3071 Chapter Two
2. Linkages

By: Nigatu D.

Feb, 2021 1
 Contents

2. Linkages
2.1. Four-bar linkage
2.2. Slider crank mechanism
2.3. Scotch yoke
2.4. Quick-return mechanism
2.5. Toggle mechanism
2.6. Straight line mechanisms
2.7. Parallel mechanisms
2.8. Intermittent mechanisms
2.9. Steering gear mechanisms

Mechanisms of Machinery [MEng3071]: 2. Linkages BY: Nigatu D. 2

 2. Linkages
• A linkage is a kinematic chain in which one of the links is fixed
to the ground which usually is the frame.
• A linkage permits relative motion between its links and may
have one or more degrees of freedom.
• A linkage with zero or negative degree of freedom is a
structure which does not allow any relative motion between the
links.
• There are very many linkages formed by different connections
of members. The members of linkages are connected so as to
produce the motion required by the design.

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 2.1. Four-bar linkage
• The simplest and most common linkage is the four-bar linkage.
• It is a combination of four links, one being designated as the frame and
connected by four pin joints.
• The mechanism for an automotive rear-window wiper system is shown in
Figure
• Notice that this is a four-bar mechanism because it is comprised of four
links connected by four pin joints and one link is unable to move.

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 2.1. Four-bar linkage
• The mobility of a four-bar mechanism consists of the following:
L= 4, J1 = 4 pins, J2 = 0
M = 3(L - 1) – 2J1 – J2 = 3(4 - 1) - 2(4) - 0 = 1

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Mechanisms of Machinery [MEng3071]: 2. Linkages BY: Nigatu D. 5
 2.1. Four-bar linkage
Link 1 is the frame or ground; generally,
it is stationary

Link 2 is the driver which may rotate or

oscillate.

Link 3 is the coupler, sometimes known

Link 2 Link 3 as the connecting rod. This link
Link 4 undergoes general plane motion.

Link 4 is the follower or driven element,

Link 1 which may rotate or oscillate depending
on the rotary or oscillatory motion of link
2, and on link dimensions.
These four links are joined by four
revolute joints.
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 2.1. Four-bar linkage
Grashof's condition:
• Grashof 4-bar linkage: A linkage that contains one or more
links capable of undergoing a full rotation.
• A linkage is Grashof if:
S + L  P+Q
where: S = shortest link length, L = longest,
P, Q = intermediate length links

• Non Grashof 4 bar: No link can rotate 360o if: S + L > P + Q

• In Grashof’s linkage at least one link will be capable of making
a full revolution with respect to the ground plane.
• In non-Grashof’s linkage no link will be capable of a complete
revolution relative to any other link.
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 2.1. Four-bar linkage
• All four-bar mechanisms fall into one of the five categories

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 2.1. Four-bar linkage
1. Double Crank
– it has the shortest link of the
four-bar mechanism
configured as the frame.
– If one of the pivoted links is
rotated continuously, the
other pivoted link will also
rotate continuously.

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 2.1. Four-bar linkage
2. Crank-Rocker
– it has the shortest link of the four-bar mechanism configured adjacent
to the frame.
– If this shortest link is continuously rotated, the output link will oscillate
between limits.
– Thus, the shortest link is called the crank, and the output link is called
the rocker.

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 2.1. Four-bar linkage
3. Double Rocker
– It has the link opposite the shortest
link of the four-bar mechanism
configured as the frame.
– In this configuration, neither link
connected to the frame will be able
to complete a full revolution.
– Thus, both input and output links are
constrained to oscillate between
limits, and are called rockers.
– However, the coupler is able to
complete a full revolution.

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 2.1. Four-bar linkage
4. Change Point Mechanism
– The sum of two sides is the
same as the sum of the other
two.
– Having this equality, the
change point mechanism can
be positioned such that all
the links become collinear.
– The most familiar type of
change point mechanism is a
parallelogram linkage.

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 2.1. Four-bar linkage
5. Triple Rocker
– the triple rocker has no links that are able to complete a full
revolution.
– Thus, all three moving links rock.

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 2.1. Four-bar linkage
Closed-Form Position Equations for a Four-Bar Linkage
• The four-bar mechanism is another very common linkage.
Figure illustrates a general four-bar linkage.
• A typical analysis involves determining
the interior joint angles (θ3 , θ4 , and γ)
for known links (L1, L2 , L3, and L4 at a
certain crank angle θ2 .
• Specifically, the interior joint angles (θ3 ,
θ4 , and γ) must be determined.

These equations can be used to determine the position of the links in any
mechanism configuration.
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 2.2. Slider crank mechanism
• Slider-crank mechanism is basically a four-bar mechanism
with three revolute joints, or turning pairs and a prismatic joint
or a sliding pair.

In the slider crank mechanism, commonly

• link 1 is the frame, considered to be fixed;

• link 2 is the crank which is the driver (rotating motion);
• link 3 is the connecting rod, the link b/n the driver & follower;
• link 4 is the slider which is the driven element (reciprocating)

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 2.2. Slider crank mechanism
• The slider crank mechanism converts rotary motion into
reciprocating motion and vice-versa.
• It is commonly applied in internal combustion engines

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 2.2. Slider crank mechanism
Closed-Form Position Analysis Equations for an In-Line
Slider-Crank
it is termed an in-line slider-
crank mechanism because the
constrained path of the pin joint
on the slider extends through
the center of the crank rotation.

These equations can be used to

determine the position of the links
in any configuration of an in-line
slider-crank mechanism.

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 2.2. Slider crank mechanism
Closed-Form Position Analysis Equations for an Offset
Slider-Crank
• an offset slider-crank mechanism is the constrained path of the
pin joint on the slider does not extend through the center of the
crank rotation.

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 2.3. Scotch yoke mechanism
• In this mechanism, the slider is fixed. When the link rotates,
the slider A’ reciprocates in the vertical slot.
• It gives exact simple harmonic motion of the slider in response
to a constant speed input to the crank.

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 2.4. Quick-return mechanism
• Many times mechanisms are designed to perform repetitive
operations. During these operations for a certain period the
mechanisms will be under load known as working stroke and
the remaining period is known as the return stroke, the
mechanism returns to repeat the operation without load.
• The ratio of time of working stroke to that of the return stroke is
known a time ratio.
• Quick return mechanisms are used in machine tools to give a
slow cutting stroke and a quick return stroke.
• The various quick return mechanisms commonly used are i)
Whitworth ii) Drag link. iii) Crank and slotted lever mechanism,

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 2.4. Quick-return mechanism
• Quick return mechanisms are combinations of simple linkages
which give a quick return-stroke of the follower for a constant
angular velocity of the driver.
• The quick return mechanism has a slower work stroke and a
quick return stroke.
• In the design of quick-return mechanisms, the ratio of the
crank angle for the working stroke to that of the return stroke is
known as the time-ratio.
• The time-ratio for quick-return mechanisms is always greater
than unity to give a slower cutting stroke and a faster return
stroke.

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2.4. Quick-return mechanism

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 2.5. Toggle mechanism
• Simple toggle consists of two links which tend to line-up in a
straight line at one point in their motion.
• The mechanical advantage of the simple toggle below is the
velocity ratio of the input point A to the output point B

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 2.5. Toggle mechanism
• This type of mechanism is used in punch presses, riveting
machines, stone crusher, etc

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 2.6. Straight line mechanisms
• These are mechanisms which can generate straight lines from
rotary motion. Point on one of the links moves in a straight line
with out the need of guides.
• Converts rotary motion into straight line motion.
Watt mechanism
• Produces an approximate straight line
motion
• For equal lengths of links 2 & 4, the
tracing point P traces an approximate
straight line.
• This will happen if AP/PB = O4B/O2A.

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2.6. Straight line mechanisms

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 2.7. Parallel mechanisms

• Used to produce parallel motions & reproducing motions at different

scale.
• Common Example
– The Pantograph
• Used to enlarge or reduce
trajectories to different scales.
• Commonly used in cutting tools
to duplicate complicated
shapes to desired scales.
• Links 2, 3, 4, & 5 form a
parallelogram
• Link 3 is extended to contain
point C and point E lies on the
intersection of lines O2C and
DB.
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 2.8. Intermittent mechanisms

• Converts continuous motion into intermittent motion.

• Common examples are the Geneva Mechanism & ratchet
mechanism.
Geneva Mechanism.
• Provides intermittent rotary
motion.
• During one cycle of the crank,
the Geneva wheel rotates
through fraction part of a
revolution.
• The circular segment attached to
the crank locks the wheel against
rotation when the roller is not
engaged.
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 2.8. Intermittent mechanisms

Ratchet Mechanism
• This mechanism is used in producing
intermittent rotary motion member.
• A ratchet and Pawl mechanism
consists of a ratchet wheel 2 and a
pawl 3 as shown in the figure.
• When the lever 4 carrying pawl is
raised, the ratchet wheel rotates in
the counter clock wise direction
(driven by pawl).
• As the pawl lever is lowered the pawl
slides over the ratchet teeth.
• One more pawl 5 is used to prevent
the ratchet from reversing.
• Ratchets are used in watches and
counting devices.
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 2.9. Steering gear mechanisms

• Used to change the direction of the wheel axle with respect to

the chassis which enables motion of an automobile in any
desired direction.

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 2.9. Steering gear mechanisms

• To avoid skidding or slipping of the wheels sideways, the front

two wheels must turn about the same instantaneous center C
which lies on the axis of the back wheels.
– This avoids undue wear in the tires.
– This is also the condition for correct steering
– this will be satisfied if θ > β . Where: θ is inner wheel turning
angle β is outer wheel turning angle.
• the condition to be satisfied is obtained as follows.
And the condition for correct steering is obtained to be

this is the fundamental equation for correct steering which, if

satisfied, eliminates skidding of the front wheel.
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 2.9. Steering gear mechanisms

Ackerman Steering Gear

• Consists of a four bar mechanism joined by revolute joints.
• The shorter links QR and PS are of equal length and are
connected to the front wheel axles by hinge joints.
• Links PQ and RS are of unequal length.

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 References
1. Addisu Dagne, “Lecture notes, Mechanisms of Machinery, Lecture 2:
Linkages,” October 2012
2. Norton, Robert L.,”Design of Machinery”, WCB/McGraw-Hill,1999.
3. David H. Myszka, “MACHINES AND MECHANISMS”, Prentice Hall,
2012
4. http://ndl.ethernet.edu.et/bitstream/123456789/88001/2/Chapter%2002_
Position%20Analysis.pptx

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