Slider Crank and Grashof

3
4

2
1

Equivalent
Linkage

3 4

2
1
 Slider Crank and Grashof

3 4

4 Infinite radius
2
1 l4= inf

3 Equivalent
Linkage

1
Infinite radius
e = l 1 - l4 l1= inf
 Slider Crank and Grashof
4

Schematic
2 1

4 Infinite radius

l4= inf

1
Infinite radius
e = l 1 - l4 l1= inf
 Grashof’s criteria for Slider Cranks

Now substitute in Grashof’s criteria

for RRRR linkages.
Here 1 is definitely longest.
Let 2 be less than 3 making it shortest

Shortest + longest < sum of other two

Hence

l2+ l1 < l 3+ l4

Or l2+ l 1 - l4 < l3

Or l2 + ( l 1 - l4 ) < l 3
Or l2+ e < l3

Or s+e<L
 Grashof ‘s criteria for RRRR linkages

l + s < p + q where s (link 1) is the shortest link

All other links rotate fully about s.
Hence if the shortest link is grounded
Both 2 and 4 rotate fully about the ground
making it a Double Crank

l + s < p + q where s (link 1) is the shortest link

Link 3 does not rotate fully about either 2 or 4.
Hence if link 3 is grounded
i.e. if the shortest link is made the coupler
Neither 2 nor 4 will rotate fully about the ground
making it a Double Rocker

l + s < p + q where s (link 1) is the shortest link

If link 2 (or 4) is grounded
1 rotates fully about 2 (or 4)
3 rotates partially about 2 (or 4)
making it a Crank Rocker
 Grashof’s criteria for Slider Cranks

Analyze using same logic as 4

3
used for RRRR linkages,
remembering that link 2 is
2 1
the shortest here.

s+ e < L where s (link 2) is the shortest link

All other links rotate fully about s (link 2) .
If link 2 is grounded, i.e. shortest link is the ground,
Both 1 and 3 rotate fully about 2, i.e. the ground.
1 Since link 1 is not grounded ,
We have an Inverted Slider Crank (RRPR)
with a fully rotating crank (link 2)and a fully rotating slider.

s+ e < L where s is the shortest link

All other links rotate fully about s (link 2).
If the shortest link is the driver or crank,
1 rotates fully about 2 and vice versa.
2 3 and 4 rotate partially about 2.
If 3 is grounded ,
We have an Inverted Slider Rocker (RPRR)
with a partially rotating crank (link 2) and a fixed slider.
 Grashof’s criteria for Slider Cranks
4

Link 2 is the shortest.

2 1

s+ e < L where s is the shortest link

All other links rotate fully about s.
If the shortest link is the driver,
3 1 rotates fully about 2.
3 and 4 rotate partially about 1.
If 1 is grounded ,
We have a Slider Crank (RRRP)
with a fully rotating crank (link 2) and a fixed slider

s+ e < L where s is the shortest link

All other links rotate fully about s.
4 If link 4 is grounded.
Neither 1 nor 3 rotate fully about 4.
We have a Slider Rocker (RRRP)
with a partially rotating crank (link 3) and a fixed slider.

All these linkages are Grashofian.

 Grashof’s criteria for Slider Cranks

Consider the other possibility

where 3 is shorter than 2.
2 is the shortest link, 1 is the longest.
We substitute in Grashof’s criteria
for RRRR linkages.

Shortest + longest < sum of other two

Hence

l 3 + l 1 < l 2 + l4

Or l3+ l1 - l4 < l2

Or l3+ ( l 1 - l4 ) < l 2

Or l3+ e < l 2

Or s+e<L
 Grashof’s criteria for Slider Cranks

Analyze using same logic as used 4

3
for RRRR linkages, considering that
link 3 is the shortest here.
2 1

s+ e < L where s is the shortest link

All other links rotate fully about s (link 3) .
5 If link 3 is grounded,
i.e. shortest link is the ground,
Both 2 and 4 rotate fully about 3, i.e. the ground.
Since link 1 is not grounded ,
We have an Inverted Slider Crank (RRPR)
with a fully rotating crank (link 2) and a fully rotating slider.

s+ e < L where s is the shortest link

All other links rotate fully about s (link 3) .
If link 1 is grounded,
i.e. shortest link is the coupler
6
2 does not rotate fully about 1.
We have a Slider Rocker (RRRP)
with a partially rotating crank (link 2) and a fixed slider.
 Grashof’s criteria for Slider Cranks

Analyze using same logic as used 4

3
for RRRR linkages, considering that
link 3 is the shortest here.
2 1

s+ e < L where s is the shortest link

All other links rotate fully about s (link 3) .
If link 2 is grounded,
7 i.e. shortest link (link 3) is the crank,
3 rotates fully about 2, i.e. the ground.
1 rotates partially about 2, i.e. the ground.
We have an Inverted Slider Rocker (RRPR)
with a fully rotating crank and a partially rotating slider.

s+ e < L where s is the shortest link

8 All other links rotate fully about s (link 3) .
If link 4 is grounded,
3 rotates fully about 4, i.e. the ground.
2 does not rotate fully about 4.
We have a Slider Crank (RRRP)
with a fully rotating crank and a fixed slider.
 Grashof’s criteria for Slider Cranks : Summary

s+ e < L where s is the shortest link

Shortest link is Ground
1 Inverted Slider Crank 5
with fully rotating crank
s+ e < L where s is the shortest link
Shortest link is Crank (driver)
2 Inverted Slider Rocker 7
with fully rotating crank and partially rotating slider
Or
3 Slider Crank 8
with fully rotating crank

s+ e < L where s is the shortest link

Shortest link is Coupler
4 Slider Rocker 6
with a partially rotating crank

s+ e > L where s is the shortest link

Non Grashofian Slider Rocker
with a partially rotating crank and fixed slider.
Or
Non Grashofian Inverted Slider Rocker
with a partially rotating crank
and partially rotating slider.