ME-313 Mechanics of Machines

Lecture 2
Kinematics Fundamentals
Part B
By Engr.Ch Abdullah

ca131@live.com +92-333-5689906
 Intermittent Motion 2

• Simplicity - good design

• Fewest parts - least expensive and most reliable solution
• Four-bar linkage - first solutions to motion control
problems
Contents

1.Intermittent Motion
2.Inversion
3.The Grashof Condition
Intermittent Motion – Geneva Mechanism
 Intermittent Motion

• Sequence of motions and dwells

• Dwell
• Period in which output link remains stationary while input link
continues to move

• Many applications in automated packaging plants and

machinery that require intermittent motion
 Intermittent Motion – Geneva Mechanism

• Common form of intermittent motion

device - Geneva mechanism
• Transformed four-bar linkage - coupler
replaced by half joint
Intermittent Motion – Ratchet and Pawl
Intermittent Motion – Ratchet and Pawl
 Intermittent Motion – Linear Geneva
Mechanism
• Linear Geneva Mechanism -
analogous to Scotch Yoke device
with multiple yokes
• Intermittent conveyor drive with
slots arranged along conveyor
chain or belt
• Linear and reversing oscillations
of single slotted output slider -
reversing motor
Intermittent Motion – Linear Geneva
Mechanism
 Inversion

• Inversions – ground different link in kinematic chain

• Number of inversions = Number of links

• Distinct inversions – different motion resulting from each

inversion

• Sometimes two or more inversions yield similar motion

 Inversion – Slider Crank Linkage

• Four-bar slider-crank
linkage - 4 distinct
inversions
• Inversion 1
• Link 1 grounded and slider
block in pure translation
• Applications: piston engines
and piston pumps.
 Inversion – Slider Crank Linkage

• Inversion 2
• Link 3 grounded
and slider block in
pure rotation
 Inversion – Slider Crank Linkage

• Four-bar slider-crank
linkage - 4 distinct
inversions
• Inversion 3
• Link 2 grounded and slider
block has complex motion
• Whitworth or crank-shaper
quick-return mechanism
 Inversion – Slider Crank Linkage

• Inversion 4
• Slider block link is grounded
• Example
• Hand-operated well pump
mechanism
Inversion – Watt’s Six-bar Linkage
Inversion – Slider Crank Linkage
Inversion – Stephenson's Six-bar Linkage
Inversion – Slider Crank Linkage
 The Grashof Condition

• Four-bar linkage

• Simplest possible pin-jointed mechanism for 1 DOF controlled

motion
• Variants
• Slider-crank
• Cam-follower

• Most common device used in machinery

 The Grashof Condition

• Grashof condition
• Predicts rotation behavior or rotatability of four-bar linkage's
inversions based only on link lengths
Let:
S = length of shortest link
L= length of longest link
P= length of one remaining link
Q= length of other remaining link
S + L <= P + Q
 The Grashof Condition

• Inequality is true
• At least one link capable of full revolution
• Linkage is Grashof
• Class I kinematic chain

• Inequality is false
• No link make full revolution with respect to ground plane
• Linkage is non-Grashof
• Class II kinematic chain
 The Grashof Condition

• Motions possible from four-bar linkage depend on

• Grashof condition
• Inversion chosen

• Inversions will be defined with respect to the shortest link

 The Grashof Condition

• Class I case - S + L < P + Q

• Ground link adjacent to shortest
• Crank-rocker mechanism
• Shortest link fully rotate
• Other link (rocker) oscillate and ground pivoted

• Ground shortest link

• Double-crank mechanism
• Both ground pivoted links fully rotate make complete revolutions
• Coupler fully rotate
 The Grashof Condition

• Class I case - S + L < P + Q

• Ground link opposite shortest link
• Grashof double-rocker mechanism
• Both links pivoted to ground oscillate
• Coupler fully rotate
 The Grashof Condition

• Class II case - S + L > P + Q

• All inversions triple-rockers mechanisms
• No link fully rotate

• Class III case - S + L = P + Q

• Double-cranks mechanisms or crank-rocker mechanisms
• Change points twice per revolution of input crank when all links
become colinear
• At change points, output behavior become indeterminate
(uncertainty configurations)
The Grashof Condition

• For the Class III case, S + L = P + Q:

• At these colinear positions, the linkage behavior is
unpredictable as it may assume either of two configurations.
Its motion must be limited to avoid reaching the change
points or an additional, out-of-phase link must be provided to
guarantee a "carry through" of the change points
The Grashof Condition

• Four possible inversions of the Grashof case: two

crank-rockers, a double-crank (also called a drag link),
and a double-rocker with rotating coupler
• Two crank-rockers give similar motions and so are the
four non-distinct inversions, all triple-rockers, of a
non-Grashof linkage
• Parallelogram and antiparallelogram configurations of
the special-case Grashof linkage
The Grashof Condition

• Parallelogram linkage is quite useful as it exactly

duplicates the rotary motion of the driver crank
• Coupler of parallelogram linkage is in curvilinear
translation
• It is often used for this parallel motion
• Applications
• Windshield wipers
• Truck tailgate lifts
• Industrial robots
The Grashof Condition

• Antiparallelogram linkage ("butterfly" or "bow-tie") is

also a double-crank, but the output crank has an
angular velocity different from the input crank
• Note that the change points allow the linkage to
switch unpredictably between the parallelogram and
antiparallelogram forms every 180 degrees unless
some additional links are provided to carry it through
those positions
The Grashof Condition

• This can be achieved by adding an out-of-phase

companion linkage coupled to the same crank, as
shown in Figure 2-17c
• A common application of this double parallelogram
linkage was on steam locomotives, used to connect
the drive wheels together
• The change points were handled by providing the
duplicate linkage, 90 degrees out of phase, on the
other side of the locomotive's axle shaft
The Grashof Condition

• The deltoid or kite configuration that is a double-

crank in which the shorter crank makes two
revolutions for each one made by the long crank
• This is also called an isosceles linkage or a Galloway
mechanism after its discoverer
• There is nothing either bad or good about the Grashof
condition
• Linkages of all three persuasions are equally useful in
their places
The Grashof Condition

• If your need is for a motor driven windshield wiper

linkage, you may want a non-special-case Grashof
crank-rocker linkage in order to have a rotating link
for the motor's input, plus a special-case
parallelogram stage to couple the two sides together
as described above
• If your need is to control the wheel motions of a car
over bumps, you may want a non-Grashof triple-
rocker linkage for short stroke oscillatory motion
The Grashof Condition
The Grashof Condition
The Grashof Condition
Home Activity

Using Pro/E or any other CAD software,

design Geneva Mechanism, Scotch Yoke
Mechanism, Ratchet and Pawl
Mechanism and Linear Geneva
Mechanism