ME 310 [Mechanics of Machines]

Lecture 3
Mechanism Inversions

Instructor: Dr. Mir Md Maruf Morshed

 Introduction
When a mechanism is required to transmit power or to do some
particular type of work, it then becomes a machine.
In the mechanism/machine, there are four kinds of motion,
which include;
1.Linear motion: the movement is in a straight line and in one
direction.
2.Reciprocating motion: which is movement forwards and
backwards in a straight line.
3.Oscillating motion: which is a swinging back and forth (as in a
pendulum).
4.Rotatory motion: which is pure circular motion a round fixed
point or axis.

Mechanics of Machines,
Dr. Mir Md Maruf Morshed 2
Unit 1 - Lecture 3
 The Most Common Mechanisms
The following three types of kinematic chains with four lower
pairs are important from the subject point of view :

1. Single slider crank chain,

https://www.youtube.com/watch?v=lLHMoRemmMg
2. Four bar chain or
quadric cyclic chain, and

https://www.youtube.com/watch?v=uvJjFgRqSTg

3. Double slider crank chain.

https://www.youtube.com/watch?v=ZUfA5Vem4C0

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Dr. Mir Md Maruf Morshed 3
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 Mechanism Inversion
Inversions of the mechanism:
If in a mechanism, the link which was originally fixed is allowed to move and
another link becomes fixed, the mechanism is said to be inverted.
The inversions of a mechanism don't change the motion of its links relative to each
other but change their absolute motions (relative to the ground).
The following figure collect the inversions of the single slider kinematic chain

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Dr. Mir Md Maruf Morshed 4
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 Applications of Single Slider Inversion
The applications of the single slider inversions include;
1.Internal combustion engines and compressors
https://www.youtube.com/watch?v=Pu7g3uIG6Zo

Internal Combustion Engine Compressor

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Dr. Mir Md Maruf Morshed 5
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 Applications of Single Slider Inversion
2. Rotary Engine and Witworth’s Quick Return Motion Mechanisms

https://www.youtube.com/watch?v=s3TiMedJKds

Quick Return Motion Mechanism Rotary Engine

Mechanics of Machines,
Dr. Mir Md Maruf Morshed 6
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 Applications of Single Slider Inversion
The applications of the single slider inversions include;
3 : Oscillating cylinder mechanism
https://www.youtube.com/watch?v=oJDcxctSTok

Oscillating cylinder mechanism

Mechanics of Machines,
Dr. Mir Md Maruf Morshed 7
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 Applications of Single Slider Inversion
The applications of the single slider inversions include;
4 : feed pump and hand pump

https://www.youtube.com/watch?v=SIwRJ66EQrs
Hand pump
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Dr. Mir Md Maruf Morshed 8
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 4-bar Mechanism
 A four bar linkage or simply a 4-bar or four-bar is the simplest movable linkage. It
consists of 4 rigid bodies (called bars or links), each attached to two others by
single joints or pivots to form a closed loop.
 The 4-bar mechanism is one of the most famous mechanism which is used to
transform the rotary motion of the driver to another rotary motion at the output
link to get benefit of the mechanical advantage.

 The 4-bar is determinate if the positions of any two bodies are known (although
there may be two solutions). One body typically does not move (called the ground
link, fixed link, or the frame), so the position of only one other body is needed to
find all positions. The two links connected to the ground link are called grounded
links. The remaining link, not directly connected to the ground link, is called the
coupler link.
 In terms of mechanical action, one of the grounded links is selected to be the input
link, i.e., the link to which an external force is applied to rotate it.
 The second grounded link is called the follower link, since its motion is completely
determined by the motion of the input link.
 Planar four-bar linkages perform a wide variety of motions with a few simple parts.
They were also popular in the past due to the ease of calculations, prior to
computers, compared to more complicated mechanisms.
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Dr. Mir Md Maruf Morshed 9
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 Grashof’s Law and Inversions of 4-bar
Grashof's law is
1.Applied to pinned linkages;
2. States that the sum of the shortest and longest link of a planar
four bar linkage cannot be greater than the sum of remaining two
links if there is to be continuous relative motion between the links.

In the 4-bar linkages, let

“s” = shortest link
“l” = longest link
“p, q” = lengths of intermediate bar

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Dr. Mir Md Maruf Morshed 10
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 Grashof’s Law and Inversions of 4-bar
Grashof's law states that the sum of the shortest and longest link
of a planar four bar linkage cannot be greater than the sum of
remaining two links if there is to be continuous relative motion
between the links.
Based on the Grashof’s law, a 4-bar mechanism has at least one
revolving link if:

(s + l <= p + q)

and all three mobile links will rock if:

(s + l > p + q)
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Dr. Mir Md Maruf Morshed 11
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 Grashof’s Law and Inversions of 4-bar
Based on the conditions of Grashof's law, below are the possible inversions of
the 4-bar linkages.

Application:
Beam engine

https://www.youtube.com/watch?v=lcJN2qY1gRE

Application: 1. Watt mechanism

Application: 2. Ackerman mech.
drag mechanism https://www.youtube.com/watch?v=TQ1T6qZBJ_c

https://www.youtube.com/watch?v=zMa4cbnBQWY

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Dr. Mir Md Maruf Morshed 12
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 Applications of the 4-bar Inversions
Crank-Rocker inversion is used in the windshield wiper and oil pump
mechanisms

Windshield Wiper Beam Engine (Oil pump)

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Dr. Mir Md Maruf Morshed 13
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 Applications of the 4-bar Inversions
The applications of the rocker-rocker inversion include
Crimping tool, Truck tail gate, and front-end-loader

Crimping Tool Truck Tail Gate

Front End Loader

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Dr. Mir Md Maruf Morshed 14
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 Inversions of double slider crank chains
 One of the application of the double slider mechanism is the
scotch yoke mechanism shown in the following figure. It is
used as sinusoid generator.

https://www.youtube.com/watch?v=or-tt8BkVNY https://www.youtube.com/watch?v=ZUfA5Vem4C0

Scotch Yoke mechanism

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Dr. Mir Md Maruf Morshed 15
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 Inversions of double slider crank chains
 The ellipse trammel is one of the inversion of the scotch
yoke mechanism and is used to plot an ellipse.

https://www.youtube.com/watch?v=1AnxIXX4p24

Ellipse Trammel mechanism

Mechanics of Machinery,
Dr. Mohamed Mostafa Elshabasy 16
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 Inversions of double slider crank chains
 The Oldham coupling is one of the inversions of the double
slider mechanism and is one of the couplings that allows the
lateral misalignments between the two connected shafts.

Oldham Coupling
https://www.youtube.com/watch?v=1AnxIXX4p24

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Dr. Mir Md Maruf Morshed 17
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