Introduction Instant Centers for a Four-bar

Velocity Analysis with Instant Centers

for a Four-bar Mechanism
This presentation shows how to perform velocity analysis for a four-bar
mechanism with the method of instant centers. It is assumed that the
dimensions for the links are known and the analysis is being performed at a
given (known) configuration. Since the four-bar has one degree-of-freedom,
the angular velocity of one of the links (or one other velocity information) must
be given as well.
For a given four-bar mechanism the velocity analysis consists of two steps:
1. Finding the instant centers
2. Finding velocities
Note that the instant center method is a graphical method.

P. Nikravesh, AME, U of A
Four-bar mechanism Instant Centers for a Four-bar

Four-bar mechanism
Assume that for this four-bar B
A
mechanism all the link lengths are
known and the angular velocity of the
crank is given as ω2 ccw.
In the configuration shown we can ω2
perform a velocity analysis with the
O2
instant center method.

O4

P. Nikravesh, AME, U of A
Number of instant centers Instant Centers for a Four-bar

Number of instant centers

The first task is to determine how many
instant centers exist for a four-bar. A B
The number of links in a four-bar is
n=4
Between n links, there are ω2
n (n − 1) ∕ 2 O2
instant centers. That means in a fourbar
there are 4 (4 − 1) ∕ 2 = 6 instant centers.
O4 1 2
A small circle will help us keep track of
locating each center. On the
circumference of the circle we put as
many marks as the number of links. ► 4 3
Each time we find a center between two
links, we draw a line between the
corresponding marks on the circle.

P. Nikravesh, AME, U of A
Finding the instant centers Instant Centers for a Four-bar

Finding the instant centers

Four of the centers are already
known: They are the four pin A = I2,3 B = I3,4
joints. ► I2,4

We don’t know I1,3 but we know

that it lies on the same line as I4,1
and I3,4. ► ω2
I1,3 also lies on the same line as I2,1 O2 = I1,2
►
and I3,2.
►
The point of intersection is I1,3.
I2,4 is also unknown but it lies on O4 = I4,1 1 2
►
the same line as I3,4 and I2,3.
I2,4 also lies on
► the same line as I4,1
and I1,2. ► 4 3
The point of intersection is I2,4.
I1,3
Now we have found all 6 centers

P. Nikravesh, AME, U of A
Finding ω3, knowing ω2 Instant Centers for a Four-bar

Finding velocities
A (or I2,3) is a point on link 2, ω3
VA A = I2,3 B = I3,4
therefore: I2,4
VA = ω2 ∙ RAI1,2
RAI1,2
Its direction is obtained by
ω2
rotating RAI1,2 90° in the
direction of ω2. ► O2 = I1,2
A (or I2,3) is also a point on link
3, which rotates around I1,3, this
means: RAI1,3 O4= I4,1
VA = ω3 ∙ RAI1,3

Since we already know VA, we

can solve for ω3: ►
I1,3
ω3 = VA ∕ RAI1,3

P. Nikravesh, AME, U of A
Finding ω4, knowing ω3 Instant Centers for a Four-bar

Finding velocities
VB
Since we know ω3, we can find ω3
VA A = I2,3 B = I3,4
VB. B is a point on link 3: I2,4
VB = ω3 ∙ RBI1,3

Its direction is obtained by RBI4,1

ω2
rotating RBI1,3 90° in the
►
direction of ω3. O2 = I1,2 ω4

B is also a point on link 4

which yields:
O4= I4,1
VB = ω4 ∙ RBI1,4

We already know VB so we can

RBI1,3
solve for ω4: ►
ω4 = VB ∕ RBI1,4 I1,3

P. Nikravesh, AME, U of A
Finding ω4, knowing ω2 Instant Centers for a Four-bar

Another approach
We could have determined ω4
without knowing ω3: A = I2,3 B = I3,4
I2,4
I2,4 is a point on link 2, VI2,4
therefore:
VI2,4 = ω2 ∙ RI2,4 I1,2 RI2,4 I1,2 ω2

Its direction is obtained by O2 = I1,2 ω4

rotating RI2,4 I1,2 90° in the
► RI2,4 I4,1
direction of ω2.
I2,4 is also a point on link 4, O4= I4,1
which rotates around I4,1. This
means:
VI2,4 = ω4 ∙ RI2,4 I4,1
I1,3
We already know VI2,4 so we
can solve for ω4: ►

ω4 = VI2,4 ∕ RI2,4 I4,1

P. Nikravesh, AME, U of A
Velocity of coupler point Instant Centers for a Four-bar

VP
Velocity of a coupler point P
The instant center method
A = I2,3 B = I3,4
makes it easy to find the I2,4
velocities of additional points.
For example suppose link 3 is RPI4,1
a triangular plate and we want
ω2
to determine the velocity of P.
Since P is a point on link 3, we O2 = I1,2
have:
VP = ω3 ∙ RPI1,3

The direction is found by O4= I4,1

rotating RPI1,3 90° in the
direction of ω3. ►

I1,3

P. Nikravesh, AME, U of A