Chapter 2:

I. General
1. Introduction:
• Link 1: frame, fixed link
• Link 2 : driver, driving link,crank
• Link 3: connecting rod
• link 4: Oscillating link

FOUR-BAR LINKAGES 1
What is a Mechanism?
A mechanism is the part of a machine which contains two or
more pieces arranged so that the motion of one compels the
motion of the others.
Generally used to:
– Change the direction of movement
– Change the type of movement
– Change the speed of movement
– Change the amount of torque or force available to do work
3. Applications of four-bar linkages:
• 2 links rotate
• 1 link rotates + 1 link oscillates
• 2 links oscillate

4. Other types of four-bar linkages:

• Choose the different fixed link (frame).
• The link ∞
II.
1. Grashoff’s law
This law states that if the sum of the length of the shortest link and the
longest link is less than the sum of the lengths of the other two , there
will be formed
• two different crank rocker when the shortest link is the crank and
either of the adjacent links is the fixed link.
• a double crank when the shortest link is the fixed link.
• a double rocker when the link opposite the shortest is the fixed link
2. Transmision ratio

3. Villis’ law

III. Kinematic analysis of planar mechanism

• Methods of position, • Using Vector mathematics
velocity and acceleration analysis • Velocity, acceleration polygons
• Vector loop closure equations
(Complex number form)

1. Position analysis
2. Velocity analysis