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Inversions of 3R 1P Kinematic Chain or Inversions of Inversions of 3R-1P Kinematic Chain or Inversions of
Slider Crank Chain
In this four bar kinematic chain four links shown by blocks In this four bar kinematic chain, four links shown by blocks
are connected through three revolute pairs T1, T2 and T3
and one prismatic pair.
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Second Inversion Second Inversion
In this case link 2 is fixed and link
3 works as crank. Link 1 is a
slotted link which facilitates
movement of link 4 which is a
slider. This arrangement gives
quick return motion mechanism.
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Third Inversion
f This inversion is obtained by fixing link
3. Some applications of this inversion
are oscillating cylinder engine and
crank and slotted lever quick return
motion mechanism of a shaper
machine. Link 1 works as a slider
which slides in slotted or cylindrical
link 4. Link 2 works as a crank.
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Fourth Inversion Pendulum Pump
It i bt i d b fi i li k 4 hi h i lid It is obtained by fixing link 4 which is slider.
Application of this inversion is limited. The
pendulum pump and hand pump are pendulum pump and hand pump are
examples of this inversion. In pendulum
pump link 3 oscillates like a pendulum and pump, link 3 oscillates like a pendulum and
link 1 has translatory motion which can be
used for a pump used for a pump.
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Inversions of 2R-2P Kinematic Chain or Double Slider Crank Inversions of 2R 2P Kinematic Chain or Double Slider Crank
Chain
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Third Inversion
This inversion is obtained by fixing link 4. The mechanism so obtained is called
elliptical trammel which is shown in Figure 1.32. This mechanism is used to
draw ellipse. The link 1, which is slider, moves in a horizontal slot of fixed link 4.
The link 3 is also a slider moves in vertical slot. The point D on the extended
portion of link 2 traces ellipse with the system of axes shown in the figure, the
position coordinates of point D.
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Crank: A side link which revolves relative to the frame is called a crank Crank: A side link which revolves relative to the frame is called a crank.
Rocker: Any link which does not revolve is called a rocker.
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Grashof Type 1: s + l < p + q Linkages have at least one fully
rotatable link Three
Th (1) Sh t t b i th f Three cases:(1) Shortest bar is the frame
Double crank
(2) Short bar is the side link (2) Short bar is the side link
Crank rocker
(3) Shortest bar is the coupler
Crank-rocker mechanism: In a four bar linkage, if the shorter side link revolves
(3) Shortest bar is the coupler
Double rocker
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and the other one rocks (i.e.,oscillates), it is called a crank-rocker mechanism.
Double-crank mechanism: In a four bar linkage, if both of the side links revolve,
it is called a double-crank mechanism.
Double-rocker mechanism: In a four bar linkage, if both of the side links rock, it
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is called a double-rocker mechanism.
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