SRI LANKA INSTITUTE OF

INFORMATION TECHNOLOGY
Faculty of Engineering

MECHANICS OF MACHINES (ME202)

FOUR BAR CHAIN

B.Sc. Mechanical and Mechatronic Engineering

Practical Date:
Submission Date:
Instructors Name:
Name(s) and ID
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ME202: Mechanics of Machines I - 2016

ME2020 Mechanics of Machines

FOUR BAR CHAIN
Objectives
To investigate a four-bar linkage and to find the cognate linkages and velocities of the
rocker.
Employ the instantaneous centre of rotation to determine the velocity profile of different
links in the mechanism.
Introduction
The four bar chain is a very important class of mechanism where relative motion can occur
between adjoining links. Over 700 variations are known and used for different purposes.
The variations are made by altering the lengths of the links and making different links the
stationary member. The derived motions cover rotation, oscillation and conjugate motions.
Perhaps the most interesting phenomena is that in some variants of the four bar chain, either
a point on a particular link or part of a coupler curve is a straight line.
The first use of this was invented by James Watt (1736-1819) who in 1784 focused his
attention to the motion of a point on the linkage. The result was a straight tine mechanism
which enabled him to build double acting steam engines. This made possible the use of
steam at pressures much greater than atmospheric, as was hitherto the case with Newcomen
type engines, and the consequent improvement in efficiency.
Later four bar chains were analyzed mathematically by Samuel Roberts F.R.S. (1827-1913)
and Pafnutij Chebyshev (1821 -1894). They independently arrived at the same theorem
which today bears both names.
Four Bar Linkage

Figure 1: Four bar linkage

As the name implies it consists of four rigid members. A frame or fixed member which is
taken to be stationary, a crank and follower which are pivoted to the frame and a coupler
which links the crank and follower. All joints are pivots and are thus revolute pairs. These
allow relative rotation between adjacent members and all the revolute axes are in parallel. A
point on the coupler is called the coupler point. The path it traces when the crank rotates is

ME202: Mechanics of Machines I - 2016

called the coupler-point curve, or coupler curve. By judicious choice of link dimensions and
coupler point locations useful coupler curves can be generated. The utility of the curve so
generated depends upon the shape of either a part of it or the whole curve. As an example
part of the coupler curve may generate a straight line or a circular arc.
Instantaneous Centre
The method of Instantaneous Centres is a graphical method which can be used to determine
the velocity of a link. Any displacement of a body (or a rigid link) having motion in one
plane can be considered as pure rotational motion of a rigid link as a whole about some
centre, known as instantaneous centre of rotation.
Consider the link AB in the four bar chain shown in Figure 2.

Figure 2: Instantaneous centre of the coupler

In the coupler the velocity directions at points A and B can be drawn as shown in the
figure. The velocity VA is perpendicular to the link OA A and the velocity at point B is
perpendicular to the link OB B. Now we draw perpendiculars to the two velocities until they
intersect. Thus the intersect point I is treated as the instantaneous of rotation of the coupler
AB. In other words at this given instant, the centre of rotation of the link AB is I. Thus
the instantaneous angular velocity of link AB is therefore;
AB =

VA
VB
=
IA
IB

IB
VA
(1)
IA
The line OA D is drawn parallel to OB B and we can see that triangles OA AD and IAB are
similar. Therefore,
OA D
VB =
VA
(2)
OA A
VB =

ME202: Mechanics of Machines I - 2016

The Apparatus
The apparatus is illustrated below and is a four-bar linkage. The linkage is of the crankrocker type, with the crank on the left. The effective length of the rocker can be adjusted.
In addition an extra link is provided co-axial with the crank. This is used to determine the
instantaneous velocity of the follower-rocker pivot.

Figure 3: The Lab Set-up

Procedure
Select a rocker length by adjusting the knurled screw, take up the slack with the screws on
the coupler but do not tighten, Use a ruler to measure the lengths of the crank, follower,
rocker and frame members of the mechanism.
Start with the crank at 0 and note the rocker position. Set the extra link with the scale
to the same angle as the rocker. Then read the distance OA D from the scale by noting where
the line in the centre of the follower crosses the scale. Repeat the reading every 10 of crank
angle.
Tabulate your data in the format shown below.

OA D
VB

10

20

30

VA = 1 m/s
OA A =

40

ME202: Mechanics of Machines I - 2016

Results
Plot VB against .
Ploet VB against
For the crank angle of 45 and for a coupler point M , midway on the follower, draw
the cognate linkages to scale.
Discussion
Explain some practical applications of using four bar chain.
Explain other arrangements of the mechanism, such as Parallelogram, Crank Rocker,
Drag Link, and Double Rocker while referring to different dimensions of the links.
Which of the cognate linkages occupies the smallest space?