)

FUNDAMENTALS

OF
APPLIED

KINEMATICS

D. C. TAO
Office Products Division
International Business Machines Corporation

i.
ii
...
TT
Iii
ADDISON-WESLEY PUBLISHING COMPANY i. iI;I!i
Reading, Massachusetts Menlo Park, California
London . Amsterdam . Don Mills, Ontario . Sydney
 9.1

9.1 INTR4
Analyses oj
discussed ill
mental tech

Four types,
CHAPTER 9
A four-bar I
one of these
of a four-ba
follower. Li
the length oj
LINKAGES
necting rod ,
can make a(
if it can onl}

The four tJ
Douhle-Int
can make a CCI
motion from I
mobile, shoWi
front wheels a
links are not c

Fig
9.1 INTRODUCTION 225

9.1 INTRODUCTION

Analyses of the displacement, velocity, and acceleration of linkage mechanisms were

discussed in previous chapters. This chapter deals specifically with the most funda
mental techniques. of designing four-bar linkages.

Four types of four-bar linkages

A four-bar linkage is composed of four rigid links connected by four pin joints with
one of these a fixed link, AoBo (Fig. 9.1). (Figure 9.1 is a generalized representation
of a four-bar linkage.) Link AoA is customarily called the driver, and link BoB the
follower. Link AB is called the connecting rod or coupler. Ordinarily, d represents
the length of the fixed link; a, the length of input link A oA; b, the length of the con
necting rod AB; and c, the length of output link BoB. If a link of a four-bar linkage
can make a complete rotation, it is called a crank. A link is called a lever or a rocker
if it can only oscillate.
B

Fig. 9.1. A four-bar linkage.

The four types of four-bar linkages are described below.

Double-lever mechanism (Fig. 9.2). Neither input link A oA nor output link BoB
can make a complete rotation. This type of mechanism is used to transmit oscillating
motion from one shaft to another. The Ackermann steering mechanism of an auto
mobile, shown in Fig. 9.2(b), is an example of a double-lever mechanism. The two
front wheels are turned by links AoA and BoB. The angles of rotation of these two
links are not equal when the automobile makes a turn.

(a) (b)
Fig. 9.2. (a) Double-lever mechanism, (b) Ackermann steering mechanism.
226 LINKAGES 9.1 9.1

(a)

Fig. 9.3. A crank-lever indexing mechanism. (b)

C,IUI/c-/erw
tion, but outp
of the mechu
used as a qui
(Fig.9.3b). Q
the following 11

Drllg-lilllc or
link BoB of a d
anter positioa
iDversion of'"
IIism is made iI
kwtt mecJtanig
14.) Therefon
Iiaks. (The dn
aa.nk-Iever IDflI:

Fig. 9.4. Drag-link or double-crank mechanism.

9.1 9.1 INTRODUCTION 227

I
I
tBo at 00
(a) (b)

~.
(e) (d)
Fig. 9.5. Slider-crank mechanisms.

Crank-lever mechanism (Fig. 9.3). Input crank AoA can make a complete revolu
tion, but output link BoB can only oscillate. (There are two dead-center positions
of the mechanism during one cycle of operation.) This type of linkage is widely
used as a quick-return mechanism (Section 9.4) and as an indexing mechanism
(Fig. 9.3b). Crank AoA is the shortest link, and the lengths of the links must satisfy
the following relationship:
(b +c a) > d > (Ib - cl a).

Drag-link or double-crank mechanism (Fig. 9.4). Both input link AoA and output
link BoB of a drag-link mechanism can make complete rotations. There is no dead
center position during a complete cycle of operation. The drag-link mechanism is an
inversion of the crank-lever mechanism. If the input crank of a crank-lever mecha
nism is made into a fixed link and the fixed link made into a moving link, a crank
lever mechanism becomes a drag-link mechanism. (Inversion is discussed in Section
3.4.) Therefore, the fixed link of a drag-link mechanism is the shortest of the four
links. (The drag-link mechanism shown in Fig. 9.4 has the same dimensions as the
crank-lever mechanism in Fig. 9.3.)
Slider-crank mechanism (Fig. 9.5). The slider-crank mechanism is a special form
of the crank-lever mechanism obtained by assuming that lever BoB has infinite
length. The distance from the fixed pivot A 0 to the line of motion of the slider is
called the eccentricity, e, of a slider crank (Fig. 9.5a). The simplest form of a slider
228 LINKAGES 9.2 9.2

crank mechanism has eccentricity equal to zero; i.e. the line of motion of the slider
passes through the fixed pivot (as in a gasoline or steam engine), Fig. 9.5(b). The
slider-crank mechanism has two dead-center positions during one cycle of operation.
A Scotch-yoke mechanism is one form of a slider-crank mechanism (Fig. 9.5c).
The slider has simple harmonic motion. Figure 9.5(d) shows a basic toggle mecha A

~.
nism that is commonly used in punch presses, clamps, etc. If properly designed,
this mechanism has great mechanical advantages. A small force at the handle, which
is an extension of the crank, can produce a very large force at the slider.
$A~uPu,
(See Section 4.7.)

Four-bar linkage design

In engineering practice, some of the problems of four-bar linkage design fall into Fig. 9.7. The tro. . .
two classes. linkage.

Coordination of input and output angles. Double-lever,crank-lever, and double

crank mechanisms are used to coordinate input and output crank angles. In pther The relation bee
words, when the input link sweeps through a specified angle, the output link must four-bar linkage au
pass through another specified angle. AoABBo equivaleal
imaginary crankpia
Coordination of input angle and output linear displacement. Slider-crank mecha
connecting rod All
nisms are used to coordinate angles with linear displacements. In other words, when
to the pitch curve 0
the input crank sweeps through a specified angle, the output slider must pass through
lines n-n and t-l. aJ
. a specified position on a straight line, and vice versa.
angle ABB o. Since
There are two approaches to the design problems of four-bar linkages: the ana complement of the
lytical and the graphicaL The graphical approach is generally preferred by designers The transmissioll
because of its simplicity, clarity, accuracy, and ease of application for engineering
purposes. Designers like to visualize how the linkage would move and how it would
driver (Fig. 9.8)
to the motion of the
is"
fit the available space. the angle between ..
n
9.2 IMPORTANCE OF THE TRANSMIS

Minimum value 011

SION ANGLE

Significance of the transmission angle Force transmission fi

the transmission an&l
The transmission angle is of the same im
as little as possible I
portance in linkage design as the pressure
transmission angle oj
angle is in cam design. The pressure angle,
nitude of the transm
a, of a cam is the angle between the normal
the joints, the speed"
n-n to the pitch curve and the direction of
40 0 as a good practia
motion H of the follower (Fig. 9.6). The
is necessary to avoid
transmission angle of a four-bar linkage is

the angle, p. or 180 0 p., between the

Determination of ....
connecting rod and the output link (Fig. 9.7).

Either p., or 180 0 p. (whichever is acute)

Fig. 9.6. Relationship between transmission The minimum traa
is used in this text. angle p. and pressure angle a. determined as follow.!
 9.2 9.2 IMPORTANCE Of THE TRANSMISSION ANGLE 229

IlOtion of the slider A

~. Fig. 9.5(b). The
:cycle of operation.
banism (Fig. 9.5c).
basic toggle mecha B
A
. properly designed,
It the handle, which
[)rce at the slider.

;age design fall into Fig. 9.7. The transmission angle of a four-bar Fig. 9.S. The transmission angle p, of a slider-
linkage. crank mechanism.

tk-lever, and double

Ilk angles. In other The relation between the pressure angle of a cam and the transmission angle of a
he output link must four-bar linkage can be derived as follows. Figure 9.6 illustrates the fo~r-bar linkage
AoABBo equivalent to the cam and follower system at that particular position. The
imaginary crankpin A is the center of curvature of the pitch curve, and the imaginary
Slider-crank mecha connecting rod AB is the radius of curvature; therefore, line AB is the normal n-n
rn other words, when to the pitch curve of the cam. The pressure angle Ci of the cam is the angle between
cr must pass through lines n-n and t-t, and the transmission angle M of the equivalent four-bar linkage is
angle ABB o. Since line t-t is perpendicular to line BoB, the pressure angle, Ci, is the
ar linkages: the ana complement of the transmission angle, M.
weferred by designers The transmission angle, M, of a slider-crank mechanism with crank A oA as the
alion for engineering driver (Fig. 9.8) is the angle between the connecting rod AB and the line perpendicular
[We and how it would to the motion of the slider. If the slider is used as the driver, as in a piston engine,
the angle between the connecting rod and the crank becomes the transmission angle.

Minimum value of the transmission angle

Force transmission from the connecting rod to the output link is most effective when
the transmission angle is 90. Naturally, it is most desirable to have this angle deviate
as little as possible throughout the range of operation. The minimum permissible
transmission angle of a four-bar linkage depends on many factors, such as the mag
nitude of the transmitted forces, the manufacturing tolerances, the friction between
the joints, the speed, etc. Some designers suggest a minimum transmission angle of
40 as a good practical limit. In some high-speed machinery, a minimum value of 45
is necessary to avoid noise and jerk in the operation.

Determination of the minimum transmission angle (Mmin)

_p between transmission
are angle Ci.
The minimum transmission angle for the different types of four-bar linkages is
determined as follows.
230 LINKAGES 9.3 9.3
B

(a)

Fig. 9.9. Determination of fJ.min of a crank-lever mechanism.

(a)

Double-lever mechanism. The transmission angles at different positions within

the operating range can be determined by measurements with a protractor. Deter
mination of the exact value of fJ.min is unimportant since an approximate value will
serve for design purposes. '
Crank-lever and double-crank mechanisms. During a complete cycle of operation
of a crank-lever or double-crank mechanism, the transmission angle is at its mini
mum when the crank is in line with the fixed pivots. Figure 9.9(a) shows a crank-lever
mechanism withfJ.min occurring when AoA is outside the fixed link AoBo. Figure 9.9(b)
shows fJ.min occurring when crank AoA is inside the fixed link AoBo. It is necessary Fig. 9.11. D
to determine which position gives the actual }.Lmin. and one outp

Slider-crank mechanism. The transmis A

sion angle of a slider-crank mechanism Let 812 :
with crank AoA as the driver (Fig. 9.10) is respectively,
at its minimum when crank AoA is per and output I
pendicular to the motion of the slider.
Example I
Gicen: The I
Fig. 9.10. Transmission angle of a slider-crank correspondil
mechanism.
Design: A"
9.3 DOUBLE-LEVER MECHANISM Solution
A double-lever mechanism is used to transmit an oscillating motion from one link I. Draw a Ii
to another. For best results, the design technique should be tailored to the specific 2 Construct
problem. We shall discuss three methods. c!ockw;'j
3. Lines KA.
Relative-pole method
angle Z"..
This method is a powerful tool for coordinating the input and output angles of double -t. Any poiuI
lever and crank-lever mechanisms. crankpin..,j
 9.3 9.3 DOUBLE-LEVER MECHANISM 231

B
d

(b)

(a) (b)

t positions within
lI'otractor. Deter BI
llximate value will ~-----r-:::: B2

cycle of operation
Igle is at its mini
hows a crank-lever (e)
oBo. Figure 9.9(b)
"0' It is necessary Fig. 9.11. Design of a double-lever mechanism by relative pole method to co-ordinate one input
and one output angle in the same direction.

Let 8 12 and rP 12 represent the angles described by the input and output links,
respectively, while moving from position I to position 2. (0 and rP designate the input
and output angles, respectively, and the numerals designate the positions of the link.)

Example 1
Given: The length d of the fixed link (Fig. 9.Ha), theinput crank aqgle 8 12, and the
corresponding output crank angle rP12. (Both angles are measured clockwise.)

B Design: A double-lever mechanism to meet the above requirements.

Solution

mon from one link 1. Draw a line segment AoBo of length d (Fig. 9.11b).
lored to the specific 2. Construct LirKAoBo = 8 12/2 and LirLBoX = rP12/2 (both angles are measured
clockwise from KAo and LBo).
3. Lines KAo and LBo intersect at the relative pole R 12 . At point R 12 , construct an
angle Z BR 12ZA = LirBoR12AO at an arbitrary position.
ftlt angles of double 4. Any point on line ZBR 12 is the crankpin Bl and any point on line ZAR 12 is the
crankpin AI'
232 LINKAGES 9.3 9.3
d K

.~ 4023
(a)
(a)

Ji

Fig.9.12. Design of a double-lever mechanism by relative pole method to co-ordinate one input
and one output angle in opposite directions.

Example 2
Fig. 9. 13. D!!$igI
Given: The length d of the fixed link (Fig. 9.12a), the input crank angle 8 12 (cw), and input and two ouIIJ
the corresponding output angle <P12 (ccw).
Design: A double-lever mechanism to meet the above requirements. Solution
1. Construct tb
Solution
(Fig. 9.l3b)_
1. Draw a line segment AoBo of length d (Fig. 9.l2b). 2. At point R12
2. Construct 4KAoBo = 8 12/2 (clockwise measured from KAo), and 4LBoAo = point R 13. aJ
<p12/2 (counterclockwise measured from LBo). 3. Lines R 12Z..
3. Lines KAo and LBo intersect at the relative pole R 12 intersect at a
4. At point R 12 , construct 4ZAR12ZB = 4AOR12BO at an arbitrary position. 4. The solution
5. Any point on the line ZAR 12 is the crankpin A 1, and any point on the line Z B R 12 varying the p
is the crankpin B 1 . . For practical
6. One of the many solutions is shown in Fig. 9.l2(c). input and two 01
If necessary, the points A 1 and B 1 do not have to be on the same side of the
relative pole R 12. Since checking the solution is extremely simple, the designer is Inversion metIM
advised to do so. This method usc
Example 3 Example 1
Given: The length d of the fixed link shown in Fig. 9.13(a), the input crank angles Given: The lengl
8 1 2 and 8 13 (cw), and the corresponding output crank angles <P12 and <P13 (cw).
the correspondiJ
Design: A double-lever mechanism to meet the above requirements. Design: A doull
 9.3
(b)
IIod to co-ordinate one input
:rank angle /} 12 (cw), and
irements.
II KAo), and :q..LBoAo =
~
lID. arbitrary position.
J point on.the line ZB R 12
Ie on the same side of the
aely simple, the designer is
~), the input crank angles
~ cP12 and cP13 (cw).
mements.
9.3 DOUBLE-LEVER MECHANISM 233
W
812~
(a)
Fig. 9.13. Design of a double-lever mechanism by the relative pole method to co-ordinate two
input and two output angles.
Solution
1. Construct the relative poles R12 and R I3 as described in Problems I and 2
(Fig. 9.13b). .
2. At point R 12 , construct :q..ZA R I2 Z B = :q..AoRI2BO at an arbitrary position. At
point R 13 , construct :q..Z~RI3Z~ = :q..AoR13BO at an arbitrary position.
3. Lines R 12Z A and R13Z~ intersect at crankpin AI, and lines R 12Z B and RI3Z~
intersect at crankpin B 1.
4. The solution is shown in Fig. 9.13(c). (Additional solutions can be obtained by
varying the positions of :q..ZA R I2 Z B and :q..Z~R13Z~,)
For practical purposes, the relative-pole method is good for coordinating two
input and two output crank angles.
Inversion method
This method uses the concept of inversion explained in Section 3.4.
Example 1
Given: The length d of the fixed link (Fig. 9.l4a), the input crank angIe 812 (cw), and
the corresponding output crank angle cP12 (cw).
Design: A double-lever mechanism to satisfy the given requirements.
234 LINKAGES 9,3 9.3

(b)
(a)

(c)

Fig. 9.14. Design of a double-lever mechanism by inversion method to 'co-ordinate one input and
one output crank angle.
Fig. 9.15.
two output cr.
De:siI

Example 2
Solution Given: The lc::II
1. Draw a line segment AoBo of length d (Fig. 9.14b). (ccw), and the,
2. At point B o, construct an angle BIBOB2 = cP12 (clockwise) at an arbitrary posi Design: A doul
tion and select a suitable output crank length B1BO = B 2B o.

3. At point A 0, draw an arbitrary line A oA 1 as the first position of the input crank. Sedution

4. Join line A oB 2. Construct an angle B2AoB~ equal to 6 12 but in the opposite l. Draw a line
direction, and make AoB~ = A oB 2 This procedure yields the location of pin 2. Select a suiIl
B(B~) relative to the input crank at position 2, because the input link is assumed 4 A I A oA2 =
to be fixed at position I and the other three links are rotated backward from positions of 1
position 2 to position l. 3. Join BoA.
5. Since Bland B~ should have the same distance from A h which is the length of BoA2' Co.
the connecting rod, erect the perpendicular bisector of line BIB~, intersecting line 4. Erect the pa
AoA 1 at point A 1. Thus, A IB1 is the connecting rod.
Then AIB.iI
6. The solution is the four-bar linkage AoAlBlBo (Fig. 9.14c). as shown iaJ

to co-ordinate one input and
~) at an arbitrary posi
B 2 B o
lIOSition of the input crank.
:0 lJ 12 but in the opposite
yields the location of pin
c the input link is assumed
re rotated backward from
A 1. which is the length of
line BIB~, intersecting line
U4c)_
fig. 9.15. Design of a double-lever mechaaism by inversion method to co-ordinate two input and
two output crank angles.
Example 2
Given: The length d of a fixed link (Fig. 9.1Sa), the input crank angles 9 12 and 913
(ccw), and the corresponding output angles <P12 and <PIa (ccw).
Design: A double-lever mechanism to meet the given requirements ..
Solution
1. Draw a line segment AoBo of length d (Fig. 9.1Sb).
2. Select a suitable input crank length A oA I at an arbitrary position and construct
,q.AIAOi2 9 12 and ,q.AIAOA"3 = 9 13 , so that A., A 2, and Aa are the three
positions of the input crankpin.
3. Join BoAs. Construct ,q.AaBoAA = -<PIS and make BoA3 = BoAA. Join
BoA 2. Construct ,q.A2BoA~ = -,q,12 and make BoA2 = BoA~ (inversion).
4. Erect the perpendicular bisectors of AIA~ and AIA~. They intersect at point B I .
Then A IBI is the connecting rod and the solution is the four-bar linkage AoA IBIBO
as shown in Fig. 9.1S(c).
236 LINKAGES 9.3 9.3

d 3. At point

(Note tIJ
Lines A"
with Al.
4. With poi
so that

and

(a)
(AU ang)!
5. Join A-tB1

7. Erect the J
tively. Th
bar link3IJ

Overlay mall

Fig. 9.16. Design of a double-lever mechanism by inversion method to coordinate three input The methods
and three output crank angles. coordination I
than three all,!
Example 3 curate enougIJ
Given: The length d of the fixed link (Fig. 9.16a), the input crank angles 012 , 013 , Problem. De
and 014. and the corresponding output crank angles CP12, CP13, and CP14. . and output en
Design: A double-lever mechanism to meet the given requirements.

Solution
1. Draw a line segment AoBo of length d as shown in Fig. 9.16(b).
2. At point A 0, cOllstruct

(Note that this angle is constructed in the same direction as the given angles.)
 9.3 9.3 DOUBLE LEVER MECHANISM 237

3. At point B 0, construct

CP13/ 2).
(Note that this angle is constructed in the same direction as the given angles.)
Lines A4BO and A4AO intersect at point A 4. This choice of A4 makes A coincide
with Al.
4. With point Ao as the center, AoA4 as the radius, draw a circular arc AIA2A3A4
so that

and

(All angles are in the same direction as the given angles.)

5. Join A4BO' With Bo as the center, A4BO as the radius, draw arc A4Al so that

6. Join A2BO with Bo as the center, A2BO as the radius, draw an arc.A 2AJ so that

4 A 2B OAJ = -CPl2 (inversion).

7. Erect the perpendicular bisectors e 14 and e 12 of the lines AlA I and AJA I respec
tively. They intersect at point B I . Then AIBI is the connecting rod and the four
bar linkage AoAIBlBo is the solution (Fig. 9.16c).

Overlay method

to coOrdinate three input The methods discussed in the previous sections give theoretically exact solutions for
coordination of up to three angles. If a design demands the coordination of more
than three angles, the well-known overlay method proves more practical and is ac
curate enough for most engineering problems.

crank angles 812, 8 13 ,

Problem. Design a four-bar linkage so that the angular coordination of the input
and output cranks agrees with the schedule given in Table 9-1.'
,and CPu.
ElCIlts. Table 9-1

j 8;1 (cw) CPij (ccw)

16(b). 1 2 15 10.80
2 3 15 12S
3 4 15 14.2
4 5 15 15.8
~).
5 6 15 17S
s the given angles.) 6 7 15 19.20
238 UNKAGES 9.3 9.4

2 Solution
I. On a pic
(Fig. 9.1
example,
as the ra
the suea:
6 2. On anod
accordq
r~=------+~------7 Fig. 9.17~
3. Put the fi
(a) of the sen
Sometime:
the conne
must COlIC
This medJ
point (6H 01
drafting film.
accuracy of =

9.4 CRAI&
Quick........

A crank-lever
complete left
.Ie\-er will be ..
.-ith the COIDI
between the 11
lion of the 081

(c)

Fig. 9.17. Design of a double-lever mechanism by overlay method.

 9.3 9.4 CRANK LEVER MECHANISM 239

Solution
1. On a piece of tracing paper, layout the successive positions of the input crank
(Fig. 9.17a), according to schedule 8ib and select a length for this crank, for
example, A oA 1. Also, select a length for the connecting rod and, using this length
as the radius, draw a series of circular arcs, kl through k1' with their centers at
the successive crankpin positions A 1 through A 1.
2. On another sheet of paper, layout the successive positions of the output crank
according to schedule <Pij and a series of lengths for this crank, as shown in
Fig.9.17(b).
3. Put the first layout over the second, fitting the circular arcs of the first with one
of the series of the crankpin positions of the second in sequential order (Fig. 9.l7c).
Sometimes many trials of various combinations of lengths of the crank A oA and
the connecting rod are necessary to achieve a satisfactory fit. Occasionally, we
must conclude that no solution exists.
This method is very accurate if large layouts are made with a very fine pencil
point (6H or 9H lead) on a nonstretchable transparent material such as Herculene*
drafting film. It is possible to achieve an angular accuracy of !O apd a linear
accuracy of O.003 in.

9.4 CRANK-LEVER MECHANISM

Quick-return mechanism

A crank-lever mechanism is shown in Fig. 9.18. As the ipput crank AoAl makes a
complete revolution, the output lever BoBl oscillates through an angle <P12. The
lever will be at its two extreme positions, BoBl and BoB2' when the crank is in line
with the connecting rod. Angle 812 is the angle of rotation of the input crank A oA 1
between the two extreme positions, while <P 12 is the corresponding angle of oscilla
tion of the output lever BoBl'

Fig. 9.18. A cronklever mechanism.

rlay method. * Trademark, Keuffel and Esser Co.

240 LINKAGES 9.4 9.5

The crankool
If the input en
tions of the lew
Quick-retlln
a slow cutting I
with varied fon
In the fono.
(b) angles 8 1 2 and
method is em.,.

Example

(a) Given: The lena

and the corresp

Solution
1. Draw line sq
Fig. 9.19. Quick-return mechanisms. (a) Crank shapero (b) Offset slider crank. (c) Whitworth. 2. At point A ..
point Bo, COl
LBo intersect
the directiOlll
to the first poll
angles.)
3. Erect the pel)
4. Draw circle I;.
as a radius, ell
5. At point Bfh 4
the given a.nrJ
K Then the ciraI
(a) (b) 6. Select any poi
at point A 2 1
This is only one c

9.5 SLiDER-CIla

Figure 9.21 show

The eccentricity Ii!
to the direction aI
tween positions I ~
direction of the di
Since the slides
Fig. 9.20. Design of a crank-lever mechanism, 812 < 180. with one lever or i
 9.4 9.5 SLIDER-CRANK MECHANISM 241

The crank-lever mechanism is frequently designed for a "quick-return" action.

If the input crank A oA I rotates at a constant speed, the time ratio of the two oscilla
tions of the lever BoB1 is 812/(360 - () 12)'
Quick-return mechanisms are commonly used in such machines as shapers with
a slow cutting stroke and a fast return stroke. Examples of quick-return mechanisms
with varied forms are shown in Fig. 9.19.
In the following example, a crank-lever mechanism is designed to coordinate the
(b) angles 8 12 and 4> 12 corresponding to both dead-center positions. (The relative-pole
method is employed.)

Example
Given: The length d of the fixed link AoBo (Fig. 9.20a), the input crank angle 8 12 ,
and the corresponding output crank angle 4> 12.

Solution
1. Draw line segment AoBo equal to the given length d (Fig. 9.20b).
ank. (e) Whitworth. 2. At point A o, construct it-BoAoK 812/2 in the same direction as {)12, and at
point B o, construct it-XBoL = 4>12/2 (same direction as 4>12)' Lines .KA o and
LBo intersect at the relative pole R 21 - (Pole R21 is used instead of R 12 , because
the directions of the constructed angles are measured from the second position
to the first position. Refer to Section 9.3 and note the directions of the constructed
angles.)
3. Erect the perpendicular bisector of R 21 A o, intersecting R21BO at point Ob.
~ ~
~x
4. Draw circle ka with R21AO as the diameter. Also, with O'b as the center and O~o

as a radius, draw circle k o
5. At point B o, construct an angle, AoBoN, in the same direction as and equal to
the given angle, 4>12, Draw line NBo intersecting circle ko at points Nand S_
Then the circular arc NS is the locus of all the possible crankpins B 2
6. Select any point B2 on the arc NS. Construct line AoB2 which intersects circle ka
at point A 2. The required linkage is then AoA2B2BO (Fig. 9.20c).
This is only one of many possible solutions.

9.5 SLIDER-CRANK MECHANISM

Figure 9.21 shows an eccentric slider-crank mechanism with an input crank AoA.
The eccentricity e of the slider is the perpendicular distance from the fixed pivot A 0
to the direction of motion of the slider. The input crank angle 812 (clockwise) be
tween positions 1 and 2 corresponds to the linear displacement s 12 of the slider. The
direction of the displacement is away from the fixed pivot.
Since the slider-crank mechanism is actually a special version of a four-bar linkage
with one lever of infinite length, the principles used to coordinate angles for a four
242 LINKAGES 9.5 9.5

Fig. 9.21. Two positions of a slider-crank mechanism.

Y L

~c
Fig. 9.23. Slid....
toward fixed piwaI!

Solution
(a)
J. Draw two . .
2. Select a line ..
K
in the directia
L y
to Bo at 'X;
3. At points c.
(b) (c) 4. Construct 4JI
5. Lines KAo . .
Fig. 9.22. Slider-crank mechanism. Two-position, angle-displacement co-ordination, displacement ZAR 12Z B =
away from fixed pivot, relative pole method.
6. Line R 12Z B ill
the crankpin A
bar linkage (Sections 9.3 and 9.4) can be applied to the design of a slider-crank
mechanism intended to coordinate angles with linear displacements. Figure 9.23 iI
In the following examples the relative-pole method is used. above except that
procedureisi~

Example 1
ExampJe2
Given: The eccentricity e of a slider-crank mechanism above the fixed pivot (Fig. 9.22a).
Gicen: Crank 3DII
the crank angle () 12 (clockwise), and the linear displacement s 1 2 of the slider moving
ments s 12 and .J~
away from the fixed pivot Ao.
away from the b
Design: A slider-crank mechanism to meet the above requirements. Design: A slider-a
 9.S 9.5 SUDER-CRANK MECHANISM 243

Y L
(a)

Fig. 9.23. Slider-crank mechanism. Two-position, angle-displacement co-ordination, displacement

toward fixed pivot, relative pole method.

Solution
1. Draw two parallel lines II an<~. 12 a distance e apart.
I

2. Select a line segment A oC of length s I 2/2 on line 12 This line segment is measured
in the direction opposite to S12.
3. At points C and Ao draw lines LC and YA o perpendicular to AoC.

(c) 4. Construct .q..KAoY = 0 12/2 (clockwise).

I"CIII'dination, displacement
sign of a slider-crank
lCllts.
5. Lines KAo and LC intersect at the relative pole R 12 At R12 construct an angle
Z A R 12Z B = 012/2 (also clockwise) in an arbitrary direction.
6. Line R 12 ZB intersects line 11 at point Bt, and any point on line R 12 ZA may be
the crankpin A 1 (Fig.9.22c).
Figure 9.23 illustrates a slider-crank mechanism with the same specifications as
above except that the displacement s 12 is toward the fixed pivots. The construction
procedure is identical to that used in the previous problem.

&.xed pivot (Fig. 9.22a),
l2 of the slider moving
!lents.
Example 2
Given: Crank angles 812 and 823 both equal to 45 (clockwise), and linear displace
ments S12 and S13 (Fig. 9.24a) both linear displacements pointing in the direction
away from the fixed pivots.
Design: A slider-crank mechanism to meet the requirements.
244 LINKAGES 9.5 9.6

1
S12
Z'.4
S13
.1

(a)

(c)

Fig. 9.24. Slider-crank mechanism. Three-position, angle-displacement co-ordination, relative 9.6 COUPLa
pole method.
The previous SID
Solution put links. Now
The connedi
1. Draw line II parallel to the direction of motion of the slider and select an arbi points belo~
trary point A 0 on line II (Fig. 9.24b). traced out by d
2. Follow the same procedure; establish the relative poles R 12 and R 13. many mechanisl
3. At R I2 , construct 4ZAR12ZB equal to 812/2, clockwise, in an arbitrary position. jector. When d
At R I3 , construct 4Z~R13Z~ equal to 813 /2, clockwise, in an arbitrary position. the coupler poiI
character D. ~
4. The points of intersection of lines Z AR 12 and Z~R13' and Z BR 12 and Z~R13 are point C of the rei
the crankpin A 1 and the slider B h respectively (Fig. 9.24c). point C within t
 9.5 9.6 COUPLER CURVES 245

Fig. 9.25. Examples of coupler curves.

"
" ",
\

Fig. 9.26. Coupler curve of a movie film transport mechanism.

t co-ordination, relative 9.6 COUPLER CURVES

The previous sections dealt with the coordination of the motions of the input and out
put links. Now we shall describe the motion of the connecting rod.
The connecting rod of a four-bar linkage is sometimes called the coupler, and the
:r and select an arbi points belonging to it are called coupler points. Figure 9.25 shows some coupler curves
traced out by these coupler points. Applications of coupler curves can be found in
many mechanisms. Figure 9.26 shows a film transport mechanism in a movie pro
and R 1 3' jector. When the crank AoA makes a complete rotation, the grab finger C, which is
an arbitrary position. the coupler point of the four-bar linkage AoABBo, traces out a path shaped like the
In arbitrary position.
character D. Figure 9.27 shows a crane with the lifting pulley attached at the coupler
:BR 12 and Z~R13 are point C of the four-bar linkage AoABBo. The coupler curve traced out by the coupler
point C within the operating range of the crane is approximately a straight line, CG'.
246 LINKAGES 9.6 9.6

Fig. 9.27. Co~ler 1:urve of a lifting creme.

Fig.9.31. j

Fig. 9.28. Single dwell from a tloupler curve

with constant radius of curvature. Fig. 9.29. Roberts slraight-line motion.

TwO' interesting characteristics Qf cQupler curves and their applicatiQns are de

scribed belQw.

Coupler curves with constant radius of curvature

A cQupler PQint P Qf a fQur-bar linkage AoABBo traces Qut the coupler curve shQwn
in Fig. 9.28. The PQrtiQn P'P" Qf the cQupler curve has an almost 'constant radius
Qf curvature CP with the center Qf curvature at C. The desired ,output angle 1/1 is
Qbtained by jQining PQints P:;md C with a cQnnecting rod CP and ch@'osing an Qutput
link CoC Qf suitable length. Jt is QbviQUS that the Qutput link CoD is standing still
while the cQupler PQint P travels from pI to' P".

,-'
 9.6 9.6 COUPLER CURVES 247

I I

11 Fig. 9.30. Evans straight-line motion.

~ '-----------------------------~----~

Fig. 9.31. Another Evans straight-line motion. Fig. 9.33. Hoeckens straight-line motion.

~
aberb *Q~line motion.

their applications are de-

_ the co1:rpler curve shown

an almost 'constant radius
desiredol1tput angle "" is
r:P and ciJ,oosing an output c o
tlink CoC is standing still / /

Fig. 9.32. Watt straight-line motion. Fig. 9.34. The Chebyshev straight-line motion.
248 LINKAGES 9.6

Coupler curves with straight lines

Some of the well-known straight-line motions, such as the Roberts, Evans, and Watt
motions (Figs. 9.29 through 9.34), are generated by coupler points of four-bar
linkages. These "ready-made" straight-line motions only occasionally fit actual
design problems. In most cases, the designer must develop straight-line motions to
suit his particular needs. (For example, the crane illustrated in Fig. 9.27.)
A motion with a dwell can also be generated
from a coupler curve with a straight line.
A coupler point P of a four-bar linkage
AoABBo has a path with a straight-line portion
P'P" (Fig. 9.35). A slider is attached to the point C
P and slides in a slot of the link CoC which is in
line with PIP". Thus, the output link CoC dwells
while slider P moves from pI to plIo

Fig. 9.35. Single dwell from a coupler curve with a

straight line.
Ao
PROBLEMS d

Nate: In solving the following problems, trace off the figures (if given) and use the specified
scale.
9.1 Design a double-lever mechanism using the relative pole method so that:
a) the length of the fixed link is d (Fig. 9.36),
b) the input crank angle ()12 = 60 (cw) and the corresponding output angle is 40 (ccw), 9.8 Use the iJIWII
c) the minimum transmission angle is greater than 45. 9.9 Design a fa
9.2 Use the inversion method to satisfy the requirements stated in Problem 9.1. angles is tdI
9.3 Design a double-lever mechanism by using the relative pole method so that:
a) the length of the fixed link is d (Fig. 9.37),
b) the input crank angle ()12 45 (cw) and the output angle </>12 = 60 (cw),
c) the minimum transmission angle is greater than 45.
9.4 Use the inversion method to satisfy the design requirements stated in Problem 9.3.
9.5 Design a double-lever mechanism by the relative pole method so that:
a) the length of the fixed link is d (Fig. 9.38),
b) the input crank angles ()] 2 = 40 (cw) and () 13 100 (cw), 9.10 Design a ro.
c) the corresponding output crank angles </>12 = 25 (cw) and </>13 = 70 (cw), angles is RIal
d) the minimum transmission angle is greater than 45.
9.6 Use the inversion method to satisfy the design requirements as in Problem 9.5.
9.7 Design a double-lever mechanism by the relative pole method so that:
a) the length of the fixed link is d (Fig. 9.39),
b) the input crank angles ()12 = 40 (cw) and ()13 105 (cw),
c) the corresponding output crank angles </> 12 = 25 (ccw) and </> 13 = 45 (ccw),
d) the minimum transmission angle is greater than 40.
 9.6 PROBLEMS 249

d
~ Evans, and Watt
points of four-bar
Figure 9.36
asionally fit actual
ight-line motions to
~ig. 9.27.)

Figure 9.37

c
d

Figure 9.38

n) and use the specified

Figure 9.39
III so that:

9.8 Use the inversion method to satisfy the design requireqlents stated in Problem 9.7.
:JOtput angle is 40 (ccw),

9.9 Design a four-bar linkage so that the angular coordination of the input and output
angles is related to the schedule below. (Use the overlay method.)
Problem 9.1.
ethod so that: j (Jij (cw) CPij (cw)

e"'12 = 60 (cw), 1 2 30 17
2 3 30 19
&ted in Problem 9.3. 3 4 30 23
4 5 30 29
I so that:

:w),
9.10 Design a four-bar linkage so that the angular coordination of the input and output
III c/> 13 70 (cw),
angles is related to the schedule below. (Use the overlay method.)

IS in Problem 9.5.
j (Jij (cw) CPij (cw)
d so that:
2 25 10
2 3 25 14
t:W),
3 4 25 20
md CP13 = 45 (ccw),
4 5 25 26
250 PROBLEMS

Figure 9.40

. Carburetor

Engine

Figure 9.41
9"" I In the lui
lin.=2.
fvra:s at II
angle of?
four-bar Iii
Figure 9.42 position wi
A scbemIei
fucdpiWUI
&red piwut J
_BoDeit
dlrfow_
JIl'OdIa.1:s a 4
 PROBLEMS 251

Transport
finger

J\ ~ - --
~
- -- -~
I
I
,J

Figure 9.43'

)
Irburetor

Figure 9.44

9.11 In the brake system schematically drawn in Fig. 9.40, AoBo is drawn to space scale,
1 in. 2 ft 0 in. Two sets of four-bar linkages actuated by one handle supply braking
forces at the brake shoes. In the braking position, the straight line A'AoA is at an
angle of 2 from the vertical line AoBo. Determine the dimensions of the two sets of
four-bar linkages so that both links BoB and BoB' swing open 3 from the braking
position when the handle moves 30.
9.12 A schematic diagram of a throttle linkage for an automobile is shown in Fig. 9.41.
Fixed pivots Ao and Bo are on the fire wall; the bellcrank angle BBoC equals 90; the
fixed pivot Do of the throttle valve link on the carburetor is 10 in. from fixed pivot Bo;
line BoDo is at an angle of 22 from the horizontal line; and AoBo is 4 in. long. Design
the four-bar linkages AoABBo and BoCDDo so that the 15 input angle of link AAo
produces a 45" movement of output link DoD.
252 LINKAGES

9.22 In the II
revolutirc
Plot the
9.23 In the III
is a COUJI
AoA aocI
Recording range 01
drum by POint
Gear sector

.-.. Input motion from

measuring device
Figure 9.45

9.13 Design a crank-lever mechanism so that:

a) the length of fixed link AoBo is d (Fig. 9.42),
b) the input ~rank angle 012 150, between dead centers, and the corresponding
output crank angle 9> 12 = 15.
9.14 Design a crank lever mechanism that will meet the requirements stated in Problem 9.13.
However,812 = 180 and 9>12 45.
9.15 Design a crank lever mechanism that will meet the requirements stated in Problem 9.13.
However, assume that 812 = 210 and 9>12 14.
9.16 Design a crank-lever quick-return mechanism (note that the input crank turns at
uniform velocity) so that:
a) the length of the fixed link is 2.50 in.,
b) the time ratio of the two swings of the output lever is 5 : 4,
c) the angle of the output lever is 45.
9.17 Design a crank-lever quick-return mechanism that will meet the requirements stated
in Problem 9.16. However, assume that the angle of the output lever is 30.
9.18 Using the relative pole method, design a slider-crank mechanism so that:
a) the eccentricity e = ! in. above the fixed pivot,
b) the crank angle 812 = 50 (cw),
0

c) the linear dispiacementS12 oftheslider moving away from the fixed pivot Ao 1 in.
d) the minimum transmission angle ;? 40.
9.19 Design a slider-crank mechanism using the relative pole method so that:
a) the crank angle 812 = 823 = 35 0 (both clockwise),
b) the linear displacements S12 = Ii in. and S23 1~ in. (both are away from the
fixed pivot),

c) the minimum transmission angle ;? 400

9.20 A carton transport system is shown in Fig. 9.43 with input crank AoA. Plot the path
of coupler point C for a complete cycle of operation.
9.21 Plot the paths of the grab fingers C, D, E, and F, of the slider-crank mechanism of a
straw-press machine shown in Fig. 5.27.
 PROBLEMS 253

9.22 In the six-bar linkage shown in Fig. 9.44, the input crank AoA makes a complete
revolution, and the output lever DoD is driven by coupler point C through link CD.
Plot the angular displacement of DoD versus the input crank angle of AoA.
9.23 In the recording device (of a measuring instrument) shown in Fig. 9.45, tracing point C
is a coupler point of the four-bar linkage AoABBo. A small gear is fastened to link
AoA and is rotated by a gear sector which is actuated by a measuring device. The
range of motlon of link AoA is from AoA 1 to AoA2. Plot the coupler curve traced out
by point C within the range of operation.

Ie corresponding

lin Problem 9.13.

lin Problem 9.13.

It crank turns at

quirements stated

I'is 30.

that:

IpivotAo = 1 in.,

that:

Ire away from the

loA. Plot the path

:de mechanism of a