Graphical Linkage Synthesis

Chapter 3

Synthesis
Qualitative Synthesis The creation of potential solution in the absence of a well-defined algorithm that configures or predicts the solution Type Synthesis The definition of the proper mechanism best suitable to the problem

Synthesis
Quantitative Synthesis Generation of one or more solution of a particular type that you know to be suitable to the problem, and importantly, one for which there is a synthesis algorithm defined Dimensional Synthesis Is the determination of the proportions (length) of the links necessary to accomplish the desired motions

Function, Path and Motion Generation

Function Defined as the correlation of an input motion with an output motion in a mechanism Path Control of a point in the plane such that is follows some prescribed path Motion Generation Control of a line in the plane such that is follows some prescribed set of sequential positions

Limiting Conditions
Toggle/ Stationary Position

Limiting Conditions
Toggle/Stationary Position

Limiting Conditions
Transmission angle
Angle between the output link and the coupler

Dimensional Synthesis
The determination of the proportions (lengths) of the links necessary to accomplish the desired motions Two-Position synthesis Rocker Coupler

Example 1
Rocker Output- Two Position with Angular Displacement (Function)
Design a four bar Grashof crank-rocker speed motor input to give 45 of rocker motion with equal time forward and back, from a constant speed motor input.

Example 1
1. Draw the output link O4B in both extreme positions, B1 and B2 in any convenient location, such that the desired angle of motion 4 is subtended.

 2. Draw the chord B1B2 and extended it in either direction.

 3. Select a convenient point O2 on the line B1B2 extended.

 4. Bisect line segment B1B2, draw a circle of that radius about O2.

 5. Label the two intersection of the circle and B1B2 extended, A1 and A2.

 6. Measure the length of the coupler as A1 to B1 or A2 to B2.

 7. Measure ground length 1, crank length 2, and rocker length 4.

 8. Find the Grashof condition. If nonGrashof, redo steps 3 to 8 with O2 further from O4.

 9. Make model of the linkage and check its function and transmission angles.

Example 1
10. You can input the file F03-04.4br

Example 2
Rocker Output- Two Position with Complex Displacement (Motion)
Design a fourbar linkage to move link CD from C1D1 to C2D2.

Example 2
1. Draw the link CD in its two desired positions, C1D1 and C2D2 in plane as shown.

Example
2. Draw construction line from point C1 to C2 and from point D1 to D2.

Example
3. Bisect line C1C2 and line D1D2 and extend their perpendicular bisectors to intersect at O4. Their intersection is the rotopole.

Example
4. Select a convenient radius and draw an arc about the rotopole to intersect both lines O4C1 and O4C2. Label the intersection B1 and B2.

Example
5. Do steps 2 to 8 of example 1 to complete the linkage. 6. Make a model of the linkage and articulate it to check its function and its transmission angles.

Example 2
2. Draw the chord B1B2 and extended it in either direction. 3. Select a convenient point O2 on the line B1B2 extended. 4. Bisect line segment B1B2, draw a circle of that radius about O2. 5. Label the two intersection of the circle and B1B2 extended, A1 A2. 6. Measure the length of the coupler as A1 to B1 or A2 to B2. 7. Measure ground length 1, crank length 2, and rocker length 4. 8. Find the Grashof condition. If non-Grashof, redo steps 3 to 8 with O2 further from O4.

Example 3
Coupler Output- Two Position with Complex Displacement (Motion)
Design a fourbar linkage to move link CD from C1D1 to C2D2 (with moving pivots at C and D).

Example 3
1. Draw the link CD in its two desired positions, C1D1 and C2D2 in plane as shown.

Example
2. Draw construction line from point C1 to C2 and from point D1 to D2.

Example
3. Bisect line C1C2 and line D1D2 and extend their perpendicular bisectors in convenient directions.The rotopole will not be used in this solution.

Example
4. Select any convenient point on each bisector as the fixed pivots O2 and O4 , respectively.

Example
5. Connect O2 with C1 and call it link 2. Connect O4 with D1 and call it link 4. 6. Line C1D1 is link 3. Line O2O4 is link 1. 7. Check the Grashof condition, and repeat steps 4 to 7 if unsatisfied. Note that any Grashof condition is potentially acceptable in this case.

Example
8. Construct a model and check its function to be sure it can get from the initial to final position without encountering ant limit (toggle) positions. Check the transmission angles.

Example
Review Example 3-4
Design a dyad to control and limits the extremes of motion of the linkages in the previous example to its two design positions

Three-Position Synthesis
Example 1 Coupler Output 3 position with Complex Displacement
Design a fourbar linkage to move the link CD shown from position C1D1 to C2D2 and then to position C3D3. Moving pivots are C and D. Find the fixed pivot locations.

Three-Position Synthesis
1. Draw link CD in its three position
C1D1, C2D2 , C3D3 in the plane as shown.

Three-Position Synthesis
2. Draw construction lines from point C1 to C2 and from C2 to C3.

Three-Position Synthesis
3. Bisect line C1C2 and line C2C3 and extend their perpendicular bisector until they intersect. Label their intersection O2.

Three-Position Synthesis
4. Repeat steps 2 and 3 for lines D1D2 and D2D3. Label the intersection O4.

Three-Position Synthesis
5. Connect O2 with C1 and call link 2. Connect O4 with D1 and call link 4.

Three-Position Synthesis
5. Line C1D1 is link 3. Line O2O4 is link 1.

Three-Position Synthesis
7. Check the Grashof condition. Note that any Grashof condition is potentially acceptable in this case. 8.Construct a model and check its function to be sure it can get from initial to final position without encountering any limits positions. 9.Construct a driver dyad using an extension of link 3 attach the dyad.

Three-Position Synthesis Example 2

Example 2 Coupler Output 3 position with Complex Displacement Alternate Attachment Points for Moving Pivots
Design a fourbar linkage to move the link CD shown from position C1D1 to C2D2 and then to position C3D3. Use different moving pivot than CD. Find the fixed pivot locations.

Three-Position Synthesis Example 2

1. Draw link CD in its three position C1D1, C2D2 , C3D3 in the plane as shown. 2. Define new attachment points E1 and F1 that have a fixed relationship between C1D1 and E1F1 within the link. Now use E1F1 to define the three position of the link. 3. Draw construction lines from point E1 to E2 and from E2 to E3.

Example 2
4. Bisect line E1E2 and line E2E3 and extend their perpendicular bisector until they intersect. Label their intersection O2. 5. Repeat steps 2 and 3 for lines F1F2 and F2F3. Label the intersection O4. 6. Connect O2 with E1 and call link 2. Connect O4 with F1 and call link 4. 7. Line E1F1 is link 3. Line O2O4 is link 1

Example 2
8. Check the Grashof condition. Note that any Grashof condition is potentially acceptable in this case. 9.Construct a model and check its function to be sure it can get from initial to final position without encountering any limits positions. If not, change locations of point E and F and repeat steps 3 to 9.

Three-Position Synthesis Example 3

Example 3 Three Position Synthesis with Specified Fixed Pivots - Inverting the 3-position problem
Invert a fourbar linkage which move the link CD shown from position C1D1 to C2D2 and then to position C3D3. Use specified fixed pivots O2 and O4.

Example 3
1. Draw link CD in its three position C1D1, C2D2 , C3D3 in the plane as shown. 2. Draw the ground link O2O4 in its desired position in the plane with respect to the first coupler position C1D1

Example 3
3. Draw construction arc from point C2 to O2 and from D2 to O2 whose radii define the side of triangle C2O2D2 This define the relationship of the fixed pivot O2 to the coupler line CD in the second coupler position.

Example 3
4. Draw construction arc from point C2 to O4 and from D2 to O4 whose radii define the side of triangle C2O4D2 This define the relationship of the fixed pivot O4 to the coupler line CD in the second coupler position.

Example 3
5. Now transfer this relationship back to the first coupler position C1D1 so that the ground plane position O2O4 bears the same relationship to C1D1 as O2O4 bore to the second coupler position C2D2. In effect, you are sliding C2 along the dotted line C2C1 and D2 along the dotted D2D1. By doing this, we have pretended that ground plane moved from O2O4 to O2O4 instead of the coupler moving from C1D1 to C2D2. We have inverted the problem.

Example 3
6. Repeat the process for the third coupler position as shown in the figure and transfer the third relative ground link position to the first, or reference, position.

Example 3
7. The three inverted position of the ground plane that correspond to the three desired coupler positions are labeled O2O4,O2O4 , and O2O4 and have also been renamed E1F1, E2F2 and E3F3 as shown in the figure

Three-Position Synthesis Example 4

Example 4 Finding the Moving Pivots for Three Positions and Specified Fixed Pivots
Design a fourbar linkage to move the link CD shown from position C1D1 to C2D2 and then to position C3D3. Use specified fixed pivots O2 and O4. Find the required moving pivot location on the coupler by inversion.

Example 4
1. Start with inverted three positions plane as shown in the figures. Lines E1F1, E2F2 and E3F3 define the three positions of the inverted link to be moved.

Example 4
2. Draw construction lines from point E1 to E2 and from point E2 to E3.

Example 4
3. Bisect line E1E2 and line E2E3 extend the perpendicular bisector until they intersect. Label the intersection G.

Example 4
4. Repeat steps 2 and 3 for lines F1F2 and line F2F3. Label the intersection H.

Example 4
5. Connect G with E1 and call it link 2. Connect H with F1 and call it link 4.

Example 4
6. In this inverted linkage, line E1F1 is the coupler, link 3. Line GH is the ground link1.

Example 4
7. We must now reinvert the linkage to return to the original arrangement. Line E1F1 is really the ground O2O4 and GH is really the coupler. The figure shows the reinversion of the linkage in which points G and H are now the moving pivots on the coupler and E1F1 has resumed its real identity as ground link O2O4.

Example 4
8. The figure reintroduces the original line C1D1 in its correct relationship to line O2O4 at the initial position as shown in the original example 3. This form the required coupler plane and defines a minimal shape of link 3.

Example 4
9. The angular motions required to reach the second and third position of line CD shown in the figure are the same as those defined in figure b for the linkage inversion. The angle F1HF2 in the figure b is the same as the angle H1O4H2 in the figure and F2HF3 is the same as angle H2O4H3. The angular excursions of link 2 retain the same between figure b and e as well. The angular motions of links 2 and 4 are the same for both inversion as the link excursions are relative to one another.

Example 4

Example 4
10. Check the Grashof condition. Note that any Grashof condition is potentially acceptable in this case provided that the linkage has mobility among all three position. This solution is a nonGrashof linkage. 11. Construct a model and check its function to be sure it can get from initial to final position without encountering any limit (toggle) positions. In this case link 3 and 4 reach a toggle position between points H1 and H2. This means that this linkage cannot be driven from link 2 as it will hang up at that toggle position. It must driven from link 4.

Instructional Videos
Professor Robert Nortons Instructional Videos are included on the books DVD. Please watch the following videos;
Quick-Return Mechanisms Coupler Curves Cognates Parallel Motion Dwell Mechanisms

Quick Return Mechanism

Fourbar Quick-Return
Time ratio (TR) defines the degree of quick-return of the linkage.

TR

360

180 180
Works well for time ratios down to about 1.5

Quick-Return Example 1
Example 1 Fourbar Crank-Rocker QuickReturn Linkage for Specified Time Ratio
Redesign Example 1 (two position) to provide a time 1:125 with 45 output rocker motion.

Example 1
1. Draw the output link O4B in both extreme position, in any convenient location, such that the desired angle of motion, 4 , is subtended.

Example 1
2. Calculate , , using the equations. In this example =160, =200, =20. 3. Draw a construction line through point B1 at any convenient angle. 4. Draw a construction line through point B2 at an angle from the first line. 5. Label the intersection of the two construction line O2. 6. The line O2O4 define ground.

Example 1
7. Calculate the length of crank and coupler by measuring O2B1 and O2B2 and solve simultaneously; coupler + crank=O2B1 coupler - crank=O2B2 or you can construct the crank length by swinging an arc centered at O2 from B1 to cut line O2B2 extended. Label that intersection B1. The line B2B1 is twice the crank length. Bisect this line segment to measure crank length O2A1.

Example 1
8. Calculate the Grashof condition. If non-Grashof, repeat steps 3 to 8 with O2 further O4. 9. Make a model of the linkage and articulate it to check its function. 10. Check the transmission angle.

Quick-Return Example 2
Example 2 Sixbar Drag Link QuickReturn Linkage for Specified Time Ratio
Provide a time ratio of 1:1.4 with 90 degree rocker motion

Example 2
1. Calculate , , using the equations. In this example =150, =210. 2. Draw a line of centers XX at any convenient location. 3. Choose a crank pivot location O2 on line XX and draw an axis YY perpendicular to XX.

Example 2
4. Draw a line of convenient radius O2A about center O2 5. Lay out angle with vertex at O2, symmetrical about quadrant one 6. Label points A1 and A2 at the intersection of the lines subtending angle and the circle of radius O2A.

Example 2
7. Set the compass to a convenient radius AC long enough to cut XX in two places on either side of O2 when swung from A1 and A2. Label the intersection C1 and C2. 8. The line O2A1 id the driver crank, link 2, and line A1C1 is the coupler, link 3. 9. The distance C1C2 is twice the driven (dragged) crank length. Bisect it to locate the fixed pivot O4.

Example 2
10. The line O2O4 now defines the ground link. Link O4C1 is the driven crank, link 4. 11. Calculate the Grashof condition. If Non-Grashof, repeat steps 7-11 with a shorter radius in step 7.

Example 2
12. invert the method of example 1 (two positions) to create the output dyad using XX as the chord and O4C1 as the driving crank. The point B1 and B2 will lie on line XX and be spaced apart a distance 2O4C1. The pivot O6 will lie on the perpendicular bisector of B1B2, at a distance from line XX which subtends the specified output rocker angle. 13. Check the transmission angle.

Example 2

Coupler Curves

Coupler Curves

Cognates
Roberts-Chebyschev
Three different planar fourbar linkages will trace identical coupler curves.
Cayley Diagram: Construction lines parallel to all sides of the links Roberts Diagram: Three fourbars linkage cognates which shares the same coupler curve

Cognates- Cayley

Cognates- Roberts

Cognates- Parallel Motion

Cognates- Parallel Motion

Cognates- Geared Fivebar Cognates

Chebyschev discovered that any fourbar coupler curve can be duplicated with a geared fivebar mechanism whose gear ratio is plus one, meaning that the gears turn with the same speed and direction.

GFBM

Straight-Line Mechanisms
Watts

Straight-Line Mechanisms
Roberts

Straight-Line Mechanisms
Chebyshev

Straight-Line Mechanisms
Hoeken

Straight-Line Mechanisms
Evans

Straight-Line Mechanisms
Peaucellier

Dwell Mechanisms
Is defined as zero output for some nonzero input motion
Single-Dwell: Design a sixbar linkage for 90 rocker motion over 300 crank degree with dwell for the remaining 60

Dwell Mechanisms-Example 1
1. Search the H&N atlas for a fourbar linkage with a coupler curve having an approximate (pseudo) circle arc portion which occupies 60 of crank motion (12 dashes). The chosen fourlink is shown in the figure. 2. Lay out this linkage to scale including the coupler curve and find the approximate center of the chosen coupler curve using graphical techniques.

Example 1
2. To do so, draw the chord of the arc and construct its perpendicular bisector. The center lie on this bisector. Find it by striking arcs with your compass point on the bisector, while adjusting the radius to get best fit to the coupler. Label the arc center D.

Example 1
3. Your compass should now be set to the approximate radius of the coupler arc. This will be the length of link 5 which is to be attached at the coupler point P. 4. Trace the coupler curve with the compass point, while keeping the compass pencil lead on the perpendicular bisector, and find the extreme location along the bisector that the compass lead will reach. Label this point E.

Example 1
5. The line segment DE represents the maximum displacement that a link of length PD, attached at P, will reach along the bisector. 6. Construct a perpendicular bisector of the line segment DE, and extend it in a convenient direction.

Example 1
7. Locate fixed pivot O6 on the bisector of DE such line O6D and O6E subtend the desired output angle, 90. 8. Draw link 6 from D (or E) through O6 and extend to any convenient length. This is the output link which will dwell for specified portion of the crank cycle. Check the transmission angles.

Example 1
Single-Dwell: Design a sixbar linkage for 90 rocker motion over 300 crank degree with dwell for the remaining 60

Dwell Mechanisms-Example 2
Double-Dwell: Design a sixbar linkage for 80 rocker motion over 20 crank degree with dwell for the remaining 160, return motion over 140 and second dwell for 40.

Example 2
1. Search the H&N atlas for a linkage with a coupler curve having two approximate straightline portions. One should occupy 160 of crank motion (32 dashes), and the second 40 of crank motion (8 dashes). This is a wedge-shaped curve. 2. Lay out this linkage to scale including the coupler curve and find the intersection of two tangent lines colinear with the straight segment. Label this point O6.

Example 2
3. Design link 6 to lie along these straight tangent, pivoted at O6. Provide a slot in link 6 to accommodate slider block 5. 4. Connect slider block 5 to the coupler point P on link 3 with a pin joint. The finish sixbar is shown in the next figure. Check transmission angle.

Example 2
Double-Dwell