UNIT 3 KINEMATIC CHAINS AND THEIR INVERSIONS

Structure
3.1 3.2 3.3 3.4 Introduction
Objectives

Kinematic Chains and their Inversions

Kinematic Chains Inversions of Kinematic Chain Inversions of 4R-Kinematic Chain

3.4.1 3.4.2 3.4.3 Crank-lever Mechanism Double-lever Mechanism Double Crank Mechanism

3.5

Inversions of 3R-1P Kinematic Chain or Inversions of Slider Crank Chain

3.5.1 3.5.2 3.5.3 3.5.4 First Inversion Second Inversion Third Inversion Fourth Inversion

3.6

Inversions of 2R-2P Kinematic Chain

3.6.1 3.6.2 3.6.3 First Inversion Second Inversion Third Inversion

3.7 3.8 3.9

Grashofs Criterion Summary Key Words

3.10 Answers to SAQs

3.1 INTRODUCTION
In Unit 2, you were introduced to degrees of freedom, kinematic pairs and links. In this unit, you will be explained how to get different mechanisms by using four bar chain which is a basic kinematic chain. The four bar chain has four links which are connected with each other with the help of four lower kinematic pairs. This chain provides different mechanisms of common usage. For example, one mechanism, provided by this, is used in petrol engine, diesel engine, steam engine, compressors, etc. One mechanism makes possible to complete idle stroke in machine tool in lesser time than cutting stroke which reduces machining time. This mechanism being termed as quick return mechanism. Similarly, there are some mechanisms which can provide rocking motion which can be used in materials handling.

Objectives
After studying this unit, you should be able to know inversions of different kinematic chains, understand utility of various mechanisms of four bar kinematic chain, make kinematic design of a mechanism, evolve criteria for different mechanisms of 4R-kinematic chain, and check movability of mechanism. 41

Basic Concepts

3.2 KINEMATIC CHAINS

It was discussed in earlier units that in kinematic chain, four links are required which are connected with each other with the help of lower pairs. These pairs can be revolute pairs or prismatic pairs. A prismatic pair can be thought of as the limiting case of a revolute pair. To demonstrate this let us consider the two mechanisms shown in Figure 3.1. The curved slider in figure acts similar to the revolute pair. If radius of curvature of the curved slider becomes infinite, the angular motion of the slider changes into linear displacement and the revolute pair R4 transforms to a prismatic pair. Depending on different type of kinematic pairs, four bar kinematic chain can be classified into three categories : (a) (b) (c)
A R2 R2 4 2 2 O2 1 R1 R4 1 O4 O2 R1 1

4R-kinematic chain which has all the four kinematic pairs as revolute pairs. 3R-1P kinematic chain which has three revolute pairs and one prismatic pair. 2R-2P kinematic chain which has two revolute pairs and two prismatic pairs.
3 B R3 A 3 R3 B 4

R4 1 O4

Figure 3.1

SAQ 1
Form a kinematic chain using three revolute pairs and one prismatic pair.

3.3 INVERSIONS OF KINEMATIC CHAIN

If in a four bar kinematic chain all links are free, motion will be unconstrained. When one link or a kinematic chain is fixed, it works as a mechanism. From a four link kinematic chain, four different mechanisms can be obtained by fixing each of the four links turn by turn. All these mechanisms are called inversions of the parent kinematic chain. By this principle of inversions of a four link chain, several useful mechanisms can be obtained.
3 3 3 4

2 1

1 3 2 2 1 4 1 3

Figure 3.2

42

SAQ 2
How a four bar kinematic chain works as a mechanism by fixing one link?

Kinematic Chains and their Inversions

3.4 INVERSIONS OF 4R-KINEMATIC CHAIN

Kinematically speaking, all four inversions of 4R-kinematic chain are identical. However, by suitably altering the proportions of lengths of links 1, 2, 3 and 4 respectively several mechanisms are obtained. Three different forms are illustrated here. In Figure 3.3, links have been shown by blocks and lines connecting them represent pairs.
1 T1 2 T2 3 T3 4

T4

Figure 3.3

3.4.1 Crank-lever Mechanism or Crank-rocker Mechanism

This mechanism is shown in Figure 3.4. In this case for every complete rotation of link 2 (called a crank), the link 4 (called a lever or rocker), makes oscillation between extreme positions O4B1 and O4B2.
B1 A 2 A2 A1 O2 O4 3 4 B B2

Figure 3.4

The position of O4B1 is obtained when point A is A1 whereas position O4B2 is obtained when A is at A2. It may be observed that crank angles for the two strokes (forward and backward) of oscillating link O4B are not same. It may also be noted that the length of the crank is very short. If l1, l2, l3 and l4 are lengths of links 1, 2, 3 and 4 respectively, the proportions of the link may be as follows :
(l1 + l2 ) < (l3 + l4 )

(l2 + l3 ) < (l1 + l4 )

SAQ 3
In this mechanism, if length of link 2 is equal to that of link 4 and link 4 has lengths equal to that of link 2 which mechanism will result and analyse motion.

3.4.2 Double-leaver Mechanism or Rocker-Rocker Mechanism

In this mechanism, both the links 2 and 4 can only oscillate. This is shown in Figure 3.5. 43

Basic Concepts
A1 A B1 2 I2 O2 A2 O4 I3 B I4 B2

Figure 3.5

Link O2A oscillates between positions O2A1 and O2A2 whereas O4B oscillates between positions O4B1 and O4B2. Position O4B2 is obtained when O2A and AB are along straight line and position O2A1 is obtained when AB and O4B are along straight line. This mechanism must satisfy the following relations.
(l3 + l4 ) < (l1 + l2 ) (l2 + l3 ) < (l1 + l4 )

It may be observed that link AB has shorter length as compared to other links. If links 2 and 4 are of equal lengths and l1 > l3, this mechanism forms automobile steering gear.

3.4.3 Double Crank Mechanism

The links 2 and 4 of the double crank mechanism make complete revolutions. There are two forms of this mechanism. Parallel Crank Mechanism In this mechanism, lengths of links 2 and 4 are equal. Lengths of links 1 and 3 are also equal. It is shown in Figure 3.6.
A 2 4 O2 1 1 O4 3

Figure 3.6

The familiar example is coupling of the locomotive wheels where wheels act as cranks of equal length and length of the coupling rod is equal to centre distance between the two coupled wheels. Drag Link Mechanism In this mechanism also links 2 and 4 make full rotation. As the link 2 and 4 rotate sometimes link 4 rotate faster and sometimes it becomes slow in rotation.

A1

B1 A

44
B2
B B

B A4
B B

O2
B B

O4
B B

B4
B B

Kinematic Chains and their Inversions

Figure 3.7

The proportions of this mechanism are

l3 > l1 ; l4 > l2 l3 > (l1 + l4 l2 )

and

l3 < (l2 + l4 l1 )

It may be observed from Figure 3.7 that length of link 1 is smaller as compared to other links.

SAQ 4
(a) (b) Determine degrees of freedom of 4R-kinematic chain. Why 4R-kinematic chain does not provide four different mechanisms?

3.5 INVERSIONS OF 3R-1P KINEMATIC CHAIN OR INVERSIONS OF SLIDER CRANK CHAIN

In this four bar kinematic chain, four links shown by blocks are connected through three revolute pairs T1, T2 and T3 and one prismatic pairs.
1 T1 2 T2 3 T3 4

Figure 3.8

3.5.1 First Inversion

In this mechanism, link 1 is fixed, link 2 works as crank, link 4 works as a slider and link 3 connects link 2 with 4. It is called connecting rod. Between links 1 and 4 sliding pair has been provided.
1 T1 2 T2 3 T3 4

45
2 3 4

Basic Concepts

Figure 3.9

This mechanism is also known as slider crank chain or reciprocating engine mechanism because it is used in internal combustion engines. It is also used in reciprocating pumps as it converts rotatory motion into reciprocating motion and vice-versa.

3.5.2 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. The motion of link 1 can be taped through a link and provided to ram of shaper machine. Figure 3.10 shows this mechanism and it is called as Whitworth Quick Return Motion Mechanism. The forward stroke starts when link 3 occupies position O4Q. At that time, point A is at A1. The forward stroke ends when link 3 occupies position O4P and point A occupies position A2. The return stroke takes place when link 3 moves from position O4P to O4Q. The stroke length is distance between A1 and A2 along line of stroke. If acute angle < PO4 Q = and crank rotates at constant speed .

Quick Return Ratio =

Time taken in forward stroke Time taken in return stroke

(2 ) 2 = =
1 T1 2 T2 3 T3 4 3 S 2 4 B 3 O4 1 2 P A1 O2 A Q A2 5 Ram 6 1 4

Figure 3.10

3.5.3 Third Inversion

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. The oscillating cylinder engine is shown in Figure 3.11(a).
1 T1 2 T2 3 T3 4

2 4 1

S 3

46
3

Kinematic Chains and their Inversions (a) Oscillating Cylinder Engine

6 Ram 5 1 A 2 O2 4 A2

A1

O4

(b) Crank and Slotted Lever Mechanism Figure 3.11

The motion of link 4 in crank and slotted lever quick return motion mechanism can be taped through link 5 and can be transferred to ram. O2A1 and O2A2 are two positions of crank when link 4 will be tangential to the crank circle and corresponding to which ram will have extreme positions. When crank travels from position O2A1 and O2A2 forward stroke takes place. When crank moves further from position O2A2 to O2A1 return stroke takes place. Therefore, for constant angular velocity for crank .

Time for forward stroke Quick Return Ratio = = Time for return stroke

(2 ) 2 =

3.5.4 Fourth Inversion

It is obtained by fixing link 4 which is slider. Application of this inversion is limited. The pendulum pump and hand pump are examples of this inversion. In pendulum pump, link 3 oscillates like a pendulum and link 1 has translatory motion which can be used for a pump.
1 4

3 1 2

Figure 3.12(a) : Pendulum Pump

2 1

3 1 T1
B B

47
2 T2
B B

T3
B B

Basic Concepts

Figure 3.12(b) : Hand Pump

3.6 INVERSIONS OF 2R-2P KINEMATIC CHAIN OR DOUBLE SLIDER CRANK CHAIN

This four bar kinematic chain has two revolute or turning pairs T1 and T2 and two prismatic or sliding pairs S1 and S2. This chain provides three different mechanisms.
1 T1 T2 2 3 S1 4

S2

Figure 3.13

3.6.1 First Inversion

The first inversion is obtained by fixing link 1. By doing so a mechanism called Scotch Yoke is obtained. The link 1 is a slider similar to link 3. Link 2 works as a crank. Link 4 is a slotted link. When link 2 rotates, link 4 has simple harmonic motion for angle of link 2, the displacement of link 4 is given by

x = OA sin
1 T1 T2 2 3 S1 4

S2 A s2 4 3 S1 2 T1 O 1 1 T2

Figure 3.14 : Scotch Yoke Mechanism

3.6.2 Second Inversion

In this case, link 2 is fixed and a mechanism called Oldhams coupling is obtained. This coupling is used to connect two shafts which have eccentricity . The axes of the two shafts are parallel but displaced by distance . The link 4 as well slides in the two slots
48
Fixed Link 1 T1
B B

T2
B B

S1
B B

provided in links 3 and 1. The centre of this link will move on a circle with diameter equal to eccentricity.

Kinematic Chains and their Inversions

S1 3 2 T2 4

2 T1

S2

Figure 3.15 : Oldhams Coupling

3.6.3 Third Inversion

This inversion is obtained by fixing link 4. The mechanism so obtained is called elliptical trammel which is shown in Figure 3.16. 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 are as follows :

xD = AD sin or sin =

xD AD

yD = CD sin or cos =
Since,
sin 2 + cos 2 = 1

yD CD

Substituting for sin and cos in this equation, the following equation of ellipse is obtained. =1 AD 2 CD 2 The semi-major axis of the ellipse is AD and semi-minor axis is CD.
T2 2

2 xD

y1 D

T1

S1 4

S2

4 1 O 4 3 A T2 S1 B 2 T1 D X S2

Figure 3.16

SAQ 5
(a) Explain why only three different mechanisms are available from 2R-2P kinematic chain. 49

Basic Concepts

(b) (c) (d)

If length of crank in the reciprocating mechanism is 15 cm, find stroke length of the slider. If length of fixed link and crank in crank and slotted lever quick return mechanism are 30 cm and 15 cm respectively, determine quick return ratio. If an ellipse of semi-major axis 30 cm and semi-minor axis 20 cm is to be drawn, what should be the length of link ACD in elliptical trammel.

3.7 GRASHOFS CRITERION

The possibility of getting various mechanisms for 4R-kinematic chain can be explored by considering the movability of a four bar linkage from the relative dimensions of links. The fixed link is called frame. The link, which makes complete rotation, is called crank. The link which has oscillating motion about hinge is called rocker or lever.
Coupler A 2 I2 I1 O2 O4 Frame 1 3 I3 4 I4 B

Figure 3.17

Let

length of the longest link be l length of smallest link be s length of other two links be p, q.

There are three possible cases (a) (b) (c) (l + s ) < ( p + q ) (l + s ) = ( p + q) (l + s ) > ( p + q)

Considering the first case when (l + s ) < ( p + q ) and assuming l2 > l1. If link 2 has to make complete rotation, obviously then it must be able to attain the following two extreme positions shown in Figure 3.18 when A is farthest from O4 and Figure 3.19 when A is nearest to O4. This will be possible if links 3 and 4 do not prevent these maximum and minimum separations between O4 and A. Thus, for O4 AB to exist in both extreme conditions, the link dimensions should satisfy the following
l1 + l2 < l3 + l4 , l4 < l3 + (l2 l1 )

and

l3 < l2 + (l4 l1 )

Therefore, when these conditions are met, link 2 will be capable to work as crank. Similarly link 4 can make complete rotation, if l4 > l1 and get the necessary conditions by interchanging l2 and l4 in the above equations. In this case, four bar kinematic chain shall provide double crank mechanism with smallest link as a frame. If one of the two links l2 and l4 is fixed, link 1 will work as crank, link 3 will oscillate to allow the remaining link to work as rocker or lever. Then similar situation will arise for the case (l + s ) = ( p + q ) with a difference being that there will be instances when links become collinear resulting
B

50
3 I3
B B B

4 I4
B

Kinematic Chains and their Inversions

Figure 3.18

in dead centers or change points. When (l + s ) > ( p + q ) , it will result only in a double rocker or double lever mechanism. Therefore, for (l + s ) ( p + q ) (a) (b) (c) when smallest link is frame, a double crank mechanism is obtained, when smallest link is crank or follower crank-rocker or rocker-crank mechanism is obtained, and when smallest link is coupler, double rocker or double lever mechanism is obtained.
B I3 4 I4 3

2 O2 I2

A O4

Figure 3.19

SAQ 6
Explain how the case (l + s ) > ( p + q) will result only in a double rocker mechanism.

3.8 SUMMARY
A four bar kinematic chain may have all the four kinematic pairs as revolute pairs, three revolute pairs and one prismatic pair or two revolute pairs and two prismatic pairs. These kinematic chains provide different mechanisms. Some of them are of common usage. The mechanisms obtained from kinematic chain using four revolute pairs depend on relative lengths of different links. The movability with given lengths of links can be determined by using Grashofs criterion and it can be known what kind of movability can be obtained.

3.9 KEY WORDS

Kinematic Inversions : In a mechanism, one of the links in a kinematic chain is fixed. One may obtain different mechanisms by fixing in different links in a kinematic chain. This method of obtaining different mechanisms is known as kinematic inversions. : When one of the links of kinematic chain is fixed, the chain is known as mechanism. : This is concerned about motion of different links in a mechanism

Mechanisms Movability

51

Basic Concepts

Grashofs Criterion Crank Rocker Coupler

: Criterion to study movability of four bar linkage using revolute pairs. : The link which makes complete rotation. : The link oscillates between two extreme positions. : It transfers motion from input link to output link or vice-versa.

3.10 ANSWERS TO SAQs

Answers are given in text for SAQs 1 to 3.
SAQ 4

(a) (b)

Only one coordinate, i.e. angle of crank is required. Therefore, it has one degree of freedom. It can provide four mechanisms but the following two mechanisms (i) (ii) crank-lever mechanism lever-crank mechanism

are similar. Therefore, 4R-kinematic chain provide only three different mechanisms.
SAQ 5

(a) (b) (c)

By fixing any of the two sliders in 2R-2P kinematic chain only scotch yoke is obtained. Therefore, only three different mechanisms are obtained. The stroke lengths shall be 15 + 15 = 30 cm.

cos

15 1 = = 2 30 2 = 60o or = 120o 2 Quick Return Ratio = 360 120 240 = =2 120 120

(d)

AD = 30 cm and CD = 20 cm ACD = 30 cm

SAQ 6

Method is given in text and it can be applied to this case.

FURTHER READINGS
Ghosh, Amitabh, Mallik, A. K., Theory of Mechanisms and Machines, EWP, East-West Press Pvt. Ltd., New Delhi. Bevan, T., The Theory of Machines, Longmans Green, London. Shigley, J. E., Kinematic Analysis of Mechanisms, McGraw-Hill, New York. Ballaney, P. L., Theory of Machines, Khanna Publishers, Delhi. Rattan, S. S., Theory of Machines, Tata McGraw-Hill Publishing Company Limited.

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Kinematic Chains and their Inversions

BASIC CONCEPTS
In first block of Kinematics and Dynamics of Mechanisms, there are three units. The first unit provides introduction to the kinematics and dynamics of machines. This unit 53

Basic Concepts

describes various elementary terms related to this topic. An introduction has been provided to the different types of motion also. Kinematic constraints and kinematic pairs have been described in the second unit. In this unit, you will also study degree of freedom and difference between machine and mechanism. Third unit is on kinematic chains and their inversions. This unit describes different kinematic chains and their inversions. The Grashofs criterion has also been described in this unit.

KINEMATICS AND DYNAMICS OF MECHANISMS

54 In the past few years, the approach to designing a mechanical system has been deviating from the conventional empirical technique. Reason behind such approach is that a more

systematic and scientific approach has become necessary to make a system to achieve an optimal performance. Further the development of new areas like robotics has provided a new impetus to the study of kinematics and dynamics of planar and spatial mechanisms. This course of kinematics and dynamics of mechanisms has been developed to fulfil this desire. This subject was initially random in growth which was characterised by invention and the establishment of a basic form of a machine rather than by conventional design and development. Many years later, the theory was developed for the analysis, synthesis and design of machinery. The course of Kinematics and Dynamics of Mechanisms has five blocks namely, Basic Concept, Motion Analysis of Planar Mechanism and Synthesis, Power Transmission Devices and Controls, Static and Dynamic Force Analysis & Mechanical Vibration, and Balancing. First block provides basic concepts about mechanisms and machines. Along with this, it includes concepts about commonly used mechanisms, kinematic chains and their inversions. The objective of kinematic analysis is to determine the kinematic quantities such as displacement, velocities and accelerations of the elements in a mechanism when input motion is known. The determination of the input motion required to produce a specified motion of another element is described in the second block. Mechanisms with lower pairs have been discussed in the three units of this block. Commonly used higher pair mechanisms such as cam and follower is also explained in one of units of this block. Third block provides analysis of different type of power transmission devices like belt drive, chain drive and gear drive. The drives are of common use in public life and industry. In this block, flywheel and governors have also been explained. These are controlling devices in a power plant. Both of them control fluctuation in speed but their domain of operation are different. In the fourth block, the methods of static and dynamic analysis of mechanisms have been explained. Effect of foundation on the vibration of machine has been explained in Unit 13 of this block. The gear force analysis has been explained in Unit 14. This block further provides analysis and control of mechanical vibration. Mechanical vibration may occur in all the types of mechanical system. It can be measured by using vibration measuring devices. The principle of these instruments has also been explained in Unit 13 of this block. The knowledge of vibration can be used in preventive maintenance of mechanical equipment. The balancing of rotating masses and reciprocating masses is very important from practical point of view. The methods of balancing of these masses have been described in fifth block.

Kinematic Chains and their Inversions

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