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ABSTRACT
The aim of this Kinematics Based on Four Bar Linkage to make a four bar
linkage and display the movement by a hand crank. The four-bar linkage is
a movable and simplest linkage. It includes four rigid bodies known as bars
The pivot joint includes one rotational degree of freedom and mechanism
is planar.
link known as frame. The data from one link is utilized to know about
analysis. There are two kinds of joints based on contact type. They are
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lower pair joint and higher pair joint. Lower pair joint is contact of area
among two mating surfaces whereas higher pair joint is link among mating
surfaces like line contact. the constant body is known as ground link which
is required to get every position. There are two links linked to the ground
are known as grounded links and the left link is known as coupler link. The
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CHAPTER - I
INTRODUCTION
Four-bar linkage
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loop by four joints. Generally, the joints are configured so the links move in
If the linkage has four hinged joints with axes angled to intersect in a single
point, then the links move on concentric spheres and the assembly is called
with hinged joints that have their axes angled in a particular way that
Planar four-bar linkages are constructed from four links connected in a loop
by four one degree of freedom joints. A joint may be either a revolute, that
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P. The planar quadrilateral linkage is formed by four links and four revolute
links connected by three revolute and one prismatic joint, or RRRP. The
movements.
joints. One link of the chain is usually fixed, and is called the ground
link, fixed link, or the frame. The two links connected to the frame are
called the grounded links and are generally the input and output links of the
system, sometimes called the input link and output link. The last link is
the floating link, which is also called a coupler or connecting rod because it
Assuming the frame is horizontal there are four possibilities for the input
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A rocker: can rotate through a limited range of angles which does not
include 0° or 180°
Grashof condition
The Grashof condition for a four-bar linkage states: If the sum of the
equal to the sum of the remaining two links, then the shortest link can
rotate fully with respect to a neighboring link. In other words, the condition
Classification
based on the dimensions of its four links. Let a, b, g and h denote the
lengths of the input crank, the output crank, the ground link and floating
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The movement of a quadrilateral linkage can be classified into eight types
based on the positive and negative values for these three terms, T 1, T2, and
T3.3
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The cases of T1= 0, T2=0, and T3=0 are interesting because the linkages
different cases.
The figure shows examples of the various cases for a planar quadrilateral
linkage.4
types: convex, concave, and crossing. In the convex and concave cases no
two links cross over each other. In the crossing linkage two links cross over
each other. In the convex case all four internal angles are less than 180
degrees, and in the concave configuration one internal angle is greater than
lengths of the two diagonals of the quadrilateral. For convex and crossing
linkages, the length of one diagonal increases if and only if the other
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opposite is the case; one diagonal increases if and only if the other also
increases.5
Time Ratio
The time ratio (Q) of a four bar mechanism is a measure of its quick return
Q= ≥1
With four bar mechanisms there are two strokes, the forward and return,
which when added together create a cycle. Each stroke may be identical
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or have different average speeds. The time ratio numerically defines
how fast the forward stroke is compared to the quicker return stroke.
ωcrank = (Δtcycle)-1
Windshield wipers
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Other applications require that the mechanism-to-be-designed
has a faster average speed in one direction than the other. This
as offset.
Cutting machines
Package-moving devices
and to what degree the offset affects the time ratio. To relate the
ratio, Q, as follows:
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Q = (180° + β) ÷ (180° - β)
β = 180°
Timing Charts
Timing charts are often used to synchronize the motion between two or
These charts are also used to estimate the velocities and accelerations of
certain four bar links. The velocity of a link is the time rate at which its
position is changing, while the link's accelerationis the time rate at which
are vector quantities, in that they have both magnitude and direction;
however, only their magnitudes are used in timing charts. When used with
time. Constant acceleration allows for the velocity vs. time graph to appear
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as straight lines, thus designating a relationship
ΔR = vpeakΔt
ΔR = a(Δt)^2
Given the displacement and time, both the maximum velocity and
With engines, for example, a crank continuously rotates which forces many
There are two types of slider-cranks: in-line and offset. There are also two
In-line Design
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In-line Slider Crank animation
An in-line crank slider is oriented in a way in which the pivot point of the
crank is coincident with the axis of the linear movement. The follower arm,
which is the link that connects the crank arm to the slider, connects to a pin
pivot point of the crank arm must be in-line with this pin point.
linear distance the slider may travel between the two extreme points of its
motion. With an in-line crank slider, the motion of the crank and follower
links is symmetric about the sliding axis. This means that the crank angle
ideas as well. Assuming the crank arm is driven by a constant force and
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therefore constantvelocity, the time it takes to perform a forward stroke is
Graphical Approach
diagrams are drawn to scale in order for easy evaluation and successful
ground level for the specified slider-crank mechanism. This ground level is
the axis on which both the crank arm pivot-point and the slider pin are
positioned. Draw the crank arm pivot point anywhere on this ground level.
Once the pin positions are correctly placed, set a graphical compass to the
given link length of the crank arm. Positioning the compass point on the
pivot point of the crank arm, rotate the compass to produce a circle with
radius equal to the length of the crank arm. This newly drawn circle
represents the potential motion of the crank arm. Next, draw two models of
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the mechanism. These models will be oriented in a way that displays both
the extreme positions of the slider. Once both diagrams are drawn, the
linear distance between the retracted slider and the extended slider can be
evaluation. Now that the crank path is found, draw the crank slider arm in
the position that places it as far away as possible from the slider. Once
drawn, the crank arm should be coincident with the ground level axis that
was initially drawn. Next, from the free point on the crank arm, draw the
follower link using its measured or given length. Draw this length
coincident with the ground level axis but in the direction toward the slider.
The unhinged end of the follower will now be at the fully retracted position
determined. From the pivot point of the crank arm, draw a new crank arm
coincident with the ground level axis but in a position closest to the slider.
This position should put the new crank arm at an angle of 180 degrees
away from the retracted crank arm. Then draw the follower link with its
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point of the new follower will now be at the fully extended position of the
slider.
Both the retracted and extended positions of the slider should now be
known. Using a measuring ruler, measure the distance between these two
Analytical Approach
To analytically design an in-line crank slider and achieve the desired stroke,
the appropriate lengths of the two links, the crank and follower, need to be
determined . For this case, the crank arm will be referred to as L2, and the
mechanisms, the stroke is twice the length of the crank arm. Therefore,
given the stroke, the length of the crank arm can be determined. This
L2 = (ΔR4)max ÷ 2
because the stroke of the mechanism only depends on the crank arm length,
of the follower link should be at least 3 times the length of the crank arm.
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This is to account for an often undesired increased acceleration yield or
Offset Design
between the crank arm pivot point and the slider axis. This offset distance
sliding axis. In addition, the required crank angles of the forward and
With offset slider-cranks, the stroke is always twice the crank length, and as
the offset distance increases, the stroke also becomes larger. The potential
range for the offset distance can be written in relation to the other
L1 < L3 - L2
The design of an in-line crank slider mechanism involves finding the two
Analytical Approach
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The analytical method for designing an offset crank slider mechanism is the
and can be used to determine unknown values for almost any offset slider-
crank. These equations express the link lengths, L1, L2, and L3, as a function
line M, θM. Arbitrary line M is a designer-unique line that runs through the
crank pivot point and the extreme retracted slider position. The 3 equations
are as follows:
With these relationships, the 3 link lengths can be calculated and any
Examples
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A four-bar linkage used as the suspension for a bicycle. If we count the two
bars that form the shock absorber attached to the output link, then this is a
Pantograph (four-bar, two degrees of freedom, i.e., only one pivot joint is
fixed.)
line motion)
Biological linkages
Bicycle suspension
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To achieve mass production
To reduce manpower
Less Maintenance
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CHAPTER -
Metal structure
Links
Bolt joint
Plummer block
V belt drive
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S1. PARTS Qty. Material
No.1 Mechanical links 4 mild steel
3 V belt 1 Rubber
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A pillow block, also known as a plummer block or bearing housing, is a
pedestal used to provide support for a rotating shaft with the help of
Pillow blocks are usually referred to the housings which have a bearing
fitted into them and thus the user need not purchase the bearings separately.
are meant for lesser loads of general industry. These differ from "plummer
blocks" which are bearing housings supplied without any bearings and are
through the holes in the base. Bearing housings are either split type or
unsplit type. Split type housings are usually two piece housings where the
cap and base can be detached, while certain series are one single piece
housings. Various seals are provided to prevent dust and other contaminants
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from entering the housing. Thus the housing provides a clean environment
Bearing housings are usually made of grey cast iron. However various
V Belt
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over pulleys. In a two pulley system, the belt can either drive the pulleys in
the same direction, or the belt may be crossed, so that the direction of the
where the belt is adapted to continuously carry a load between two points.
Power transmission
Belts are the cheapest utility for power transmission between shafts that
system are large and this has led to many variations on the theme. They run
smoothly and with little noise, and cushion motor and bearings against load
where, T1 and T2 are tensions in the tight side and slack side of the belt
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where, μ is the coefficient of friction, and α is the angle subtended
aligned shafts. It helps protect the machinery from overload and jam,
and damps and isolates noise and vibration. Load fluctuations are
pulley diameters, due to slip and stretch. However, this problem has
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V belts
Vee belts (also known as V-belt or wedge rope) solved the slippage
of movement, load of the bearings, and long service life. They are
is trapezoidal (hence the name "V"). The "V" shape of the belt tracks
in a mating groove in the pulley (or sheave), with the result that the
belt cannot slip off. The belt also tends to wedge into the groove as
the load increases—the greater the load, the greater the wedging
effective solution, needing less width and tension than flat belts. V-
belts trump flat belts with their small center distances and high
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largest pulley diameter, but less than three times the sum of both
as Twaron or Kevlar).
When an endless belt does not fit the need, jointed and link V-belts
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CHAPTER - 7
BLOCK DIAGRAM
Manual power
Rotary motion
Power To Front
Wheel
V belt drive
Links
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Sliding motion
CHAPTER - 8
WORKING PRINCIPLE
8.1 PRINCIPLE
the driver and called as the crank or the driver ( the red bar). The other
usually is called as rocker or follower (the green bar). The floating link
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( the blue bar) that connects the crank and the rocker is called as connecting
rod, and the fixed link ( the black bar ) is called as frame.
MECHANISM
bar mechanism.
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Application of four-bar mechanisms to machinery is numerous. Some
the coupler point) will describe a path on the fixed link, which is called
point curve can be used as the output of the four-bar mechanism (such as
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c) The positions of the coupler-link may be used as the output of the four-
bar mechanism. As shown in figure below, the four-bar mechanism used for
the dump truck requires that the center of gravity of the dumper to move on
beyond the topic. In this chapter we shall discuss some basic characteristics
of the four-bar.
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Dump truck
ratio of the link length dimensions. The links that are connected to the fixed
i) The link may have a full rotation about the fixed axis (we call this type of
link crank)
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The link may oscillate (swing) between two limiting angles (we call
motion:
i) Both of the links connected to the fixed link can have a full rotation. This
ii) Both of the links connected to the fixed link can only oscillate. This type
iii) One of the links connected to the fixed link oscillates while the other
theorem (or Grashof’s rule) gives the criteria for these various conditions
as follows:
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s= length of the shortest link
The following statements are valid (stated without proof. One can prove
1. If l + s < p + q (if the sum of the lengths of the shortest and the longest
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CHAPTER - 10
ADVANTAGES
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Handling is easy.
Repairing is easy.
CHAPTER - 11
APPLICATIONS
Pantograph (four-bar, two degrees of freedom, i.e., only one pivot joint is
fixed.)
Bicycle suspension
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CHAPTER - 12
CONCLUSION
while doing this project work. We feel that the project work is a good
We are proud that we have completed the work with the limited time
We have done to our ability and skill making maximum use of available
facilities.
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REFERENCES
1991, pp.671.
- S.K. BOSE
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- A.K. HAJRA CHOUDHRY
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