ME 222: Kinematics of Machines and Mechanisms: (L6) Linkage Transformation, Isomers and Inversions

15-Jan-19
Overview
Linkage transformation
ME 222: Kinematics of Machines and
Inversion
Mechanisms
Grashof condition
[L6] Linkage Transformation, Isomers and
Inversions Linkages of more than four bars
Intermittent Motion
15-Jan-19 Suril V. Shah IIT Jodhpur 1 Suril V. Shah 2
Isomers Linkage Isomers

Linkage isomers are analogous chemical
The word isomer means having equal parts compounds
Isomers in chemistry are compounds with the Links (like atoms) have various nodes
same number of atoms but connected differently (electrons) available to connect to other links’
nodes.
Predicting the number of isomers of all link

combinations has been a long-unsolved
problem.
Suril V. Shah 3 Suril V. Shah 4

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Isomers Distribution of degree of freedom
There is also a third potential isomer for this case of six links
but it fails the test of distribution of degree of freedom, which

requires that
Link lengths and shapes do not figure into the Gruebler the overall DOF (here 1) be uniformly distributed throughout the
criterion or the condition of isomerism. linkage and not concentrated in a subchain.
Franke’s “Condensed Notation for Structural

Synthesis”
Isomers of collection of links of higher order than binary.
Higher order link is shown as a circle with its nodes
These circles are connected with a number of lines.
A number on each line represent the nos of binary links
8-Links

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Valid 1-DOF isomers Number Synthesis
Isomer (Structural Synthesis) Linkage transformation

Number synthesis: Toolkit of basic linkages of
particular DOF.
Constraint of only revolute joints
Relaxing it gives a wider variety of mechanisms

with even greater usefulness.
Linkage transformation

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Linkage transformation Linkage transformation

Rule 1: Revolute joints in any loop can be replaced by prismatic Rule 2: Any full joint can be replaced by a half joint, but this will
joints with no change in DOF of the mechanism, provided that at increase the DOF by one.
least two revolute joints remain in the loop. Rule 3: Removal of a link will reduce the DOF by one.
Rule 4: Rules 2 and 3 above will keep the original DOF unchanged.
Linkage transformation Linkage transformation

Rule 5: Any ternary or higher-order link can be partially “shrunk”
to a lower-order link by coalescing nodes. This will create a
multiple joint but will not change the DOF of the mechanism.
Rule 6: Complete shrinkage of a higher-order link is equivalent to
its removal. A multiple joint will be created, and the DOF will be
reduced.

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Inversion Inversion of a four bar mechanism

It is apparent that there are many possible
linkages for any situation.
One can introduce another factor, namely,

inversion.
An inversion is created by grounding a different

link in the kinematic chain.
There are as many inversions of a linkage as it has

links
Inversion of slider-crank mechanism Inversion of six-bar mechanism
Hand pump
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Fourbar Linkage Grashof condition

Fourbar: Simplest pin-jointed mechanism for 1-DOF The Grashof condition is a relationship that predicts the rotation
motion. behavior or rotatability of a fourbar linkage’s inversions based on
the link lengths.
It appears in disguises: slider-crank and cam-follower. Let : S =length of shortest link

L = length of longest link
Highly versatile in terms of motion that it can generate. P=length of one remaining link
Q= length of other remaining link
Least expensive and most reliable solution with the Then if :
fewest parts.
(S +L)<= (P+Q)
The fourbar linkage should be investigated first as a

solutions to motion control problems the linkage is Grashof and at least one link will be capable of
making a full revolution with respect to the ground plane.
Suril V. Shah Suril V. Shah
Class 1 Kinematic chain (S +L< P+Q) Class II kinematic chain (S +L >P+Q)

non-Grashof (no link makes complete revolution)

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Non-Grashof linkage Special-case: Grashof Class III (S +L = P+Q)
Warning: Be carefull with change over points in the above
Condition for assembly Links more than four

The longest link must be shorter than the sum Five bar linkage
of the other three links,
L < (S + P +Q)

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Application of Fourbar Mechanism Application of Fourbar Mechanism
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Slider Crank Mechanism Links more than four

Six-bar linkage
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Intermittent Motion Cam and Follower

Intermittent motion is a sequence of motions
and dwells. It is a variation of the fourbar linkage often used
in these situations
A dwell is a period in which the output link

remains stationary while the input link
continues to move.
Let us see some mechanisms
Geneva Mechanism Linear Geneva Mechanism

Transformed fourbar linkage This mechanism is analogous to an open Scotch yoke device with
multiple yokes.
Coupler has been replaced by a half joint. It can be used as an intermittent conveyor drive with the slots
arranged along the conveyor chain or belt.
Crank is fitted with arc segment to keep the
Geneva wheel stationary for the next pin
entry.
A Geneva wheel needs a minimum of three

stops to work.
The maximum number of stops is limited Scotch yoke

only by the size of the wheel.

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Ratchet and Pawl
The driving pawl rotates the

ratchet wheel in the
counterclockwise direction and
does no work on the return trip.
The locking pawl prevents the

ratchet from reversing direction
while the driving pawl returns.
Both pawls are usually spring-

loaded against the ratchet.
Thank you
Suril V. Shah 37

ME 222: Kinematics of Machines and Mechanisms: (L6) Linkage Transformation, Isomers and Inversions

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15-Jan-19

15-Jan-19 Suril V. Shah IIT Jodhpur 1 Suril V. Shah 2

Isomers Linkage Isomers

Predicting the number of isomers of all link

Suril V. Shah 3 Suril V. Shah 4

Isomers Distribution of degree of freedom

but it fails the test of distribution of degree of freedom, which

Franke’s “Condensed Notation for Structural

Suril V. Shah 7 Suril V. Shah 8

Valid 1-DOF isomers Number Synthesis

Suril V. Shah 9 Suril V. Shah 10

Isomer (Structural Synthesis) Linkage transformation

Constraint of only revolute joints

Relaxing it gives a wider variety of mechanisms

Suril V. Shah 11 Suril V. Shah 12

Linkage transformation Linkage transformation

Suril V. Shah 13 Suril V. Shah 14

Linkage transformation Linkage transformation

Suril V. Shah 15 Suril V. Shah 16

Inversion Inversion of a four bar mechanism

One can introduce another factor, namely,

An inversion is created by grounding a different

There are as many inversions of a linkage as it has

Suril V. Shah 17 Suril V. Shah 18

Inversion of slider-crank mechanism Inversion of six-bar mechanism

Fourbar Linkage Grashof condition

It appears in disguises: slider-crank and cam-follower. Let : S =length of shortest link

The fourbar linkage should be investigated first as a

Suril V. Shah Suril V. Shah

Class 1 Kinematic chain (S +L< P+Q) Class II kinematic chain (S +L >P+Q)

Suril V. Shah Suril V. Shah

Non-Grashof linkage Special-case: Grashof Class III (S +L = P+Q)

Warning: Be carefull with change over points in the above

Suril V. Shah Suril V. Shah

Condition for assembly Links more than four

Suril V. Shah Suril V. Shah

Application of Fourbar Mechanism Application of Fourbar Mechanism

Slider Crank Mechanism Links more than four

15-Jan-19 Suril V. Shah IIT Jodhpur 31 Suril V. Shah

Intermittent Motion Cam and Follower

A dwell is a period in which the output link

Let us see some mechanisms

Suril V. Shah 33 Suril V. Shah 34

Geneva Mechanism Linear Geneva Mechanism

A Geneva wheel needs a minimum of three

The maximum number of stops is limited Scotch yoke

Suril V. Shah 35 Suril V. Shah 36

Ratchet and Pawl

The driving pawl rotates the

The locking pawl prevents the

Both pawls are usually spring-

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