Kinematic Chains and

UNIT 3 KINEMATIC CHAINS AND THEIR their Inversions

INVERSIONS
Structure
3.1 Introduction
Objectives

3.2 Kinematic Chains

3.3 Inversions of Kinematic Chain
3.4 Inversions of 4R-Kinematic Chain
3.4.1 Crank-lever Mechanism
3.4.2 Double-lever Mechanism
3.4.3 Double Crank Mechanism

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

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

3.6 Inversions of 2R-2P Kinematic Chain

3.6.1 First Inversion
3.6.2 Second Inversion
3.6.3 Third Inversion

3.7 Grashof’s Criterion

3.8 Summary
3.9 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.
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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 ‘ρ’ 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) 4R-kinematic chain which has all the four kinematic pairs as revolute pairs.
(b) 3R-1P kinematic chain which has three revolute pairs and one prismatic
pair.
(c) 2R-2P kinematic chain which has two revolute pairs and two prismatic pairs.

B
A 3 R3 B
R3 4
R2 A 3
R2
4
2
2 ρ
R1 R4
O2 O4 R1 R4
O2 O4
1 1
Figure 3.1 1 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 4 2 4
2

1 1 1

3 3

2
2 4 4

1
1
Figure 3.2

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SAQ 2 Kinematic Chains and
their Inversions
How a four bar kinematic chain works as a mechanism by fixing one link?

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.
T1 T2 T3
1 2 3 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.
B
B1 B2
3
A
4
2
A2

A1 O2 O4

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 I3 B

I4 B2
B1
2
I2 A2 O4
O2

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 3
B
2
4

O2 O4
1 1

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

44 A B
B2 B B
A4 B B

B4 B B

O2
B B
O4 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) Determine degrees of freedom of 4R-kinematic chain.
(b) 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.

T1 T2 T3
1 2 3 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.
T1 T2 T3
1 2 3 4

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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 = θ and crank rotates at constant
speed ω.
Time taken in forward stroke
Quick Return Ratio =
Time taken in return stroke

(2π − θ)
ω 2π − θ
= =
θ θ
ω
T1 T2 T3
1 2 3 4
3 4

1
2
4
B
3
O4
1
2 Ram
Q
P 6
A1 O2 A2
A 5

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).

T1 T2 T3
1 2 3 4
2

4 1
S
3
46
3
 Kinematic Chains and
their Inversions

(a) Oscillating Cylinder Engine

6
Ram
5
1
A
2
O2

θ
A1 4 A2

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 ‘ω’.
(2π − θ)
Time for forward stroke ω 2π − θ
Quick Return Ratio = = =
Time for return stroke θ θ
ω
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

3
47
T1 T2 T3
1
B B B B

3
B B

2 4

S
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.

T1 T2 S1
1 2 3 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 ‘θ’ of
link 2, the displacement of link 4 is given by
x = OA sin θ

T1 T2 S1
1 2 3 4

S2

A T2

3
s2 2
S1
T1
4 θ

O
1 1

Figure 3.14 : Scotch Yoke Mechanism

3.6.2 Second Inversion

In this case, link 2 is fixed and a mechanism called Oldham’s coupling is obtained. This
coupling is used to connect two shafts which have eccentricity ‘ε’. The axes of the two
shafts are parallel but displaced by distance ε. The link 4 as well slides in the two slots

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Fixed Link
T1 B B
T2 B B
S1 B B

1 2 3 4
provided in links 3 and 1. The centre of this link will move on a circle with diameter Kinematic Chains and
equal to eccentricity. their Inversions

1 2
S1

3 T1

2 4 S2

T2

Figure 3.15 : Oldham’s 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
xD = AD sin θ or sin θ =
AD
yD
yD = CD sin θ or cos θ =
CD
Since, sin 2 θ + cos 2 θ = 1
Substituting for sin θ and cos θ in this equation, the following equation of ellipse is
obtained.
xD2 y1D
+ =1
AD 2 CD 2
The semi-major axis of the ellipse is AD and semi-minor axis is CD.

T1 T2 S1
1 2 3 4

S2 4
1 T1 D

O
X

4
S2
3 θ 2
B
A

T2
S1

Figure 3.16

SAQ 5
(a) Explain why only three different mechanisms are available from 2R-2P
kinematic chain.
49
Basic Concepts (b) If length of crank in the reciprocating mechanism is 15 cm, find stroke
length of the slider.
(c) 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.
(d) 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 GRASHOF’S 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.
B
Coupler
A
3 I3

4 I4
2 I2

I1
O4
O2
Frame 1

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) (l + s ) < ( p + q )
(b) (l + s ) = ( p + q)
(c) (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 Δ 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
4
3
I4
B B

I3 B 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) when smallest link is frame, a double crank mechanism is obtained,
(b) when smallest link is crank or follower crank-rocker or rocker-crank
mechanism is obtained, and
(c) when smallest link is coupler, double rocker or double lever mechanism is
obtained.
B

I3

4 I4 3

A
2 O4
O2 I2

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 Grashof’s 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.
Mechanisms : When one of the links of kinematic chain is fixed,
the chain is known as mechanism.
Movability : This is concerned about motion of different links
in a mechanism
51
Basic Concepts Grashof’s Criterion : Criterion to study movability of four bar linkage
using revolute pairs.
Crank : The link which makes complete rotation.
Rocker : The link oscillates between two extreme positions.
Coupler : 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) Only one coordinate, i.e. angle of crank is required. Therefore, it has one
degree of freedom.
(b) It can provide four mechanisms but the following two mechanisms
(i) crank-lever mechanism
(ii) lever-crank mechanism
are similar. Therefore, 4R-kinematic chain provide only three different
mechanisms.
SAQ 5
(a) By fixing any of the two sliders in 2R-2P kinematic chain only scotch yoke
is obtained. Therefore, only three different mechanisms are obtained.
(b) The stroke lengths shall be 15 + 15 = 30 cm.
θ 15 1
(c) cos = =
2 30 2
θ
∴ = 60o or θ = 120o
2
360 − 120 240
∴ Quick Return Ratio = = =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 Grashof’s criterion has also been described in
this unit.

KINEMATICS AND DYNAMICS OF

MECHANISMS
In the past few years, the approach to designing a mechanical system has been deviating
54 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 Kinematic Chains and
optimal performance. Further the development of new areas like robotics has provided a their Inversions
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.

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