MECHANISMS

SYNTHESIS AND
ANALYSIS I
Lecture 3

Graphical Linkage Synthesis

1
 INTRODUCTION
 Up on completion of this chapter, the
student will be able to
 Involve both synthesis and analysis in the
engineering design.
 Explore some simple synthesis techniques
to enable you create potential linkage
design solutions for some typical
kinematic applications.

2
QUALITATIVE SYNTHESIS
 The creation of potential solutions in the absence of
a well-defined algorithm which configures or
predicts the solution and also judge its quality.
 Several tools and techniques exist to assist you in
this process. The traditional tool is the drafting
board, on which you layout, to scale, multiple
orthographic views of the design, and investigate its
motions by drawing arcs, showing multiple
positions, and using transparent, movable overlays.
 Commercially available programs such as SolidWork
and Working Model allow rapid analysis of a
proposed mechanical design. The process then
becomes one of qualitative design by successive
analysis which is really an iteration between
synthesis and analysis.
3
TYPE SYNTHESIS
 The definition of the proper type of
mechanism best suited to the problem
and is a form of qualitative synthesis.
 This is perhaps the most difficult task for
the student as it requires some
experience and knowledge of the various
types of mechanisms which exist and
which also may be feasible from a
performance and manufacturing
standpoint.
 Remember, an engineer can do, with one
dollar, what any fool can do for ten
dollars. Cost is always an important
constraint in engineering design.
4
 QUANTITATIVE SYNTHESIS OR
ANALITICAL SYNTHESIS
 The generation of one or more solutions
of a particular type which you know to be
suitable to the problem, and more
importantly, one for which there is a
synthesis algorithm defined.
 As the name suggests, this type of
solution can be quantified, as some set of
equations exists which will give a
numerical answer.

5
DIMENSIONAL SYNTHESIS
 The determination of the proportions
(lengths) of the links necessary to
accomplish the desired motions and can
be a form of quantitative synthesis if an
algorithm is defined for the particular
problem, but can also be a form of
qualitative synthesis if there are more
variables than equations.

6
MECHANISM SYNTHESIS: TWO APPROACHES

7
FUNCTION, PATH, AND MOTION
GENERATION

8
 LIMITING CONDITIONS
 The manual, graphical, dimensional synthesis
techniques presented in this chapter and the
computerizable, analytical synthesis techniques are
reasonably rapid means to obtain a trial solution to
a motion control problem. Once a potential solution
is found, it must be evaluated for its quality. There
are many criteria which may be applied. However,
one does not want to expend a great deal of time
analyzing, in great detail, a design which can be
shown to be inadequate by some simple and quick
evaluations.
 TOGGLE: One important test can be applied within
the synthesis procedures described below. You need
to check that the linkage can in fact reach all of the
specified design positions without encountering a
limit or toggle position, also called a stationary
configuration. 9
LIMITING CONDITIONS
 The toggle positions are determined by
the colinearity of two of the moving
links.

10
LIMITING CONDITIONS

11
 TRANSMISSION ANGLE: The transmission
angle μ is defined as the angle between
the output link and the coupler. It is
usually taken as the absolute value of the
acute angle of the pair of angles at the
intersection of the two links and varies
continuously from some minimum to some
maximum value as the linkage goes
through its range of motion.

12
13
TRANSMISSION ANGLE
 Figure b above shows a torque T2 applied to
link 2. Even before any motion occurs, this
causes a static, collinear force F34 to be
applied by link 3 to link 4 at point D. Its radial
and tangential components and are
resolved parallel and perpendicular to link 4,
respectively. Ideally, we would like all of the
force F 34 to go into producing output torque
T4 on link 4. However, only the tangential
component creates torque on link 4. The
radial component F{4 provides only tension
or compression in link 4. This radial
 component only increases pivot friction and
does not contribute to the output torque.
14
LIMITING CONDITIONS
 The optimum value for the transmission
angle is 90°. When it is less than 45° the
radial component will be larger than the
tangential component. Most machine
designers try to keep the minimum
transmission angle above about 40° to
promote smooth running and good force
transmission.

15
FOUR BAR LINKAGE

16
FOUR BAR LINKAGE

17
FOUR BAR LINKAGE

18
DIMENSIONAL SYNTHESIS
Dimensional synthesis of a linkage is the
determination of the proportions (lengths) of
the links necessary to accomplish the desired
motions.
 TWO-POSITION SYSNTHESIS: Divided in two
categories:

19
DIMENSIONAL SYNTHESIS -
PROBLEM
Example 3-1 Rocker Output – Two Positions
with Angular Displacement. (Function
Generation)
 Design a fourbar Grashof crank-rocker to
give 45o of rocker rotation with equal time
forward and back, from a constant speed
motor input.

20
DIMENSIONAL SYNTHESIS -
SOLUTION
1. Draw the output link O4B in both extreme positions, B1
and B2 in any convenient location, such that the
desired angle of motion θ4 is subtended.
2. Draw the chord B1B2 and extend it in either direction.
3. Select a convenient point O2 on line B1B2 extended.
4. Bisect line segment B1B2, and draw a circle of that
radius about O2.
5. Label the two intersections 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 I, 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.
21
DIMENSIONAL SYNTHESIS

22
DIMENSIONAL SYNTHESIS

23
DIMENSIONAL SYNTHSIS

24
DIMENSIONAL SYNTHESIS

25
DIMENSIONAL SYNTHESIS

26
DIMENSIONAL SYNTHESIS

27
DIMENSIONAL SYNTHESIS

28
DIMENSIONAL SYNTHESIS

29
DIMENSIONAL SYNTHESIS

30
DIMENSIONAL SYNTHESIS

31
DIMENSIONAL SYNTHESIS-
PROBLEM
Example 3-2 Rocker Output – Two Positions
with Complex Displacement. (Motion
Generation)
 Design a fourbar linkage to move link CD
from position C1D1 to C2D2.

32
DIMENSIONAL SYNTHESIS- SOLUTION

1. Draw the link CD in its two desired

positions, C1D1 and C2D2, in the plane as
shown.
2. Draw construction lines from point C 1 to
C2 and from D1 to D2.
3. Bisect line C1C2 and line D1D2 and
extend their perpendicular bisectors to
intersect at θ4. Their intersection is the
rotopole.
4. Select a convenient radius and draw an
arc about the rotopole to intersect both
lines θ4C1 and θ4C2. Label the
33
DIMENSIONAL SYNTHESIS-
SOLUTION

34
DIMENSIONAL SYNTHESIS-
SOLUTION

35
DIMENSIONAL SYNTHESIS-
SOLUTION

36
DIMENSIONAL SYNTHESIS-
SOLUTION

37
DIMENSIONAL SYNTHESIS -
SOLUTION

38
DIMENSIONAL SYNTHESIS -
SOLUTION

39
DIMENSIONAL SYNTHESIS -
SOLUTION

40
DIMENSIONAL SYNTHESIS - SOLUTION

41
DIMENSIONAL SYNTHESIS - SOLUTION
Example 3-3 Coupler Output – Two Positions
with Complex Displacement. (Motion
Generation)
 Design a fourbar linkage to move link CD
from position C1D1 to C2D2 (with moving
pivots at C and D).

42
DIMENSIONAL SYNTHESIS - SOLUTION

43
44
45
ADDIND A DYAD TO CONTROL
MOTION EXAMPLE 3-3
 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
46
THREE-POSITION SYNTHESIS
WITH SPECIFIED MOVING
PIVOTS
 Three-position synthesis allows the
definition of three positions of a line in the
plane and will create a fourbar linkage
configuration to move it to each of those
positions. This is a motion generation
problem. The synthesis technique is a
logical extension of the method used in
Example 3-3 for two-position synthesis with
coupler output. The resulting linkage may
be of any Grashof condition and will usually
require the addition of a dyad to control and
limit its motion to the positions of interest.
Compass, protractor, and rule are the only
tools needed in this graphical method.
47
 EXAMPLE 3-5 –COUPLER OUTPUT –3 POSITION WITH
COMPLEX DISPLACEMENT (MOTION GENERATION)

 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.

48
 1. Draw link CD in its three position
C1D1, C2D2 , C3D3in the plane as
shown.

49
 2. Draw construction lines from point
C1toC2 and from C2 to C3.

50
 3. Bisect line C1C2 and line C2C3 and
extend their perpendicular bisector until
they intersect. Label their intersection
O 2.

51
 4. Repeat steps 2 and 3 for lines D1D2
and D2D3. Label the intersection O4.

52
 5. Connect O2 with C1 and call link 2.
Connect O4 with D1 and call link 4.

53
 5. Line C1D1 is link 3. Line O2O4 is link
1.

54
 7. Check the
Grashofcondition. Note
that any
Grashofcondition 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.
55
 Note that while a solution is usually
obtainable for this case, it is possible
that you may not be able to move the
linkage continuously from one position
to the next without disassembling the
links and reassembling them to get
them past a limiting position. That will
obviously be unsatisfactory.

56
 In the particular solution presented in
the above note that links 3 and 4 are in
toggle at position one, and links 2 and 3
are in toggle at position three. In this
case we will have to drive link 3 with a
driver dyad, since any attempt to drive
either link 2 or link 4 will fail at the
toggle positions. No amount of torque
applied to link 2 at position C1 will move
link 4 away from point D1 and driving
link 4 will not move link 2 away from
position C3.

57
THREE POSITION SYNTHESIS WITH
ALTERNATE MOVING PIVOTS
 Another potential problem is the
possibility of an undesirable location of
the fixed pivots
 02 and 04 with respect to your packaging
constraints. For example, if the fixed
pivot
 for a windshield wiper linkage design
ends up in the middle of the windshield,
you
 may want to redesign it. Example 3-6
shows a way to obtain an alternate
configuration
 for the same three-position motion 58as in
 Example 3.6 –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 toC2D2 and then
to position C3D3. Use
different moving pivot
than CD. Find the fixed
pivot locations.

59
THREE POSITION SYNTHESIS
WITH ALTERNATE ATTACHMENT
POINTS
 Draw link CD in its three
position C1D1, C2D2 ,
C3D3in 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 E1toE2
and from E2 to E3
60
 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

61
THREE POSITION SYNTHESIS WITH
ALTERNATE ATTACHMENT POINTS
 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
62
THREE POSITION SYNTHESIS WITH
ALTERNATE ATTACHMENT POINTS
 10. Construct a driver dyad on link two
according to the method in Example 3.4

63
64
 The solution in Figure 3-9 is different
from that of Figure 3-8 in several
respects. It avoids the toggle positions
and thus can be driven by a dyad acting
on one of the rockers, as shown in
Figure 3-9c, and the transmission angles
are better. However, the toggle
positions of Figure 3-8 might actually be
of value if a self-locking feature were
desired.

65
66
67
THREE POSITION SYNTHESIS
WITH SPECIFIED FIXED PIVOTS
 Example 3-7 –Three –Position Synthesis
with Specified Fixed Pivots -Inverting the
3-position problem
 –Invert a four bar linkage which move
the link CD shown from position C1D1 to
C2D2 and then to position C3D3. Use
specified fixed pivots O2 and O4.

68
EXAMPLE 3-7
 1. Draw link CD in its three position
C1D1, C2D2 , C3D3in 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

69
EXAMPLE 3-7
 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.

70
EXAMPLE 3-7
 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.

71
EXAMPLE 3-7
 5. Now transfer this relationship
back to the first coupler position
C1D1 so that the ground plane
position O2’O4’ 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 O2’O4’
instead of the coupler moving
from C1D1to C2D2. We have
inverted the problem.
72
EXAMPLE 3-7
 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.

73
THREE-POSITION SYNTHESIS –
EXAMPLE 3-8
 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 O2and O4. Find
the required moving pivot location on
the coupler by inversion

74
EXAMPL3 3-8
 1. Start with inverted three positions
plane as shown in the figures. Lines
E1F1, E2F2and E3F3 define the three
positions of the inverted link to be
moved.

75
EXAMPLE 3-8
 5. Connect G with E1and call it link 2.
Connect H with F1and call it link 4.

76
EXAMPLE 3-8
 6. In this inverted linkage, line E1F1is
the coupler, link 3. Line GH is the
“ground” link1.

77
EXAMPLE 3-8
 8. The figure reintroduces the original
line C1D1 in its correct relationship to
line O2O4at the initial position as shown
in the original example 3-10 a. This form
the required coupler plane and defines a
minimal shape of link 3.

78
 9. The angular motions required
to reach the second and third
position of line CD shown in the
figure 3-11 e are the same as
those defined in figure 3-11b for
the linkage inversion. The angle
F1HF2 in the figure 3-11b is the
same as the angle H1O4H2in the
figure 3–11 e and F2HF3is 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.
79
EXAMPLE 3-8

80
EXAMPLE 3-8
 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 non-Grashof 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
H1and 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.
81
FOUR POSITION
SYNTHESIS

82
FOUR POSITION
SYNTHESIS

83
QUICK RETURN
MECHANISM
 Many machine design applications have a
need for a difference in average velocity
between their "forward" and "return"
strokes. Typically some external work is
being done by the linkage on the forward
stroke, and the return stroke needs to be
accomplished as rapidly as possible so
that a maximum of time will be available
for the working stroke. Many
arrangements of links will provide this
feature. The only problem is to synthesize
the right one!

84
FOUR BAR QUICK RETURN

85
FOUR BAR QUICK RETURN MECHANISM
 This figure shows a non quick return
linkage.
 The reason for its non quick-return state
is the positioning of the crank center 02
on the chord BIB2 extended. This results
in equal angles of 180 degrees being
swept out by the crank as it drives the
rocker from one extreme (toggle
position) to the other. If the crank is
rotating at constant angular velocity, as
it will tend to when motor driven, then
each 180 degree sweep, forward and
back, will take the same time interval.
86
FOUR BAR QUICK RETURN
MECHANISM

used to describe this kind of linkage

87
QUICK –RETURN MECHANISM
 Four bar Quick-Return
 –Time ratio (TR) defines the degree of
quick-return of the linkage.

 –Works well for time ratios down to

about 1.5
88
FOUR BAR QUICK RETURN
MECHANISM
 Example 1 –Four bar
Crank-Rocker Quick-Return
Linkage for Specified Time
Ratio
 –Redesign Example 1 (two
position) to provide a time
1:1.25 with 45°output
rocker motion.

89
FOUR BAR CRANK-ROCKER-QUICK
RETURN MECHANISM
1. Draw the output link O4B in both
extreme position, in any convenient
location, such that the desired angle of
motion, θ4, is subtended.

90
 2. Calculate α, β, δ using the
equations. In this example
α=160°, β=200°,δ=20°.
 •3. Draw a construction line
through point B1at any
convenient angle.
 •4. Draw a construction line
through point B2at an angle δ
from the first line.
 •5. Label the intersection of
the two construction line O2.
 •6. The line O2O4 define
ground. 91
EXAMPLE 3-9
 7. Calculate the length of
crank and coupler by
measuring O2B1and 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 B1to 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.
92
FOUR BAR QUIK RETURN
MECHANISM
 8. Calculate the
Grashof condition. If
non-Grashof, repeat
steps 3 to 8 with
O2further O4.
 •9. Make a model of
the linkage and
articulate it to check
its function.
 •10. Check the
transmission angle

93
SIX BAR QUICK RETURN
MECHANISM
 Larger time ratios, up to about 1:2 can
be obtained by designing a six bar
linkage. The strategy here is to first
design a four bar drag link mechanism
which has the desired time ratio
between its driver crank and its driven
or "dragged" crank, and then add a
dyad (two bar) output stage, driven by
the dragged crank. This dyad can be
arranged to have either a rocker or a
translating slider as the output link. First
the drag link four bar will be
synthesized; then the dyad will be
added. 94
EXAMPLE 3-10 SIX BAR
QUICK RETURN
 Example 2 –Six bar
Drag Link Quick-
Return Linkage for
Specified Time Ratio
–Provide a time ratio of
1:1.4 with 90 degree
rocker motion

95
EXAMPLE 3-10 SIX BAR QUICK
RETURN
 1. Calculate α, β, δ using
the equations. In this
example α=150°,
β=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.
96
 4. Draw a line of convenient radius O2A about
center O2
 •5. Lay out angle α with vertex at O2,symmetrical
about quadrant one
 •6. Label points A1and A2 at the intersection of
the lines subtending angle α and the circle of
radius O2A.

97
 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 A1and A2. Label the intersection
C1and C2.
 •8. The line O2A1is the driver crank, link 2, and line
A1C1is the coupler, link 3.
 •9. The distance C1C2 is twice the driven (dragged)
crank length. Bisect it to locate the fixed pivot O4.

98
 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.

99
EXAMPLE 3-10 SIX BAR QUICK
RETURN
 12. invert the method of example 1 (two
positions) to create the output dyad
using XX as the chord and O4C1as the
driving crank. The point B1and 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.

100
EXAMPLE 3-10 SIX BAR
QUICK RETURN

101
SIX BAR QUICK RETURN

102
CRANK SLIDER QUICK
RETURN
 A commonly used mechanism, capable
of large time ratios as shown in the
Figure below is used in a metal shaper
machines to provide a slow cutting
stroke and a quick return stroke when
the tool is doing no work.
 The rocker pivot O4 moves along the
vertical centerline O2O4 while keeping
the two extremes position of link 4
tangent to the circle of the crank until
the desired time ratio is achieved. Link 2
is the input and link 6 is the output.

103
SIX BAR QUICK RETURN

104
CRANK SLIDER QUICK
RETURN
 Depending on the relative
length of the links this
mechanism is known as the
whitworth mechanism or
crank shaper mechanism. If
the ground link is the shortest
then it will behave as a
double crank linkage, or
whitworth mechanism, with
both pivoted links making full
revolution as shown. If the
driving crank is the shortest
link, then it will behave as a
crank rocker linkage or crank
shaper mechanism as shown
in Figure 3-14
105
 QUESTION
 Design a fourbar mechanism to give a two
position shown in the figure below of coupler
motion with no quick return(see example 3-3)
Add a driver dyad (see example 3-4)

106
107
108
COUPLER CURVES
 Coupler is the most interesting link since
it has complex motion.
 Points on the coupler can have path
motions of high degree ( the highest
power of any term in it’s equation)
 A circle has a second degree curve
 A pin jointed four bar has in general a
sixth degree coupler curve.
 A four bar slider crank has in general a
fourth degree coupler curve.

109
COUPLER CURVES
 If the linkage is pin jointed the highest
degree of it’s coupler curve is

 Where n = number of links

 All linkages that have floating coupler
links will generate coupler curves.
 For any coupler we have an infinite
number of points which trace out
complex curves( all different).

110
COUPLER CURVES

111
COUPLER CURVES

112
FOUR BAR COUPLER
CURVES
 There is an infinite range of variation
between these generalized shapes.
Some features of interest are the
curve's double points, ones that have
two tangents. They occur in two types,
the cusp and the crunode. A cusp is a
sharp point on the curve which has the
useful property of instantaneous zero
velocity. The simplest example of a
curve with a cusp is the cycloid curve
which is generated by a point on the rim
of a wheel rotating on a flat surface.

113
FOUR BAR COUPLER
CURVES
 A crunode creates a multiloop curve
which has double points at the
crossovers. The two slopes (tangents) at
a crunode give the point two different
velocities, neither of which is zero in
contrast to the cusp. In general, a
fourbar coupler curve can have up to
three real double points* which may be
a combination of cusps and crunodes as
can be seen in Figure 3-16.
 Four bar coupler can have up to three
double points.

114
 FOUR BAR COUPLER
CURVES
 The Hrones and Nelson atlas is logically
arranged, with all linkages defined by their
link ratios, based on a unit length crank. The
coupler is shown as a matrix of fifty coupler
points for each linkage geometry, arranged
ten to a page. Thus each linkage geometry
occupies five pages. Each page contains a
schematic "key" in the upper right corner
which defines the link ratios. Figure 3-17b
shows a "fleshed out" linkage drawn on top
of the H&N atlas page to illustrate its
relationship to the atlas information.

115
 The double circles in Figure 3-17 a define the fixed
pivots. The crank is always of unit length. The ratios of
the other link lengths to the crank are given on each
page.
 The location of the chosen coupler point can be scaled
from the atlas and is defined within the coupler by the
position vector R whose constant angle is measured
with respect to the line of centers of the coupler.

116
 The Hrones and Nelson coupler curves are
shown as dashed lines. Each dash station
represents five degrees of crank rotation.
So, for an assumed constant crank velocity,
the dash spacing is proportional to path
velocity. The changes in velocity and the
quick-return nature of the coupler path
motion can be clearly seen from the dash
spacing. One can peruse this linkage atlas
resource and find an approximate solution to
virtually any path generation problem

117
COUPLER CURVES

118
PRACTICAL APPLICATION
 A movie camera (or projector) film
advance mechanism. Point 02 is the
crank pivot which is motor driven at
constant speed. Point 04 is the rocker
pivot, and points A and B are the moving
pivots. Points A, B, and C define the
coupler where C is the coupler point of
interest. A movie is really a series of still
pictures, each "frame" of which is
projected for a small fraction of a second
on the screen. Between each picture, the
film must be moved very quickly from
one frame to the next while the shutter is
closed to blank the screen.
119
PRACTICAL APPLICATION-CONTINUED
 The linkage shown in Figure 3-18 is
cleverly designed to provide the required
motion. A hook is cut into the coupler of
this fourbar Grashof crank-rocker at point
C which generates the coupler curve
shown. The hook will enter one of the
sprocket holes in the film as it passes
point F1, Notice that the direction of
motion of the hook at that point is nearly
perpendicular to the film, so it enters the
sprocket hole cleanly. It then turns
abruptly downward and follows a crudely
approximate straight line as it rapidly
pulls the film downward to the next
frame.
120
MOVIE CAMERA FILM ADVANCE
MECHANISM
 the "gate." The shutter (driven by another
linkage from the same driveshaft at 02) is
closed during this interval of film motion,
blanking the screen. At point F2 there is a cusp
on the coupler curve which causes the hook to
decelerate smoothly to zero velocity in the
vertical direction, and then as smoothly
accelerate up and out of the sprocket hole.
The abrupt transition of direction at the cusp
allows the hook to back out of the hole without
jarring the film, which would make the image
jump on the screen as the shutter opens. The
rest of the coupler curve motion is essentially
"wasting time" as it proceeds up the back side,
to be ready to enter the film again to repeat
the process.
121
SYMMETRICAL FOUR BAR CURVES

 If coupler and rocker are the same

length pin-to-pin, all coupler points that
lie on a circle centered on the coupler-
rocker joint with radius equal to the
coupler length will generate
symmetrical coupler curves
 Called the symmetrical four bar linkage.

122
SYMMETRICAL FOUR BAR CURVES

123
SYMMETRICAL FOUR BAR CURVE

124
COUPLER CURVE SHAPES OF
SYMMETRICAL FOUR BAR LINKAGE

125
COUPLER CURVE SHAPES OF
SYMMETRICAL FOUR BAR LINKAGE

126
GEARED FIVE BAR COUPLER
CURVES

127
GEARED FIVE BAR COUPLER
CURVES

128
COGNATES
 It sometimes happens that a good
solution to a linkage synthesis problem
will be found that satisfies path
generation constraints but which has
the fixed pivots in inappropriate
locations for attachment to the available
ground plane or frame. In such cases,
the use of a cognate to the linkage
may be helpful.

129
COGNATE
 The term cognate was used by
Hartenberg and Denavit to
describe a linkage, of different
geometry, which generates the
same coupler curve. Samuel
Roberts (1875) and Chebyschev
(1878) independently discovered
the theorem which now bears
their names

130
COGNATES
 Roberts-Chebyschev
 –Three different planar pin-jointed four bar
linkages will trace identical coupler curves.
 •Cayley Diagram: Construction lines parallel to all
sides of the links
 •Roberts Diagram: Three four bar’s linkage
cognates which shares the same coupler curve

131
COGNATES-CARLEY

132
COGNATES-CARLEY

133
COGNATES -ROBERT

134
COGNATES-ROBERTS

135
PARALLEL MOTION
 It is quite common to want an ouput link
of a mechanism to follow a particular
path without any rotation of the link as
it moves along the path. Once an
appropriate path motion in the form of a
coupler curve and its fourbar linkage
have been found, a cognate of that
linkage provides a convenient means to
replicate the coupler path motion and
provide curvilinear translation (ie. No
rotation) of a new output link that
follows the coupler path.

136
COGNATES-PARALLEL
MOTION

137
PARALLEL MOTION

138
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.

139
GFBM

140
STRAIGHT LINE
MECHANISM
 A very common application of coupler
curves is the generation of approximate
straight lines. Straight-line linkages
have been known and used since the
time of James Watt in the 18th century.
Many kinematicians such as Watt,
Chebyschev, Peaucellier, Kempe, Evans,
and Hoeken (as well as others) over a
century ago, developed or discovered
either
 approximate or exact straight-line
linkages, and their names are
associated with
 those devices to this day. 141
STRAIGHT-LINE MECHANISMS
 WATT’S

142
STRAIGHT LINE
MECHANISM
 Robert’s

143
STRAIGHT LINE
MECHANISM
 Cheybyshev

144
STRAIGHT LINE
MECHANISM
 Hoeken

145
STRAIGHT LINE
MECHANISM
 Evans

146
STRAIGHT LINE
MECHANISM
 Peaucellier

147
DWELL MECHANISMS
 A common requirement in machine
design problems is the need for a
dwell in the output motion. A dwell is
defined as zero output motion for
some nonzero input motion. In other
words, the motor keeps going, but
the output link stops moving. Many
production machines perform a series
of operations which involve feeding a
part or tool into a workspace, and
then holding it there (in a dwell) while
some task is performed.
148
SINGLE DWELL LINKAGE
 There are two usual approaches to
designing single-dwell linkages. Both
result in sixbar mechanisms, and both
require first finding a fourbar with a
suitable coupler curve. A dyad is then
added to provide an output link with the
desired dwell characteristic.

149
SINGLE DWELL
MECHANISM
 The first approach to be discussed
requires the design or definition of a
fourbar with a couple curve that
contains an approximate circle arc
portion, which "are" occupies the
desired portion of the input link
(crank) cycle designated as the dwell.
An atlas of coupler curves is
invaluable for this part of the task.

150
SINGLE DWELL
Single-Dwell: Design a sixbar linkage for
90°rocker motion over 300 crank degree
with dwell for the remaining 60°

151
SINGLE DWELL
 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 four link
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.
152
 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.

153
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
154
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.
155
EXAMPLE 3-13
 7. Locate fixed pivot
O6on the bisector of DE
such line O6D and O6E
subtend the desired
output angle, 90°.
 •8. Draw link 6 from D
(or E) through O6and
extend to any convenient
length. This is the output
link which will dwell for
specified portion of the
crank cycle.
 •Check the transmission
angles
156
EXAMPLE 3-13
 Single-Dwell: Design a sixbar linkage for
90°rocker motion over 300 crank degree
with dwell for the remaining 60°

157
DOUBLE DWELL
MECHANISM
 Double-Dwell: Design a sixbarlinkage for
80°rocker motion over 20 crank degree
with dwell for the remaining 160°, return
motion over 140°and second dwell for
40°.

158
DOUBLE DWELL LINKAGE
 1. Search the H&N atlas for a
linkage with a coupler curve
having two approximate
straight-line 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.
159
EXAMPLE 3-14
 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 six bar is shown in
the next figure.
 •Check transmission
angle.
160
EXAMPLE 3-14
 Double Dwell


161