Introduction:

A four-bar linkage, also called a four-bar, is the simplest movable closed chain linkage. It consists of four bodies, called bars or links, connected in a loop by four joints. Generally, the joints are configured so the links move in parallel planes, and the assembly is called a planar four-bar linkage. 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 a spherical four-bar linkage. Bennett's linkage is a spatial four-bar linkage with hinged joints that have their axes angled in a particular way that makes the system movable. Definitions In the range of planar mechanisms, the simplest group of lower pair mechanisms are four bar linkages. A four bar linkage comprises four bar-shaped links and four turning pairs as shown in Figure 5-8.

Figure 5-8 four bar linkage The link opposite the frame is called the coupler link, and the links whack are hinged to the frame are called side links. A link which is free to rotate through 360 degree with respect to a second link will be said to revolve relative to the second link (not necessarily a frame). If it is possible for all four bars to become simultaneously aligned, such a state is called a change point. Some important concepts in link mechanisms are:
1. Crank: A side link which revolves relative to the frame is called a crank. 2. Rocker: Any link which does not revolve is called a rocker. 3. Crank-rocker mechanism: In a four bar linkage, if the shorter side link revolves and the other one rocks (i.e., oscillates), it is called a crank-rocker mechanism. 4. Double-crank mechanism: In a four bar linkage, if both of the side links revolve, it is called a double-crank mechanism. 5. Double-rocker mechanism: In a four bar linkage, if both of the side links rock, it is called a double-rocker mechanism.

Examples:
Parallelogram Mechanism

In a parallelogram four-bar linkage, the orientation of the coupler does not change during the motion. The figure illustrates a loader. Obviously the behaviour of maintaining parallelism is important in a loader. The bucket should not rotate as it is raised and lowered. The corresponding InDesign file is simdesign/loader.sim.

Figure 5-4 Front loader mechanism Slider-Crank Mechanism The four-bar mechanism has some special configurations created by making one or more links infinite in length. The slider-crank (or crank and slider) mechanism shown below is a four-bar linkage with the slider replacing an infinitely long output link. The corresponding SimDesign file is simdesign/slider.crank.sim.

Figure 5-5 Crank and Slider Mechanism This configuration translates a rotational motion into a translational one. Most mechanisms are driven by motors, and slider-cranks are often used to transform rotary motion into linear motion. Crank and Piston You can also use the slider as the input link and the crank as the output link. In this case, the mechanism transfers translational motion into rotary motion. The pistons and crank in an internal combustion engine are an example of this type of mechanism. The corresponding SimDesign file is simdesign/combustion.sim.

Figure 5-6 Crank and Piston You might wonder why there is another slider and a link on the left. This mechanism has two dead points. The slider and link on the left help the mechanism to overcome these dead points. Block Feeder One interesting application of slider-crank is the block feeder. The SimDesign file can be found in simdesign/block-feeder.sim

Figure 5-7 Block Feeder

Grashof condition:
The Grashof condition for a four-bar linkage states: If the sum of the shortest and longest link of a planar quadrilateral linkage is less than or 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 is satisfied If S+L P+Q

where S is the shortest link, L is the longest, and P and Q are the other links.

Classification:
The types of linkage can be further classified into eight cases. Let , , , be the lengths of the input link, output link, ground link and coupler respectively. If , then the eight types are classified according to the signs of , , .

Grashof condition + + + + + + + + + + + + Grashof Grashof Grashof Grashof Non-Grashof Non-Grashof Non-Grashof Non-Grashof

Input link Crank Crank Rocker Rocker

Output link Crank Rocker Crank Rocker

00-Rocker Rocker -Rocker Rocker 0-Rocker Rocker 0-Rocker Rocker

The figure shows examples of the various cases for a planar quadrilateral linkage.[4]

Types of four-bar linkages, s = shortest link, l = longest link

A few special cases arises when equalities exist, i.e. when the sum of the lengths of the largest nad the shorted links is equal to the sum of lengths of the other two links. For example, parallel-crank four bar linkage and deltoid linkage. Parallel-crank Four-Bar Linkage: If in a four-bar linkage, two opposite links are parallel and equal in length, and then any of the links can be made fixed. The two links adjacent to the fixed link will always act as two cranks. The four links form a parallelogram in all the positions of the cranks, provided the cranks rotate in the same sense as shown in figure. The use of such a mechanism is made in the coupled wheels of locomotive in which the rotary motion of one wheel is transmitted to the other wheel. For kinematic analysis, link d is treated as fixed and the relative motions of the other links are found. However, in fact, d has a translatory motion parallel to the rails. Deltoid Linkages: In a deltoid linkage, the equal links are adjacent to each other. When any of the shorter links is fixed, a double-crank mechanism is obtained in which one revolution of the longer link causes two revolutions of the other shorter link. As shown in figure ,when link c rotates through half revolution and assumes the position DC, the link a has completed a full revolution. When any of the longer links is fixed, two crank-rocker mechanisms are obtained.

Transmission Angle:
In Figure , if AB is the input link, the force applied to the output link, CD, is transmitted through the coupler link BC. (That is, pushing on the link CD imposes a force on the link AB, which is transmitted through the link BC.) For sufficiently slow motions (negligible inertia forces), the force in the coupler link is pure tension or compression (negligible bending action) and is directed along BC. For a given force in the coupler link, the torque transmitted to the output bar (about point D) is maximum when the angle between coupler bar BC and output bar CD is /2. Therefore, angle BCD is called transmission angle.

(5-3)

Figure Transmission angle When the transmission angle deviates significantly from /2, the torque on the output bar decreases and may not be sufficient to overcome the friction in the system. For this reason, the deviation angle =| /2- | should not be too great. In practice, there is no definite upper limit for , because the existence of the inertia forces may eliminate the undesirable force relationships that is present under static conditions. Nevertheless, the following criterion can be followed.

Dead Point:
When a side link such as AB in Figure , becomes aligned with the coupler link BC, it can only be compressed or extended by the coupler. In this configuration, a torque applied to the link on the other side, CD, cannot induce rotation in link AB. This link is therefore said to be at a dead point (sometimes called a toggle point).

Figure 5-10 Dead point In Figure 5-11, if AB is a crank, it can become aligned with BC in full extension along the line AB1C1 or in flexion with AB2 folded over B2C2. We denote the angle ADC by and the angle DAB by . We use the subscript 1 to denote the extended state and 2 to denote the flexed state of links AB and BC. In the extended state, link CD cannot rotate clockwise without stretching or compressing the theoretically rigid line AC1. Therefore, link CD cannot move into the forbidden zone below C1D, and must be at one of its two extreme positions; in other words, link CD is at an extremum. A second extremum of link CD occurs with = 1. Note that the extreme positions of a side link occur simultaneously with the dead points of the opposite link. In some cases, the dead point can be useful for tasks such as work fixturing (Figure).

Figure Work fixturing In other cases, dead point should be and can be overcome with the moment of inertia of links or with the asymmetrical deployment of the mechanism (Figure).

Figure Overcoming the dead point by asymmetrical deployment (V engine)

Slider-Crank Mechanism :
The slider-crank mechanism, which has a well-known application in engines, is a special case of the crank-rocker mechanism. Notice that if rocker 3 in Figure-a is very long, it can be replaced by a block sliding in a curved slot or guide as shown. If the length of the rocker is infinite, the guide and block are no longer curved. Rather, they are apparently straight, as shown in Figure -b, and the linkage takes the form of the ordinary slider-crank mechanism.

Figure Slider-Crank mechanism So sliding pair mechanism may be classified into two categories: (a)Single Sliding-Crank Chain: When one of the turning pairs of a four-bar chain is replaced by a sliding pair, it becomes a single slider-crank chain or simply a slider-crank chain.

(b)Double Sliding-Crank Chain: When two of the turning pairs of a four-bar chain is replaced by two sliding pair, it becomes a double slider-crank chain or simply a slider-crank chain Further, in a slider crank chain, the straight line path of the slider may be passing through the fixed pivot O or may be displayed. The distance e between the fixed pivot O and the straight line path of the slider is called the offset and the chain so formed an offset slider-crank chain.

Different mechanisms obtained by fixing different links of a kinematic chain are known as its inversions.

Single Slider-Crank Mechanism:

Inversion is a term used in kinematics for a reversal or interchange of form or function as applied to kinematic chains and mechanisms. For example, taking a different link as the fixed link, the slider-crank mechanism shown in Figure 5-14a can be inverted into the mechanisms shown in Figure 5-14b, c, and d. Different examples can be found in the application of these mechanisms. For example, the mechanism of the pump device in Figure 5-15 is the same as that in Figure 5-14b.

Figure 5-14 Inversions of the crank-slide mechanism

Figure 5-15 A pump device Keep in mind that the inversion of a mechanism does not change the motions of its links relative to each other but does change their absolute motions. When one of the turning pairs of a four-bar chain is replaced by a sliding pair, it becomes a single slider-crank chain or simply a slider-crank chain. And following inversions of single slider-crank chain described below: 1.First Inversion: This inversion is obtained when link 1 is fixed and links 2 and 4 are made the crank and the slider respectively shown in below figure.

Applications: 1. Reciprocating engine 2. Reciprocating compressor 2. Second Inversion: Fixing of Link 2 of a Slider-crank chain results in the second inversions. Applications: 1. Whitworth quick-return mechanism 2. Rotary Engine 3. Third Inversion: By fixing link 3 of the slider crank mechanism , third inversion is obtained.

Applications: 1. Oscillating cylinder engine 2. Crank and slotted-lever

4. Fourth Inversion: If link 4 of the slider-crank mechanism is fixed, the fourth inversion is obtained. Applications:
1. Hand Pump: In this mechanism, the inversion is obtained by fixing the cylinder or link 4 (i.e. sliding pair), as shown in Fig. In this case, when the crank (link 2) rotates, the connecting rod (link 3) oscillates about a pin pivoted to the fixed link 4 at A and the piston attached to the piston rod (link 1) reciprocates. The duplex pump which is used to supply feed water to boilers have two pistons attached to link 1, as shown in Fig.

Double Sliding-crank chain:

A four-bar chain having two turning pairs such that two pairs of the same kind are adjacent as a double slider-crank chain. The following are its inversions:

1.First Inversion: This inversion is obtained when link 1 is fixed and the two adjacent pairs 23 and 34 are turning pairs and the two pairs 12 and 41 sliding pairs.

Application:
1. Elliptical trammel: It is an instrument used for drawing ellipses. This inversion is obtained by fixing the slotted plate (link 4), as shown in Fig. The fixed plate or link 4 has two straight grooves cut in it, at right angles to each other. The link 1 and link 3, are known as sliders and form sliding pairs with link 4. The link AB (link 2) is a bar which forms turning pair with links 1 and 3. When the links 1 and 3 slide along their respective grooves, any point on the link 2 such as P traces out an ellipse on the surface of link 4, as shown in Fig (a). A little consideration will show that AP and BP are the semi-major axis and semi-minor axis of the ellipse respectively.

2. Second Inversion: if any of the slide-blocks of the first inversion is fixed, the second inversion of the double-slider-crank chain is obtained.

Application: Scotch Yoke

A scotch yoke mechanism is used to convert the rotary motion into a sliding motion.As crank 2 rotates, the horizontal portion of link 1 slides or reciprocates in the fixed link 4.

3. Third inversion: This inversion is obtained when link 3 of the first inversion is fixed and link 1 is free to move.

Application: Oldhams coupling

If the rotating links 1 and 3 of the mechanism are replaced by two shafts, one can act as the driver and the other as the driven shaft with their axes at the pivots of links 1 and 3. Figure(a) shows an actual Oldhams coupling which is used to connect two parallel shafts when the distance between their axes is small. The two shafts have flanges at the ends and are supported in the fixed berings representing link 2. In the

flange 1, a slot is cut in which tongue X of link 4 is fitted and has a sliding motion. Link 4 is made circular and has another tongue Y at right angles to the first and which fits in the recess of the flange of shaft 4. Thus intermediate link 4 slides in the two slots in the two flanges while having the rotary motion. As mentioned earlier, the mid-point of the intermediate piece describes a circle with distance between the axes of the shafts as diameter. The maximum sliding velocity of each tongue in the slot will be the peripheral velocity of the mid-point of the intermediate disc along the circular path. Maximum sliding velocity = peripheral velocity along the circular path = angular velocity of shaft x distance between shafts.

Bibliography