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Mathematics of Four-Bar Linkages

Planar and Spherical
by David W. Henderson and Daina Taimina

The four bar linkage is a mechanism that lies in a plane (see C01) (or spherical surface,
C03) and consists of four bars connected by joints that allow rotation only in the plane (or
sphere) of the mechanism. We will add this red color to indicate the slight changes that
are necessary when considering spherical linkages instead of planar linkages.

In normal practice one of the links is fixed so that it does not move. In the linkage to the
right we assume that the link OC is fixed and investigate the possibilities of motion for
the other three links. We suggest that the reader play with the simulation by changing the
length of links h and b and experiencing the motions that are possible.
We call the link OA the input crank and link CB the output crank. Similarly, we call the
angle θ the input angle and angle the output angle.

On a sphere we measure the lengths of the edges by the angle (in radian measure) that the
side subtends from the center of the sphere. We assume here that all links have lengths
less than = 180 degrees (that is, we assume that links have lengths less than
half a great circle) This is not a serious restriction because a link of length l >
can always be replaced by a link of length - l that together with
the original link completes a great circle. However, below we sometimes will need to
consider what happens when two links are collinear (for example, when A-O-C are in a
line) then the sum (in the example, a+g) of the lengths of the two links may be l >
and then the distance between the end points (in the example, A and C) will not be
l but will rather be the length of the shorter great circle arc, l- . [We suggest
that you try this out by drawing great circle arcs on an orange or tennis ball.] For this
reason, when we write |l|S we will mean the distance between the end points.
o On the plane |l|S = |l|, the usual absolute value.
o On the sphere, |l|S = |l|, if |l| , and |l|S = -
|l|, if |l| .
 The reader may experiment with the above crank-
crank simulation and discover that the input crank
will be able to swing opposite C (when the input
angle is π= 180 degrees) only if the distance
between C and A is allowed to be |a+g|S and this
will only be allowed by the mechanism if |a+g|S <
b+h. See also movie of a crank-crank linkage.
There will be a maximum input angle if |a+g|S >
b+h. (If |a+g|S = b+h then the link folds, that is,
it has a configuration in which all four links lie in
the same straight line.) Experience this in the
rocker-crank simulation and the movie.

By applying the Law of Cosines to this configuration (when A-B-C is a straight line) we
see that this maximum angle satisfies:

Or using the spherical Law of Cosines:

Similarly, there will be a minimum input angle whenever a+|b-h| > g (if a<g) or g+|b-
h| > a (if a>g) which are equivalent to |b-h| > |g-a|. The minimum angle is actualized
when either B-A-C is straight or A-C-B is straight, as in the figure.

In both of these cases we can use the Law of Cosines to conclude:

 .
Thus we have four types of input cranks:
o A crank if the link OA can freely rotate completely around O.
In this case, b+h > |a+g|S and |a-g| > |b-h|.
o A 0-rocker if there is a maximum input angle but the link OA can rotate freely
thru θ = 0. In this case, b+h < |a+g|S and |a-g| > |b-h|.
o A π-rocker if there is a minimum input angle but the link OA can rotate freely thru
θ = π. In this case, b+h > |a+g|S and |a-g| < |b-h|.
o A rocker if there is a maximum input angle and minimum input angle.
In this case, b+h < |a+g|S and |a-g| < |b-h|.

The analysis of the output crank is exactly symmetric to the above with the lengths a and
b interchanged. In particular:

If |b+g|S > a+h, then there is a maximum output angle max and, by applying the

Law of Cosines to this configuration (when B-A-O is a straight line) we see that this
maximum angle satisfies:
If |a-h| > |g-b|, there is a minimum output angle min and, by applying the Law of

Cosinges (when either A-B-O is straight or B-O-A is straight) we see that this minimum
angle satisfies:

.
Thus we have four types of output cranks:
o A crank if the link CB can freely rotate completely around C.
In this case, a+h > |b+g|S and |b-g| > |a-h|.
o A 0-rocker if there is a maximum output angle but the link CB can rotate freely
thru = 0. In this case, a+h < |b+g|S and |b-g| > |a-h|.
o A π-rocker if there is a minimum output angle but the link CB can rotate freely
thru = π. In this case, a+h > |b+g|S and |b-g| < |a-h|.
o A rocker if there is a maximum output angle and minimum output angle.
In this case, a+h < |b+g|S and |b-g| < |a-h|.

Putting these together we get eight types of 4-bar linkages:

1. A double crank in which both the input and output links are cranks.
b+h > |a+g|S, |a-g| > |b-h|, a+h > |b+g|S, and |b-g| > |a-h|. See crank-crank
simulation and movie.
2. A crank-rocker if the input link is a crank and the output link is a rocker.
b+h > |a+g|S, |a-g| > |b-h|, a+h < |b+g|S, and |b-g| < |a-h|. See crank-rocker
simulation and movie.
3. A rocker-crank if the input link is a rocker and the output link is a crank.
b+h < |a+g|S, |a-g| < |b-h|, a+h > |b+g|S, and |b-g| > |a-h|. See rocker-crank
simulation and movie.
4. A rocker-rocker if both the input link and the output link are rockers.
b+h < |a+g|S, |a-g| < |b-h|, a+h < |b+g|S, and |b-g| < |a-h|. See rocker-rocker
simulation and movie.
5. A 00 double rocker if the input and output angles both have maximums but no
minimums and thus both cranks move freely across the fixed link OC. b+h < |
a+g|S, |a-g| > |b-h|, a+h < |b+g|S, and |b-g| > |a-h|. See 00 double rocker
simulation.
6. A 0π double rocker if the input angle has a maximum and no minimum but the
output angle has a minimum but no maximum. Thus the input crank moves freely
across OC while the output crank moves freely on the side of C opposite O.
b+h < |a+g|S, |a-g| > |b-h|, a+h > |b+g|S, and |b-g| < |a-h|. See 0pi double rocker
simulation.
7. A π0 double rocker if the input angle has a minimum and no maximum but the
output angle has a maximum but no minimum. Thus the output crank moves
freely across OC while the input crank moves freely on the side of O opposite C.
b+h > |a+g|S, |a-g| < |b-h|, a+h < |b+g|S, and |b-g| > |a-h|. See pi0 double
rocker simulation.
8. A ππ double rocker if the input and output angles both have minimums but no
maximums and thus neither cranks move freely across the fixed link OC, but both
move freely on the sides opposite OC.
b+h > |a+g|S, |a-g| < |b-h|, a+h > |b+g|S, and |b-g| < |a-h|. See pipi double
rocker simulation.
You can check that the other eight combinations (a 0 or π rocker combined with a crank
or rocker) are not possible. This can be done either analytically (by showing that the
resulting inequalities have no solutions), or geometrically (by noting that a 0 or π rocker
has a motion that is symmetric by mirror symmetry across OC whereas the crank and
rocker do not have this symmetry).

All the other 4-bar linkages are in the case when one or more of the inequalities become
equalities, in each of these cases the linkage can be folded. That is, the linkage has a
configuration in which all the links line up with OC. Some 4-bar linkages can be folded
in more than one way; for example, the linkage with a=h=b=g can be folded in three
different ways (try it!).