School of Aerospace &

Automotive Engineering

Mechanics of Machinery
Chapter 2. LINKAGES

Prepared By
Dr.Rajesh Ravi B.E.,M.E.,Ph.D
Professor Assistant,
School of Aerospace &Automotive Engg,
Universite Internationale de Rabat-11103.
 Contents

Four-bar linkage;
Inversion of Mechanism
Grashof’s law
Inversions of Four Bar Chain
Crank-Rocker mechanism &
 Beam Engine
 Double Crank
Single Slider Crank Mechanism and Examples
Double Slider Crank Mechanisms and Examples
Steering gear mechanisms (Case Study)

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 KINEMATIC CHAIN-4 bar Linkage

• Assembly or combination of link and pairs to produce required/ specified output

motion or for given input motions.

• Group of links either joined together or arranged in a manner that permits them

to move relative to one another.

• (link 1) frame
• (link 2) crank
• (link 3) coupler
• (link 4) rocker

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 INVERSIONS OF MECHANISM

 The process of obtaining different mechanisms by fixing different links in a

kinematic chain is known as inversion of the mechanism.

 If a mechanism has ‘n’ number of links, then ‘n’ number of mechanisms can be
obtained by fixing its different links one at a time.

 For example, a kinematic chain having four links can produce four different
mechanisms by fixing its different links one at a time.

 It may be noted that relative motion between links is not changed with inversion. This is
because relative motion between different links is the property of the kinematic chain
and not of the mechanism.

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 Grashof’s law
In a planar 4- bar kinematic chain with revolute pair, if the sum of the link
lengths of shortest and longest link is less than or equal to the sum of the other
two link lengths.
Categories of four bar mechanisms
Case Criteria Shortest link Category
1 S+l<p+q Frame Double crank
2 S+l<p+q Side Crank rocker
3 S+l<p+q coupler Double rocker

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 INVERSIONS OF FOUR BAR CHAIN

a. b Crank-rocker mechanism
c. Double crank or Drag link mechanism
d. Double rocker mechanism

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 Crank-rocker mechanism

• When the shortest link is next to the fixed link then the type
of inversion is crank rocker mechanism
• In this mechanism, either link 1 or link 3 is fixed. Link 2 (crank)
rotates completely and link 4 (rocker) oscillates.

Shortest link
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Example- CRANK-ROCKER MECHANISM

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Application-
beam engine

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 Explain any three inversions of four bar chain mechanism

• Application: Beam engine (crank

and lever mechanism)

Shortest link
side

• When the shortest link is next to the fixed link then the type of inversion is crank
rocker mechanism
• In this mechanism, either link 1 is fixed. Link 2 (crank) rotates completely and
link 4 (rocker) oscillates.
• A part of the mechanism of a beam engine (also known as crank and lever
mechanism) which consists of four links,
• In this mechanism, when the crank rotates about the fixed centre A, the lever
oscillates about a fixed centre D.
• The end E of the lever CDE is connected to a piston rod which reciprocates due to
the rotation of the crank.
• In other words, the purpose of this mechanism is to convert rotary motion into
reciprocating
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Double crank mechanism
Application: coupling rod of a locomotive
(also known as double crank mechanism)

Shortest link
Frame

• When the shortest link is fixed, then the type of inversion is double crank mechanism
• Double crank mechanism. This is one type of drag link mechanism, where, links 1& 3
are equal and parallel and links 2 & 4 are equal and parallel
• In this mechanism, the links AD and BC (having equal length) act as cranks and are
connected to the respective wheels.
• The link CD acts as a coupling rod and the link AB is fixed in order to maintain a
constant centre to centre distance between them.
• This mechanism is meant for transmit-ting rotary motion from one wheel to the 13other
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wheel.
DOUBLE CRANK MECHANISM or DRAG LINK MECHANISM

• When the shortest link is fixed, then the type of inversion is double crank
mechanism
• Double crank mechanism. This is one type of drag link mechanism, where,
links 1& 3 are equal and parallel and links 2 & 4 are equal and parallel

Shortest link
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 Coupling rod of a locomotive

 This is an example of double crank mechanism

 The both cranks rotate about the points in fixed link

 The opposite links 1 and 3 are equal length

 The link 1 and 3 work as two cranks

 This mechanism also known as rotary- rotary converter

 This mechanism used to transmit rotary motion from one wheel to other wheel

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 Double rocker mechanism

Application: Watt’s indicator

mechanism (Double lever mechanism)

Shortest link
coupler

• When the link opposite to the shortest link is fixed, then the type of inversion is double rocker.
• Watt’s indicator mechanism (also known as Watt's straight-line mechanism or double lever mechanism)
which consists of four links is shown in Fig. 5.21. The four links are: fixed link at A , link AC , link CE
and link BFD. It may be noted that BF and FD form one link because these two parts have no relative
motion between them.
• The links CE and BFD act as levers. The displacement of the link BFD is directly proportional to the
pressure of gas or steam which acts on the indicator plunger. On any small displacement of the
mechanism, the tracing point E at the end of the link CE traces out approximately a straight line.
• The initial position of the mechanism is full lines whereas the dotted lines show the position of the
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mechanism when the gas or steam pressure acts on the indicator plunger.
 Sketch and explain various single slider crank
chain.

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 SLIDER CRANK MECHANISM(FIRST INVERSION)

Slider crank chain:

This is a kinematic chain having four links.
It has one sliding pair and three turning pairs.
Link 2 has rotary motion and is called crank.
Link 3 has got combined rotary and reciprocating motion and is called
connecting rod. Link 4 has reciprocating motion and is called slider.
Link 1 is frame (fixed).
This mechanism is used to convert rotary motion to reciprocating and vice
versa.

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 Inversions of slider crank chain
Inversions of slider crank mechanism is obtained by
fixing links 2, 3 and 4.

(B) crank fixed

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(C) connecting rod fixed (D) slider fixed 19
 Rotary internal combustion engine or Gnome engine
(second inversion)

• Sometimes back, rotary internal combustion engines were used in aviation.

But now-a-days gas turbines are used in its place.
• It consists of seven cylinders in one plane and all revolves about fixed centre D,
while the crank (link 2) is fixed.
• In this mechanism, when the connecting rod (link 4) rotates, the piston (link 3)
reciprocates inside the cylinders forming link 1
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 Oscillating cylinder engine (third inversion)

• The arrangement of oscillating cylinder engine mechanism is used to

convert reciprocating motion into rotary motion.
• In this mechanism, the link 3 forming the turning pair is fixed. The link 3
corresponds to the connecting rod of a reciprocating steam engine
mechanism.
• When the crank (link 2) rotates, the piston attached to piston rod (link 1)
reciprocates and the cylinder (link 4) oscillates about a pin pivoted to the fixed
link at A.
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 Pendulum pump or Bull engine (fourth inversion)

• In this mechanism, the inversion is

obtained by fixing the cylinder or link 4
(i.e. sliding pair).
• 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
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Sketch and Explain Various Double Slider
Crank Chain.

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 Scotch yoke mechanism

Slider(Link 4)

• This mechanism is used for converting rotary motion into a reciprocating

motion. The inversion is obtained by fixing either the link 1 or link 3. Link
1 is fixed.
• In this mechanism, when the link 2 (which corresponds to crank) rotates
about B as centre, the link 4 (which corresponds to a frame) reciprocates.
The fixed link 1 guides the frame.
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 DOUBLE SLIDER CRANK CHAIN

It is a kinematic chain consisting of two turning pairs and two sliding pairs.

SCOTCH –YOKE MECHANISM

Turning pairs –1&2, 2&3; Sliding pairs – 3&4, 4&1

Slider
(Link 4)

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 Oldham’s Coupling (second inversion)

• An Oldham’s coupling is used for connecting two parallel shafts whose axes are at a small
distance apart. The shafts are coupled in such a way that if one shaft rotates, the other
shaft also rotates at the same speed.
• This inversion is obtained by fixing the link 2, as shown in Fig. a. The shafts to be
connected have two flanges (link 1 and link 3) rigidly fastened at their ends by
forging.
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 Elliptical trammels

• It is an instrument used for drawing ellipses. This inversion is obtained by fixing

the slotted plate (link 4).
• 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.
• A little consideration will show that AP and BP are the semi-major axis and semi-
minor axis of the ellipse respectively.
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 Crank and slotted lever mechanism

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• This mechanism is mostly used in shaping machines, slotting machines and in rotary
internal combustion engines.
• In this mechanism, the link AC (i.e. link 3) forming the turning pair is fixed, as
shown in Fig. The link 3 corresponds to the connecting rod of a reciprocating
steam engine. The driving crank CB revolves with uniform angular speed about
the fixed centre C.
• A sliding block attached to the crank pin at B slides along the slotted bar AP and
thus causes AP to oscillate about the pivoted point A.
• A short link PR transmits the motion from AP to the ram which carries the tool
and reciprocates along the line of stroke R1 R2.
• The line of stroke of the ram (i.e. R1 R2) is perpendicular to AC produced. In the
extreme positions, AP1and AP 2 is tangential to the circle and the cutting tool is
at the end of the stroke.

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• The forward or cutting stroke occurs when the crank rotates from the
position CB 1 to CB 2 (or through an angle β) in the clockwise direction. The
return stroke occurs when the crank rotates from the position CB 2 to CB 1
(or through angle α) in the clockwise direction. Since the crank has
uniform angular speed, therefore,
• Time taken for cutting stroke to return stroke:

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Crank and slotted lever quick return motion mechanism

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Crank and slotted lever quick return motion mechanism
Crank and slotted lever quick return motion
mechanism

Courtesy:www.technologystudent.com
Application of Crank and slotted lever quick
return motion mechanism

Courtesy:www.technologystudent.com
 Parallelogram Mechanisms
• Mechanisms are often comprised of links that form parallelograms to
move an object without altering its pitch.

• These mechanisms create parallel motion for applications such as

balance scales, glider swings, and jalousie windows.

• Two types of parallelogram linkages are given in Figure 2.19a which

shows a scissor linkage and Figure2.19b which shows a drafting
machine linkage.

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 Straight-Line Mechanisms
• Straight-line mechanisms cause a point to travel in a straight line without being guided by a

flat surface.

• Historically, quality prismatic joints that permit straight, smooth motion without backlash

have been difficult to manufacture. Several mechanisms have been conceived that create

straight-line (or nearly straight-line) motion with revolute joints and rotational

actuation.

• Figure 1.a shows a Watt linkage and Figure. 1.b shows a Peaucellier-Lipkin linkage.

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 Intermittent motion mechanisms
Geneva wheel mechanism

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 Intermittent motion mechanisms

Ratchet and pawl mechanism

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 Intermittent motion mechanisms

Application of Ratchet Pawl mechanism

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PAIRING ELEMENTS

Courtesy:www.technologystudent.com
PAIRING ELEMENTS

Courtesy:www.technologystudent.com
Though all machines are mechanisms, all
mechanisms are not machines
 Thank you All

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