DESIGN OF FOURBAR LINKAGE AND FINDING THE ANGLE OF TRANSMISSION

BY
Mechanical Engineering department

1.1 Problem Statement

Design a four bar linkage to carry the object in Figure P1 through the three positions shown in
their numbered order without regard for the fixed pivots shown. Use any points on the object as
attachment points. The fixed pivots should be on the base. Determine the range of transmission
angle.

Table of Contents
1.1 Problem Statement.....................................................................................................................2
1.2 Make a bar chart showing proposed tasks and starting and finishing dates for these tasks......5
1.3 Keep a log of work attempted and completed...........................................................................6
2.1 Perform a feasibility study of the proposed work......................................................................7
2.2 Explanations of design decisions...............................................................................................7
2.3 Problem solving methodology, methods of analysis, and synthesis..........................................7
2.3 Engineering principles used in the design.................................................................................8
2.4 Selection of failure theories.......................................................................................................8
2.4.1 Design Criteria....................................................................................................................9
2.4.2 Design Equations................................................................................................................9
2.4.3 Sample Calculations..........................................................................................................10
2.4.3.1 Case 1:........................................................................................................................10
2.4.3.2 Case 2:........................................................................................................................11
2.4.3.3 Case 3:........................................................................................................................11
3.1 Safety aspects of the project....................................................................................................12
3.1.1 Designer`s Response to Potential Safety Problems..........................................................12
3.2 Creative thinking; decision making.........................................................................................13
4.1 Optimization............................................................................................................................13
5.1 Computer simulation...............................................................................................................13
5.1.1 Position P1........................................................................................................................13
5.1.2 Position P2........................................................................................................................16
5.1.3 Position P3........................................................................................................................17
6.1 Identification of group work and individual work...................................................................18
7.1 Discussion and interpretation of results...................................................................................18
References......................................................................................................................................19

List of Figures
Figure 2.1 Position 1 for the object

10

Figure 2.2 Position 2 for the object

11

Figure 2.3 Position 3 for the object

12

Figure 5.2 Stress analysis

14

The results for stresses obtained were as follows.

14

Figure 5.3 Strain analysis

15

Figure 5.4 Total deformation analysis

15

Figure 5.5 Stress analysis

16

Figure 5.5 Stress analysis

16

Figure 5.6 Stress analysis

17

Figure 5.7 Strain analysis

17

List of Tables
Table 1.1 Log of work attempted was kept under the project leaders custody and surely it was
completed on the time.
6
Table 6.1 Identification of group work and individual work

17

1.2 Bar chart showing proposed tasks and starting and finishing dates for these tasks.
12/7/2014

11/27/2014

11/17/2014

11/7/2014

10/28/2014

10/18/2014

Start Date

Finish Date

10/8/2014

1.3 Keep a log of work attempted and completed.

Table 1.1 Log of work attempted was kept under the project leaders custody and surely it was completed on the time.
Number

Task

Duration

Start Date

Finish Date

Resource

Cost

Completed

Phone minutes,
hourly wage
and visits

Yes

Research

7 days

11/01/2014

11/08/2014

Interview
companies

Online research

2 days

11/04/2014

11/06/2014

Books, papers

Yes

4 days

11/09/2014

11/13/2014

Books, papers

Yes

5 days

11/14/2014

11/19/2014

As above

Yes

7 days

11/20/2014

11/27/2014

As above

Yes

3
4
5

Gathering of all
information
Compiling of all
information
Creating rough draft of
failures

Discussing mechanism
to employees/companies

2 days

11/28/2014

11/30/2014

As above

Yes

Implementing designs

1 day

11/28/2014

11/29/2014

Yes

Evaluating the feedback

1 day

11/28/2014

11/29/2014

Labor
Project
manager

2 days

11/27/2014

11/29/2014

Management

Yes

5 days

11/20/2014

11/25/2014

Attendees

Yes

2 days

11/26/2014

11/28/2014

Attendees

Yes

11
13
14

Setting of future
presentations
Testing
Feedback from the future
attendees

Yes

2.1 Perform a feasibility study of the proposed work.

The four bar mechanism was designed for the specific operation. The links connected with the
mechanism were estimated for the specified path. Their dimensions and details were taken into
account.
As it was required that progress reports will be made, and it must contain the visual aids and
comments in order to improve the design. The design changes were incorporated because the
comments were valid.
The report made on the four bar linkage was comprised with Explanations of design decisions
Problem solving methodology, methods of analysis, and synthesis, engineering principles use in
the design, selection of failure theories and design criteria, design equations and sample
calculations, safety aspects of the project and the designer`s response to potential safety
problems, creative thinking; decision making, optimization, computer simulation, identification
of group work and individual work and discussion and interpretation of results.

2.2 Explanations of design decisions

First of all the mechanism was designed to carry the object in Figure P1 considering the design
principles being used to design the four bar mechanisms. The design criteria were set according
to the application of the mechanism.
The links were designed with their proper length, width and thickness. One of the four links was
fixed with the base. Though there were three positions shown in their numbered order without
regard for the fixed pivots shown. One of the points on the object was taken as attachment point
and the transmission angle was found.

2.3 Problem solving methodology, methods of analysis, and synthesis

First of the understanding the correct positions of the links is necessary. Then it will be observed
that which parameter is given and which parameter is to sort out. According to the given
parameters, only lengths of the links can be determined using simple trigonometric relations.
After knowing the lengths of the links, the angle of transmission will be known by using the
lengths of the links in designed mechanism and the angles of the mechanism whereas the
positions of the object has already been described. The cosine law will be used to know about the
angle of transmission. It is described as follows.
A

a3

B
7

a4

a2
D
cos 34 =

a1

1
2
2
2
2
[a 4 +a3 a1a2 +2 a1 a2 cos 12]
2 a3 a 4

Where
a1
12

a2 , a3 , a4 are the links

and

34

are the angles made by the corresponding links, whereas the angle

34

will be

named as the transmission angle. This angle will be evaluated by the above said equation.

2.3 Engineering principles used in the design

This four bar mechanism is a kinematic chain in which one of the links was fixed. Different
versions can be obtained by fixing any one of the links. The shapes of different mechanisms
which are obtained by fixing any one of the 4 links are called as Inversions. When the lengths
of the links are changed, then particular inversions are obtained by giving different mechanisms.
So the engineering principle used in the design was inversion. By this principle of inversion of a
fourbar chain, several useful mechanisms can be obtained. Some of the inversions have been
shown as follows.
a) Crank Rocker Mechanism
b) Double Crank Mechanism
c) Double Rocker Mechanism

2.4 Selection of failure theories

The mechanism is being used to place the object from one position to the other position. So the
speed of the mechanism, stiffness of the mechanism, strength of the mechanism, and the proper
adjustments of the links is necessary for analysis of failures in the design. The failure
investigations has already been performed and possible failures in it were observed as the switch
interference, excessive hinge friction, mismatch of material coefficient of thermal expansion
(CTE), and thermal gradient induced. In order to confirm that the failure is 2D or 3D, coordinate

system is used. If the failure is 3 dimensional then the maximum shear and maximum normal
stress theories are acceptable for the ductile material.

, and

are needed to be

known for this purpose. Static loading is very important in this regards.
2.4.1 Design Criteria
The linkage for the four bar mechanism, in order to move the object through the specific path is
needed to be designed. The design criterion for the linkage is to set the angle of transmission for
the object at specified locations. The lengths of the links must accommodate the position of the
object in a correct way. One of the links must be fixed.
2.4.2 Design Equations
The design equations used in the four bar mechanism in order to move the object at given 3
locations are as follows.
The angle of transmission for the first position will be calculated by the following formula.
1 ( Transmission angle )=Co s1 .

c2 +d 2 a2b 22 abCos
2 cd

Equation 1

The angle of transmission for the second position will be calculated by the following formula.
2 ( Transmission angle )=Co s1 .

+ d2 a2b22 abCos
2 cd

Equation 2

The angle of transmission for the third position will be calculated by the following formula.
3 ( Transmission angle )=Co s1 .

+ d 2a2b22 abCos
2 cd

Equation 3

Whereas the width and thickness of the each link would be determine by the following formulae.
So considering the final shape of Eular equation for Rectangular column [1]
Pcr C 2 EI
=
A
L 2
k

()

Equation 4

Where P is the critical force being applied at the links, L is the length of the link, E is modulus of
elasticity, and I denotes moment of inertial for the link. Where L/k is called the slenderness ratio,
and k the radius of gyration,
E=30106 psi
9

For the rectangular link, we specify a cross section for the link as h b with the restriction that
h b. If the end conditions are pinned in both directions, then buckling may occur from center of
the link. Now by applying the following Conditions in Eular equation [1]
b h3
12

Equation 5

A=bh

Equation 6

k 2=I / A=h2 / 12

Equation 7

I=

Pcr=nd P

(Here Force being applied is critical i.e. n = 1)

Putting all these values in above equation 4,

Pcr C 2 EI
=
A
l 2
k

()

Equation 8

We can get the following equation

h
l /( 2/12)
b h3
C 2 E(
)
Pcr
12
=

bh
2

b=

12 P cr l
2

CE h

Equation 9

Where b is the width and h will be thickness of the link, and l denotes the length of the link.
2.4.3 Sample Calculations
2.4.3.1 Case 1:
According to the first position, the angle of transmission can be calculated as follows [3].
2
2
2
2
1 c +d a b 2 abCos
(
)
1 Transmission angle =Co s .
2 cd
0
1 ( Transmission angle )=66.41

10

Figure 2.1 Position 1 for the object

2.4.3.2 Case 2:
According to the second position, the angle of transmission can be calculated as follows [3].
2 ( Transmission angle )=Co s1 .

c + d a b 2 abCos
2 cd

1 ( Transmission angle )=30

11

Figure 2.2 Position 2 for the object

2.4.3.3 Case 3:
According to the third position, the angle of transmission can be calculated as follows [3].
3 ( Transmission angle )=Co s1 .

c + d a b 2 abCos
2 cd

1 ( Transmission angle )=300

12

Figure 2.3 Position 3 for the object

3.1 Safety aspects of the project

It is extremely important to focus the point of extreme stresses, or joints. Safety aspects must be
paramount before initializing the mechanism. The joints must be checked in such a way that they
are firmly connected with each other. In the sense of design of the links, safety factor or factor of
safety is the Ultimate structural strength or stress divided by the minimum structural strength or
stress required. Small links often have large safety factors because of the weak linkage. The four
bar mechanism links, because of the tighter tolerances and safe value of stresses required, are
often chosen in such a way that they are thicker and wider than required. Generally, the greater
safety factor causes safe designing, handling and testing the structure; but, this is a unclear
relationship which is not modeled in such mechanism elements. It will be calculated by the
following formulae.
Factor of Safety = Maximum stress / Design stress

(Khurmi 2009)

Equation 10

3.1.1 Designer`s Response to Potential Safety Problems

All of the parameters regarding links and pins must be kept a little larger than the designed
values regardless of the factor of safety. The life of the component is increased and it may lower
the rate of hazardous accidents.

13

3.2 Creative thinking; decision making

The design must be scientific in such a way that the extra material should be removed. If there is
the requirement to move the object of 50 kg, then the linkage must be designed according to the
weight being displaced. The lengths, widths, and thicknesses for the links must accommodate the
weight of the object in a correct way.
It was decided to design the linkage for three positions shown, in the statement, and it was clear
that the object must be fixed at the one point and must point towards the base. So the relation of
the object with the base was made by fixing an angle with the corresponding link as shown in
figure.

4.1 Optimization
According to the design, the most suitable values were taken for the length, width and
thicknesses for the links of four bar mechanism. The optimization was necessary for such
mechanism because the point of connections might be weak due to improper selection of the
design parameters of the links. So it was decided to put the suitable values for the lengths, width,
and thickness. After the selection of these parameters, it was decided to check the relation for
angle of transmission. The positions which were described i.e. 90 0, 650, -110 were correlated with
the design in order to find the angle of transmission. So the results were reasonable.

5.1 Computer simulation

The design was prepared on the solidworks software 2014 version. It was checked by doing the
simulation on it. The simulation was also done by solidwork 2014. The results obtained by the
simulation were as follows.
5.1.1 Position P1
The force being applied by the object on the link was assumed as 500 N because the man can put
the force of average 500 N.

14

Figure 5.1 Force being applied for simulation

The results for stresses obtained were as follows.

Figure 5.2 Stress analysis

The results obtained due to strain were as follows

15

Figure 5.3 Strain analysis

Total deformation observed on the links was as follows.

Figure 5.4 Total deformation analysis

16

5.1.2 Position P2

Figure 5.5 Stress analysis

Figure 5.5 Stress analysis

17

5.1.3 Position P3
Stress results for the links at which the maximum stresses will be induced.

Figure 5.6 Stress analysis

Strain results for the links at which the maximum stresses will be induced.

Figure 5.7 Strain analysis

18

6.1 Identification of group work and individual work

Individua
Number

Task

l work

Group work

Research

Online research

Gathering of all information

Compiling of all information

Creating rough draft of failures

Discussing mechanism
to employees/companies
7
Implementing design
9
Evaluate feedback
13
Testing
14
Feedback from the future attendees
Table 6.1 Identification of group work and individual work
6

7.1 Discussion and interpretation of results

The design made on four bar linkage to place the object from one position to other position was
accomplished and results obtained from the calculations synchronized with the design. The
transmission angle received from the calculations was checked by the Solid Works design, and it
was found that if the lengths, of the links would be same as were calculated to found the angle of
transmission, then same angle of transmission was observed in solid works too. The values for
the width and thickness of the links were kept a little higher than the values of the design
parameters due to safety aspect. As much as the width and thickness of the link would be greater,
the links would be stronger.
In order to observe the failure in the design, the simulation was done on it and it was found that
point junction or connection where the pins were mounted was with more excessive stresses.
It also was observed that when the load was too much then the links were observed, if they
buckle or not. The main thing was to notice the correct positions and the angle of transmission.
So all were synchronized with the design and finally were selected for the final simulation.
19

References
1. Richard G. Budynas, J. Keith Nisbett (2011) Shigleys Mechanical Engineering Design,
9TH Edition, McGraw Hill series, USA, P 181 186
2. S. P. Timoshenko and J. M. Gere, Theory of Elastic Stability, 2nd ed., McGraw-Hill, New
York, 1961.
3. R.S. Khurmi, J.K. Gupta (2009) Machine design Mc Graw Hill series India

20