Beruflich Dokumente
Kultur Dokumente
Chapter 2
2.1.
The simplest and most common linkage is the four-bar linkage. It is a combination of
four links, one being designated as the frame and connected by four pin joints. Because
it is encountered so often, further exploration is in order.
Page 1
Because the four-bar mechanism has one degree of freedom, it is constrained or fully
operated with one driver. The wiper system in figure 2.2 is activated by a single DC
electric motor.
Of course, the link that is unable to move is referred to as the frame. Typically, the
pivoted link that is connected to the driver or power source is called the input link. The
other pivoted link that is attached to the frame is designated the output link or follower.
The coupler or connecting arm couples the motion of the input link to the output link.
Grashof s Criterion
The following nomenclature is used to describe the length of the four links.
s = length of the shortest link
l = length of the longest link
p = length of one of the intermediate length links
q = length of the other intermediate length links
Grashofs theorem states that a four-bar mechanism has if the sum of the shortest (s)
and longest (l) links of a planar four-bar linkage cannot be greater than the sum of the
remaining two links (p, q) if there is to be continuous relative motion between two links
and at least one rotating link:
s + l <= p + q
Conversely, the three non-fixed links will merely rock if:
s+l>p+q
All four-bar mechanisms fall into one of the five categories listed in Table 2.1.
Table 2.1 Categories of Four-bar Mechanisms
Page 2
Page 3
Thus, the shortest link is called the crank, and the output link is called the rocker. The
wiper system in Figure 2.2 is designed to be a crank-rocker. As the motor continuously
rotates the input link, the output link oscillates, or rocks. The wiper arm and blade are
firmly attached to the output link, oscillating the wiper across a windshield.
Double Rocker
The double rocker, or rocker-rocker, is shown in figure 2.3c. As specified in the criteria
of Case 3 of Table 2.1, it has the link opposite the shortest link of the four-bar
mechanism configured as the frame. In this configuration, neither link connected to the
frame will be able to complete a full revolution. Thus, both input and output links are
constrained to oscillate between limits, and are called rockers. However, the coupler is
able to complete a full revolution.
The inversions of the four-bar mechanism are shown in figure 3.4 below.
Page 4
Example 1
A nose assembly for a small aircraft is shown in figure 2.5. Classify the motion of this
four-bar mechanism based on the configuration of the links.
Page 5
designated as the frame. Figure S1 shows the kinematic diagram for the wheel
assembly, numbering and labeling the links. The tip of the wheel was designated as
point of interest X.
2. Compare to Criteria
The shortest link is a side, or adjacent to the frame. According to the criteria in Table
2.1, this mechanism can be either a crank-rocker, change point, or a triple rocker. The
criteria for the different categories of four-bar mechanisms should be reviewed.
3. Check the Crank-Rocker (Case 2) Criteria
Is s + l < p + q?
44 < 56 : {yes}
Because the criteria for a crank-rocker are valid, the nose-wheel assembly is a crankrocker mechanism.
2.2.
Page 6
Page 7
Figure 2.6 Four distinct inversions of the fourbar slider crank mechanism.
Straight Line Mechanism
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 2.7a shows a Watt linkage and figure. 2.7b shows a
Peaucellier-Lipkin linkage.
Page 8
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 2.8a which shows a scissor linkage and figure 2.8b which
shows a drafting machine linkage.
Page 9
Page 10
Intermittent motion is a sequence of motions and dwells. A dwell is a period in which the
output link remains stationary while the input link continues to move. There are many
applications in machinery which require intermittent motion.
Geneva Mechanism
A common form of intermittent motion device is the Geneva mechanism shown in figure
2.11a. This is also a transformed four-bar linkage in which the coupler has been
replaced by a half joint. The input crank (link 2) is typically motor driven at a constant
speed. The Geneva wheel is fitted with at least three equispaced, radial slots. The crank
has a pin that enters a radial slot and causes the Geneva wheel to turn through a
portion of a revolution. When the pin leaves that slot, the Geneva wheel remains
stationary until the pin enters the next slot. The result is intermittent rotation of the
Geneva wheel.
The crank is also fitted with an arc segment, which engages a matching cutout on the
periphery of the Geneva wheel when the pin is out of the slot. This keeps the Geneva
wheel stationary and in the proper location for the next entry of the pin. The number of
slots determines the number of "stops" of the mechanism, where stop is synonymous
with dwell. A Geneva wheel needs a minimum of three stops to work. The maximum
number of stops is limited only by the size of the wheel.
Ratchet and Pawl Mechanism
Figure 2.11b shows a ratchet and pawl mechanism. The arm pivots about the center of
the toothed ratchet wheel and is moved back and forth to index the wheel. The driving
pawl rotates the ratchet wheel (or ratchet) in the counterclockwise direction and does no
work on the return (clockwise) trip. The locking pawl prevents the ratchet from reversing
direction while the driving pawl returns. Both pawls are usually spring-loaded against
the ratchet. This mechanism is widely used in devices such as "ratchet" wrenches,
winches, etc.
Page 11
Page 12