Graphical Linkage Synthesis

Lecture 5

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Time ratio

The timing of the crank-rocker can be assessed

using the two stationary positions.

Time ratio = Time it takes to complete forward motion/

Time it takes to complete return motion
OR

Time ratio = Crank angle to complete forward motion/

Crank angle to complete return motion

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Time ratio and return mechanisms

Even return crank-rocker

For a given constant input speed, It takes the

same time to complete the forward and the
return motion, therefore:
Time ratio =1
The two stationary positions of the crank line
up with each other , and the angles swept
between these stationary positions are equal.
Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
Time ratio and the return mechanisms

Quick-return crank-rocker
For a given constant input speed, the Time it
takes to complete the forward motion is more
than the time it takes to complete the return
motion, therefore:
Time ratio >1

The two stationary positions of the crank do

not line up with each other, and the angles swept
between the stationary positions are not equal.
Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
Time ratio and geometry of QRM

Quick-return crank-rocker
+ =360
Time ratio: TR = /
= |180 - |=| - 180|
Or the time ratio is:

TR = (180 + )/(180- )
These angular values and
relationships will be used to
synthesize the linkage.
Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
Transmission Angle

Transmission angle, : Angle between the coupler link

and the output link.
=4 3
As the input link 2 rotates, all of the angles change.
Therefore you can plot as a function of input angle 2.

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Min. and Max.Transmission Angle

Max. transmission
angle

Min. transmission
angle

Minimum and maximum transmission angle occur when link

2 (crank) becomes collinear with link 1 (ground link)
Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
Transmission Angle and Efficiency

Transmission angle of a crank-rocker gives an

indication of the efficiency of power transmission from
the input to the output link.

At = 90o all of the force from the coupler link is being

transmitted to the output link to produce the maximum
output torque.

= 90o gives maximum efficiency (torque

transmission).

In practice, = [40,140] is preferred.

Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
Design of a CR Quick-return Mechanism

Design a Grashof four-bar, crank-rocker, quick-

return mechanism with the following requirements:
The mechanism will have:
1) a time ratio of 1.35.
2) an output rocker angle of 50.
while maintaining a transmission angle between 40 and
140, and,
3) must fit and operate within a design space of 8 x 11
inches.

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Design Solution

Step 1: Draw the output link in both extreme

positions (pivot O4, end positions B1 and B2).

Step 2: Draw a construction line through B1 at

any convenient angle.

Note: The orientation of the line drawn in Step 2 is

arbitrary and an iterative trial and error process will have
to be employed for making design corrections, if
necessary.

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Design Solution

Step 3: Calculate using the given time ratio

equation.

Step 4: Draw a construction line through B2 at

an angle of .

Step 5: Label the intersection point O2.

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Design Solution

Step 6: The line O2O4 now defines the ground

link.

Step 7: Locate point C on the extension of O2B2

so that O2C = O2 B1

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Design Solution

Step 8: Determine the length of the crank by

Measuring length B2C, and solving for
Link 2 = r2 = (B2C) /2

Step 9: Calculate the lengths of the coupler:

length of link 3, r3 = O2 B1 r2

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Design Solution

Step 10: Check if Grashofs condition is satisfied.

If non-Grashof, repeat steps 3 to 8
with O2 further from O4.

Step 11: Check the transmission angles.

Note: to promote smooth running and good force

transmission, = [40,140] degrees

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Design Conclusion and Specifications

Step 12: Specify the mechanism:

- List the link lengths. Label the links.
- Draw the mechanism in at least one
position.

Ground link, R1 =
Input link, R2 =
Coupler link, R3 =
Output link, R4 =

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT