§5 Graphical Linkage Synthesis

• Introduction
• Limiting Positions
• Dimensional Synthesis
• Quick-Return Mechanisms
• Coupler Curves
• Cognates
• Straight-Line Linkages
• Dwell Linkages
• Other Useful Linkages
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(1) Introduction

Type Synthesis
The definition of the proper type of mechanism best suited to the
problem.
Dimensional Synthesis
The determination of the proportions of the links necessary to
accomplish the desired motions.
Functional Generation
The correlation of an input motion with an output motion in a
mechanism.
Path Generation
The control of a point such that it follows a prescribed path.
Motion Generation
The control of a line such that it assumes a prescribed set of
sequential positions.

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(2) Limiting Positions

Crank-Rocker Linkage

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(2) Limiting Positions

Non-Grashof Double-Rocker Linkage

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(2) Limiting Positions

Double-Rocker Linkage

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(3) Dimensional Synthesis

Two-Position Synthesis
Rocker Output – Two Positions with Angular Displacement

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(3) Dimensional Synthesis

Two-Position Synthesis
Rocker Output – Two Positions with Angular Displacement

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(3) Dimensional Synthesis

Two-Position Synthesis
Rocker Output – Two Positions with Complex Displacement

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(3) Dimensional Synthesis

Two-Position Synthesis
Rocker Output – Two Positions with Complex Displacement

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(3) Dimensional Synthesis

Two-Position Synthesis
Coupler Output – Two Positions with Complex Displacement

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(3) Dimensional Synthesis

Two-Position Synthesis
Adding a Dyad to Control Motion

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(3) Dimensional Synthesis

Two-Position Synthesis
Adding a Dyad to Control Motion

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(3) Dimensional Synthesis

Two-Position Synthesis
Adding a Dyad to Control Motion

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(3) Dimensional Synthesis

Three-Position Synthesis with Specified Moving Pivots

Coupler Output – Three Positions with Complex Displacement

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(3) Dimensional Synthesis

Three-Position Synthesis with Alternating Moving Pivots

Coupler Output – Three Positions with Complex Displacement

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(3) Dimensional Synthesis

Three-Position Synthesis with Alternating Moving Pivots

Coupler Output – Three Positions with Complex Displacement

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(3) Dimensional Synthesis

Three-Position Synthesis with Alternating Moving Pivots

Coupler Output – Three Positions with Complex Displacement

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(3) Dimensional Synthesis

Three-Position Synthesis with Specified Fixed Pivots

Coupler Output – Three Positions with Specified Fixed Pivots

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(3) Dimensional Synthesis

Three-Position Synthesis with Specified Fixed Pivots

Coupler Output – Three Positions with Specified Fixed Pivots

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(3) Dimensional Synthesis

Three-Position Synthesis with Specified Fixed Pivots

Coupler Output – Three Positions with Specified Fixed Pivots

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(3) Dimensional Synthesis

Three-Position Synthesis with Specified Fixed Pivots

Coupler Output – Three Positions with Specified Fixed Pivots

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(3) Dimensional Synthesis

Three-Position Synthesis with Specified Fixed Pivots

Coupler Output – Three Positions with Specified Fixed Pivots

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(3) Dimensional Synthesis

Three-Position Synthesis with Specified Fixed Pivots

Coupler Output – Three Positions with Specified Fixed Pivots

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(4) Quick-Return Mechanisms

Quick-Return Mechanisms
There is a difference in average velocity between forward stroke
and return stroke.
External work is being done on forward stroke, and return stroke
needs to be accomplished as rapidly as possible so that more time will
be available for working stroke.

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(4) Quick-Return Mechanisms

Four-Bar Quick-Return Crank-Rocker Linkage

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(4) Quick-Return Mechanisms

Four-Bar Quick-Return Crank-Rocker Linkage

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(4) Quick-Return Mechanisms

Four-Bar Quick-Return Crank-Rocker Linkage

Time Ratio: TR

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(4) Quick-Return Mechanisms

Six-Bar Quick-Return Linkage

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(4) Quick-Return Mechanisms

Six-Bar Quick-Return Linkage

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(4) Quick-Return Mechanisms

Six-Bar Quick-Return Linkage

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(5) Coupler Curves

Coupler
A link between two side links.
Coupler Curve
The curve generated by a fixed point on a coupler.
Coupler Curves from Four-Bar Crank-Slider Linkages
A fourth-degree coupler curves.
Coupler Curves from Four-Bar Linkages
A sixth-degree coupler curves.
Cusp
A sharp point on a coupler curve that has instantaneous zero
velocity.
Crunode
A double point on a coupler curve where the coupler curve crosses
itself creating multiple loops.

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves

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(5) Coupler Curves
Symmetrical Coupler Curves

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(6) Cognates
Cognates
A linkage of different geometry that generates the same coupler
curve as another linkage.

Roberts-Chebyschev Theorem
Three different planar, pin-jointed linkages will trace identical
coupler curves.

Hartenberg-Denavit Extensions
Two different planar crank-slider linkages will trace identical
coupler curves.
The coupler-point curve of a planar four-bar linkage is also
described by the joint of a dyad of an appropriate six-bar linkage.

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(6) Cognates

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(6) Cognates
Cayley Diagram

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(6) Cognates
Roberts Diagram

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(6) Cognates

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(6) Cognates
Properties of Cognates
If the original linkage is a crank-rocker linkage, one cognate will be
also a crank-rocker linkage, and the other will be a Grashof double-
rocker linkage. The minimum transmission angle of the crank-rocker
cognate will be the same as that of the original crank-rocker linkage.

If the original linkage is a Grashof double-crank linkage, both

cognates will be also Grashof Double-crank linkages and their
minimum transmission angles will be the same in pairs that are driven
from the same fixed pivot.

If the original linkage is a non-Grashof double-rocker linkage, both

cognates are also double-rocker linkages.

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(6) Cognates
Properties of Cognates
Cognates of Grashof linkages do not offer improved transmission
angles over the original linkage. Their main advantages are the
different fixed pivot locations and different velocities and accelerations.

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(6) Cognates
A Special Case

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(6) Cognates
Parallel Motion

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(6) Cognates
Parallel Motion

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(7) Straight-Line Linkages
Straight-Line Linkages
Linkages that have coupler curves of approximate straight lines.

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(7) Straight-Line Linkages
Straight-Line Linkage

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(7) Straight-Line Linkages
Straight-Line Linkage

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(7) Straight-Line Linkages
Straight-Line Linkage

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(7) Straight-Line Linkages
Straight-Line Linkage

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(7) Straight-Line Linkages
Straight-Line Linkage

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(7) Straight-Line Linkages
Straight-Line Linkage

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(7) Straight-Line Linkages
Straight-Line Linkage

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(7) Straight-Line Linkages
Straight-Line Linkage

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(7) Straight-Line Linkages
Straight-Line Linkage

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(7) Straight-Line Linkages
Designing a Hoeken-Type Straight-Line Linkage

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(8) Dwell Linkages
Dwell
Zero output motion for nonzero input motion.

Designing Single-Dwell Linkages

First find a four-bar linage with a suitable coupler curve.
Then add a dyad to provide an output link with the desired dwell.

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(8) Dwell Linkages
Single-Dwell Linkage

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(8) Dwell Linkages
Single-Dwell Linkage

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(8) Dwell Linkages
Double-Dwell Linkage

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(9) Other Useful Linkages
Constant Velocity Piston Motion

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(9) Other Useful Linkages
Large Angular Excursion Rocker Motion

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(9) Other Useful Linkages
Large Angular Excursion Rocker Motion

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(9) Other Useful Linkages
Large Angular Excursion Rocker Motion

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(9) Other Useful Linkages
Remote Center Circular Motion

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