6/14/2013 Me 3230 Page 1

Structural Issues in Linkages

R. Lindeke, Ph. D.
ME 3230 Kinematic &
Mechatronics
6/14/2013 Me 3230 Page 2
Topics Of Interest
Grashofs Law
Motion Limits for Slider Cranks
Interference in Linkages
Mechanical Advantage
Practical Considerations
Revolute Joints
Prismatic Joints
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Grashof Law
The fundamental 4-bar linkage design law:
s + l < p + q
Here, s is the shortest link
l is the longest link
p and q are the other two links
This law states that for there to be
continuous relative motion between any 2
links, this inequality must be true (Grashof
Type 1 linkages)
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Consequences of Failure of
Grashofs inequality:
Links cant connect!
s+l+p<q
s cant rotate!
s+l-p>q
Links cant connect!
s+q+p<l
s cant rotate!
s+q-p<l
See text for proof of Grashofs theorem!
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Type 1 or 2 Grashof Linkages
Type 1: the inequality holds
We state that these linkages (type 1) have
two joints that perform complete (360)
rotation and they are located at either
end of the shortest link
Type 2: the inequality is not held
They have no fully rotating joints
All 4 joints oscillate between limits

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Addition Type 1 Nomenclature
Base frame is the fixed link
Two members connected to base by
revolute joints are Turning Links
Member jointed to both turning links is
the Coupler
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Type 1 Mechanisms:
s is connected to the
base (a, b) this is a
crank rocker
s is the base link (c)
this is double crank or
drag-line mechanism
s is the coupler link
this is a double rocker
where the coupler can
perform a complete
rotation relative to the
base
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Topological Interference So it
should rotate shouldnt it?
This point is really one of construction making sure
that the design will actually operate
Topological interference is a fundamental property of
the structure it cant be eliminated by reshaping
links
When we are assembling a Linkage there is a right
way to assure that the various links will not run
through each other
Motion will be transferred to rotating link using
shafts (perhaps) so this issue also addresses how the
shafts are connected to the linkage too

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A Simple Crank rocker as a
structure
Notice the Positioning of Coupler vs. the turning
links (a). In this arrangement we can bring
in/take out torques with shafts thru the base link
(b). And the crank can completely rotate without
striking the shaft or coupler!
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Setup for Drag Link Mechanisms
Here the drive Shafts
must be connected directly
to the turning links
In the drag line, the base
link has become a pair of
fixed bearings and the link
is essentially turned inside
out
This is a must otherwise
the coupler must pass thru
the base or shafts thus
becoming locked up
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Lets try one:
Problem 1.35 where you are to select
from a set of 8 links (2; 3; 4; 7;
9.5; 13 and 9) From this set choose
4 links to build a mechanism that can
be driven by a continuous rotational
motor? Identify each link by
appropriate name.
What type of mechanism results?
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Motion Limits for a Slider Crank
There are 2 rules that
must be held for
freedom of motion full
rotation
b>a in mechanism
b - a > c
Where a is length of
crank
Where b is length of
coupler
Where c is the distance
from ground pivot to
slider pin
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Design Considerations
Consider Slider Crank Half first A-B-
C: does it meet motion criteria?
BC>AB (yes)
BC-AB>c (yes)
Consider C-BD-EF- AF as a crank
rocker
EF must be the crank we will let
upper link (A-B-D) rock to move
the Slider at C
Positioning of E is along the locus
of E (from DE length) -- upper
sketch
Use Grashof calculation for the
shortest link of Crank-rocker to
establish true limits for E (lower
sketch)
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Mechanical Advantage in a Mechanism
MA is the ration of the output
torque to the input torque of a
mechanism
This ration is directly proportional
to Sin() (coupler to driven turner)
and inversely proportional to Sin(|)
(coupler to driver turner)
When | is 0 or 180 (position A-B
1

and A-B
2
in the figure) a small
input torque delivers a large
(infinite) output torque the rocker
is said to be in Toggle
When is small MA is very low
this transmission angle should
never be designed to work at
angles of less than about 45 . If
MA is too small, only a small
amount of friction can lock up the
mechanism
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Mechanical Advantage in a Mechanism
Considering r
in
& r
out
as level arms of the
input and output shafts (and loads), then:
( )
4
2
. .
( )
is angle from driven link (4) to Coupler
is (smallest) angle from driver link (2)
to Coupler
in
out
Link Sin
r
M A
r Link Sin

|

|
- | |
=
|
-
\ .
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Try One?
A crank-rocker linkage has a 100-mm
frame, a 25-mm crank, a 90-mm
coupler, and a 75-mm rocker. Draw the
linkage and find the maximum and
minimum values of the transmission
angle. Locate both toggle positions and
record the corresponding crank angles
and transmission angles.
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Green Lines At
Gamma limits
Crank at 0 or 180
is about 53.1 and
98.1 respectively
Purple Lines at Toggle
Crank at about 226 and
40 (rocker back and
forward respectively)
is about 90.9 and
59.1 respectively
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Practical Design Issues: Revolute
Joints
Lubrication of the Bearing Surfaces in rotation
Hydrodynamic lubrication occurs under conditions
of unidirectional rotation under speed
A lubricating film, carrying the bearing load, is
established between the bearing surfaces and only
lubricant viscous friction (low friction) results
additionally no metal to metal contact is present and no
running wear is observed (only startup and stopping
wear)
Lubricant can by pumped in to assist in establishing HD
lubrication
HD lubrication is seen in internal combustion engines for
crankshaft support bearings and connecting
rod/crankshaft bearings

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Practical Design Issues: Revolute
Joints
Lubrication of the Bearing Surfaces in rotation
Hydrostatic lubrication is a system where lubricant
is pumped in to the bearing gap under elevated
pressure to carry the bearing loads
It can be used even if rotational speed is low or even
reverses
Used in main bearings in large turbo-generator sets
Fits need to be made to tight tolerances so oil will not
leak out in operation or idle activities
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Practical Design Issues: Revolute
Joints
Can use Grease Bearings in slow or
reversing motion
Solid Contact bearing (teflon bearings) and
dissimilar metal bearing can be used like
babbitts metal
90% tin 10% copper
89% tin 7% antimony 4% copper
80% lead 15% antimony 5% tin
Also can use roller, ball or pin bearings as
contactor for revolute joint systems
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Practical Design Issues: Prismatic
Joints
Jamming of the slider is purely a design issue!
This problem is a function of the friction of the slider, the
applied force and its direction
If the angle of the coupler to slider is less than the Friction angle:
| = tan
-1
( is coefficient of friction) the slider will jam
Sliders loaded by offset forcing loads will also Jam if the width
of the slider b < 2 a where a is the offset between the slider
and the forcing load
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Practical Design Issues: Prismatic
Joints
Since Jamming is a function of slider friction, using
means to reduce friction is the most effective way to
reduce problems
The use of rolling contact joints is an effect means to
reduce the friction