PANTOGRAPH

It is a four bar linkage used to

produce paths exactly similar to the
ones traced out by a point on the
linkage.
The paths so produced are usually on
an enlarged or reduced scale and
may be straight or curved ones.
It consists of a jointed parallelogram
ABCD as shown in the figure.
 It is made up of bars connected by
turning pairs.
From similar triangles OAD and OBE,

Let O be fixed and the points D and E

move to some new positions D and E.
Then

Therefore the point E traces out the

same path as described by point D.
A pantograph is mostly used for the
reproduction of plane areas and
Straight-line Mechanisms
 Generation of straight line motion
using linkage mechanisms called
straight line mechanisms
Although exact straight line cannot be
generated
simple mechanisms are designed such
that they can produce approximate
straight lines for short range of
motion.
There are two classes of straight line
mechanisms
Exact straight line linkages
Scott-Russels mechanism
Peaucellier Mechanism
Hart's Mechanism
Approximate straight line linkages
Watt's linkage
Roberts Mechanism
STRAIGHT-LINE MECHANISMS
1. Peaucellier mechanism
 It consists of 8 links i.e. a fixed link
OO1 and the straight links O1A, OC,
OD, AD, DB, BC and CA are
connected by turning pairs.
The pin at A is constrained to move
along the circumference of a circle.
AC = CB = BD = DA; OC = OD; and
OO1 = O1A
From the triangles ORC and BRC,
 Therefore the product OB X OA
remains constant.
Hence the point B traces a straight
path perpendicular to the diameter
OP.
2. Harts mechanism:
 It consists of six links i.e. a fixed link
OO1 and straight links O1A, FC, CD,
DE and EF are connected by turning
pairs.
The pin at A is constrained to move
along the circumference of a circle.
FC = DE; and CD = EF;
The points O, A and B divide the links
FC, CD and EF in the same ratio.
 Therefore the product OB X OA
remains constant. Hence the point B
traces a straight path perpendicular
to the diameter OP.
3. Scott-Russels
mechanism
 It consists of a fixed member and moving
member P of a sliding pair.
The straight link PAQ is connected by
turning pairs to the link OA and the link P.
A is the middle point of PQ and OA = AP =
AQ.
If OA makes one complete revolution, then
P oscillate along the line OP through a
distance of 2 OA on each side of O, and Q
oscillate along QOQ through the same
distance 2 OA above and below O. Thus
locus of Q is a copy of the locus of P.
4. Watts mechanism
 It is a crossed four bar chain mechanism and in
steam engines it guides the piston rod to have an
approximate straight-line motion.
In the mean position of the mechanism, links
OB and O1A are parallel and the coupling rod
AB is perpendicular to O1A and OB.

The tracing point P traces an approximate

straight line over certain positions of its
movement.
5. Grasshopper mechanism
It
is the modification of modified Scott-
Russels mechanism with the
difference that Point P does not slide
along straight line.
It is a four bar mechanism and all the
pairs are turning pairs.
In this, O and O1 are fixed and link OA
oscillates about O.
OA = (() / (AQ).
6. Tchebicheffs mechanism
 It is a four bar mechanism in which
crossed links OA and O1B are of
equal length.
The point P, which is the mid-point of
AB, traces out an approximately
straight line parallel to OO1.
AB : OO1 : OA = 1 : 2 : 2.5
7. Roberts mechanism
 It is a four bar mechanism, Where
CPD is a single integral link.
Also Dimensions AC, BD, CP and PD
and AB = 2AP
The point P trace out an
approximately straight line.
 8. Kempes Mechanism

Here, AB = AD, BC = CD = CE, BF = FE

and (AB/BC) = (BC/BF).
 It is obvious that angle ABC = angle
ADC = angle CEF.
Now we can show that as this linkage
(with any of the links in the chain
fixed) moves, the line DE always
remains perpendicular to AB
Ackerman Steering
Mechanism