Graphical position analysis of a 4 bar RRRP linkage (slider crank)

Choose your
coordinate system
and origin.
Graphical position analysis of a 4 bar RRRP linkage (slider crank)

Fix your ground link

 Graphical position analysis of a 4 bar RRRP linkage (slider crank)

Draw a line parallel to the x axis at offset e

Draw a circle of radius L2 + L3

with center at joint 1.

L3

L2
e
 Graphical position analysis of a 4 bar RRRP linkage (slider crank)

Draw a line parallel to the x axis at offset e

Draw a circle of radius L2 + L3

with center at joint 1.

L3

L2
e

The points of intersection of the circle

and the line are the locations of the
pin joint between links 3 and 4 in one
extreme configuration for the two
possible assembly modes. We choose
the left point here. Now construct
links 2, 3 and 4 and find q2 and q4 .
 Graphical position analysis of a 4 bar RRRP linkage (slider crank)
Draw a line parallel to the x axis at offset e

Draw a circle of radius L3 – L2

with center at joint 1.

L2 L3

e
 Graphical position analysis of a 4 bar RRRP linkage (slider crank)
Draw a line parallel to the x axis at offset e
The points of intersection of the circle
Draw a circle of radius L3 – L2 and the line are the locations of the
with center at joint 1. pin joint between links 3 and 4 in one
extreme configuration for the two
possible assembly modes. We choose
the left point here. Now construct
links 2, 3 and 4 and find q2 and q4 .

L2 L3