Four-bar linkage

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A four-bar linkage, also called a four-bar, is the simplest movable closed-chain linkage. It
consists of four bodies, called bars or links, connected in a loop by four joints. Generally, the
joints are configured so the links move in parallel planes, and the assembly is called a planar
four-bar linkage. Spherical and spatial four-bar linkages also exist and are used in practice.[1]

Pumpjacks' main mechanism is a four-bar linkage

Contents

• 1Planar four-bar linkage

• 2Planar quadrilateral linkage
o 2.1Grashof condition
o 2.2Classification
• 3Design of four-bar mechanisms
o 3.1Time ratio
o 3.2Timing charts
• 4Slider-crank linkage
• 5Spherical and spatial four-bar linkages
• 6Examples
• 7Example simulations
• 8See also
• 9References
• 10External links

Planar four-bar linkage[edit]

Coupler curves of a crank-rocker four-bar linkage. Simulation done with MeKin2D.

Planar four-bar linkages are constructed from four links connected in a loop by four one-degree-
of-freedom joints. A joint may be either a revolute, that is a hinged joint, denoted by R, or a
prismatic, as sliding joint, denoted by P.
A link connected to ground by a hinged joint is usually called a crank. A link connected to ground
by a prismatic joint is called a slider. Sliders are sometimes considered to be cranks that have a
hinged pivot at an extremely long distance away perpendicular to the travel of the slider.
The link that connects two cranks is called a floating link or coupler. A coupler that connects a
crank and a slider is often called a connecting rod.
There are three basic types of planar four-bar linkage depending on the use of revolute or
prismatic joints:

1. Four revolute joints: The planar quadrilateral linkage is

formed by four links and four revolute joints, denoted RRRR.
It consists of two cranks connected by a coupler.
2. Three revolute joints and a prismatic joint: The slider-crank
linkage is constructed from four links connected by three
revolute and one prismatic joint, or RRRP. It can be
constructed with crank and a slider connected by the
connecting rod. Or it can be constructed as a two cranks
with the slider acting as the coupler, known as an inverted
slider-crank.
3. Two revolute joints and two prismatic joints: The double
slider is a PRRP linkage.[2] This linkage is constructed by
connecting two sliders with a coupler link. If the directions of
movement of the two sliders are perpendicular then the
trajectories of the points in the coupler are ellipses and the
linkage is known as an elliptical trammel, or the Trammel of
Archimedes.
Planar four-bar linkages are important mechanisms found in machines.
The kinematics and dynamics of planar four-bar linkages are important topics in mechanical
engineering.
Planar four-bar linkages can be designed to guide a wide variety of movements.

Planar quadrilateral linkage[edit]

Planar quadrilateral linkage, RRRR or 4R linkages have four rotating joints. One link of the chain
is usually fixed, and is called the ground link, fixed link, or the frame. The two links connected to
the frame are called the grounded links and are generally the input and output links of the
system, sometimes called the input link and output link. The last link is the floating link, which is
also called a coupler or connecting rod because it connects an input to the output.
Assuming the frame is horizontal there are four possibilities for the input and output links:[2]

• A crank: can rotate a full 360 degrees

• A rocker: can rotate through a limited range of angles which
does not include 0° or 180°
• A 0-rocker: can rotate through a limited range of angles which
includes 0° but not 180°
• A π-rocker: can rotate through a limited range of angles which
includes 180° but not 0°
Some authors do not distinguish between the types of rocker.
Grashof condition[edit]
The Grashof condition for a four-bar linkage states: If the sum of the shortest and longest link of
a planar quadrilateral linkage is less than or equal to the sum of the remaining two links, then the
shortest link can rotate fully with respect to a neighboring link. In other words, the condition is
satisfied if S + L ≤ P + Q, where S is the shortest link, L is the longest, and P and Q are the other
links.
Classification[edit]
The movement of a quadrilateral linkage can be classified into eight cases based on the
dimensions of its four links. Let a, b, g and h denote the lengths of the input crank, the output
crank, the ground link and floating link, respectively. Then, we can construct the three terms:

.
The movement of a quadrilateral linkage can be
classified into eight types based on the positive and
negative values for these three terms, T1, T2, and T3.[2]

Grashof condition Input link Output link

− − + Grashof Crank Crank

+ + + Grashof Crank Rocker

+ − − Grashof Rocker Crank

− + − Grashof Rocker Rocker

− − − Non-Grashof 0-Rocker 0-Rocker

− + + Non-Grashof π-Rocker π-Rocker

+ − + Non-Grashof π-Rocker 0-Rocker

+ + − Non-Grashof 0-Rocker π-Rocker

The cases of T1 = 0, T2 = 0, and T3 = 0 are interesting

because the linkages fold. If we distinguish folding
quadrilateral linkage, then there are 27 different cases.
The figure shows examples of the various cases for a
planar quadrilateral linkage.[3]

Types of four-bar linkages, s: shortest link, l: longest link.

The configuration of a quadrilateral linkage may be
classified into three types: convex, concave, and
crossing. In the convex and concave cases no two links
cross over each other. In the crossing linkage two links
cross over each other. In the convex case all four
internal angles are less than 180 degrees, and in the
concave configuration one internal angle is greater than
180 degrees. There exists a simple geometrical
relationship between the lengths of the two diagonals of
the quadrilateral. For convex and crossing linkages, the
length of one diagonal increases if and only if the other
decreases. On the other hand, for nonconvex non-
crossing linkages, the opposite is the case; one
diagonal increases if and only if the other also
increases.[4]

Design of four-bar mechanisms[edit]

The synthesis, or design, of four-bar mechanisms is
important when aiming to produce a desired output
motion for a specific input motion. In order to minimize
cost and maximize efficiency, a designer will choose the
simplest mechanism possible to accomplish the desired
motion. When selecting a mechanism type to be
designed, link lengths must be determined by a process
called dimensional synthesis. Dimensional synthesis
involves an iterate-and-analyze methodology which in
certain circumstances can be an inefficient process;
however, in unique scenarios, exact and detailed
procedures to design an accurate mechanism may not
exist.[5]
Time ratio[edit]
The time ratio (Q) of a four-bar mechanism is a
measure of its quick return and is defined as follows:[5]

With four-bar mechanisms there are two strokes,

the forward and return, which when added together
create a cycle. Each stroke may be identical or
have different average speeds. The time ratio
numerically defines how fast the forward stroke is
compared to the quicker return stroke. The total
cycle time (Δtcycle) for a mechanism is:[5]

Most four-bar mechanisms are driven by a

rotational actuator, or crank, that requires a
specific constant speed. This required speed
(ωcrank)is related to the cycle time as follows:[5]

Some mechanisms that produce

reciprocating, or repeating, motion are
designed to produce symmetrical motion.
That is, the forward stroke of the machine
moves at the same pace as the return
stroke. These mechanisms, which are often
referred to as in-line design, usually do
work in both directions, as they exert the
same force in both directions.[5]
Examples of symmetrical motion
mechanisms include:

• Windshield wipers
• Engine mechanisms or pistons
• Automobile window crank
Other applications require that the
mechanism-to-be-designed has a faster
average speed in one direction than the
other. This category of mechanism is most
desired for design when work is only
required to operate in one direction. The
speed at which this one stroke operates is
also very important in certain machine
applications. In general, the return and
work-non-intensive stroke should be
accomplished as fast as possible. This is so
the majority of time in each cycle is allotted
for the work-intensive stroke. These quick-
return mechanisms are often referred to
as offset.[5]
Examples of offset mechanisms include:
• Cutting machines
• Package-moving devices
With offset mechanisms, it is very important
to understand how and to what degree the
offset affects the time ratio. To relate the
geometry of a specific linkage to the timing
of the stroke, an imbalance angle (β) is
used. This angle is related to the time
ratio, Q, as follows:[5]

Through simple algebraic

rearrangement, this equation can be
rewritten to solve for β:[5]

Timing charts[edit]
Timing charts are often used to
synchronize the motion between
two or more mechanisms. They
graphically display information
showing where and when each
mechanism is stationary or
performing its forward and return
strokes. Timing charts allow
designers to qualitatively describe
the required kinematic behavior of
a mechanism.[5]
These charts are also used to
estimate the velocities and
accelerations of certain four-bar
links. The velocity of a link is the
time rate at which its position is
changing, while the link's
acceleration is the time rate at
which its velocity is changing. Both
velocity and acceleration
are vector quantities, in that they
have both magnitude and direction;
however, only their magnitudes are
used in timing charts. When used
with two mechanisms, timing charts
assume constant acceleration. This
assumption produces polynomial
equations for velocity as a function
of time. Constant acceleration
allows for the velocity vs. time
graph to appear as straight lines,
thus designating a relationship
between displacement (ΔR),
maximum velocity (vpeak),
acceleration (a), and time(Δt). The
following equations show this.[5][6]
ΔR = 1/2 vpeakΔt
ΔR = 1/4 a(Δt)2
Given the displacement
and time, both the
maximum velocity and
acceleration of each
mechanism in a given pair
can be calculated.[5]

Slider-crank
linkage[edit]
Main article: slider-crank
linkage

Crank slider mechanisms

with 0 and 1.25
eccentricity.

A slider-crank linkage is a
four-bar linkage with three
revolute joints and one
prismatic, or sliding, joint.
The rotation of
the crank drives the linear
movement the slider, or the
expansion of gases against
a sliding piston in a
cylinder can drive the
rotation of the crank.
There are two types of
slider-cranks: in-line and
offset.
In-line
An in-line slider-crank has its slider positioned so the line of
travel of the hinged joint of the slider passes through the
base joint of the crank. This creates a symmetric slider
movement back and forth as the crank rotates.
Offset
If the line of travel of the hinged joint of the slider does not
pass through the base pivot of the crank, the slider
movement is not symmetric. It moves faster in one direction
than the other. This is called a quick-return mechanism.
 Spherical
and spatial
four-bar
linkages[edit]
If the linkage has
four hinged joints
with axes angled
to intersect in a
single point, then
the links move on
concentric spheres
and the assembly
is called
a spherical four-
bar linkage. The
input-output
equations of a
spherical four-bar
linkage can be
applied to spatial
four-bar linkages
when the variables
are replaced
by dual numbers.[7]
Bennett's
linkage is a spatial
four-bar linkage
with hinged joints
that have their
axes angled in a
particular way that
makes the system
movable.[8][2]

Universal joint.

Tractor steering
•

Bennett four-bar
linkage.

Examples[edi
t]

• Biological
linkages
• Bicycle
suspension
• Door closer
• Pantograph (fo
ur-bar,
two degrees of
freedom, i.e.,
only one pivot
joint is fixed.)
• Pumpjack
• Double
wishbone
suspension
• Foot operated
machines
i.e. treadle se
wing
machine, grind
stone, lathe et
c.
• Glider
(furniture)
• Foldable steps
and foldable
chairs
• Step-on trash
can
• Gear shift
linkages
• Steam
engines and
locomotives
• Oscillating fan
• Watt's
linkage and C
hebyshev
linkage (linkag
es that
approximate
straight-line
motion)
 • Windshield
wiper

•
•

Example
simulations[
edit]
•

Crank-rocker stops
at the limit
positions and at
min/max
transmission angle

Fixed and moving

centrodes of a
four-bar

Coupler
cognates of a
crank-rocker four-
bar

four-bar type
(Ackerman)
steering linkage
•

Four-bar function
generator

Turning coupler
four-bar linkages

Parallel four-bar
linkages

Galloway (deltoid
or kite) four-bar
linkage

Folding crank-
rocker four-bar
linkage
See also[edit]
• Burmester's
theory
• Universal joint
• Chebyshev
linkage
• Cognate
linkage
• Linkage
(mechanical)
• Pumpjack
• Roberts
Mechanism
• Slider-crank
linkage
• Spherical
trigonometry
• Straight line
mechanism
• Watt's linkage
• Kinematic
synthesis

References[e
dit]

1. ^ Hartenber
g, R.S. & J.
Denavit
(1964) Kine
matic
synthesis of
linkages,
New York:
McGraw-
Hill, online
link
from Cornel
l University.
2. ^ Jump up
to:a b c d J.
M.
McCarthy
and G. S.
Soh,
Geometric
Design of
Linkages,
2nd Edition,
Springer,
2010
3. ^ Design of
Machinery
3/e, Robert
L. Norton, 2
May 2003,
 McGraw
Hill. ISBN 0
-07-
247046-1
4. ^ Toussaint
, G. T.,
"Simple
proofs of a
geometric
property of
four-bar
linkages", A
merican
Mathematic
al Monthly,
June–July
2003, pp.
482–494.
5. ^ Jump up
to:a b c d e f g
h i j k Myszk

a, David
(2012). Ma
chines and
Mechanism
s: Applied
Kinematic
Analysis.
New
Jersey:
Pearson
Education. I
SBN 978-0-
13-215780-
3.
6. ^ Chakraba
rti,
Amaresh
(2002). Eng
ineering
Design
Synthesis:
Understand
ing,
Approache
s and
Tools.
Great
Britain:
Springer-
Verlag
London
Limited. IS
BN 978-
185233492
5.
7. ^ Angeles,
Jorge
(2012),
"The Dual
Generalize
d Inverses
and Their
 Application
s in
Kinematic
Synthesis",
Latest
Advances
in Robot
Kinematics,
Springer
Netherland
s, pp. 1–
10, doi:10.1
007/978-
94-007-
4620-
6_1, ISBN
978940074
6190
8. ^ Hunt, K.
H.,
Kinematic
Geometry
of
Mechanism
s, Oxford
Engineerin
g Science
Series,
1979

External
links[edit]
Wikimedia Commons has
media related to Four-bar
linkage.

• The four-bar
linkages in the
collection of
Reuleaux
models at
Cornell
University
• Linkage
animations on
mechanicalde
sign101.com
include planar
and spherical
four-bar and
six-bar
linkages.
• Animations of
planar and
spherical four-
bar linkages.
 • Animation of
Bennett's
linkage.
• Mechanical
Expressions |
4 Bar Linkage
Kinematics
(web based
simulator).

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