CHAPTER 2- LINKAGES

Linkages: Four-bar linkage; Slider crank mechanism; Scotch yoke; Quick-return mechanism;
Toggle mechanism; Straight line mechanisms; Parallel mechanisms; Intermittent motion
mechanisms; Steering gear mechanisms.

A linkage is a mechanism where rigid parts are connected together to form a chain. One part
is designated the frame because it serves as the frame of reference for the motion of all other
parts. The frame is typically a part that exhibits no motion.

KINEMATIC CHAIN
• Assembly or combination of link and pairs to produce required/ specified output
motion or for given input motions.
• Group of links either joined together or arranged in a manner that permits them to
move relative to one another.
• (link 1) frame, (link 2) crank, (link 3) coupler, (link 4) rocker

INVERSIONS OF MECHANISM
A mechanism is one in which one of the links of a kinematic chain is fixed. Different
mechanisms can be obtained by fixing different links of the same kinematic chain.
These are called as inversions of the mechanism.
In a planar 4- bar kinematic chain with revolute pair, if the sum of the link lengths of
shortest and longest link is less than or equal to the sum of the other two link lengths.

Categories of four bar mechanisms

Case Criteria Shortest link Category
1 S+l<p+q Frame Double crank
2 S+l<p+q Side Crank rocker
3 S+l<p+q coupler Double rocker
a. b Crank-rocker mechanism, c. Double crank or Drag link mechanism,
d. Double rocker mechanism

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First and third inversions (crank and rocker mechanism)
• When the shortest link is next to the fixed link then the type of inversion is crank rocker
mechanism
• In this mechanism, either link 1 or link 3 is fixed. Link 2 (crank) rotates completely and
link 4 (rocker) oscillates.
• (Shortest link –side)

Application:
Beam engine (crank and lever mechanism)

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• A part of the mechanism of a beam engine (also known as crank and lever mechanism)
which consists of four links,
• In this mechanism, when the crank rotates about the fixed centre A, the lever oscillates
about a fixed centre D.
• The end E of the lever CDE is connected to a piston rod which reciprocates due to the
rotation of the crank.
• In other words, the purpose of this mechanism is to convert rotary motion into
reciprocating motion.

II- Inversion -double crank mechanism or drag link mechanism

• When the shortest link is fixed, then the type of inversion is double crank mechanism
• Double crank mechanism. This is one type of drag link mechanism, where, links 1& 3
are equal and parallel and links 2 & 4 are equal and parallel.

Application-Coupling rod of a locomotive

▪ This is an example of double crank mechanism.

▪ Both cranks rotate about the points in fixed link
▪ The opposite links 1 and 3 are equal length.
▪ The link 1 and 3 work as two cranks
▪ This mechanism also known as rotary- rotary converter.
▪ This mechanism used to transmit rotary motion from one wheel to other wheel.

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Fourth inversion (double rocker mechanism)
• When the link opposite to the shortest link is fixed, then the type of inversion is
double rocker.

Application: Watt’s indicator mechanism (Double lever mechanism) or straight line

mechanism

• Watt’s indicator mechanism (also known as Watt's straight-line mechanism or double lever
mechanism) which consists of four links is shown in Fig. The four links are: fixed link at
A, link AC, link CE and link BFD. It may be noted that BF and FD form one link because
these two parts have no relative motion between them.
• The links CE and BFD act as levers. The displacement of the link BFD is directly
proportional to the pressure of gas or steam which acts on the indicator plunger. On any
small displacement of the mechanism, the tracing point E at the end of the link CE traces
out approximately a straight line.
• The initial position of the mechanism is full lines whereas the dotted lines show the
position of the mechanism when the gas or steam pressure acts on the indicator plunger.

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 SLIDER CRANK MECHANISM (FIRST INVERSION)

Slider cranks chain:

This is a kinematic chain having four links.

It has one sliding pair and three turning pairs.

Link 2 has rotary motion and is called crank.

Link 3 has got combined rotary and reciprocating motion and is called connecting rod. Link 4
has reciprocating motion and is called slider.

Link 1 is frame (fixed).

This mechanism is used to convert rotary motion to reciprocating and vice versa.

Inversions of slider crank chain

Inversions of slider crank mechanism is obtained by fixing links 2, 3 and 4.

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Rotary internal combustion engine or Gnome engine (second inversion)

• Sometimes back, rotary internal combustion engines were used in aviation. But now-a-
days gas turbines are used in its place.
• It consists of seven cylinders in one plane and all revolves about fixed centre D, while the
crank (link 2) is fixed.
• In this mechanism, when the connecting rod (link 4) rotates, the piston (link 3)
reciprocates inside the cylinders forming link 1

Oscillating cylinder engine (third inversion)

• The arrangement of oscillating cylinder engine mechanism is used to convert reciprocating

motion into rotary motion.
• In this mechanism, the link 3 forming the turning pair is fixed. The link 3 corresponds to
the connecting rod of a reciprocating steam engine mechanism.
• When the crank (link 2) rotates, the piston attached to piston rod (link 1) reciprocates and
the cylinder (link 4) oscillates about a pin pivoted to the fixed link at A.

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Pendulum pump or Bull engine (fourth inversion)

• In this mechanism, the inversion is obtained by fixing the cylinder or link 4 (i.e.,
sliding pair).
• In this case, when the crank (link 2) rotates, the connecting rod (link 3) oscillates
about a pin pivoted to the fixed link 4 at A and the piston attached to the piston rod
(link 1) reciprocates.
• The duplex pump which is used to supply feed water to boilers have two pistons
attached to link 1.

INVERSIONS OF DOUBLE SLIDER CRANK CHAIN

Scotch yoke mechanism (First inversion)

• This mechanism is used for converting rotary motion into a reciprocating motion. The
inversion is obtained by fixing either the link 1 or link 3. Link 1 is fixed.
• In this mechanism, when the link 2 (which corresponds to crank) rotates about B as
centre, the link 4 (which corresponds to a frame) reciprocates. The fixed link 1 guides the
frame.

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Oldham’s Coupling (second inversion)

• An Oldham’s coupling is used for connecting two parallel shafts whose axes are at a
small distance apart. The shafts are coupled in such a way that if one shaft rotates, the
other shaft also rotates at the same speed.
• This inversion is obtained by fixing the link 2, as shown in Fig. a. The shafts to be
connected have two flanges (link 1 and link 3) rigidly fastened at their ends by
forging.

Elliptical trammels (Fourth Inversion)

• It is an instrument used for drawing ellipses. This inversion is obtained by fixing the
slotted plate (link 4).
• The fixed plate or link 4 has two straight grooves cut in it, at right angles to each other.
The link 1 and link 3 are known as sliders and form sliding pairs with link 4. The link AB
(link 2) is a bar which forms turning pair with links 1 and 3.

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• When the links 1 and 3 slide along their respective grooves, any point on the link 2 such
as P traces out an ellipse on the surface of link 4.
• A little consideration will show that AP and BP are the semi-major axis and semi-minor
axis of the ellipse respectively.

Crank and slotted lever mechanism (quick return mechanism)

• This mechanism is mostly used in shaping machines, slotting machines and in rotary
internal combustion engines.
• In this mechanism, the link AC (i.e. link 3) forming the turning pair is fixed, as shown in
Fig. The link 3 corresponds to the connecting rod of a reciprocating steam engine. The
driving crank CB revolves with uniform angular speed about the fixed centre C.
• A sliding block attached to the crank pin at B slides along the slotted bar AP and thus
causes AP to oscillate about the pivoted point A.
• A short link PR transmits the motion from AP to the ram which carries the tool and
reciprocates along the line of stroke R1 R2.
• The line of stroke of the ram (i.e. R1 R2) is perpendicular to AC produced. In the extreme
positions, AP1andAP 2 is tangential to the circle and the cutting tool is at the end of the
stroke.
• The forward or cutting stroke occurs when the crank rotates from the position CB 1 to CB
2 (or through an angle β) in the clockwise direction. The return stroke occurs when the
crank rotates from the position CB 2 to CB 1 (or through angle α) in the clockwise
direction. Since the crank has uniform angular speed, therefore,
Time taken for cutting stroke to return stroke:

Timeof cutting stroke   360 − 

= == =
Timeof return stroke  360 −  
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Parallelogram Mechanisms

Mechanisms are often comprised of links that form parallelograms to move an object without
altering its pitch. These mechanisms create parallel motion for applications such as balance
scales, glider swings, and jalousie windows. Two types of parallelogram linkages are given in
Figure 2.19a which shows a scissor linkage and Figure2.19b which shows a drafting machine
linkage.

Parallelogram mechanisms

Straight-Line Mechanisms

Straight-line mechanisms cause a point to travel in a straight line without being guided
by a flat surface. Historically, quality prismatic joints that permit straight, smooth motion
without backlash have been difficult to manufacture. Several mechanisms have been
conceived that create straight-line (or nearly straight-line) motion with revolute joints and
rotational actuation. Figure 1.a shows a Watt linkage and Figure. 1.b shows a Peaucellier-
Lipkin linkage.

Fig.1 straight- line mechanisms

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