ME342 Mechanism Design

by Prof. Seungbum Koo

Week03-A. Displacement Analysis
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
https://www.youtube.com/watch?v=Vh8r_Cpfb8Q
2

KAIST, Department of Mechanical Engineering

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 Here, we will focus on the four-bar linkage but the procedures
are also applicable to more complex linkages.

 Grashof’s law: the sum of the shortest (𝑠𝑠) and longest (𝑙𝑙)
links of a planar four-bar
linkage cannot be greater than
the sum of the remaining two
links (𝑝𝑝 and 𝑞𝑞) if there is to be
continuous relative rotation
between two links
𝑙𝑙 + 𝑠𝑠 ≤ 𝑝𝑝 + 𝑞𝑞

KAIST, Department of Mechanical Engineering 3

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 1. If 𝑙𝑙 + 𝑠𝑠 < 𝑝𝑝 + 𝑞𝑞, four possibilities or Grashof mechanisms
exist.
 a. A crank-rocker mechanism when 𝑠𝑠 is the input link
 b. A double-crank mechanism when 𝑠𝑠 is the frame
 c. A rocker-crank mechanism when 𝑠𝑠 is the output link
 d. A double-rocker mechanism when the link opposite to the 𝑠𝑠 is the
frame

KAIST, Department of Mechanical Engineering 4

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 2. If 𝑙𝑙 + 𝑠𝑠 > 𝑝𝑝 + 𝑞𝑞, four non-Grashof triple-rocker
mechanisms result depending on the role of the longest
link. Continuous relative motion is not possible for this
case.

KAIST, Department of Mechanical Engineering 5

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 3. If 𝑙𝑙 + 𝑠𝑠 = 𝑝𝑝 + 𝑞𝑞, the four possible mechanisms are a to
d of case 1, but they all suffer from the change-point
condition: The centerlines of all links become collinear,
creating momentarily a second degree of freedom.
 Also a toggle condition
(which occurs when the
input and coupler are
lined up) will be present

Change point condition: Output behavior

becomes indeterdeminate

KAIST, Department of Mechanical Engineering 6

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 “Complete classification of four-bar planar mechanisms” which
was suggested by Baker, 1985
 Barker, Clark R. "A complete classification of planar four-bar linkages." Mechanism and Machine Theory 20.6 (1985): 535-554.

Here R1, R2, R3, and R4 represent lengths of frame, input, coupler, and output links

KAIST, Department of Mechanical Engineering 7

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 Kinematic inversion: the process of fixing different
links of a chain to create different mechanisms.

Gnome aircraft
engine

Marine engines

Hand pump

KAIST, Department of Mechanical Engineering 8

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 Geometric inversions
 Two alternate configurations for a given position of the input
(driver)
 All four-bars have geometric inversions

KAIST, Department of Mechanical Engineering 9

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 Geometric inversions
 Grashof four-bars have two separate circuits
 Non-Grashof mechanisms only have a single circuit

Two circuits of a A non-Grashof

crank-rocker triple-rocker

KAIST, Department of Mechanical Engineering 10

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 Geometric inversions
 Crank-rocker and double crank mechanisms never reach a
dead center position
 So the two geometric inversions always fall on the two
different circuits

KAIST, Department of Mechanical Engineering 11

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 Geometric inversions
 Rocker-crank or double-rockers have two dead center
positions on both circuits
 Each circuit has a distinct range of motion of the driver

KAIST, Department of Mechanical Engineering 12

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 Transmission angle and deviation angle
 Transmission angle: the smaller (acute) angle between the direction of the velocity-
difference vector of the floating link (VBA) and the direction of the absolute
velocity of the output link (VB), both taken at the point of connection, 𝐵𝐵.
 Deviation angle: the smallest angle between the direction of the static force 𝐹𝐹34 ,
transmitted through the floating link, and the absolute velocity of the output link, VB.

Force transmission is high when 𝛾𝛾 → 90° and 𝛿𝛿 → 0°

KAIST, Department of Mechanical Engineering 13

ME342 Mechanism Design by Prof. Seungbum Koo
3.1 DISPLACEMENT ANALYSIS: USEFUL INDICES
FOR POSITION ANALYSIS OF LINKAGES
 Transmission angle and deviation angle
 They were proposed as a measure of aptness of motion transmittal
from the floating link to the output link
 At optimum transmission between floating and output links, 𝛿𝛿 = 0
and 𝛾𝛾 = 90

Figure 3.21 Figure 3.23

KAIST, Department of Mechanical Engineering 14

ME342 Mechanism Design by Prof. Seungbum Koo
3.2 DISPLACEMENT ANALYSIS:
GRAPHICAL METHOD
 Using an overlay
 Draw paths of point 𝐴𝐴 and 𝐵𝐵 using a compass
 And then use an overlay to draw the path of point P

Figure 3.25
KAIST, Department of Mechanical Engineering 15
ME342 Mechanism Design by Prof. Seungbum Koo
3.2 DISPLACEMENT ANALYSIS:
GRAPHICAL METHOD
 Graphical displacement analysis of the four-bar mechanism

Figure 3.26

KAIST, Department of Mechanical Engineering 16

ME342 Mechanism Design by Prof. Seungbum Koo
3.2 DISPLACEMENT ANALYSIS:
GRAPHICAL METHOD
 Graphical displacement analysis of the Stephenson III six-bar
mechanism

Figure 3.27 Figure 3.28

KAIST, Department of Mechanical Engineering 17

ME342 Mechanism Design by Prof. Seungbum Koo
References
 Webpage, Four-bar animation
 http://dynref.engr.illinois.edu/aml.html#aml-sl
 Ebook, Geometric Design of Linkages,
http://dx.doi.org/10.1007/978-1-4419-7892-9
 Journal paper, Barker, Clark R. "A complete classification of
planar four-bar linkages." Mechanism and Machine Theory 20.6
(1985): 535-554.
 Mathematics on four-bar
 http://pi.math.cornell.edu/~dwh/courses/M451-F03/451web/4-bar.pdf

KAIST, Department of Mechanical Engineering 18

ME342 Mechanism Design by Prof. Seungbum Koo
ME342 Announcement
 Next class
 Read textbook chapters 3.3-3.4

KAIST, Department of Mechanical Engineering 19

ME342 Mechanism Design by Prof. Seungbum Koo