SHRI VENKATESHWARA UNIVERSITY

GAJRAULA, UP

PRACTICAL LAB REPORT

KINEMATICS OF MACHINE LAB

IME-441

B.TECH, 4th SEMESTER

MECHANICAL ENGINEERING

By

Nitin Kurup

SVU ID – SVU87398070

Roll no. - A24040093

KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

INDEX
# NAME OF PROGRAMS PAGE NO.
Position Analysis of a 4 Bar RRPR Grashofian Inverted Slider Crank
01. 01 -02
Mechanism

02. Position Analysis of a 4 Bar RRRR Grashofian Double Crank Mechanism 03 – 04

Introduction

03. Position Analysis of a 4 Bar RRRR Grashofian Crank Rocker Mechanism

05 - 06

04. Position Analysis of a 4 Bar RRRR Grashofian Double Rocker Mechanism

07 - 08

Position Analysis of a 4 Bar RRRR Non Grashofian Double Rocker

05. 09 – 10
Mechanism

Position Analysis of a 4 Bar RRRP Grashofian Slider Crank Mechanism

06. 11 – 12
KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

Experiment No: 1
Position Analysis of a 4 Bar RRPR Grashofian Inverted Slider Crank Mechanism

Introduction-

Schematic Diagram of a 4 Bar RRPR Linkage

The 4 bar RRRP mechanism (and its inversions - RRPR or RPRR) is another basic mechanism
in studies on kinematics. It is also widely used in various forms because of the relative
simplicity of design and manufacture. Like RRRR linkages, Grashof's criteria is used to
distinguish between 4 bar linkages with one prismatic joint, depending on the rotatability of
the links In brief, if l is the shorter of the crank and the coupler and L the longer of the two,
and e is the offset, then the following cases arise
• l + e < L : Grashofian linkage
•
o l + e < L, shortest link s is the ground link. : Inverted Slider
Crank (RRPR)
o l + e < L, shortest link is the coupler : Inverted Slider Rocker
(RRPR)
o l + e < L, shortest link is crank : Slider Crank (RRRP)
o l + e < L, shortest link is coupler : Slider Rocker (RRRP)
• l + e > L : Non Grashofian linkage
For a more detailed introduction to Grashof criteria for linkages with one prismatic joint see
the animated guide that follows. If undisturbed , the animation will proceed at a
predetermined pace. You can either click on the animation itself to move from step to step as
per your convenience. Alternatively you can use the controls at the bottom of the animation
to see it at your own pace.

Procedure
In this experiment you will guided through the position analysis of a 4 bar RRPR Grashofian
Inverted Slider Crank.
Position analysis can be approached analytically. Using complex numbers is a popular
analytical approach. The animated guide that follows right next shows the analytical method

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KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

of determining the position of a point on the coupler of a RRPR linkage as the linkage moves.
The next animation shows the graphical constructions needed for the position analysis of a
double crank linkage. A summary of what you are expected to do follows. This is followed by
stwo animated guides for finding out the two extreme configurations for the slider, because
in a slider crank, while the input link (link 2 - crank) does rotate through a full circle, the
slider has limits on its displacement. There are thus two extreme positions of the slider and
the corresponding crank angles that you are expected to find out using these guides.

In the Instruments tab use the first applet to choose a set of 4 link lengths. Enter your choices
for link lengths. The apllet will let you know if the lengths conform to a Grashofian Double
Crank. If your link lenths are improper go back to the Introduction tab and check the Crashofs
criteria Grashofian Double Crank and modify link lengths accordingly.
Use the Drawing Board applet in the Instruments tab to find the linkage configuration for a
given input link orientation (theta 2).
Finally there is a third applet in the Instruments tab which lets you verify your results. Enter
your answers to see the correct values for coupler position and the accuracy of your answers
obtained graphically.
The following are animated guides for analytical and graphical methods of position analysis
for a 4 bar RRPR Grashofian Inverted Slider Crank.

2
KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

Experiment No: 2
Position Analysis of a 4 Bar RRRR Grashofian Double Crank Mechanism Introduction

Introduction-

Schematic Diagram of a 4 Bar RRRR Linkage

The 4 bar RRRR mechanism is forms the basis of any study on mechanism. It is widely used
in various forms because of the relative simplicity of design and manufacture as well as
durability. Grashof's criteria is used to distinguish between 4 bar RRRR linkages depending
on the rotatability of the individual links of a 4 bar mechanism. In brief, if l is the longest link,
s the longest link and the other two links have length p and q then the following cases arise
• l + s < p + q : Grashofian Linkage
o l + s < p + q , shortest link s is the ground link : Double Crank
o l + s < p + q , shortest link is the coupler : Double Rocker
o l + s < p + q , shortest link is neither coupler nor
ground : Crank Rocker
• l + s > p + q : Non Grashofian Double Rocker
For a more detailed introduction to Grashof criteria see the animated guide that follows. You
can either click on the animation itself to move from step to step as per your convenience.
Alternatively you can use the controls at the bottom of the animation to see it at your own
pace.
In a Double Crank both the input link (link 2) and the output link (link 4) can rotate through a
full circle. The position analysis of a Double Crank involves finding out the coupler curve (that
is the curve traced by a point on the link 4, which is the coupler, or its extensions) and the
relation between the input and output orientations, that is the relation between theta 2 and
theta 4. Since the input link rotates through a full circle it is possible to drive this mechanism
using a simple continuous rotary drive, that is we may connect it directly to a simple motor.
Likewise we can connect the output to a continuous rotary drive directly too. Thus we can use
this mechanism to cyclically generate a varying pattern of rotation by suitably choosing the
link lengths and simply connecting the input link to a constant RPM motor. Alternately a

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KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

constant torque motor at the input can produce a varying torque at the output, which also
implies a varying mechanical advantage.

Procedure-
In this experiment you will guided through the position analysis of a 4 bar RRRR Grashofian
double Crank. Position analysis can be approached analytically. Using complex numbers is a
popular analytical approach. The animated guide that follows right next shows the analytical
method of determining the position of a point on the coupler of a RRRR linkage as the linkage
moves. The next animation shows the graphical constructions needed for the position analysis
of a double crank linkage. A summary of what you are expected to do follows
• In the Instruments tab use the first applet to choose a set of 4 link lengths.
Enter your choices for link lengths. The applet will let you know if the lengths
conform to a Grashofian Double Crank. If your link lengths are improper go
back to the Introduction tab and check the Crashofs criteria Grashofian Double
Crank and modify link lengths accordingly.
• Use the Drawing Board applet in the Instruments tab to find the linkage
configuration for a given input link orientation (theta 2). Below the Drawing
Board applet there is a link to a step by step demo of how to use the Drawing
Board to perform these constructions. If you feel it necessary you may go
through that.
• Finally there is a third applet in the Instruments tab which lets you verify your
results. Enter your answers to see the correct values for coupler position and
the accuracy of your answers obtained graphically.
The following are animated guides for analytical and graphical methods of position analysis
for a 4 bar RRRR Grashofian Double Crank.

4
KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

Experiment No: 3

Position Analysis of a 4 Bar RRRR Grashofian Crank Rocker Mechanism

Introduction

Schematic Diagram of a 4 Bar RRRR Linkage

Schematic Diagram of a 4 Bar RRRR Linkage

The 4 bar RRRR mechanism is forms the basis of any study on mechanism. It is widely used in various
forms because of the relative simplicity of design and manufacture as well as durability. Grashof's criteria
is used to distinguish between 4 bar RRRR linkages depending on the rotatability of the individual links of
a 4 bar mechanism. In brief, if l is the longest link, s the longest link and the other two links have length p
and q then the following cases arise

• l + s < p + q : Grashofian linkage

• l + s < p + q , shortest link s is the ground link : Double Crank
• l + s < p + q , shortest link is the coupler : Double Rocker
• l + s < p + q , shortest link is neither coupler nor ground : Crank Rocker
• l + s > p + q : Non Grashofian Double Rocker

For a more detailed introduction to Grashof criteria see the animated guide that follows. If undisturbed ,
the animation will proceed at a predetermined pace. You can either click on the animation itself to move
from step to step as per your convenience. Alternatively you can use the controls at the bottom of the
animation to see it at your own pace.

In a Crank Rocker, unlike a Double Crank, only the input link (link 2, which is the crank) rotates througha
full circle about the ground (link 1, which is the frame), while the oputput link (link4, which is the rocker)
does not. The output link oscillates instead between two limiting positions. Thus the position analysis of a
Crank Rocker involves, apart from finding out the coupler curve and the relation between the input and
output orientations, finding the limiting posiitons of the link 4 and the corresponding positions of link2.
Since the input link rotates through a full circle it is still possible to drive this mechanism using a simple
continuous rotary drive, that is we may connect it directly to a simple motor. However we cannot connect
the output to a continuous rotary drive directly since the output link moves back and forth

Procedure-

5
KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

In this experiment you will guided through the position analysis of a 4 bar RRRR Grashofian Crank
Rocker. Like a double crank, in a crank rocker the crank, which in this case is the link 2 does rotate
through a full circle. But unlike a double crank, in a crank rocker, the follower, which in this case is the
link 4, will NOT rotate through a full circle, and there will be a lower and upper limit for the values of
theta 4.

The methods of position analysis of a Crank Rocker are the same as that for a double crank. Using
complex numbers is a popular analytical approach. The location of the coupler point can also be
determined graphically. An animated description of the analytical as well as graphical methods are
provided in the following links.

6
KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

Experiment No: 4
Position Analysis of a 4 Bar RRRR Grashofian Double Rocker Mechanism
Introduction-
Position Analysis of a 4 Bar RRRR Grashofian Double Rocker Mechanism

Schematic Diagram of a 4 Bar RRRR Linkage

The 4 bar RRRR mechanism is forms the basis of any study on mechanism. It is widely used in various forms
because of the relative simplicity of design and manufacture as well as durability. Grashof's criteria is used
to distinguish between 4 bar RRRR linkages depending on the rotatability of the individual links of a 4 bar
mechanism. In brief, if l is the longest link, s the longest link and the other two links have
length p and q then the following cases arise
• l + s < p + q : Grashofian linkage
•
o l + s < p + q , shortest link s is the ground link : Double Crank
o l + s < p + q , shortest link is the coupler : Double Rocker
o l + s < p + q , shortest link is neither coupler nor ground : Crank
Rocker
• l + s > p + q : Non Grashofian Double Rocker
For a more detailed introduction to Grashof criteria see the animated guide that follows. If undisturbed ,
the animation will proceed at a predetermined pace. You can either click on the animation itself to move
from step to step as per your convenience. Alternatively you can use the controls at the bottom of the
animation to see it at your own pace.

Procedure-
In this experiment you will guided through the position analysis of a 4 bar RRRR Grashofian Double Rocker.
Unlike a double crank, or a crank rocker, the double rocker has no crank in the sense that its input link
which in this case is the link 2, CANNOT complete a full rotation and there will be a lower and upper limit
for the values of theta 4.. Like a crank rocker, in a double rocker, the follower, which in this case is the link
4, will also NOT rotate through a full circle, and there will be a lower and upper limit for the values of theta
4. The methods of position analysis of a Double Rocker are the same as that for a double crank or crank
rocker. Using complex numbers is a popular analytical approach. The location of the coupler point can also
be determined graphically. An animated description of the analytical as well as graphical methods are
provided in the following links.

As with a crank rocker if we try to analytically find out the extrema of the roots of theta 4 by taking
derivative of theta 4 with respect to theta 2 and setting the value to zero, it will ultimately be seen that the
values are non zero and different, implying that there is a range of values of theta 4. Likewise if we examine
the roots of theta 4, it will also be seen, that unlike the case with a crank rocker, real values of theta 4 will
exist only for a certain range of theta 2. However the simple geometrical consideration that in the extreme
configurations, the 4 bar linkage will form a triangle lets us easily find the limits both analytically and
graphically. The following animations show the analytical and graphical methods. The double rocker can
be both Grashofian and Non Grashofian. The Grashofian double rocker is only of one type. the non
Grashofian has 3 variants. In the Grashofian double rocker, two modes of assembly are possible for a given

7
KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

set of link lengths, the peculiarity being that if the mechanism is assembled in one mode the configurations
reached by the other mode are never achieved. Thus the complete coupler curve actually consists of two
different non intersecting curves. In fact this is a trait common to Grashofian double crank and crank rocker
also. However in the Non Grashofian Double Rockers, such is not the case. One mode of assembly switches
to the other at some point and ultimately a single coupler curve is obtained. This will be seen in the position
analysis of NonGrashofian Double Rockers.

8
KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

Experiment No: 5
Position Analysis of a 4 Bar RRRR Non Grashofian Double Rocker Mechanism

Introduction-
Position Analysis of a 4 Bar RRRR Non Grashofian Double Rocker Mechanism

Schematic Diagram of a 4 Bar RRRR Linkage

The 4 bar RRRR mechanism is forms the basis of any study on mechanism. It is widely used in various
forms because of the relative simplicity of design and manufacture as well as durability. Grashof's
criteria is used to distinguish between 4 bar RRRR linkages depending on the rotatability of the
individual links of a 4 bar mechanism. In brief, if l is the longest link, s the longest link and the other
two links have length p and q then the following cases arise

• l + s < p + q : Grashofian linkage

• l + s < p + q , shortest link s is the ground link : Double Crank
• l + s < p + q , shortest link is the coupler : Double Rocker
• l + s < p + q , shortest link is neither coupler nor ground : Crank Rocker
• l + s > p + q : Non Grashofian Double Rocker

For a more detailed introduction to Grashof criteria see the animated guide that follows. If
undisturbed , the animation will proceed at a predetermined pace. You can either click on the
animation itself to move from step to step as per your convenience. Alternatively you can use the
controls at the bottom of the animation to see it at your own pace.

In a Crank Rocker, unlike a Double Crank, only the input link (link 2, which is the crank) rotates
through a full circle about the ground (link 1, which is the frame), while the output link (link4, which
is the rocker) does not. The output link oscillates instead between two limiting positions. Thus the
position analysis of a Crank Rocker involves, apart from finding out the coupler curve and the
relation between the input and output orientations, finding the limiting posiitons of the link 4 and
the corresponding positions of link2. Since the input link rotates through a full circle it is still possible
to drive this mechanism using a simple continuous rotary drive, that is we may connect it directly to
a simple motor. However we cannot connect the output to a continuous rotary drive directly since
the output link moves back and forth.

Procedure-

9
KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

In this experiment you will guided through the position analysis of a 4 bar RRRR Non Grashofian
Double Rocker. Unlike a double crank, or a crank rocker, the double rocker has no crank in the sense
that its input link which in this case is the link 2, CANNOT complete a full rotation and there will be a
lower and upper limit for the values of theta 4.. Like a crank rocker, in a doublerocker, the follower,
which in this case is the link 4, will also NOT rotate through a full circle, and there will be a lower and
upper limit for the values of theta 4. The methods of position analysis of a Double Rocker are the
same as that for a double crank or crank rocker. Using complex numbers is a popular analytical
approach. The location of the coupler point can also be determined graphically. An animated
description of the analytical as well as graphical methods are provided in the following links.

As with a crank rocker if we try to analytically find out the extrema of the roots of theta 4 by taking
derivative of theta 4 with respect to theta 2 and setting the value to zero, it will ultimately be seen
that the values are non zero and different, implying that there is a range of values of theta 4.
Likewise if we examine the roots of theta 4, it will also be seen, that unlike the case with a crank
rocker, real values of theta 4 will exist only for a certain range of theta 2. However the simple
geometrical consideration that in the extreme configurations, the 4 bar linkage will form a triangle
lets us easily find the limits both analytically and graphically. The following animations show the
analytical and graphical methods. The double rocker can be both Grashofian and Non Grashofian.
The Grashofian double rocker is only of one type. the non Grashofian has 3 variants. In the
Grashofian double rocker, two modes of assembly are possible for a given set of link lengths, the
peculiarity being that if the mechanism is assembled in one mode the configurations reached by the
other mode are never achieved. Thus the complete coupler curve actually consists of two different
non intersecting curves. In fact this is a trait common to Grashofian double crank and crank rocker
also. However in the Non Grashofian Double Rockers, such is not the case. One mode of assembly
switches to the other at some point and ultimately a single coupler curve is obtained. This will be
seen in the position analysis of NonGrashofian Double Rockers.

10
KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

Experiment No: 6
Position Analysis of a 4 Bar RRRP Grashofian Slider Crank Mechanism

Introduction-

Schematic Diagram of a 4 Bar RRRP Linkage

The 4 bar RRRP mechanism is another basic mechanism in studies on kinematics. It is also widely used in
various forms because of the relative simplicity of design and manufacture. Like RRRR linkages, Grashof's
criteria is used to distinguish between 4 bar linkages with one prismatic joint, depending on the
rotatability of the links In brief, if l is the shorter of the crank and the coupler and L the longer of the two,
and e is the offset, then the following cases arise

• l + e < L : Grashofian linkage

• l + e < L, shortest link s is the ground link. : Inverted Slider Crank (RRPR)
• l + e < L , shortest link is the coupler : Inverted Slider Rocker (RRPR)
• l + e < L , shortest link is crank : Slider Crank (RRRP)
• l + e < L , shortest link is coupler : Slider Rocker (RRRP)
• l + e > L : Non Grashofian linkage
For a more detailed introduction to Grashof criteria see the animated guide that follows. If undisturbed ,
the animation will proceed at a predetermined pace. You can either click on the animation itself to move
from step to step as per your convenience. Alternatively you can use the controls at the bottom of the
animation to see it at your own pace.

In a Grashofian Slider Crank the input link (link 2) can rotate through a full circle. Since the input link
rotates through a full circle it is possible to drive this mechanism using a simple continuous rotary drive,
that is we may connect it directly to a simple motor.

Procedure-
In this experiment you will guided through the position analysis of a 4 bar RRRR Grashofian double Crank.
Position analysis can be approached analytically. Using complex numbers is a popular analytical approach.
The animated guide that follows right next shows the analytical method of determining the position of a
point on the coupler of a RRRR linkage as the linkage moves. The next animation shows the graphical
constructions needed for the position analysis of a double crank linkage. A summary of what you are
expected to do follows. This is followed by stwo animated guides for finding out the two extreme
configurations for the slider, because in a slider crank, while the input link (link 2 - crank) does rotate
through a full circle, the slider has limits on its displacement. There are thus two extreme positions of the
slider and the corresponding crank angles that you are expected to find out using these guides.
• In the Instruments tab use the first applet to choose a set of 4 link lengths. Enter your
choices for link lengths. The apllet will let you know if the lengths conform to a
Grashofian Double Crank. If your link lengths are improper go back to the Introduction

11
KINEMATICS OF MACHINES LAB STUDENT ID: SVU87398070

tab and check the Crashofs criteria Grashofian Double Crank and modify link lengths
accordingly.
• Use the Drawing Board applet in the Instruments tab to find the linkage configuration
for a given input link orientation (theta 2).
• Finally there is a third applet in the Instruments tab which lets you verify your results.
Enter your answers to see the correct values for coupler position and the accuracy of
your answers obtained graphically.
The following are animated guides for analytical and graphical methods of position analysis for a 4 bar
RRRR Grashofian Double Crank.

12