Nguyen Duc Thang

3200 ANIMATED
MECHANICAL MECHANISMS
With
Images,
Brief explanations
and YouTube links

Part 2
Other kinds of motion transmission

31 March 2020

1
This document is divided into 4 parts.
Part 1: Transmission of continuous rotation
Part 2: Other kinds of motion transmission
Part 3: Mechanisms of specific purposes
Part 4: Mechanisms for various industries

Autodesk Inventor is used to create all videos in this document.

They are available on YouTube channel “thang010146”.

To bring as many as possible existing mechanical mechanisms into this document

is author’s desire. However it is obstructed by author’s ability and Inventor’s
capacity. Therefore from this document may be absent such mechanisms that are
of complicated structure or include flexible and fluid links.

This document is periodically renewed because the video building is continuous as

long as possible. The renewed time is shown on the first page.

This document may be helpful for people, who

- have to deal with mechanical mechanisms everyday
- see mechanical mechanisms as a hobby

Any criticism or suggestion is highly appreciated with the author’s hope to make this
document more useful.

Author’s information:

Name: Nguyen Duc Thang

Birth year: 1946
Birth place: Hue city, Vietnam
Residence place: Hanoi, Vietnam
Education:
- Mechanical engineer, 1969, Hanoi University of
Technology, Vietnam
- Doctor of Engineering, 1984, Kosice University of
Technology, Slovakia
Job history:
- Designer of small mechanical engineering enterprises in Hanoi.
- Retirement in 2002.
Contact Email: [email protected]

2
 Table of Contents

2. Converting continuous rotation into interrupted rotation .......................................... 4

2.1. Tooth-uncompleted gears ......................................................................................... 4
2.2. Geneva drives ........................................................................................................ 15
2.3. Ratchet drives ........................................................................................................ 26
2.4. Pin drives................................................................................................................ 39
2.5. Bars ........................................................................................................................ 45
2.6. Combined mechanisms .......................................................................................... 46
3. Converting continuous rotation into rotary oscillation ............................................ 49
3.1. Bars ........................................................................................................................ 49
3.2. Gears ..................................................................................................................... 60
3.3. Cams ...................................................................................................................... 63
3.4. Belts and cables ..................................................................................................... 66
3.5. Combined mechanisms .......................................................................................... 68
4. Altering rotary oscillations ......................................................................................... 75
5. Converting continuous rotation into linear motion................................................... 82
5.1. Bars ........................................................................................................................ 82
5.2. Gears ................................................................................................................... 100
5.3. Bars and gears ..................................................................................................... 105
5.4. Cams .................................................................................................................... 116
5.5. Chains .................................................................................................................. 128
5.6. Friction drives ....................................................................................................... 130
6. Converting rotary oscillation into linear motion and vice versa ............................ 131
6.1. Gears ................................................................................................................... 131
6.2. Bars, cams ........................................................................................................... 139
6.3. Screws ................................................................................................................. 143
6.4. Belts and cables ................................................................................................... 150
7. Rotation to wobbing motion ..................................................................................... 154
8. Altering linear motions ............................................................................................. 157
8.1. Bars, wedges and cams ....................................................................................... 157
8.2. Gear drives ........................................................................................................... 169
8.3. Chains, belts and cables ....................................................................................... 174
9. Converting reciprocating motion into continuous rotation .................................... 180
9.1. Converting reciprocating rotation into continuous rotation ..................................... 180
9.2. Converting reciprocating linear motion into continuous rotation ............................ 188
10. Mechanisms for creating complicated motions .................................................... 192
10.1. Planar motions.................................................................................................... 192
10.2. Spatial motions ................................................................................................... 197
11. Study of mechanisms ............................................................................................. 203
11.1. Mechanical joints ................................................................................................ 203
11.2. Planar mechanisms ............................................................................................ 208
11.3. Spatial mechanisms ........................................................................................... 215
11.4. Springs ............................................................................................................... 223

3
2. Converting continuous rotation into interrupted rotation

2.1. Tooth-uncompleted gears

Transmission with teeth-uncompleted gears 1a

http://www.youtube.com/watch?v=AtoqZKDH-fY
The blue driving gear is a teeth-uncompleted one.
Its number of remained teeth Z1c = 1
Its number of teeth (teeth-completed) Z1 = 40
Its number of cut-off teeth Z1f = Z1 – Z1c = 39.
The number of the green driven gear (teeth-completed) Z2 = 20
When the blue makes 1 revolution, the green makes 3/20
revolution.
Avoid wrong calculation:
When the blue makes 1 revolution, the green makes Z1c/Z2 revolution.
For this case it means when the blue makes 1 revolution, the green makes 1/20 revolution
(!).

Transmission with teeth-uncompleted gears 1b

https://youtu.be/8lNxCUpZH8k
Input: large gear (teeth-uncompleted), rotating continuously.
Its number of teeth (teeth-completed) Z1
Its number of remained teeth Z1c
Tops of two end teeth are cut off for meshing start.
Output: small gear rotating interruptedly.
Its number of teeth Z2
In 1 revolution of the input, the output turns A deg. and then pauses.
For this video: Z1 = 40; Z1c = 9; Z2 = 20; A = 180 deg.
Alter Z1c from 1 to 37 to get other value of A from 36 deg. to 684 deg. (increasing step: 18
deg.)
The small gear is kept immobile during its pause stages thanks to no teeth sector of the
large gear.
For more about the mechanism calculation refer to
http://www.youtube.com/watch?v=AtoqZKDH-fY

Transmission with teeth-uncompleted gears 2

http://youtu.be/YNsSa9hSw4A
A funny mechanical problem:
There is a drive of two gears of 20 teeth each.
What is the motion of the driven gear if 1 tooth of the driving
gear is broken?
Wrong answer: 1 revolution of the driving gear corresponds
19/20 revolution of the driven gear.
Correct answer:
The driven gear rotates as if the tooth was not broken, because if the driving gear has only
1 tooth, it makes the driven gear move 2 teeth.

4
Transmission with teeth-uncompleted gears 3
http://youtu.be/zSTqwzXCR9M
Input: the orange gear.
Its number of remained teeth Z1c = 5
Its number of teeth (teeth-completed) Z1 = 18
Its number of cut-off teeth Z1f = Z1 -- Z1c = 13
Output: the green gear.
Its number of teeth (teeth-completed) Z2 = 18.
When the orange makes 1 revolution, the green makes 1/3 revolution.

Transmission with teeth-uncompleted gears 4

http://youtu.be/LkweQilGCRs
Input: the yellow gear.
Its number of remained teeth Z1c = 2
Its number of teeth (teeth-completed) Z1 = 20
Its number of cut-off teeth Z1f = Z1 -- Z1c = 18
Output: the green gear.
It has 14 tooth slots.
Its number of teeth (teeth-completed) Z2 = 21.
When the yellow makes 1 revolution, the green makes 1/7 revolution.

Transmission with teeth-uncompleted gears 5

http://youtu.be/ebMgECUuHdg
Input: the yellow gear.
Its number of remained teeth Z1c = 1
Its number of teeth (teeth-completed) Z1 = 20
Its number of cut-off teeth Z1f = Z1 -- Z1c = 19
Output: the green gear.
It has 10 tooth slots.
Its number of teeth (teeth-completed) Z2 = 20.
When the yellow makes 1 revolution, the green makes 1/10 revolution.

Transmission with teeth-uncompleted gears 8a

http://youtu.be/wPxQOsEiJ2E
Input: the yellow gear.
Its number of remained teeth Z1c = 9
Its number of teeth (teeth-completed) Z1 = 20
Its number of cut-off teeth Z1f = Z1 -- Z1c = 11
Output: the green gear.
Its number of teeth (teeth-completed) Z2 = 20.
When the yellow makes 1 revolution, the green makes 1/2 revolution.

5
Transmission with teeth-uncompleted gears 10a
http://youtu.be/scBbYOlmjUo
Input: the yellow gear.
Its number of remained teeth Z1c = 18
Its number of teeth (teeth-completed) Z1 = 40
Its number of cut-off teeth Z1f = Z1 -- Z1c = 22
Output: the green gear.
Its number of teeth (teeth-completed) Z2 = 20.
When the yellow makes 1 revolution, the green makes 1
revolution and pause during ½ revolution of the yellow.

Transmission with teeth-uncompleted gears 18a

http://youtu.be/Ij8J37zluhU
Input: the bue gear.
Its original number of teeth Z1 = 16
Output: the green gear
Its original number of teeth Z2 = 28
When the blue makes 1 revolution, the green turns two times
and pauses two times.
The arcs on both gear keep the output gear immobile during its pause period.

Transmission with teeth-uncompleted gears 19c

http://youtu.be/NmiXFGb-dD8
The blue gear is fixed. The orange gear is a satellite.
Input is the yellow crank.
In 1 revolution of the crank, the orange turns two times and
pauses two times.
The arcs on both gear keep the orange gear immobile during its
pause period.

Transmission with teeth-uncompleted gears 17

http://youtu.be/_7ifFtlc5t8
A measure to ensure proper engagement (jam avoiding).
Input: the pink gear.
Its number of remained teeth Z1c = 30
Its original number of teeth Z1 = 40
Its number of cut-off teeth Z1f = Z1 -- Z1c = 10
The blue gear sector has 4 teeth (Zs)
Output: the yellow gear of Z2 = 20 teeth.
When the pink makes 1 revolution, the yellow makes (Z1c + Zs + A)/Z2 =
(30 + 4 + 2)/20 = 36/20 = 1.8 revolution and pause during (40 – 36)/40 =
1/10 revolution of the pink.
Why A = 2?: If the pink gear has only 1 tooth and the blue gear sector is absent so when
the pink makes 1 revolution, the yellow makes 3/20 revolution.
Measure to keep the output gear immobile during its pause is not shown.
Disadvantage: Pause time can not be long.

6
Transmission with teeth-uncompleted gears 19b
http://youtu.be/5nCJj2hxpUs
Input: the bue gear.
Its original number of teeth Z1 = 20
Output: the green gear
Its original number of teeth Z1 = 24
When the blue makes 1 revolution, the green turns two times
and pauses two times.
The arcs on both gear keep the output gear immobile during
its pause period.
The yellow star, red spring and two pink pins are used for reducing shock. Before teeth
engagement, the pink pin pushes the star. The latter pulls the output blue gear though the
spring and gives the output a low initial speed.

Transmission with teeth-uncompleted gears 20a

http://youtu.be/CQTx412p6nI
Input: the green gear.
Its original number of teeth Z1 = 24
Output: the blue gear
Its original number of teeth Z2 = 19
In one rev. of the input, the output turns 1 rev. and then pauses.
The arcs on both gear keep the output gear immobile during its pause
period.
The pink and orange bars gives the output an added rotation before the teeth engagement.

Transmission with teeth-uncompleted gears 21

http://youtu.be/RlVk2eYRw3Q
Input: the green gear of 1 tooth.
Its original number of teeth Z1 = 16
Output: the pink gear of Z2 = 16 teeth
In one rev. of the input, the output turns 1/8 rev. and then pauses.
The yellow pin of the blue arm keeps the output immobile during its
pause period. The pin on the input controls the blue arm.

Transmission with teeth-uncompleted gears 22

http://youtu.be/PZ54x2hgU9A
Input: yellow gear of tooth number Zi = 18.
Output: green teeth-uncompleted gear.
Its tooth number (teeth-completed) Zo = 20
Its number of remained teeth Zoc = 17
Its number of cut-off teeth Zof = Zo – Zoc = 3.
When the input turns 2 revolutions, the output turns 1 revolution and has
long dwell (time of 1 input revolution).
The key concept: Zi is less than Zo
Measure to kept the output immobile during its dwell is not shown.
The unusualness for this mechanism is that the input is a tooth completed gear. Not like in
ordinary drive: the input is the teeth-uncompleted gear.

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Transmission with teeth-uncompleted gears 1c
https://youtu.be/gYm8mNCNZkE
Input: large gear (teeth-uncompleted), rotating continuously.
Its number of teeth (teeth-completed) Z1 = 35
Its number of remained teeth: 4 + 4 + 9
Its number of cut-off teeth: 6 + 6 + 6
Tops of two end teeth of each tooth group are cut off for meshing start.
Output: small gear of 20 teeth rotating interruptedly.
1 revolution of the input corresponds to 1 revolution of the output.
In one revolution the output turns 90 deg., pauses, turns 90 deg.,
pauses, turns 180 deg., pauses.
The output gear is kept immobile during its pause stages thanks to no teeth sector of the
input gear.

Transmission with teeth-uncompleted gears 20b

https://youtu.be/JiVVwG-YUg4
Input: large gear (tooth-uncompleted) rotating continuously.
Output: small gear (tooth-uncompleted) that performs interrupted
rotation.
In 1 input revolution it turns 360 deg. (with the support of the pink
lever and violet pin) and dwells (thanks to flat (no teeth) section of
the large gear).
The original small gear (tooth-completed) has 10 teeth.
The original large gear (tooth-completed) has 16 teeth.
Increase the large gear diameter for a larger dwell/motion time ratio of the output.

Indexing mechanism 6 (180 deg.)

https://youtu.be/WM3roJbzX7U
Input: large gear (tooth-uncompleted) rotating continuously.
Output: small gear (tooth-uncompleted) that performs interrupted
rotation.
In 1 input revolution it turns 180 deg. (with the support of the pink
lever and violet pin) and dwells (thanks to flat (no teeth) section
of the large gear).
The original small gear (tooth-completed) has 10 teeth.
The original large gear (tooth-completed) has 16 teeth.
Increase the large gear diameter for a larger dwell/motion time ratio of the output.

Interrupted rotation of satellite gear 3

https://youtu.be/T863RDCdqHg
Input: yellow crank rotating continuously.
Output: green satellite gear that performs interrupted rotation.
In 1 input revolution it quickly flips 180 deg. (with the support of of
pink lever and violet pin) and keeps that direction untill the next flip
(thanks to flat (no teeth) section of the grey fixed gear).
The original green gear (tooth-completed) has 10 teeth.
The original grey gear (tooth-completed) has 32 teeth.

8
Transmission with teeth-uncompleted gears 10b
http://youtu.be/CZhhw9hGUms
Input: pink shaft.
Output: grey and blue gears.
The grey gear rotates continuously two times faster than the input.
The blue gear rotates interruptedly with the same direction and
velocity of the grey gear. When the grey gear makes 2 rev., the blue
gear makes 1 rev. and pause during 1 rev. of the grey gear.
For pink gear fixed to the pink shaft:
Its number of remained teeth Z1c = 18
Its number of teeth (teeth-completed) Z1 = 40
Its number of cut-off teeth Z1f = Z1 -- Z1c = 22
Orange gear of 40 teeth is fixed to the pink shaft.
Tooth number of remained gears: 20
Light green gear is fixed to the green gear shaft.
Yellow gear (for reverse purpose) is in mesh with both light green and blue gears.

Interrupted rotation 12
https://youtu.be/HHLIT6__Brs
Input: violet pin gear rotate continuously.
One revolution of the violet gear makes the blue pin gear rotate
interruptedly one tenth of a revolution thanks to two red pins of the
violet gear and orange pinion of 8 teeth.
The blue gear of 20 pins and the pinion are always in mesh.
Four teeth of the pinion are longer than the remainings. In combination
with the outside diameter of the violet gear, they keep the pinion and the blue gear
immobile when the above mentioned two pins are not in mesh.
The blue pin gear can be replaced with an ordinary spur gear. See:
https://www.youtube.com/watch?v=rjWfIiaOFR4

Transmission with teeth-uncompleted gears 23

http://youtu.be/anoaPGu2QMI
Input: yellow shaft of constant velocity
Output: blue shaft having two velocities (transmission ratio i =
20/10 and 12/18) in its every revolution.

Transmission with teeth-uncompleted gears 6

http://youtu.be/31vVO_i8WO8
Input: the orange gear.
Its number of remained teeth Z1c = 1
Its number of teeth (teeth-completed) Z1 = 20
Its number of cut-off teeth Z1f = Z1 -- Z1c = 19
Output: the green gear.
It has 12 tooth slots.
Its number of teeth (teeth-completed) Z2 = 60.
When the orange makes 1 revolution, the green makes 1/12 revolution.

9
Transmission with teeth-uncompleted gears 9
http://youtu.be/p04ZgIiBLVY
Input: the orange gear.
Its number of remained teeth Z1c = 1
Its number of teeth (teeth-completed) Z1 = 20
Its number of cut-off teeth Z1f = Z1 -- Z1c = 19
Output: the green gear.
Its number of teeth (teeth-completed) Z2 = 36.
When the orange makes 1 revolution, the green makes 1/6 revolution.

Transmission with teeth-uncompleted gears 7

http://youtu.be/YzIYI4ssr9I
Planetary drive with dwell.
R1: pitch diameter of the green gear having 20 teeth.
R2: pitch diameter of the yellow gear having 20 teeth.
R3: pitch diameter of the orange gear having 1 tooth.
R4: pitch diameter of the blue internal gear having 12 tooth slots.
R1 = R2 = R3; R4 = 3R1
The green gear is input.
The output pink crank carrying the yellow and orange gear block rotates
with periodical pauses.

Transmission with teeth-uncompleted gears 8b

http://youtu.be/OeIDzgpnOu0
Input: pink gear shaft.
Its number of remained teeth Z1c = 9
Its number of teeth (teeth-completed) Z1 = 20
Its number of cut-off teeth Z1f = Z1 -- Z1c = 11
The blue gear (teeth-completed) has Z2 = 20 teeth.
When the pink makes 1 revolution, the blue makes 1/2 revolution.
Glass disk is fixed to the blue shaft. Orange circular slider is fixed to the disk by red screw
(pushing on bottom of the dovetail groove). Violet slider reciprocates with dwells at both
ends of its stroke. It is possible to get dwell at middle of the stroke by adjusting position of
the circular slider on the disk.

Transmission with teeth-uncompleted gears 10b

http://youtu.be/GmwCj5u2GUE
Input: pink gear shaft.
Its number of remained teeth Z1c = 18
Its number of teeth (teeth-completed) Z1 = 40
Its number of cut-off teeth Z1f = Z1 -- Z1c = 22
The green gear (teeth-completed) has Z2 = 20 teeth.
When the input makes 2 revolutions, the green makes 1 revolution
and pause during ½ revolution of the input.
Glass disk is fixed to the green shaft. Blue circular slider is fixed to the disk by red screw
(pushing on bottom of the dovetail groove). Violet slider reciprocates with dwells at one end
(right or left) of its stroke.
The video shows how to change dwell position (from right end to left one) by adjusting
position of the circular slider on the disk.
It is possible to set dwell position of the violet slider anywhere on its stroke.
10
Skew teeth-uncompleted gear drive 1a
http://youtu.be/ePdEwNcnoIo
Input: yellow gear rotating continuously.
Output: blue gear rotating interruptedly.
For the yellow gear:
Its number of remained teeth Z1c = 12 (180 deg.)
Its number of teeth (teeth-completed) Z1 = 24
Its number of cut-off teeth Z1f = Z1 -- Z1c = 12 (180 deg.).
There is an orange rim located in the place, where the teeth are cut off.
The number of the blue gear (teeth-completed) Z2 = 24.
It has two red triangular slots.
The rim and slots are for keeping the blue gear immobile during its dwell.
When the yellow makes 1 revolution, the blue makes an angle A = 1/2 revolution.
Alter Z1, Z1c and Z2 to get various values of A.

Skew teeth-uncompleted gear drive 1b

http://youtu.be/iBr34hiWXNE
Input: lower gear rotating continuously.
Output: upper gear rotating interruptedly.
For the lower gear:
Its number of remained teeth Z1c = 3 (45 deg.)
Its number of teeth (teeth-completed) Z1 = 24
Its number of cut-off teeth Z1f = Z1 -- Z1c = 21 (315 deg.)
There is a pink rim located in the place, where the teeth are cut off.
The number of the upper gear (teeth-completed) Z2 = 24.
It has eight red triangular slots.
The rim and slots are for keeping the upper gear immobile during its dwell.
When the yellow makes 1 revolution, the blue makes an angle A = 1/8 revolution.
Alter Z1, Z1c and Z2 to get various values of A.

Teeth-uncompleted bevel gears 1a

https://youtu.be/u37W9bZIm1Q
Input: large gear (teeth-uncompleted), rotating continuously.
Its number of teeth (teeth-completed) Z1
Its number of remained teeth Z1c
Tops of two end teeth are cut off for easy meshing start.
Output: small gear rotating interruptedly.
Its number of teeth Z2
In 1 revolution of the input, the output turns A deg. and then pauses.
For this video: Z1 = 32; Z1c = 3; Z2 = 16; A = 90 deg.
Alter Z1c to get other value of A.
The small gear is kept immobile during its pause stages thanks to no teeth sector of the
large gear.

11
Teeth-uncompleted bevel gears 1b
https://youtu.be/0JMF5Op6984
Input: green carrier, 180 deg. reciprocating.
Output: blue gear, 180 deg. reciprocating.
During 180 deg. rotation of the input, the output turns 180 deg.
and then pauses or vice versa.
White gear is stationary.
No teeth sector of the large gear keeps the blue gear immobile
during its pause stages.
It can be used for the gate shown at
https://youtu.be/P32pBR-HRa0
when the opening angle is larger than 90 deg.

Mechanism for converting continuous rotation into 90 deg.

oscillation to both sides with dwells 3
http://youtu.be/D-HU11eBDjU
Input: teeth-uncompleted face gear.
Output motion of horizontal shaft: Neutral rest - Turn left 90 deg. –
Left rest - Return – Neutral rest - Turn right 90 deg. – Right rest –
Return.
Pay attention to the risk of jam if no positioning device for the output during its dwells.

Bevel gears for interrupted rotation 1

https://youtu.be/5JkQyL6VJM4
In 1 revolution of beige input shaft the blue output shaft turns 120
deg. then pauses.
Yellow and cyan disks keep the output immobile during dwell time.
The input has 4 teeth.
The output has 18 teeth.
Top of the end teeth of the beige gear have been cut off a little to get gear proper
engagement.
The mechanism can work with any rotary direction.

Bevel gears for interrupted rotation 2

https://youtu.be/OmyPyuWajvc
In 1 revolution of grey input shaft, the blue output shaft turns 90
deg. then pauses.
Yellow and cyan disks keep the output immobile during dwell
time.
The input has 3 teeth.
The output has 20 teeth.
The mechanism can work with any rotary direction.

12
Indexing mechanism 4 (90 deg.)
https://youtu.be/YziLxHpaBFA
Input: beige face gear (tooth-uncompleted) rotating continuously.
Output: green gear (tooth-uncompleted) that performs interrupted
rotation. In 1 input revolution it quickly turns 90 deg. (with the support of
the flat spring) and dwells (thanks to flat (no teeth) section of the beige
face gear).
The original green gear (tooth-completed) has 16 teeth.
Increase the beige gear diameter for a larger dwell/motion time ratio of the output.

Indexing mechanism 5 (180 deg.)

https://youtu.be/DwPyMDDs2iQ
Input: blue face gear (tooth-uncompleted) rotating continuously.
Output: green gear (tooth-uncompleted) that performs interrupted
rotation. In 1 input revolution it quickly turns 180 deg. (with the support
of the flat spring) and dwells (thanks to flat (no teeth) section of the
blue face gear).
The original green gear (tooth-completed) has 10 teeth.
Increase the blue gear diameter for a larger dwell/motion time ratio of the output.

Transmission with teeth-uncompleted gears 24

https://youtu.be/asj4CzSWvBo
Input: blue face gear (tooth-uncompleted) rotating continuously.
Output: green gear (tooth-uncompleted) that performs interrupted
rotation. In 1 input revolution it turns 360 deg. (with the support of the flat
spring) and dwells (thanks to flat (no teeth) section of the blue face gear).
The original green gear (tooth-completed) has 10 teeth.
Increase the blue gear diameter for a larger dwell/motion time ratio of the
output.

Interrupted rotation of satellite gear 2

https://youtu.be/jtKbQIif82c
Input: blue crank rotating continuously.
Output: green satellite gear that performs interrupted rotation. In 1
input revolution it quickly turns 90 deg. (with the support of the flat
spring) and keeps that direction untill the next flip (thanks to flat (no
teeth) section of the grey face gear).
The original green gear (tooth-completed) has 16 teeth.

13
Interrupted rotation of satellite gear 1
https://youtu.be/sfCntlZeEDA
Input: blue crank rotating continuously.
Output: green satellite gear that performs interrupted rotation. In 1 input
revolution it quickly flips 180 deg. (with the support of the flat spring) and
keeps that direction untill the next flip (thanks to flat (no teeth) section of
the grey face gear).
The original green gear (tooth-completed) has 10 teeth.

Drive for car movable trivision billboards

https://youtu.be/R9H-y1QDdbA
The bendable billboards are attached to two parallel tooth belts and
the brown motor moves them periodically. The billboards are
displayed on three surfaces of the car (side and back).
In 1 rev. of yellow shaft each tooth belt moves a half of its length. So
on each car surface two different posters can be displayed alternately.
Tooth uncompleted gear is used for creating interrupted rotation.

Successive 360 deg. rotation 2

https://youtu.be/MMbCGqT3o4I
Input: pink block of three tooth-uncompleted gears.
For the pink gears:
- number of teeth (tooth-completed): 54
- number of remained teeth: 17
Angular offset between three gears is 120 deg.
Output: 3 gear cam blocks rotates 360 deg. successively in one
revolution of the input.
The small gears are kept immobile during their pause stages thanks
to no teeth sector of the pink gears. This way requires precise
manufacture and is not good for high speed.

Tooth-uncompleted gear for intermittent 120 deg. rotation

https://youtu.be/PbAbSMEUUGI
Input: large gear (tooth-uncompleted), rotating continuously.
Its number of teeth (teeth-completed) 36
Its number of remained teeth 5*3 = 15
Tops of two end teeth of each tooth section are cut off for meshing
start.
Output: small gear rotating interruptedly.
Its number of teeth 18
In 1 revolution of the input, the output turns 120 deg. and pauses for 3
times.
The small gear is kept immobile during its pause stages thanks to no teeth sector of the
large gear.

14
2.2. Geneva drives

Geneva mechanism 1
http://www.youtube.com/watch?v=vEU5cXwiykQ
The ratio of motion period to dwell period is 1/5.
Angle of each rotation of the driven shaft is 120 degrees.

Geneva mechanism 2
http://www.youtube.com/watch?v=GbEJFDP8f_E
Angle between the three pins is 120 degrees.
During 1 revolution of the driving shaft the driven disk has 3 dwell
times and 3 motion times alternately.
Angle of each rotation of the driven shaft is 120 degrees.

Geneva mechanism 3
http://www.youtube.com/watch?v=qFd-Kt_vTDs
Angle between the two pins is 120 degrees.
During 1 revolution of the driving shaft the driven disk has 2 dwell
times and 2 motion times alternately. Dwell periods of the two dwell
times are different.
Angle of each rotation of the driven shaft is 120 degrees.

Geneva mechanism 4
http://www.youtube.com/watch?v=TErAWmR66_s
The ratio of motion period to dwell period is 1/3.
Angle of each rotation of the driven shaft is 90 degrees.

Geneva mechanism 5
http://www.youtube.com/watch?v=BM5fLiOxM3o
Angle between the two pins is 180 degrees.
During 1 revolution of the driving shaft the driven disk has 2 dwell
times and 2 motion times alternately.
Angle of each rotation of the driven shaft is 90 degrees.

Geneva mechanism 6
http://www.youtube.com/watch?v=NjIfezPXpds
Angle between the two pins is 120 degrees, not a multiple of 90.
Angle of each rotation of the driven shaft is 90 degrees.

15
Geneva mechanism 7
http://www.youtube.com/watch?v=uhEvxBxFoXA
The ratio of motion period to dwell period is 1/5.
Angle of each rotation of the driven shaft is 60 degrees.

Geneva mechanism 8
http://www.youtube.com/watch?v=3Ju7N-VM7Qw
The disks rotate and pause one after another.
The ratio of motion period to dwell period is 1/5.
Angle of each rotation of the disks is 120 degrees.

Geneva mechanism 9
http://www.youtube.com/watch?v=RF5JN2dHMMA
The disk interruptedly rotates 70 and 50 degrees.

Geneva mechanism 10
http://www.youtube.com/watch?v=BuuVSIchqZU
By applying skew slots the ratio of motion period to dwell
period is 1/5, not 1/3 like in standard 4-slot Geneva
mechanism:
http://www.youtube.com/watch?v=TErAWmR66_s
Angle of each rotation of the driven shaft is 90 degrees.

Geneva mechanism 11
http://www.youtube.com/watch?v=845_WfUmSI0
By applying skew slots the ratio of motion period to dwell
period is 1/5, not 2/5 like in standard 10-slot Geneva
mechanism.
Angle of each rotation of the driven shaft is 36 degrees.

Geneva mechanism 12
http://www.youtube.com/watch?v=pPhjq5IHVyY
Twin Geneva mechanism. The green disk interruptedly rotates
60 degrees with different dwell periods.

16
Geneva mechanism 13
http://www.youtube.com/watch?v=PoJBGr5mR2c
Twin Geneva mechanism. The green disk interruptedly rotates 120
degrees. The ratio of dwell period to motion period is 8/1.

Successive 90 deg. rotation 2b

https://youtu.be/PGfp3SZOXZs
It is an application of four Geneva drives shown at:
http://www.youtube.com/watch?v=TErAWmR66_s
Input: outside pink crank.
The rotation is transmitted to the end crank (in blue) via a gear
train of zigzag shape. This transmission enables square frames
(in glass) to be fixed to grey Geneva disks.

Chain drive 3D
http://youtu.be/1_yyZ93JJAI
The violet sprocket is driving.
Dwell time of the output Geneva disk depends on the number
of the chain links.

Geneva mechanism 14
http://youtu.be/_TmvoXFxyNw
Input: blue crank
Output: green disk rotating with dwells.
Input and output are coaxial.
In one revolution of the blue crank the green disk rotates ¼
rev.
Red curve is locus of the red roller center.
Orange slider kept the green disk immobile during its dwell.
Main dimensions of the mechanism are:
- crank radius of the blue crank
- side length of the green square disk
- length of the pink conrod.
They are determined based on a sketch (not shown) where:
- Angle of crank and horizontal line is 60 deg.
- Angle of square side of the green disk and horizontal line is 45 deg.
- Square side (contains roller center), crank radius line and the line that is drawn from the
slider center and perpendicular to the sliding direction of the runway, are concurrent.

17
Geneva mechanism 15
http://youtu.be/TYRks3vmAlI
Input: pink crank
Output: green disk rotating with dwells.
Yellow cam (fixed to the crank) and blue lever with its pins keep
the green disk immobile during dwells.

Geneva mechanism 16a

http://youtu.be/rI9VJuzrNVg
Input: green crank
Output: orange disk rotating with dwells.
Pink slider has pins that slide in grooves of the green crank and the
orange disk.
Fixed popcorn disk cam and the pink slider help to reduce
acceleration of the orange disk.

Geneva mechanism 16b

http://youtu.be/rhObov9nyVQ
Input: green crank carrying orange slider
Output: pink disk rotating with dwells.
The slider has pins that slide in grooves of the pink disk and of
fixed yellow guide plate. The latter and the orange slider help to
reduce acceleration of the pink disk.

Geneva mechanism 19
http://youtu.be/LkYHh29c16A
Input: pink crank
Output: green disk rotating with dwells.
A four bar linkage makes angular speed of the output more regular.
Blue curve is locus of pin center of the blue V-shaped bar.
Measure to keep the green disk immobile during its dwells is not shown.

Geneva mechanism 20
http://youtu.be/CsEaqHMsXEA
Input: pink crank
Output: green disk oscillating with dwells at both stroke ends.
Adjust positions of orange slider and yellow plate to get various
motion rules of the output.

18
External Geneva and epicyclic gear mechanism 1
https://youtu.be/N5rZRxOqNwI
Input: blue crank.
Output: green disk
The pin that interacts with the disk slots is placed on the satellite pinion
(in pink). Its center traces a square (in pink). For other curves see:
https://youtu.be/XDZAvCDoMhg
Zg/Zp = 2n/(n-2)
R + r = B.sin(Pi/n)
Zg: tooth number of the stationary grey gear.
Zp: tooth number of the pink gear.
N: number of slots on the green disk, Here n = 4
R: distance from axis of the pink gear to rotary axis of the blue crank.
r: radius of the pink crank.
B: distance between two stationary bearings.
Blue ring is for keeping the green disk immobile during its dwell.
The output acceleration is reduced considerably in this mechanism in comparison with
ordinary Geneva one.

Geneva mechanism 20
http://youtu.be/vu6_WfDXUIQ
Input: blue crank with locking disk carrying green planet gear.
Output: orange disk rotating interruptedly.
Two gears have same tooth number. Blue crank radius is equal to gear
pitch one.
The motion period of the output is decreased over ordinary Geneva
mechanism.

Loci in Epicyclic gearing A4m

http://youtu.be/B3eA9WydI24
R: pitch diameter of the fixed sun gear
r: pitch diameter of the planetary gear
k = R/r = 4
Distance between the pin axis and the gear axis of the planetary
gear is (11/30)r to get a square locus of straight side for the center
of the pin.
This produces a smoother indexing motion of the orange Geneva disk rotates because the
driving pin moves on a noncircular path, unlike in standard Geneva mechanism.

19
Loci in Epicyclic gearing A4mb
http://youtu.be/t0243w69178
R: pitch diameter of the fixed sun gear
r: pitch diameter of the planetary gear
k = R/r = 4
Distance between the pin axis and the gear axis of the
planetary gear is (5/3)r to get a appropriate loop locus for the
center of the pin.
This produces a smoother indexing motion of the orange Geneva disk because the driving
pin moves on a nearly circular curve, center of which is the rotation center of the Geneva
disk.

Geneva mechanism 22
http://youtu.be/QkzRb7b36IY
Input: pink crank.
Output: yellow Geneva disk oscillating with dwell at its stroke middle.
Output motion rule can be adjusted by setting positions of violet or
green roller bars and grey conrod on blue disk.

Geneva mechanism 21
http://youtu.be/HuJSoUglKws
Input: yellow disk of orange pin rotating continuously.
Output: blue disk rotating interruptedly.
1 rev. of the input makes the output rotate 90 deg.
Other than standard Geneva mechanism it uses four cyan pins on the
blue disk and circular groove of the yellow disk to keep the blue disk
immobile during its dwells.

Geneva mechanism 17
http://youtu.be/J7-lAwdrEkw
Input: pink crank
Output: green disk rotating with dwells.
In one revolution of the pink crank the green disk rotates 180 deg., a
thing that ordinary Geneva mechanisms can not get.
Orange sliders prevent reverse rotation of the green disk when yellow
roller of the pink crank reaches corners of the disk grooves.

Geneva mechanism 18
http://youtu.be/uNVF-EZ6myA
Input: orange crank carrying an ellipsed-shape pin.
Output: green disk rotating with dwells.
I have tried to find out what is the advantage of this Geneva
mechanism but no success. Unexpected result: its output acceleration
is even larger than in ordinary Geneva mechanism.

20
Geneva mechanism 23a
https://youtu.be/ucDi35_oUpQ
Input: regularly rotating pink crank to which pink disk is fixed.
Output: interruptedly rotating blue disk to which green disk is fixed.
1 revolution of the input makes the output turn 60 deg.
The crank enters the V-slots at their right strokes.
Pink and green disks are for keeping the output immobile during its
dwells.
In comparison with an ordinary Geneva of 6 slots the time for turning the output 60 deg. is
shorter.

Geneva mechanism 23b

https://youtu.be/WagEA1dGiKM
Input: regularly rotating pink crank to which pink disk is fixed.
Output: interruptedly rotating blue disk to which green disk is fixed.
1 revolution of the output corresponds 4 revolutions of the input.
Unusual thing: the output turns 50 deg., stops, turns 130 deg., stops
and the process repeats although the blue disk is of symmetrical
structure. V-groove angle: 40 deg.
The crank enters the V-grooves now at their right strokes, now at their left ones.
Pink and green disks are for keeping the output immobile during its dwells.

Geneva mechanism 24
https://youtu.be/2ttLn_XO_00
Input: blue gear of Z1 teeth carrying blue lever of two pins. It rotates
counterclockwise.
Output: pink Geneva disk.
Green gear of Z2 teeth has two pins. Z1 = 2.Z2
In 1 rev. of the green gear the Geneva disk performs 120 deg. angular
reciprocating motion.
Counterclockwise turning time is double of clockwise one.
Slow forward motion, quick backward motion

Geneva mechanism 25
https://youtu.be/FOf2538KtyY
Input: pink disk of two slots and two violet pins. It rotates
continuously.
Output: blue cross of four cyan pins.
Yellow cross is mounted idly on the blue cross.
Red spiral spring tends to turn the yellow cross clockwise. Small
blue pin acts as a stopper for the yellow cross. The spring forces the
cyan pins to enter the disk slots.
In one revolution of the input, the output turns 90 deg. and pauses
two times.
The mechanism shown at
https://youtu.be/BM5fLiOxM3o
has the same feature but its output acceleration is larger.

21
Internal Geneva mechanism 1
http://www.youtube.com/watch?v=n8xLpbwsTcg
The ratio of dwell period to motion period is 1/2.
Angle of each rotation of the driven shaft is 120 degrees.

Internal Geneva mechanism 2

http://www.youtube.com/watch?v=ReXprJUMqF4
The ratio of dwell period to motion period is 1/3.
Angle of each rotation of the driven shaft is 90 degrees.

Internal Geneva mechanism 2b

https://youtu.be/4Mu75T1cDcs
Input: brown gear rotating continuously.
Output: green disk. Ratio of dwell period to motion period is 1/3.
Angle of each rotation of the disk is 90 degrees.
Input and output are coaxial.

Internal Geneva mechanism 3

http://www.youtube.com/watch?v=MQP7yNxx3ag
The ratio of dwell period to motion period is 1/5.
Angle of each rotation of the driven shaft is 60 degrees.

Internal Geneva mechanism 4

http://www.youtube.com/watch?v=w1oT0Zx_xcU
The ratio of dwell period to motion period is 1/3.
Angle of each rotation of the driven shaft is 90 degrees.

22
Internal Geneva and epicyclic gear mechanism 1
https://youtu.be/xVPMGday3GE
Input: blue crank.
Output: green disk
The pin that interacts with the disk slots is placed on the satellite
pinion (in pink). Its center traces yellow line.
Zg/Zp = 2n/(n-2)
R + r = B.sin(Pi/n)
Zg: tooth number of stationary grey gear. Here Zg = 80.
Zp: tooth number of pink gear. Here Zp = 20.
n: number of slots on green disk, Here n = 4
R: distance from axis of the pink gear to rotary axis of the blue crank.
r: radius of the pink crank.
B: distance between two stationary bearings.
Blue ring is for keeping the green disk immobile during its dwell.
The output acceleration is reduced considerably in this mechanism in comparison with
ordinary Geneva one.

Trivision Billboard with Geneva mechanism

http://www.youtube.com/watch?v=uCx9riKxTvY
Meslab is the name of the Vietnamese forum of Materials,
Mechanical, Automation and Industrial Engineering.

Internal Geneva mechanism 5

https://youtu.be/qtKoDmKGr64
Input: pink crank.
Output: yellow shaft of Geneva disk.
Angle of each rotation of the driven shaft is 90 degrees.
The ratio of dwell period to motion period of the output is K =
1/1.
In conventional internal Geneva drive K = 1/3
http://www.youtube.com/watch?v=ReXprJUMqF4
Violet sector and orange disk are for keeping the output immobile when red roller does not
contact the Geneva disk.
Green curve is locus of the roller center.
This video was made based on:
https://www.youtube.com/watch?v=0RRnEx3CRs8

Star wheel drive 4

http://youtu.be/TaZKjLB-KVU
An invention of Martin Zugel of Cleveland, Ohio, USA.
Input: green disk of two pink pins.
Output: yellow disk rotating interruptedly.
In one revolution of the input, the output turns 90 deg.
Motion time is around 20% cycle time (25% cycle time for a standard
Geneva one).
Inertia load is less than in a standard Geneva drive.

23
Star wheel drive 3
http://youtu.be/gFECTmIUtMM
An invention of Martin Zugel of Cleveland, Ohio, USA.
Input: green disk of two pink pins.
Output: yellow disk rotating interruptedly.
In one revolution of the input, the output turns 120 deg.
Motion time is around 40% cycle time (16.7% cycle time for a standard
Geneva one).
Inertia load is less than in a standard Geneva drive.

Star wheel drive 1

http://youtu.be/9hG_dL40M6Y
An invention of Martin Zugel of Cleveland, Ohio, USA.
Input: green disk of two pink pins.
Output: orange disk rotating interruptedly.
The input and output are not coaxial.
In one revolution of the input, the output turns 360 deg.
This operation is not possible with standard Geneva drives.
Motion time is around 40% cycle time.
Dark green rim keeps the output disk immobile during its dwell.

Spatial Geneva mechanism 1

http://www.youtube.com/watch?v=rqDfalBVhlU
The ratio of dwell period to motion period is 1/1.
Angle of each rotation of the driven shaft is 120 degrees.
Angle between the pin axis and the crank axis is 60 degrees.

Spacial Geneva mechanism 2

http://www.youtube.com/watch?v=lUv4TaxKyuw
The ratio of dwell period to motion period is 1/1.
Angle of each rotation of the driven shaft is 90 degrees.
Angle between the pin axis and the crank axis is 45 degrees.

Spatial Geneva mechanism 3

http://www.youtube.com/watch?v=cKi_Hlp9rA8
The ratio of dwell period to motion period is 1/1.
Angle of each rotation of the driven shaft is 60 degrees.
Angle between the pin axis and the crank axis is 30 degrees.

24
Spatial Geneva mechanism 4
http://www.youtube.com/watch?v=-M3BlExZAYs
The ratio of dwell period to motion period is 1/1.
Angle of each rotation of the driven shaft is 20 degrees.
Angle between the pin axis and the crank axis is 10 degrees.

Spatial Geneva mechanism 5a

http://youtu.be/a-l3VCDKuvs
Input: blue crank with locking ring.
Output: yellow cylinder with orange locking disk rotating
interruptedly.
Ellipse section of the blue crank pin is for easy designing the
mechanism. Round section is possible.

Spatial Geneva mechanism 5b

http://youtu.be/2vB68uod2Bc
Input: blue crank with locking ring.
Output: yellow cylinder with orange locking disk.
Ellipse section of the blue crank pin is for easy designing the
mechanism. Round section is possible.
The mechanism performs 180 deg. indexing that is immpossible for
ordinary Geneva mechanisms.

25
2.3. Ratchet drives

Ratchet mechanism 1
http://www.youtube.com/watch?v=eijyLC4ZzQk
A device directly converts the continuous rotary motion of a drive shaft
into the intermittent rotary motion of a driven shaft.

Ratchet mechanism 2
http://youtu.be/V4yxGR4d7l8
This mechanism directly converts the continuous rotary motion of a drive
shaft into the intermittent rotary motion of a driven shaft.
By flopping the blue pawl the motion direction of the driven shaft can be
changed without changing the input motion direction.

Two way ratchet mechanism 1

https://youtu.be/4A78AyRVbQ8
Turn violet lever 45 deg. and release it to make pink ratchet wheel turn
45 deg. Repeat the process for another 45 deg. The motion can be
performed in either direction.
The yellow screws act as stoppers for 45 deg. rotation of the lever. Two
red identical springs bring the released lever to its neutral position.
Two brass identical leaf springs force pawls (in blue and green) towards
the ratchet wheel and the yellow cover.
When the lever is released, the ratchet wheel is kept immobile thanks to spring pin and
cone holes on the wheel.
The mechanism can be applied for gear shifting in motorcycles.
To get stable neutral position of the lever refer to:
https://youtu.be/Zq5ursxPGPg
https://youtu.be/8U76DPUmG8o

Sheet metal ratchet drive 1

http://youtu.be/qT3S7sOhyS8
For light loads.
Low cost.
Adaptability to mass production.
Permanent contact between pawl and ratchet wheel is maintained by
pawl’s weight.

Sheet metal ratchet drive 2

http://youtu.be/miDCNBMLR3E
For light loads.
Low cost.
Adaptability to mass production.
Permanent contact between pawl and ratchet wheel is maintained by
pawl’s weight.

26
Ratchet mechanism 3
http://youtu.be/WeV89YavvO8
To adjust position of the pink cover for getting various rotation angle of
the green wheel.
To pull the orange pawl and rotate it 180 degrees to change rotation
direction of the green wheel.
This mechanism is used in shapers.

Ratchet mechanism 4
http://youtu.be/vW6PuvflUrM
The ratchet wheel has internal teeth.

Ratchet mechanism 5
http://youtu.be/bAL_nWjuhOI
Bicycle free-wheel.
The blue sprocket receives motion from the pedaling bicyclist. The
yellow hub rotates only when the sprocket rotates clockwise.
Clockwise rotation of the yellow hub has no influence to the blue
sprocket.
The red pawl is always pressed toward the sprocket’s teeth by a
spring. In reality two pawls are used.

Ratchet mechanism 8
http://youtu.be/4wQkKdf9ReU
The input green disk through the blue pawl makes the output
ratchet wheel rotate interruptedly. The pink and yellow pins
control pause time of the ratchet wheel. Each pin makes the
ratchet wheel pause for 1/8 revolution of the input disk.
The blue pawl is always pressed toward the sprocket’s teeth by a
spring (not shown).

Ratchet mechanism for 360 deg. rotation

https://youtu.be/nPXjauQj3AQ
Input: orange ratchet wheel.
Output: green shaft carrying pink pawl.
Push and release blue lever to let the green shaft rotate 360 deg.
A flat spring forces the pawl toward the ratchet wheel.
Another flat spring returns the blue lever to its initial position.

27
Ratchet mechanism 9
http://youtu.be/_wqPl2ms2kk
There are two pawls. The pink pushes the ratchet wheel.
The green keeps the wheel immobile when the pink
reverses.

Ratchet mechanism 12
http://youtu.be/tvByEbHmcfc
There are two pawls. The green pushes the pink gear and
is not always in contact with it (unlike ordinary ratchet
mechanism). The blue keeps the wheel immobile when
the green does not push the gear.

Ratchet mechanism of pin gear 1

http://youtu.be/ISQQZAvi7H0
Input: pink crank rotating continuously.
Output: yellow pin gear.
Gravity maintains contact between blue pawl and pin gear.

Ratchet mechanism 13
http://youtu.be/r-2Xe3moMPs
The input yellow disk through the orange pawl makes the output
green ratchet wheel rotate interruptedly. The length of the blue
cam regulates moving time of the wheel.

Ratchet mechanism 15
http://youtu.be/_k7JzvFg88g
There are two pawls. The pink pushes the ratchet wheel. The
green keeps the wheel immobile when the pink reverses. The
yellow slotted cam is the input.

Ratchet mechanism 16
http://youtu.be/5l74rKEJLp0
Input is pink crank of constant velocity.
Green rocker (ratchet wheel of internal teeth) turns an angle of
around three teeth in each revolution of the crank. But the yellow disk
rotates at different angles because of its eccentrical rotary axis.

28
Ratchet mechanism 31
http://youtu.be/sSVz1cMMYIY
Input: green crank oscillating.
Output: ratchet wheel rotating interruptedly.
Blue spring maintains contact between yellow pawl and ratchet
wheel.
Speciality: internal tooth wheel, external pawl.

Ratchet mechanism 17
http://youtu.be/GuM-WgaQnc8
Input: green eccentric shaft.
Output: grey ratchet wheel.
Gravity maintains contact between pawl and ratchet wheel.

Ratchet mechanism 27
http://youtu.be/_vWezNG0l8g
Grey solenoid makes blue rod reciprocate.
The unusualness is: orange pawl has prizmatic joint with the blue
driving rod, not revolution one as ordinary pawls.
Flat spring maintains the contact between pawl and yellow wheel.

Cable drive for 180 deg. rotation

http://youtu.be/VzBuIhvWsJY
Pull and release brown tow to let yellow ratchet disk turn 180 deg. One end
of the tow is fixed to blue disk. Orange leaf spring keeps the yellow ratchet
disk immobile during its dwell. A circular slot on the blue disk and a pin on
the case limit oscillating angle of the blue disk. A coil spring (not shown)
makes the blue disk turn back when the tow is released.
Replacement of cable drive with rack-pinion one is possible.

Ratchet mechanism 18
http://youtu.be/urvRRQQMd9Y
Input: blue crank.
Output: pink ratchet wheel.
Both go and back motions of the blue crank make the wheel
rotate in the same direction. The pawls push the wheel.
Gravity maintains contact between pawls and ratchet wheel.

29
Ratchet mechanism 19
http://youtu.be/RYrn5XjDTg4
Input: green crank.
Output: ratchet wheel.
Both go and back motions of the green crank make the wheel rotate in
the same direction. The pawls pull the wheel.
Gravity maintains contact between pawls and ratchet wheel.

Ratchet mechanism 20
http://youtu.be/tZfwSkw8uGM
Input: green crank.
Output: blue ratchet wheel.
Both go and back motions of the crank make the wheel rotate in the
same direction. Yellow pawl pushes and orange pawl pulls the
wheel.
Violet springs maintain contact between pawls and ratchet wheel.

Ratchet mechanism 21
http://youtu.be/JZt-L8xFLyU
Input: pink crank.
Output: yellow ratchet wheel that can rotate interruptedly in both
direction.
Blue rocker oscillates thanks to four bar mechanism.
Red springs maintain contact between pawls and ratchet wheel.
Use grey sector to prevent contact between the wheel and one of the
pawls for changing rotary direction of the output.

Ratchet mechanism 22
http://youtu.be/4wMlWhl2DhE
Input: pink crank.
Output: green ratchet wheel.
Both go and back motions of blue slider make the wheel rotate in the
same direction. Orange pawl pushes and yellow pawl pulls the wheel.
Spring maintains contact between pawls and ratchet wheel.

Ratchet mechanism 23
http://youtu.be/jfjCLOztQZM
Input: green crank oscillating.
Output: blue ratchet wheel.
Both go and back motions of ocsillating green crank make the wheel
rotate in the same direction.
Yellow pawl pushes and orange pawl pulls the wheel.
Gravity maintains contact between pawls and wheel.

30
Ratchet mechanism 24
http://youtu.be/37kxWClRLO4
Input: green crank oscillating.
Output: ratchet wheel.
Both go and back motions of ocsillating green crank make the wheel
rotate in the same direction.
The pawls pushes the wheel.
Spring maintains contact between pawls and ratchet wheel.

Ratchet mechanism of pin gear 2

http://youtu.be/PSMWGHKGu5k
Input: green crank .
Output: yellow pin gear.
Both go and back motions of the green crank make the gear rotate in
the same direction. The greey bars push the gear.
Gravity maintains contact between pawls and pin gear

Ratchet mechanism 25
http://youtu.be/gzLSJ-6qvWA
Input: green oscilating crank.
Output: yellow ratchet wheel.
Blue ratchet wheel is idly mounted on violet fixed shaft.
Red spring creates friction between the blue ratchet wheel and fixed
violet shaft thus prevents the blue wheel from reverse rotation.
Pink pawl makes the blue ratchet wheel rotate.
Orange pawl makes the yellow ratchet wheel rotate.
Red sector of the blue ratchet wheel periodically prevents contact between the orange pawl
and the yellow wheel thus the latter rotates interruptedly with different dwell times.
Gravity maintains contact between pawls and wheels.

Ratchet mechanism 26
http://youtu.be/UFU1NkXvCJo
Input: blue cam.
Output: pink ratchet wheel rotating interruptedly with long dwells.
Both go and back motions of yellow ocsillating pawl make the wheel
rotate in the same direction (one tooth).
The pawl keeps the ratchet wheel immobile during its dwells.
Red spring maintains contact between the pawl and the cam.

31
Ratchet mechanism 32
http://youtu.be/uwgsltwBa7g
Input: green crank oscillating.
Output: ratchet wheel of tooth number Z rotating interruptedly.
The gravity maintains contact between 2 coaxial pawls and ratchet wheel.
The ratchet wheel thickness must be twice the pawl ones.
Speciality: the mechanism acts as in case where there is one pawl and
ratchet wheel tooth number is 2Z. It helps increase tooth strength.
The pawls one by one push the wheel.

Ratchet mechanism 33
http://youtu.be/ZeAYihlABSw
Input: green crank oscillating.
Output: ratchet wheel of tooth number Z rotating interruptedly.
The gravity maintains contact between 3 identical pawls and ratchet
wheel.
Speciality: the mechanism acts as in case where there is one pawl and
ratchet wheel tooth number is 3Z. It helps increase tooth strength.
The pawls one by one push the wheel.

Ratchet mechanism 35
http://youtu.be/3e6axpv1SsY
Input: grey crank oscillating.
Output: violet slider that linearly moves interruptedly.
Tooth number of green wheel Zg = 12.
Tooth number of yellow wheel Zy = 11.
Blue pawl contacts the green wheel.
Orange pawl contacts the yellow wheel.
The green wheel has helical joint with pink screw.
The yellow wheel has prizmatic joint with pink screw.
The gravity maintains contact between the wheels and the pawls.
The screw pitch is P mm.
12 double strokes of the input crank make the green wheel turn 1 revolution and the yellow
wheel turn 1 + 1/11 revolutions. Thus the screw turns 1/11 rev. in relation with the green
wheel (nut) and the slider moves P/11 mm (small displacement).
The video also shows case when the orange pawl does not engage with the yellow wheel.
The latter is immobile so the screw can not rotate. 12 double strokes of the input crank
make the green wheel turn 1 revolution and the slider moves P mm (large displacement) in
the opposite direction (in the same direction if Zg = 11, Zy = 12).

Ratchet mechanism for anti-reverse 1

http://youtu.be/rKYTr9NjgOA
Green ratchet wheel rotates only anticlockwise.
The reverse rotation is prevented by yellow flat spring.

32
Ratchet mechanism for anti-reverse 2
http://youtu.be/g4vFJtps-_Q
Yellow ratchet wheel rotates only anticlockwise.
The reverse rotation is prevented by blue slider.

Ratchet mechanism for anti-reverse 3

http://youtu.be/14i2UWR87ik
Yellow face tooth ratchet wheel rotates only clockwise.
The reverse rotation is prevented by pink pawl.

Friction ratchet mechanism 1

http://youtu.be/JWLXmY0QzP8
The yellow cam plays pawl’s role. The friction force between the
yellow cam and the green no-teeth wheel drives the latter.
No noise and backlash in comparison with ordinary ratchet
mechanisms

Friction ratchet mechanism 2

http://youtu.be/aCN-HEBsdYM
Input: orange oscillating drum.
Output: yellow shaft rotating interruptedly.
Four flat springs allow motion transmission only in anticlockwise
direction.
The mechanism is for light duty works and where the kinematic
relation between the input and output is not required strictly.

Friction ratchet mechanism 3

http://youtu.be/M-3eLefY3fw
Input: blue oscillating lever.
Output: yellow shaft rotating interruptedly.
One spring end is fixed to the blue lever. A slight grip between the
spring and the yellow shaft is needed. Torsion spring allows motion
transmission only in clockwise direction. The spring helix direction
(right-handed in the video) decides the transmission direction.
The rotation direction that tends to wind up the spring is transmitted to the yellow output
shaft due to friction force between the spring and the shaft.
For the inverse direction the yellow output shaft may rotate if there is no braking force or
load applied to it.
The mechanism is for light duty works and where the kinematic relation between the input
and output is not required strictly.

33
Friction ratchet mechanism 4
http://youtu.be/sRkZ_EgUlRQ
Input: blue oscillating lever with a threaded portion on its shaft.
Output: yellow inner cone disk rotating interruptedly.
The light friction of pink spring-loaded pins keeps the green outer cone
disk (split for easy understanding) from rotating with the lever at
moment when the lever changes it motion direction. Thus the green
disk moves a little like a nut back and forth along the threaded portion
of the lever. This motion creates or removes the contact between two
disks (engagement or disengagement).
Thread direction (right-handed in the video) decides the transmission direction.

Friction ratchet mechanism 5

http://youtu.be/QCvbg2p0Uns
Input: blue oscillating lever.
Output: brown V-shaped groove wheel rotating interruptedly.
Yellow flat spring maintains contact between pink pawl and the wheel.

Friction ratchet mechanism 6

http://youtu.be/tlwmkvEeZLQ
Input: green oscillating lever.
Output: orange wheel rotating interruptedly.
Red flat spring maintain contact between yellow wedges and the
wheel.

Friction ratchet mechanism 7

http://youtu.be/78l17ntJeqo
Input: pink crank.
Output: yellow wheel rotating interruptedly.
Violet pin keeps grey shoe in position during non transmission
time.

Friction ratchet mechanism 8

http://youtu.be/4C8WE6frs9E
Input: blue oscillating lever.
Output: yellow wheel rotating interruptedly.
Gear force of the gear rack drive creates friction on the contact cylindrical
surface between the rack and the wheel for transmission.
Orange plate prevents the rack from leave out during non transmission
time.

34
Friction ratchet mechanism 9
https://youtu.be/6nmQVOwN_sI
Input: yellow oscillating lever.
Output: blue shaft rotating interruptedly.
Pink pin can slide in the lever hole. Annular groove of the blue shaft
contacts the pin flat bottom. Blue spring maintains this contact.
Transmission happens only when the input turns clockwise when the
pin is wedged against the blue shaft.

Quiet ratchet mechanism 1

http://youtu.be/xxsCE1E7jLI
Input: pink crank rotating continuously.
Output: yellow ratchet wheel rotating interruptedly.
Four-bar linkage (pink crank, blue conrod and block of orange pawl
and green rocker) makes the green rocker oscillate.
A violet stopper is mounted on the green rocker.
Measure to create some breaking force for the green rocker is not
shown.
The mechanism is quiet because when the rocker goes back, the
pawl does not contact the wheel.

Quiet ratchet mechanism 2

http://youtu.be/OYhx7OXYKQA
Input: pink crank rotating continuously.
Output: yellow ratchet wheel rotating interruptedly.
Coulisse mechanism (pink crank, blue slider and green slotted rocker)
makes the green rocker oscillate.
Violet crank has a pin for orange pawl. Pink spring creates some
breaking force for the violet crank.
Two cyan pins on the green rocker contact the pawl.
The mechanism is quiet because when the rocker goes back, the pawl
does not contact the wheel.

Quiet ratchet mechanism 3

http://youtu.be/9W9wgFsOVIA
Input: pink crank rotating continuously.
Output: yellow ratchet wheel rotating interruptedly.
Six-bar linkage (pink crank, blue conrod, yellow and violet levers,
orange pawl and green rocker) makes the green rocker oscillate.
Two red stoppers are mounted on the green rocker.
Measure to create some breaking force for the green rocker is not
shown.
The mechanism is quiet because when the rocker goes back, the
pawl does not contact the wheel.

35
Ratchet mechanism 36
https://youtu.be/iy10f3MF5e4
Input: pink crank rotating continuously.
Output: blue ratchet wheel rotating interruptedly.
Orange pawl of cylinder shape and round profiles of the ratchet teeth
help to reduce wear for this mechanism due to large contact area.
Friction on output side keeps the blue shaft immobile when the pawl
slides on the ratchet wheel teeth.

Escapement 1
http://youtu.be/fC8D_KzMGrk
Pink gravity pendulum performs a harmonic angular oscillation.
Green ratchet wheel tends to rotate clockwise due to blue weight.
The pink anchor allows the wheel rotate only two teeth during one
oscillation of the pendulum.
Tick-tock sound is caused when the anchor collides the wheel teeth.
The mechanism is used in pendulum clocks where the wheel motion is
transmitted to hands through a gear train to show time.
Besides the wheel transfers energy to the pendulum (timekeeper) to replace the energy lost
to friction during its cycle and keep the timekeeper oscillating.

Escapement 2
http://youtu.be/S6ptnwOtpdQ
Orange pendulum performs a harmonic angular oscillation.
Green pin wheel tends to rotate clockwise due to blue weight.
The pendulum allows the wheel rotate only two teeth during one oscillation of
the pendulum.

Escapement 3
http://youtu.be/D49F90k7_vE
Orange pendulum performs a harmonic angular oscillation.
Green pin wheel tends to rotate clockwise due to blue weight.
The pin number on each circle of the wheel is Z.
The pendulum allows the wheel rotate an angle of 360/Z deg. during one
oscillation of the pendulum.

Escapement 4
http://youtu.be/C26G-M_cNjI
Green pendulum performs a harmonic angular oscillation.
Blue wheel tends to rotate counterclockwise due to grey weight.
Two identify pawls are mounted on both sides of the pendulum.
The mechanism allows the wheel rotate two teeth during one oscillation of the
pendulum.

36
Escapement 5
http://youtu.be/pN9COn0b4Dg
Yellow pendulum performs angular oscillation.
Twin ratchet wheel tends to rotate counterclockwise due to green
weight.
The mechanism allows the wheel rotate one teeth during one
oscillation of the pendulum.

Escapement 6
https://youtu.be/wC-hx5sTGTo
Input: ratchet wheel of Z teeth rotating continuously.
Output: yellow pawl oscilating.
1 revolution of the ratchet wheel corresponds Z oscillations of the pawl.
Key factor: center of mass of the pawl must be higher than its rotary axis.
Another way is using spring toggle mechanism:
http://youtu.be/u4oW1ZiiRGA

Spatial ratchet mechanism 1

http://youtu.be/Hev7lm-DhVA
Input: eccentric shaft rotating continuously.
Output: face tooth ratchet wheel rotating interruptedly.
Gravity maintains contact between blue pawl and the wheel.

Spatial ratchet mechanism 2

http://youtu.be/TuJxhLaOJjo
Input: pink crank rotating continuously.
Output: green ratchet wheel of tooth number Z.
Both go and back motions of yellow ocsillating crank make the wheel
rotate in the same direction.
In 1 rev. of the input, the output rotates 2/Z rev. with two dwells.

Spatial ratchet mechanism 3a

http://youtu.be/OGGWPJUgAA8
Input: orange oscillating crank.
Output: green twin ratchet wheel of tooth number Z.
Both go and back motions of the crank make the wheel rotate in the
same direction.
In 1 rev. of the input, the output rotates 1/Z rev. with two dwells.
Angle deflection between the two ratchet wheels is 360/2Z deg.

37
Spatial ratchet mechanism 3b
http://youtu.be/HWZBdD80ZE4
Input: blue oscillating crank.
Output: twin ratchet wheel of tooth number Z.
Both go and back motions of the crank make the wheel rotate in the
same direction.
In 1 rev. of the input, the output rotates 1/Z rev. with two dwells.
Angle deflection between the two ratchet wheels is 360/2Z deg.

Spatial ratchet mechanism 4

https://youtu.be/mWeZJ1jEGSo
This is used for case when the input linear motion is parallel to
rotary axis of the ratchet wheel.
Input: blue slider linearly reciprocating. Its source motion is not
shown.
Output: green ratchet wheel (a helical gear) interruptedly
rotating of angle A (360/Z deg.).
Z is the gear tooth number.
A can be increased (2,3, … times) by making the gear longer and increasing input stroke.
Violet spring pin keeps the output immobile during backward stroke of the blue slider.

Ratchet mechanism 37
https://youtu.be/b5JAk00oWFQ
]This is used for case when the input linear motion is parallel to
rotary axis of the ratchet wheel.
Input: blue slider of violet cam linearly reciprocating. Its source
motion is not shown.
Output: green ratchet wheel interruptedly rotating.
Yellow slider receives motion from the violet cam.
Blue spring pin keeps the output immobile during backward stroke of the yellow slider.

Mechanism for 90 deg. rotation 2

https://youtu.be/gng7qlqfOIM
Input: green shaft of a chamfered lever rotating continuously.
Output: one tooth blue ratchet wheel that quickly turns 90 deg. and
then stops. One revolution of the input corresponds one revolution of
the output.
The green lever pulls the wheel via blue spring.

Mechanism for rotary limitation

http://youtu.be/BLmpNDZX6Ts
The output pink shaft is always under a moment caused by the blue
weight. The green disk plays role of regulation. In its one revolution the
output can turn 1/8 rev. only.

38
2.4. Pin drives

Interrupted rotation 1
http://www.youtube.com/watch?v=WK2dRTJvN3o
1 revolution of the green shaft corresponds a half-revolution of the
blue one.
The driving and driven shafts rotate in the same direction.
The shafts are parallel.

Interrupted rotation 2
http://www.youtube.com/watch?v=43FM0QRNS4Q
1 revolution of the green shaft corresponds one-sixth-revolution of the blue
one.
The driving and driven shafts do not rotate in the same direction.
The shafts are parallel.

Interrupted rotation 3
http://www.youtube.com/watch?v=LsysC380Cdw
1 revolution of the blue shaft corresponds one-sixth-revolution of the
green one.
The shafts are perpendicular to each other.

Interrupted rotation 4
http://www.youtube.com/watch?v=lX_TErmp4nc
1 revolution of the blue shaft corresponds one-third-revolution of
the green one.
The shafts are perpendicular to each other.

Interrupted rotation 5
http://www.youtube.com/watch?v=gG0dUrBT79k
1 revolution of the blue shaft corresponds one-fourth-revolution of the
green one.
The two shafts are skew at angle of 45 degrees.

39
Interrupted rotation 6
http://youtu.be/8tSOQDxLYvo
1 revolution of the blue shaft corresponds one-fifteenth-revolution of the
green one.
The two shafts are skew at angle of 90 degrees.

Interrupted rotation 7
http://www.youtube.com/watch?v=H5ZLztpr5uw
1 revolution of the blue shaft corresponds one-twelfth-revolution of the
green one.
The two shafts are skew at angle of 90 degrees.

Interrupted rotation 8
http://www.youtube.com/watch?v=EX2Adzx53FE
1 revolution of the blue shaft corresponds one-twelfth-revolution of
the green one.
The two shafts are skew at angle of 90 degrees.

Interrupted rotation 9
http://www.youtube.com/watch?v=eT_bgIEK_7s
1 revolution of the blue shaft corresponds one-sixth-revolution of the
green one.
The driving and driven shafts rotate in the same direction.
The shafts are parallel.

Interrupted rotation 10
http://www.youtube.com/watch?v=5RG3fCh4kqs
1 revolution of the blue shaft corresponds one-sixth-revolution of the
green one.
The driving and driven shafts do not rotate in the same direction.
The shafts are parallel.

Pin gear drive 1K

http://youtu.be/N37KHV8CD6M
The green gear rotates interruptedly. During 1 revolution of the pin gear the
green gear rotates 1 revolution and pauses.
Motion and dwell relation for the green gear can be easily adjusted by
adding or cutting the pink pins.
The device to keep the green gear immobile during its dwell is not shown.

40
Pin gear drive 1N
http://youtu.be/B8dsC_QNyVg
Input: the cyan shaft having an arm.
Output: the pink pin wheel.
In 1 revolution of the cyan shaft, the arm makes the output rotate 1/8
rev. The green rim keeps the output immobile during its pause period.

Intermittent rotation mechanism

http://youtu.be/JdJNG3_dIQ8
Input: blue disk of two cyan pins rotating continuously.
Output: orange shaft of two three wing disks rotating interruptedly.
1 rev. of the input makes the output rotate 120 deg.
Beside keeping the output shaft immobile during its dwells, the blue
disk also participates in motion transmission.
The mechanism can work for two rotation directions of the input. In case of one direction
one cyan pin is enough.

Transmission with mutilated tooth gear

http://youtu.be/lTEHVWiZRPI
Green driving disk of width w has a tooth groove and a red
pin nearby.
Yellow driven gear of width 2w has an even number of
standard spur gear teeth. They alternately have full and half-
width (mutilated) teeth.
During the dwell period, two full-width teeth are in contact
with the circumference of the driving disk, thus locking the
gear. The mutilated tooth between them is in front of the driver. At the end of the dwell
period, the red pin contacts the mutilated tooth and turns the driven gear around one
circular pitch. Then the full-width tooth engages the tooth groove and the driven gear moves
around one more pitch. The dwell period starts again and the cycle is repeated. Totally in
one revolution of the driver, the driven gear turns two circular pitches.

Interrupted rotation 11
http://youtu.be/bJFFoWd2Pr8
Input: green disk of a red pin.
Output: yellow gear interruptedly rotating.
Inner cylinder on the green disk is for locking the output
gear during dwell period. However shortly before and after
the engagement of two teeth with red pin at the end of the
dwell period, the inner cylinder is unable to cause positive
locking of the driven gear. Consequently, a concentric auxiliary outer cylinder is added.
Only two segments are necessary to obtain positive locking. Their length is determined by
the circular pitch of the driven gear.

41
Cage gear for interrupted rotation 1
https://youtu.be/VqcsbkQTFcE
In 1 revolution of pink input shaft the green output shaft turns 180
deg. then pauses.
Yellow and violet rims keep the output immobile during dwell time.
The mechanism can work with any rotary direction.

Cage gear for interrupted rotation 2

https://youtu.be/U9vNIchIzHc
In 1 revolution of pink input shaft the green output shaft turns 90 deg.
then pauses.
Yellow and violet rims keep the output immobile during dwell time.
The input has 2 pins.
The output has 16 rods.
The mechanism can work with any rotary direction.

180 deg. interrupted rotation

https://youtu.be/tn3fGrfiSGU
Green shaft tends to rotate clockwise thanks to a spiral spring
located in the blue box (a weight and wire can be used instead of
the spring).
Yellow cam controls 180 deg. interrupted rotation of the green
shaft.
The spring that maintains the contact between the cam and pink slider is not shown.
Other driving source for the pink slider is possible, for example, a pneumatic cylinder.

360 deg. interrupted rotation

https://youtu.be/TSK0Hqz_JPs
Grey shaft tends to rotate clockwise thanks to a spiral spring
located in the blue box (a weight and wire can be used instead
of the spring).
Yellow cam controls 360 deg. interrupted rotation of the grey
shaft.
The spring that maintains the contact between the cam and green slider is not shown.
Other driving source for the green slider is possible, for example, a pneumatic cylinder.

42
Simple mechanism for intermittent 90 deg. rotation
https://youtu.be/iX5KuIO8fFo
Input: horizontal cam shaft.
Output: vertical shaft of two motions (up-down and rotary)
Brown bar angularly positions the vertical shaft.
Unusual thing: 2 (cam and friction drives) in 1.
Disadvantage: considerable wear when the vertical shaft does
not rotate.
In term of function this mechanism is equivalent to the spatial
Geneva drive
https://youtu.be/lUv4TaxKyuw
This video was made based on:
https://youtu.be/xrUemSnwSFg

Simple mechanism for intermittent 120 deg. rotation

https://youtu.be/Hikxwiqs8-I
Input: horizontal cam shaft.
Output: green 3-pointed star that rotates intermittently. It has
prismatic joint with blue vertical shaft of two motions (up-down and
rotary).
Orange bar angularly positions the vertical shaft.
Unusual thing: 2 (cam and friction drives) in 1.
Disadvantage: considerable wear when the vertical shaft does not rotate.
In term of function this mechanism is equivalent to the spatial Geneva drive
https://youtu.be/rqDfalBVhlU

Simple mechanism for intermittent 180 deg. rotation

https://youtu.be/5lEGc_GlwvA
Input: horizontal cam shaft.
Output: green rectangle that rotates intermittently. It has prismatic
joint with blue vertical shaft of two motions (up-down and rotary).
Orange bar angularly positions the vertical shaft.
Unusual thing: 2 (cam and friction drives) in 1.
In one revolution of the input the green rectangle rotates 180 deg., a
thing that ordinary Geneva mechanisms can not get.
Disadvantage: considerable wear when the vertical shaft does not rotate.

Simple mechanism for intermittent 360 deg. rotation

https://youtu.be/RoNH0YXpW2c
Input: horizontal cam shaft.
Output: green rectangle that rotates intermittently. It has prismatic
joint with blue vertical shaft of two motions (up-down and rotary).
Orange bar angularly positions the vertical shaft.
Unusual thing: 2 (cam and friction drives) in 1.
In one revolution of the input the green rectangle rotates 360 deg., a
thing that ordinary Geneva mechanisms can not get.
Disadvantage: considerable wear when the vertical shaft does not rotate.

43
Interrupted rotation 13
https://youtu.be/KBY359PCh3A
Input: yellow crank shaft.
Output: blue shaft of 4 pins.
The two shafts are not coaxial.
One input revolution corresponds 90 deg. rotation of the output.
For the output: pause time / rotary time = 2 / 1
Violet ring (fixed to the blue shaft) and orange sector (fixed to the
yellow shaft) are for keeping the output shaft immobile during
pause time.

Interrupted rotation 14
https://youtu.be/4Rm6DvxKvxE
Input: yellow crank shaft.
Output: blue shaft of 2 pins.
The two shafts are not coaxial.
One input revolution corresponds 180 deg. rotation of the output.
For the output: pause time / rotary time is around 1 / 1.
Violet ring (fixed to the blue shaft) and orange sector (fixed to the
yellow shaft) are for keeping the output shaft immobile during
pause time.

44
2.5. Bars

Linkage for 180 deg. interrupted rotation 1

https://youtu.be/-47IVdMBYB0
Input: orange crank.
Output: blue rocker of straight groove.
In 1 rev. of the input, the output turns 180 deg. then stops.
Pause time corresponds around one forth of of working period.
Crank radius: a.
Length of green conrod: b + c
Center distance of two stationary bearings: d
d = (b + c) – a
In this video: a = 50; b = 120; c = 180; d = 250

Linkage for 180 deg. interrupted rotation 2

https://youtu.be/b9Wk04QEIYE
Input: pink crank.
Output: green rocker of straight groove.
Crank radius: a.
Length of blue bar: 6a
Distances between stationary bearings: 1.5a + 3.5a
Blue line is locus of the yellow slider center.
In 1 rev. of the input, the output turns 180 deg. then stops.
Pause time corresponds more than 1/2 of working period.

90 deg. interrupted rotation

https://youtu.be/THXqIwZ8s9M
Input: green pulley.
Output: pink crank interruptedly rotating 90 deg.
Input and output are coaxial.
Blue slider moves in runway of the pink crank. Its blue pin moves
along inner profile of the stationary guide (in glass).
Yellow T-shaped part is pivoted on the blue slider pin.
A surface of the yellow part always contacts with the guide outer
profile. The yellow part has a pin that moves in slot of the green input pulley.
The yellow part has complicated motion: successive translation and rotation.
In this video the ratio of motion and dwell periods i = 1. It depends on the distance between
inner and outer profiles of the guide.
The side number (n) of the guide determines output rotary angle A.
A = 360/n deg.

Coulisse mechanism 8
https://youtu.be/UdhlN2o2dnM
Pink, green and yellow links create a coulisse mechanism.
Input: pink crank.
Output: blue pin disk rotating interruptedly.
Device for keeping the output immobile during dwell stage is not
shown.

45
2.6. Combined mechanisms

Gear-rack-crank drive 1
https://youtu.be/fnoyIcq3Z7s
Input: pink crank.
Output: blue gear shaft.
Center distance of rotary axes of the crank and the gear shaft C is
equal to radius of rolling cycle of the gear.
In one input revolution the output rotates 360 deg. in the input rotary
direction with dwell.
Alter center distance C and the crank radius to get various motion rules of the output. For
example:
http://youtu.be/IZddfZssoco
http://www.youtube.com/watch?v=jNqET_RBLrs

Chain drive 5B
http://youtu.be/spJVvyv9Oo0
The orange sprocket is immobile.
The pink gear and crank is driving. The coulisse rotates
interruptedly with long dwells. Its motion depends on the ratio of
tooth numbers of the two sprockets (8/8) and the chain link
number (24). The green curve is locus of the center of the small
slider.

Chain drive 5C
http://youtu.be/ZRo3mszuHHw
The yellow sprocket is immobile.
The pink gear and crank is driving. The coulisse rotates
interruptedly with long dwells. Its motion depends on the ratio of
tooth numbers of the two sprockets (8/16) and the chain link
number (28). The green curve is locus of the center of the small
slider.

Translating cam and crank-slider mechanism 1

http://youtu.be/OTNmbroZkqc
Converting continuous rotary motion into intermittent rotary
one.

46
Translating cam and crank-slider mechanism 2
http://youtu.be/QO2UoKZagIQ
Converting continuous rotary motion into intermittent rotary one.
Input is the violet shaft.
The green double conrod oscillates on eccentric portion of the
violet shaft. The magenta slider moves in slot of the pink oscillating
runway. The red slider moves in slot of the yellow fixed runway and
keeps the blue output disk immobile during its dwells.
The blue output disk of Z slots rotates 1/Z rev. during 1 rev. of the
input shaft.

Cam and gear mechanism 4

http://youtu.be/jvAg5HHLPs4
This is a combination of cam and bevel gear differential
mechanisms. The bevel gears have the same tooth number.
Input is the orange spur gear shaft to which a cam is fixed. The
cam’s profile is a symmetric double Archimedes curve. The
green spur gear shaft and the green bevel gear are fixed
together.
Transmission ratio of the spur gear drive is 4.
The yellow bevel gear idly rotates on the pink arm carrying the
red roller.
The blue output bevel gear has four dwells in one revolution of the green and blue bevel
gears.

Worm Drive 5b: Rotating and translating worm

http://youtu.be/fI2cBpDs1tE
A worm drive, compensated by a cam on a work shaft, produces
intermittent motion of the gear.
Input: green shaft.
Orange one start worm has prizmatic joint with the green shaft.
Pink cam is stationary. The cam profile consists of two helix curves of
opposite directions. Pitch of the curves is equal to the worm pitch.
Red spring maintains contact between the cam and violet pin.
In one revolution of the input, the gear stays immobile and then turns one tooth.

Gear-rack and parallelogram mechanism 3

http://youtu.be/n1KsGiZ5Dcc
Two cranks and yellow rack create a parallelogram mechanism.
Input: pink crank rotating continuously.
Output: green gear rotating interruptedly.
Blue conrod jointing two eccentrics of the cranks is for overcoming
dead positions.
Measure to keep the gear immobile during its dwells is not shown.

47
Geneva and gear drive for intermittent 360 deg. rotation
https://youtu.be/kiCETCcY3YU
Input: pink crank.
Blue gear (fixed to blue Geneva disk) rotates 90 deg. in 1/4 input
revolution then stops.
Green block of gear and cam rotates 360 deg. in 1/4 input revolution
then stops.
Tooth number of green gears: 20.
Tooth number of blue gears: 80.
Green cam moves orange slider.

Successive 360 deg. rotation 1

https://youtu.be/_XdOD28zyu0
It is an application of the mechanism shown at:
https://youtu.be/kiCETCcY3YU
Input: orange gear-crank.
The rotation is transmitted to the end gear-crank (in blue) via a
gear train of zigzag shape.
Brown gears (fixed to brown Geneva disks) rotate 90 deg.
successively.
Green blocks of gear and cam rotates 360 deg. successively.
Tooth number of green gears: 20.
Tooth number of brown gears: 80.
Tooth number of other gears: 25.
Green cams move violet sliders one after another.

48
3. Converting continuous rotation into rotary oscillation

3.1. Bars

4-bar linkage mechanism

http://www.youtube.com/watch?v=4dHKbPAQEQY
Length of red connection rod is smaller than radius of its revolution
joint with the green rocker.

4-bar linkage mechanism

http://www.youtube.com/watch?v=mTxpSpPOUmU
Length of green rocker and radius of its revolution joint with the
fixed link are equal.

Fan swinging device

http://www.youtube.com/watch?v=lusvDse493g
A 4-bar linkage is used for fan swinging. The input link is the yellow
connecting rod. The pink bar and the rotor house place the role of
rockers.
For easy observation the transmission ratio is chosen less than in
reality.

Four bar linkage 7

http://youtu.be/qwB-WuX2Z18
Four bars: blue, yellow, green and pink.
Input: the yellow bar rotating continuously.
Orange lever with positioning spring pin is for controlling the
linkage.
When the orange lever enters in the slot of the blue bar, the latter is kept immobile and the
green bar oscillates.
When the orange lever is not in the slot of the blue bar, the blue bar oscillates and the
green bar does not move because of its huge mass.
The mechanism used to be applied for fan swinging control.
For example it can be used in this case:
https://www.youtube.com/watch?v=lusvDse493g

Auto rocker for hammock

http://youtu.be/gaD_Jl0YQHQ
Input: pink crank.
Output: blue rocker that has a hook serving as anchor point for
hammocks or cradles.
Disadvantage: noise from revolute joints

49
Coulisse mechanism 1
http://www.youtube.com/watch?v=dqt1jkwLgs0
a < d: the coulisse rocks
a: crank length; d: axle distance

Coulisse mechanism 9
https://youtu.be/0xAJs1CIO8U
It is a structural embodiment of the mechanism shown by the sketch.
Grey input crank: 1
Green slider: 7
Orange disk: 8

Coulisse mechanism 10
https://youtu.be/bs0OWutQfGU
It is a structural embodiment of the mechanism shown by the sketch.
Grey input disk: 1
Orange part: 8
Blue disk: 7

Coulisse mechanism 6
http://www.youtube.com/watch?v=RvyKFLZi2SM
Combination of two coulisse mechanisms.
The green rocker has working stroke slower than return one.
Velocity of the working stroke is nearly constant.

Coulisse mechanism with closed curve slot 1

http://youtu.be/qaion6T6nVg
Two identical mechanisms on the left give two different output
motions due to different relative positions of the input and output at
starting. Center distance of two grey fixed bearings and the
eccentricities of circular slot of green and blue rockers are equal.
Input: pink cranks rotating regularly.
Upper mechanism: green rocker oscillates with large angle.
Lower mechanism: blue rocker is immobile.
The mechanism on the right is an ordinary coulisse one for comparison purpose.
Its yellow rocker oscillates with small angle.

50
Coulisse mechanism with closed curve slot 2
http://youtu.be/NwedertJEJI
Two identical mechanisms give two different output motions due to
different relative positions of the input and output at starting.
Input: cranks (green and pink) rotating regularly.
Upper mechanism: blue rocker oscillates with large angle.
Lower mechanism: yellow rocker oscillates with small angle and
rather constant speed.
When the cranks and the rockers are in line, unstable positions happen. They can be
overcome thanks to the rockers inertia.

Adjustable coulisse mechanism 1

https://youtu.be/CUPnP7zgrKg
This video was made based on the design numbered as 935 in
volume 2, Mechanisms in modern technic, I. Artobolevski.
Input: blue crank regularly rotating.
Output: green crank rotating or oscillating subject to violet slider
position on the blue crank.
The violet slider has revolution joint with white slider of the green
crank. Violet arrow is fixed to the violet slider. Let’s call:
Center distance between two stationary bearings as D
Center distance between the violet slider pivot axis and the blue crank rotary axis as A
(variable).
Turn yellow screw to get various positions of violet slider (to vary A).
Pay attention to yellow and red arrows on the blue crank.
When the violet arrow coincides with yellow arrow: A = 0
When the violet arrow coincides with red arrow: A = D

The video shows 4 cases in turn:

1. Violet arrow coincides with yellow arrow: green crank is immobile.

2. Violet arrow is between yellow and red arrows: green crank oscillates. Oscillating angle
depends on the violet slider position.
3. Violet arrow coincides with red arrow: green crank rotates regularly. 2 revolutions of the
blue crank correspond 1 revolution of the green crank. However its motion is not stable. To
overcome it use more sliders:
http://www.youtube.com/watch?v=gKQ-ro9gRcg
https://youtu.be/dab5_kQH2vk
4. Violet arrow is on the right of red arrow: green crank rotates irregularly. 1 revolution of
the blue crank corresponds 1 revolution of the green crank. The irregular level depends on
the violet slider position.

The adjustment can be carried out only when the input crank stops.
The input and output are not coaxial.

51
Double coulisse mechanism 1
https://youtu.be/_fnTAaXEtLs
This video was made based on the design numbered as 936 in
volume 2, Mechanisms in modern technic, I. Artobolevski.
Input: pink crank regularly rotating.
Output: violet crank rotating or oscillating subject to blue slider
position.
Glass double coulisse has revolution joint with the blue slider.
Let’s call:
Input and output cranks radii as R.
Center distance between the glass coulisse rotary axis and the input crank axis as A
(variable).
Center distance between the glass coulisse rotary axis and the output crank axis as B
(variable).
Pay attention to blue arrow on the slider and green, red, yellow arrows on the runway.
When the blue arrow coincides with the green arrow: B = R
When the blue arrow coincides with the red arrow: A = B
When the blue arrow coincides with the yellow arrow: A = R
Turn orange screw to get various positions of the blue slider.
The video shows 4 cases in turn:

1. Blue arrow is between green and red arrows: The output rotates irregularly. Transission
ratio = 1.
2. Blue arrow coincides with red arrow: The input and output rotate at the same velocity,
regularly, although the glass double coulisse rotates irregularly.
3. Blue arrow is between red and yellow arrows: The output rotates irregularly. Transission
ratio = 1.
4. Blue arrow is on the right of yellow arrow: The output oscillates.

The adjustment can be carried out without stopping the input crank.
For cases B = R or A = R the output motion is unstable.
If blue arrow is on the left of green arrow, the mechanism can’t work.
The input and output are not coaxial.

Coaxial double coulisse mechanism 1a

https://youtu.be/dokb-RvXeY4
Pink and violet cranks of the same radius are coaxial.
Input: pink crank regularly rotating.
Output: violet crank that irregularly (in general) rotates in the input
rotary direction.
Green double coulisse has revolution joint with blue slider.
The irregular rotation level can be changed by adjusting center
distance A between the green coulisse rotary axis and the crank axis (moving rotary axis of
the green double coulisse).
The video shows the adjusting process from regular rotation (when A = 0) to irregular one
and reversely.
The adjustment can be carried out without stopping the input crank.
Note:
- Yellow rollers must be set in opposite directions. If not, both cranks always rotate at the
same velocity and direction.
- Distance A must not exceed the crank radius. If not, the output motion is unstable when
the cranks are perpendicular to the green coulisse.

52
Coaxial double coulisse mechanism 1b
https://youtu.be/obbUvGYLYuQ
Pink and violet cranks of the same radius are coaxial.
Input: pink crank regularly rotating.
Output: violet crank performing rotary oscillation.
Green double coulisse has revolution joint with blue slider.
The output oscillating angle can be changed by adjusting
center distance A between the green coulisse rotary axis and
the crank axis (moving rotary axis of the green double coulisse).
The video shows the adjusting process to get large angle and reversely.
The adjustment can be carried out without stopping the input crank.
Spring slider (in brown) prevents the output crank from rotating full revolution at unstable
positions of the output crank (when the output crank is perpendicular to the green coulisse).
The center distance A must be larger than the crank radius. If not, the output motion is
unstable.

Linkage for oscillation with dwell 1

https://youtu.be/0wgqgEcg1Bo
Input: pink crank.
Output: green rocker of circular slot.
Crank radius = radius of center circle of the slot.
Center distance of two stationary bearings = distance from the rotary
axis of the rocker to axis of its circular slot.
The dwell happens at one end of the output stroke.
Dwell time corresponds one half of a revolution of the input.

Dwell Rocker Linkage 1

http://youtu.be/rhyoWC6abSI
The green crank is the input. Choosing appropriate length of the violet
rod in relation with the green locus enables the orange output rocker to
have a long pause (half revolution of the green crank) at its rightest
position.

Dwell Rocker Linkage 2

http://youtu.be/fECIXdX1G8M
The green crank is the input. Choosing appropriate length of the
violet rod in relation with the green locus enables the orange output
rocker to have a pause in the middle of its stroke.

53
Dwell Rocker Linkage 3
http://youtu.be/ueyak6YAadE
The green crank is the input. Choosing appropriate length of the
violet rod in relation with the green locus enables the orange output
rocker to have a pause at the ends of its stroke.

Six bar linkage of long output dwell

http://youtu.be/G9jeOxIRbY0
Input: orange crank.
Output: yellow rocker oscillating with long dwell at its extreme right
position. This occurs because point C describes a green curve part
that is approximately a circular arc with its center at P. The output is
almost stationary during that circular arc.

Six bar linkage for oscillation 1

https://youtu.be/GrKil_MQoVw
Pink bar length: 54
Blue bar length: 100
Green bar length: 100 + 100. Its angle: 80 deg.
Yellow bar length: 160
Orange bar length: 81
Input: pink bar rotating regularly
Output: orange bar oscillating.
1 input revolution makes the output oscillate two times, one fast, one slow.
Green line is locus of center of the revolution joint between green and yellow bars.

Six bar linkage for oscillation 2

https://youtu.be/pcEc2Eagx0U
Pink bar length: 55
Blue bar length: 100
Green bar length: 100 + 100. Its angle: 93 deg.
Yellow bar length: 190
Orange bar length: 90
Input: pink bar rotating regularly
Output: orange bar. 1 input revolution makes the output oscillate one
time, slow turning down, fast turning up.
Green line is locus of center of the revolution joint between green and
yellow bars.
The mechanism can be used for converting the oscillation of the orange bar into the
continuous rotation of the pink bar (input is orange bar).

54
Spherical 4-bar linkage mechanism 1
http://www.youtube.com/watch?v=_fO4-0GOmS0

Spherical 4-bar linkage mechanism 4

http://www.youtube.com/watch?v=OE_BTQP3mE8
Axes of all revolution joints intersect at a common point.

Spherical 4-bar linkage mechanism 5

http://www.youtube.com/watch?v=M7r-6CFFuK8
Axes of all revolution joints intersect at a common point.

Spherical 4-bar linkage mechanism 6

http://www.youtube.com/watch?v=E8WxHclAyMw
Axes of all revolution joints intersect at a common point.

Spherical 6-bar linkage mechanism

http://www.youtube.com/watch?v=lF2btFdXEOA
Axes of all revolution joints intersect at a common point.

Spherical slider-crank mechanism 1a

https://youtu.be/fc3r-geWGNc
Input: pink crank.
Output: orange slider reciprocating along yellow stationary circular
runway. Center O of glass sphere lies on axis of the said runway.
Axes of three revolution joints intersect each other at point O.

55
Spherical slider-crank mechanism 1b
https://youtu.be/75Zts26jmW4
It’s an embodiment of “Spherical slider-crank mechanism 1a “
https://youtu.be/fc3r-geWGNc
Input: pink crank.
Yellow slider reciprocating along white stationary circular runway.
Axes of three revolution joints and the runway axis are concurrent.
Blue cross plays role of a connecting rod performing complicated
motion around the concurrent point.

Spatial coulisse mechanism of oblique crank

https://youtu.be/vYDhw6DwpV8
Input: pink crank.
Output: orange rocker.
Red ball is connected with blue slider by a spherical joint.
Angular amplituda A of the output rocker depends on position of the
ball along oblique pivot of the crank. Violet screw is used for altering
the amplituda A. The video shows adjusting process from A = 0 to A = max and reversely.

Spherical 4R mechanism 1
http://youtu.be/NnWwkSXiCBw
4R: 4 revolute joints.
Spherical: Joint center lines intersect at a common point.
Angle between center lines of revolute joints:
for the orange input link is γ = 20 deg.
for the green output link is β = 60 deg.
for the blue link is α = 70 deg.
for the base link is δ = 30 deg.
The output link oscillates.
Oscillation period is 2 rev. of the orange input link.

Spherical 4R mechanism 1a
http://youtu.be/mUB5VDFCZ44
4R: 4 revolute joints.
Spherical: Joint center lines intersect at a common point.
Angle between center lines of revolute joints:
for the orange input link is γ = 20 deg.
for the green output link is β = 90 deg.
for the blue link is α = 90 deg.
for the base link is δ = 70 deg.
The output link oscillates.
Oscillation period is 1 rev. of the orange input link.

56
Space 4-bar mechanism 11 r
http://www.youtube.com/watch?v=-KYomnT8xSc
R-S-S-R mechanism
R-S-R-R: Joint symbols from input to output joint.
R: revolute
S: sphere
It does not meet Kutzbach criterion.

Spatial 4-bar linkage mechanism 2

http://www.youtube.com/watch?v=n44LvAEzovk
Shaft of bigger eccentricity is rocker.
Angle between two shafts is arbitrary.

Spatial 4-bar linkage mechanism 4

http://www.youtube.com/watch?v=ZWgupzGoUP8

Oblique Crank - Rocker mechanism 1

http://www.youtube.com/watch?v=aYYJ-x_1nLg

Oblique Crank - Rocker mechanism 2

http://www.youtube.com/watch?v=pxQIrf1U7G8

Oblique Crank - Rocker mechanism 3

http://www.youtube.com/watch?v=mrxWgPrdWNw

Spherical coulisse mechanism 1

https://youtu.be/WPuIyZNWVEw
Input: blue crank.
Output: green rocker of circular slot.
Axes of three revolute joints intersect at one point.

57
Rotary oblique disk mechanism 1a
https://youtu.be/0deDO4iKqQo
It’s a spatial 4-bar linkage for converting rotation into angular
oscillation.
Input: grey shaft to which an oblique disk is fixed. The latter makes
blue T-shaped part oscillate thanks two green yokes.
Input and output axes are perpendicular to each other.

Rotary oblique disk mechanism 1b

https://youtu.be/w2SmrvgiqQM
Input: grey shaft to which an orange disk is pivoted. The latter
makes blue T-shaped part oscillate thanks two green yokes.
Input and output axes are skew at an angle of 90 deg.
Pink screw is for moving the grey shaft axially thus adjusting angle
A between the shaft and the disk.
If A = 90 deg. the blue part does not oscillate.
The video show adjusting process to get various oscillating angles even when the input
shaft rotates.
If the input and output axes are intersecting (not skew), the adjusting process may get stuck
when A = 90 deg..

Rocker of adjustable angle

https://youtu.be/hoQFUTzL4x4
Input: blue shaft of circular slot.
A spherical 4-bar linkage consisting of cyan rocker, violet fork,
green fork and the input shaft converts input rotation into
angular oscillation of the cyan rocker.
Pink screw is for moving orange rotary slider axially thus
adjusting angle A between input shaft and violet fork via yellow
angular arm.
If A = 0 deg. the rocker does not oscillate.
The video show adjusting process to get various oscillating angles from 0 to 45 and 90 deg.
when the blue shaft rotates and immobile (last scene).
Input and output axes are perpendicular to each other.

Oblique crank - rocker mechanism 2b

https://youtu.be/7hrzllpQHJA
It’s a spherical mechanism.
Axes of 3 revolution joints are convergent.
Input: pink crank.
Oblique angle of the crank A = 45 deg.
Oscillating angle of blue rocker B = 2A = 90 deg.

58
Spherical drive of balls
https://youtu.be/cN1Uia5JkhE
Steel balls (in red) riding within circular grooves convert a
continuous rotary motion of the input (in pink) into an oscillating
one of the output (in green).
This video was made based on the mechanism shown on page
170 of Sclater & Chironis, Mechanisms And Mechanical Devices
Sourcebook, 2001, 485 p.

59
3.2. Gears

Transmission with teeth-uncompleted gears 12

http://youtu.be/ndwCVs9ssIo
The blue gear with external and internal teeth is driving. The orange
gear oscillates with dwell. The dwell period is varied depending the
tooth numbers of the blue gear.
The oscillation forward and backward angles may be different
depending on numbers of external and internal teeth and stop
positions of the orange gear.

Transmission with teeth-uncompleted gears 11

http://youtu.be/cGcQhXtpFoY
The orange shaft splined with the blue and yellow gears is
driving. The pink output shaft oscillates with dwell. The
forward and backward angles may be different depending
on the tooth numbers of the blue and yellow gears and stop
positions of the pink and green gears.
The device to keep the output shaft immobile during its
dwell is not shown.

Triangular gear 1
http://youtu.be/y99G7yej3-Y
An input pink gear, rotating around fixed axis, engeges with a gear of
triagular shape. The latter has revolution joint with blue output crank.
The crank oscillates with dwell. The gravity maintains gear
engagement.

Pin gear drive 4A

http://youtu.be/kz2vm9FCtjY
The orange pinion is input. Its shaft has an end sliding in the
closed circular slot of the yellow pin wheel. Because of meshing
force the cyan slider carrying the orange pinion reciprocates. The
yellow pin wheel oscillates with constant speed.
The rotation from a stationary source (the green pulley) is
transmitted to the orange pinion through the Oldham coupling.

60
Pin gear drive 4B
http://youtu.be/lo1c0V4GO-I
The pink pinion is input. Its shaft has an end sliding in the closed
curved slot of the yellow pin wheel. Because of meshing force the
green slider carrying the pink pinion reciprocates. The yellow pin
wheel oscillates with varied speed. The angle of oscillation can be
more than 360 deg.
The rotation from a stationary source is transmitted to the pink
pinion by suitable mechanisms: double Hook’s joint, Oldham
coupling, …

Transmission with teeth-uncompleted gears 14

http://youtu.be/ya7IC-0JyTg
The yellow gear is driving. The orange output shaft oscillates with
dwell.
The tooth number of the yellow gear decides the oscillation angle
and dwell time of the output.

Transmission with teeth-uncompleted gears 15

http://youtu.be/eBIsbAaOOFc
The green gear is driving. The blue output shaft oscillates with dwell.
The tooth number of the green gear decides the oscillation angle and
dwell time of the output.

Transmission with teeth-uncompleted gears 16

http://youtu.be/pZihUvOKYko
The pink gear is driving. The blue output shaft oscillates with dwell.
The tooth numbers of the pink gear and the blue gears decide the
oscillation angle and dwell time of the output.

Bevel gears for angular reciprocation

https://youtu.be/pOMmBK2fe8g
In 1 revolution of orange input shaft, the grey output shaft turns
around 178 deg. forwards then 178 deg. backwards.
The input has 7 teeth.
The output has 18 teeth.
The mechanism can work with any rotary direction.

61
Cage gear for angular reciprocation 1
https://youtu.be/uYOoax7TTrQ
In 1 revolution of violet input shaft the yellow output shaft turns 360 deg.
forwards then 360 deg. backwards.
The input has 13 pins.
The output has 16 rods.
The mechanism can work with any rotary direction.

Cage gear for angular reciprocation 2

https://youtu.be/748pOoBNrUo
In 1 revolution of violet input shaft the yellow output shaft turns 180 deg.
forwards then 180 deg. backwards.
The input has 6 pins.
The output has 16 rods.
The mechanism can work with any rotary direction.

Bevel gears for interrupted oscillation

https://youtu.be/3Wmu1MgL3v4
In 1 revolution of orange input shaft, the blue output shaft turns 90,
pauses, turns back 90 deg. and pauses.
Yellow disk and two cyan sectors keep the output immobile during
dwell time.
The input has 3 teeth.
The output has 20 teeth.
The mechanism works with the shown rotary direction.

62
3.3. Cams

Disk cam mechanism DRr1

http://youtu.be/vWIyxkMVBwc
Dual cam.
The main cam is orange. The yellow one is added for cam
geometrical closure.
Its profile must be designed to maintain permanent contact of both
rollers with cams.

Disk cam mechanism DRp1

http://youtu.be/a9GfqAILs1Q
Dual cam.
The main cam is orange. The yellow one is added for cam geometrical
closure.
Its profile must be designed to maintain permanent contact of both
follower’s planes with cams.

Cam mechanism of output with large oscillation angle

http://youtu.be/e6jSX1CbgVw

Disk cam assembly 1

http://youtu.be/Fo1XpEgY6MY
The cam assembly consists of orange cam and green one. They are
fixed together by pink bolt. Their relative position can be adjusted to
get various dwell times of the blue follower. Gravity maintains
permanent contact between rollers and cam.

Disk cam assembly 2

http://youtu.be/paCOPz_h4jM
The cam assembly consists of a yellow round disk and some
triangular cams. They are fixed together by cyan bolts. Their
relative position can be adjusted to get various motions of the blue
follower. Gravity maintains permanent contact between rollers and
cam.

63
Disk cam mechanism DR1a
http://youtu.be/Ru1jSCA9pfk
The cam consists of two parts: blue round disk and yellow cam.
Green follower moves one time during two revolutions of the
cam.
The weight forces the follower toward the cam. Spring force is
another possible way. There must be sufficient friction between
the yellow cam and the blue pin to avoid accidental motion of
the yellow cam.
The idea of this video is taken from
http://www.youtube.com/watch?v=M7H-wnHxxXU
by the introduction of a Youtube user, TheWindGinProject.

Disk cam mechanism DR1b

http://youtu.be/eNyDPvqZBVs
The cam consists of a blue round disk and n (=3) yellow cams.
The red follower is immobile during one revolution of the blue disk
and then moves n (=3) times during the next revolution.
The weight forces the follower toward the cam. There must be
sufficient friction between the yellow cams and the blue pins to avoid accidental motions.

Sphere cam 1
http://youtu.be/_UId85q0hCc
Roller axis, crank axis and cam rotary axis intersect at the center of the
cam sphere.

Sphere cam 2
http://youtu.be/Hslk7-EIVis
Roller axis, crank axis and cam rotary axis intersect at the center of the
cam sphere.

Sphere cam 3
http://youtu.be/scnSa6f6QCE
Roller axis, crank axis and cam rotary axis intersect at a point that is not the
center of the cam sphere. The roller must be long enough to maintain
contact between follower and cam that are of gravity constraint:

64
Barrel cam mechanism BR1
http://youtu.be/qYRU5eu1HHI
A barrel cam with milled grooves is used in sewing machines to
guide thread. This kind of cam is also used extensively in textile
manufacturing machines such as looms and other intricate fabric-
making machines.

Globoid cam 1
http://youtu.be/sYJ3BoLOXBw

Globoid cam 2
http://youtu.be/jHDk9hKQ4M8

Oblique disk-rocker mechanism

http://www.youtube.com/watch?v=6CxfiO_afzo
A spherical mechanism: axes of all revolution joints intersect at a
common point.
Rotation of the small bevel wheels around their axes is irregular.

Torus cam
http://youtu.be/mCRdbEv3ACI
Helix torus joint.
Converting continuous rotation into oscillation between two 90
deg. skew shafts. The oscilating angle can be more than 180 deg.

Angular oscillation with long dwells

https://youtu.be/Evo-4RpVQJE
Violet face cam receives motion from blue input shaft thanks to a bevel
gear drive. The cam controls the oscillation of green bar via two orange
pins and a snap mechanism that consists of the green bar, pink slider,
yellow conrod, orange slider and blue spring.
Red screw is used for adjusting oscillating angle. Lower position of the
orange slider gives smaller angle. The video shows the adjustment from
large angle to small one and return process.

65
3.4. Belts and cables

Cable drive 13a

http://youtu.be/cHOMfNQPThY
A simple way to convert continuous rotation to oscillatory motion.
The spring creates friction between the yellow wheel and the cable.
It acts like the mechanism in video “Application of rack pinion
mechanism 2” of this channel.
However in case of large motion the spring deformation is too big
that causes unnecessary load on the bearings. See “Cable drive
12b” and “Cable drive 12c” of this channel for the ways to overcome this weakness.
The oscillatory angle can be more than 360 deg. by reducing the yellow wheel diameter.

Cable drive 13b

http://youtu.be/7IOxH017ZvU
Converting continuous rotation to oscillatory motion.
Using one crank more and gear drive reduces the spring deformation.
See “Cable drive 12a” of this channel for comparison.
Beside creating friction between the yellow wheel and the cable, the
spring compensates velocity difference of the cable ends caused by
the two cranks.

Cable drive 13c

http://youtu.be/2ECoeKLEj_c
Converting continuous rotation to oscillatory motion.
Using twincam and two levers reduces the spring deformation. See “Cable
drive 12a” of this channel for comparison.
Beside creating friction between the yellow wheel and the cable, the
spring ensures a permanent contact between rollers and cam and
compensates velocity difference of the cable ends caused by the two
levers.

Chain drive 8B
http://youtu.be/yuTpsIrrljY
Converting continuous rotation into oscilation with dwells at one end of the
course.
Three sprockets are identical. The pink one is driving. The violet chain link
has an axle for a revolution joint with the red slider.
The dwell time depends on axle distance of two blue sprockets.

66
Cable drive 25
http://youtu.be/y8Squ43mUrE
Converting continuous rotation of the pink crank to reciprocating rotation
of the orange pulley.
The brown cable wraps 1 revolution around the orange pulley. Two cable
ends are fixed to the green sector.
Rotation angle of the output orange pulley can be more than 1 revolution.

Cable drive 13d

https://youtu.be/7afpvPPFAKw
Input: pink crank rotating continuously.
Output: orange shaft having reciprocating rotary motion. It’s
amplitude can be more than 180 deg. or several revolutions (an
ordinary 4-bar linkage can not reach such amplitude).
Black wire wraps about orange pulley 1 or many turns. Its ends
are fixed to green bar. Red screw is for creating the wire tension
to prevent the cable slippage. For the same purpose fix the cable middle point to the pulley
if the cable is long enough.
The cable drive can be replaced with a gear-rack drive:
http://www.youtube.com/watch?v=jNqET_RBLrs

67
3.5. Combined mechanisms

Gear and linkage mechanism 5

http://www.youtube.com/watch?v=zYdwKg6bYIc
Pink and orange gears (tooth numbers: 16 and 24) have revolution joints
with the blue rocker. The orange gear has revolution joint with green
rocker. The two rocker and the orange gear create a 4-bar linkage. When
the pink input gear rotates regularly, two rockers (green and blue) oscillate.
Their motion depends on the 4-bar linkage dimension.

Drive for weaving machine beater

http://youtu.be/n0rcMMRWuJk
Input is pink gear.
Output is yellow beater of a weaving machine.
Green gear rotates on its eccentric portion. The red bar has a
revolution joint with the concentric portion of the green gear.
The drive enables the beater to perfom a quick push on the right and a
long rest on the left.

Gear and linkage mechanism 16

http://youtu.be/pPxXYyWJE44
Orange gear pitch diameter : 1.5R
Pink gear pitch diameter : 0.75R
Crank radius of orange gear : R
Crank radius of pink gear : 0.75R
Length of blue and green bars : 2.9R
Length of yellow bar : 2.6R
Length of violet crank : 2.5R
Distances between bearings: 2.25R + 1.5R + 3.2R
Assembly position: as start position of the simulation video.
Input : pink gear rotating regularly.
The violet crank oscillates with two dwells in one working period of 2 revolutions of the pink
gear because the locus (in blue) of a cyan pin contains two portions of radius that is
approximately equal to the yellow bar length.

Oval gear 2
http://youtu.be/c3guaI5r2ks
A blue gear of oval shape, rotating around fixed axis, engages with
yellow gear of a gear–pulley block. The latter has revolution joint with
the green angle arm that can rock around a fixed axis.
Orange slider can reciprocate in the slot of the green angle arm.
Input is pink pulley. The blue oval gear rotates irregularly. Brown bar
reciprocates with dwell.
Weight of the brown bar (or spring) maintains permanent engagement
of the gear drive.
Input can be the blue oval gear. In that case the belt drive isn’t needed.

68
Application of rack pinion mechanism 2
http://www.youtube.com/watch?v=jNqET_RBLrs
Car windscreen wiper mechanism.

Rack and gear sector

http://youtu.be/IZddfZssoco
Input: orange crank
Output: yellow gear sector oscillating.
Green part maintains the engagement between blue rack
and the gear sector.
The unusualness is: the gear sector oscillates around an
eccentric axis, not its geometrical one. For comparison see:
http://www.youtube.com/watch?v=jNqET_RBLrs

Opposite angular oscillations

https://youtu.be/holIbm8Dnrg
Green bevel gear gets the rotary reciprocating motion from a motor
via a gear-rack mechanism. The action of the latter looks like a violin
so this mechanism should be named as the violin mechanism.
The blue bevel gear and the green one rotate in opposite directions
thanks to violet bevel gears.
This mechanism may be used for stirring machines as shown in the
last scenes of this video.

Rack gear clutch 1

http://youtu.be/PUKfykGfkV4
Input: pink crank that rotates continuously.
Output: yellow gear shaft that oscillates.
Use green lever to close or disclose the clutch via orange cam.
The mechanism is used in washing machines.

Reverse gear drive with dwell 1

http://www.youtube.com/watch?v=2fVz5KIZIlo
Oscilating angle of two gears depends on:
- Position of the orange pin on the yellow input crank.
- Length of the bars attached to the gears.

69
Two rocker mechanism with bevel gears
http://youtu.be/zv-yK7XECYE
Two rockers (in grey and green) oscilate while the input pink
gear rotates continuously.
Bevel gears have the same tooth number. The orange gear shaft
has an eccentric for the grey rocker. It is case of four-bar linkage,
in which the conrod (orange eccentric) is the driving link.
To slow down the rocker oscilation, the transmission ratio of
bevel gear drives can differ from 1.
Move the blue slider by turning the violet screw for getting various course positions of the
green rocker.
Instead of bevel gear drives, worm or helical gear ones can be used.

Gear-rack and parallelogram mechanism 1a

http://youtu.be/kqCaE2yX6kU
Two cranks and yellow rack create a parallelogram mechanism.
Input: pink crank rotating continuously.
Output: green gear performing harmonic oscilation. Oscilating
angle depends on the crank radius.
Input and output axes are skew at 90 deg. angle.
Blue conrod jointing two eccentrics of the cranks is for overcoming dead positions.

Gear-rack and parallelogram mechanism 1b

http://youtu.be/i6Dzv8I_5s0
Two cranks and yellow rack create a parallelogram mechanism.
Input: pink crank rotating continuously.
Output: green gear performing harmonic oscilation. Oscilating angle
depends on the crank radius.
Input and output axes are skew at 90 deg. angle.
Output axis is not perpendicular to the plane created by two crank
axes.
Blue conrod jointing two eccentrics of the cranks is for overcoming dead positions.

Gear-rack and parallelogram mechanism 2

http://youtu.be/xbKb0dgqmM4
Two cranks and yellow rack create a parallelogram mechanism.
Input: pink crank rotating continuously.
Output: green gear oscilating with dwells at both stroke ends.
Oscilating angle depends on the crank radius and gear face
widths.
Blue conrod jointing two eccentrics of the cranks is for
overcoming dead positions.
Measure to keep the gear immobile during its dwells is not shown.

70
Mechanism for converting continuous rotation into 90 deg.
oscillation to both sides with dwells 1
https://youtu.be/7WFQdFjaXVU
Input: green cam.
A coulisse mechanism is used to enlarge oscillation of the pink follower
(from 20 deg. to 180 deg.).
Output motion of blue lever: Neutral rest - Turn left 90 deg. – Left rest -
Return – Neutral rest - Turn right 90 deg. – Right rest – Return.
Its acceleration near neutral position is big.

Mechanism for converting continuous rotation into 90 deg. oscillation

to both sides with dwells 2
http://youtu.be/kNQmjPjrUi0
Input: green cam.
Two gear drives are used to increase oscillation of the pink follower (from
20 deg. to 180 deg.). Transmission ratio: 3 x 3 = 9.
Output motion of blue lever: Neutral rest - Turn left 90 deg. – Left rest -
Return – Neutral rest - Turn right 90 deg. – Right rest – Return.

Fast cam follower motion

http://youtu.be/Zs4gKdqFwGk
Input: blue shaft with two gears fixed on it.
Yellow block and pink block rotates idly on a fixed shaft. Each
block has identical cam. The yellow rotates faster tha the pink.
Output: orange rocker. Its roller contacts both cams. Motion of
the follower is as fast as in case there is no the pink cam but the
working cycle is long (every three revolutions of the yellow cam).
Tooth number of the blue gear 12
Tooth number of the pink gear 18
Tooth number of the green and yellow gears: 15
The cycle can be very long by altering gear tooth numbers.

Cut-out cam
http://www.youtube.com/watch?v=4RJhFvLlrOo
A rapid rise and fall within 90 deg. was desired. This originally called
for the pink cam contour but produced severe pressure angles. The
condition was improved by providing an additional green cam which
rotates 4 times faster than the pink cam.
The pink cam was then completely cut away for the 90 deg. The
desired motion, expanded over 360 deg. (90x4=360), is now designed
into the green cam. This results in the same pressure angle as would
occur if the pink cam rise occurred over 360 instead of 90 deg.

71
Barrel cam mechanism BT7
http://youtu.be/gV9H8Gjp8KU
Rotational motion is converted into oscillating motion with
dwells. When moving in the cam’s groove, the violet chain’s
pins has linear motion.

Barrel cam for reverse 180 deg. rotation 1

https://youtu.be/LjZ12d6fT4s
Input: pink shaft rotating regularly.
Green shaft is identical to the pink one and rotates with the same
velocity and direction.
Output: yellow cam shaft oscillating with dwells at its stroke ends.
Oscillating angle: 180 deg.
The arcs of the two cranks are for keeping the output shaft
immobile during its dwells.
It is a development of the mechanism shown at:
http://youtu.be/gV9H8Gjp8KU

Barrel cam for reverse 180 deg. rotation 2

https://youtu.be/-PhB19njbCc
Input: green shaft of two long pins rotating regularly.
Output: pink cam shaft of two crossed helical grooves oscillating with
dwells at its stroke ends. Oscillating angle: 180 deg.
The arcs of the input are for keeping the output immobile during its
dwells.
Pay attention to the ellipse section of the pins which helps the output
rotate stably when the pins are at the crossed place of helical grooves.
Long axis of the pin section ellipse is in the direction of the groove
along which the pin moves.
It is a development of the mechanism shown at:
http://youtu.be/gV9H8Gjp8KU

Geneva mechanism for reverse 90 deg. rotation

https://youtu.be/d6fIM1f7DcQ
Input: pink crank rotating regularly.
Blue crank is identical to the pink one and rotates with the same
velocity and in opposite direction.
Output: yellow Geneva disk oscillating with dwells at its stroke ends.
Oscillating angle: 90 deg.
The sectors of the two cranks help keeping the output shaft
immobile during its dwells.

72
Geneva mechanism for reverse 120 deg. rotation
https://youtu.be/SwdCKnGz0yg
Input: yellow shaft rotating regularly.
Blue crank is identical to the violet one and rotates with the same
velocity and in opposite direction.
Output: green Geneva disk oscillating with dwells at its stroke
ends. Oscillating angle: 120 deg.
The blue sectors of the blue crank help keeping the output
immobile during its dwells.

Dwell rocker mechanism 1

http://youtu.be/8h9mjKA5SjQ
The red crank is driving. The pink output gear shaft oscillates with
dwell at its stroke ends. The oscillation angle and dwell time of the
output depend on positions of the violet adjustable stoppers and
position of the orange pin in the yellow sector slot.

Sinus and rack pinion drive

http://youtu.be/BLTQ4cNahXs
Combination of a sinus mechanism (yellow crank and blue rack-slider)
and rack-gear drive makes the green shaft oscillate with amplitude of 1
revolution.
The radius of the yellow crank is equal to Pi.D/2. D is pitch diameter of
the green gear.

Chain drive 3A
http://youtu.be/WN01eHdUk_4
The coulisse rocks with long dwells at the ends of the stroke.

Chain drive 3B
http://youtu.be/_Xq5SSIjUwM
The orange sprocket is driving.
The motion of pink crank and disk depends on the ratio of tooth
numbers of the two sprockets (8/16) and the chain link number
(28).

73
Chain drive 3C
http://youtu.be/V7sbSglTXVA
The orange sprocket is driving. The pink crank oscillates.

Gear linkage for 1 rev. oscillation.

https://youtu.be/2MC8QBbADOo
Input pink crank.
Output: yellow gear shaft.
The input and output are coaxial.
One revolution of the input makes the output rotate forwards and
backwards approximately one revolution (348 deg.).
Weaknees of this mechanism: output rotation is not regular.
See mechanisms of the same function:
https://youtu.be/ndwCVs9ssIo
https://youtu.be/cGcQhXtpFoY
https://youtu.be/lo1c0V4GO-I
https://youtu.be/eBIsbAaOOFc

74
4. Altering rotary oscillations

Typewriter drive 2
https://youtu.be/wON-9sGyWWA
Two coulisse linkages are connected in series. The finger force of a
typewriter (applied on pink bar) causes a strong hammer (in green)
action at the roller from a light touch. Here high velocity of the hammer
gives it a large kinetic energy.

Slider crank and coulisse mechanism 1

http://youtu.be/SdwIGoJ-3ag
Input: blue crank that has turning angle α.
Output: orange bar that has turning angle β.
α, β = 0 when the blue crank and the orange bar are in line with the
fixed runway.
Distance between revolution joints of the green bar is 16 + 6.
Distance between revolution joints (length) of the blue crank is 20.
In the α range from 0 to 20 deg., β is nearly double α with max error of 5%.
The mechism can be applied for controlling ball retainer in Rzeppa joints.

Gear rack drive for reversing rotation 1

https://youtu.be/J8eCsw5nLsQ
Green runway is kept immobile by its pin and a slot on the base.
Input: pink (or blue) gear.
Output: the other gear. It turns at the same input velocity but in opposite
direction.
Disadvantage: turnable angle can not be large subject to rack length.

Two screw-slider drive

https://youtu.be/SERbw7cdk3w
Input: orange shaft. Lead of its helical slot is Li.
Output: green shaft (coaxial with the input). Lead of its helical slot is Lo.
Output lead angle should not be less than 30 deg. to ease the output
motion (to avoid self-locking).
Pink slider has a pin that contacts slots of both shafts.
Transmission ratio: i = Lo/Li
The two shafts turn in the same direction if their helical slots are of the same hand and vice
versa.
The video shows case when Lo = 2 Li. Thread hands are opposite.
The two shafts turn in opposite directions. The orange turns 1 rev., the green turns ½ rev.
If Lo = Li, the mechanism becomes a coaxial reverser.

75
Helical joint reverser of rotary motion
https://youtu.be/PCM-1X-dbxk
Input: green outer tube of right hand helical slot.
Output: blue inner tube of left hand helical slot.
They rotate in opposite directions with the same velocity.
The helical slots have the same lead.
Red pin moves in both slots.
Pink slider moves in the base groove.

Facial cam 2
https://youtu.be/jrlvTxpysAM
Input: yellow shaft angularly reciprocating.
Output: green slider interruptedly linearly reciprocating.
Violet pawl makes blue face cam rotate in one direction.
A flat spring forces the pawl toward ratchet wheel of the cam.
Red spring maintains contact between the blue cam and cam
follower fixed to the green slider.
Red and yellow pins restrict rotary angle of the input yellow shaft.
This mechanism is expected to be used for a prosthetic hand.
The yellow part is fixed to the forearm. The white part is fixed to the upper arm. The forearm
rotation is used to control artificial fingers (not shown) via the green slider.
This design was made on request of a YouTube viewer from Netherlands.

Screw reverser
https://youtu.be/nDQ4uf3U3v8
Input: grey screw.
Output: orange crank shaft.
Transmission ratio between the coaxial input and output is -1
(rotating in opposite directions with the same velocity).
The grey screw of h2 lead is in mesh with internal thread of the
green nut-screw.
The base having internal thread of h3 lead is in mesh with external thread of the green nut-
screw.
h3 = 2.h2
The threads are right-handed.
A pin fixed to the green nut-screw slides along longitudinal groove in the orange crank shaft
hole.
In two last scenes one fourth of some links are cut off for easy understanding.
This mechanism needs to verified in practice.
For calculation of this reverser refer to:
http://www.youtube.com/watch?v=0P-ao2F3jvc

76
Coaxial pedals of opposite direction motions 1
https://youtu.be/giY0BaeX_JA
It is a double slider-crank mechanism of common slider.
Velocities of two pedals are the same.

Coaxial pedals of opposite direction motions 2

https://youtu.be/LefhdeZEjUw
Velocities of two pedals are nearly the same.
Relative position between the pins of blue shaft or between the
grooves of green shaft affects the velocity relation.

Coaxial pedals of opposite direction motions 3

https://youtu.be/YCNXa3aHhoc
Velocities of two pedals are the same.

Barrel cam reverser 2

https://youtu.be/m50spRgVHY4
The input may be one among two levers (in blue and yellow). The
remaining lever is the output.
They turn in opposite directions.
Pink slider translates thanks to the input barrel cam and turns the
output barrel cam.

Archimedean cam reverser

https://youtu.be/mOy9-S-pSQo
The input may be one among two levers (in blue and yellow).
The remaining lever is the output.
They turn in opposite directions.
Two cams of Archimedean slot (in blue and yellow) are identical.
Pink slider translates thanks to the input cam and turns the
output cam.
Pitch of the Archimedean slots must be big enough to prevent
possible jam.

77
Reverser of Hobson’s joints
https://youtu.be/So9PgIDWI6I
Blue and green cranks turn in opposite directions.
There is a dead position where violet part is vertical so the
cranks only turn +/- 85 deg. in this video.

Reverse transmission between two spherical joints

https://youtu.be/wnUOkknxtgU
Input: green lever that has spherical joint with the base.
Output: pink lever that has spherical joint with the base.
The levers have point-on-line joints (ball in cylindrical hole) with the
yellow part. The latter has planar joint with the base.
Rotary directions of the two levers are opposite in any vertical plane
that contains centers of the two spherical joints.

2D inverted pendulum
https://youtu.be/wftXBezRHb4
Inverted pendulum (in green) can perform its oscillation thanks to a
regular pendulum (in pink) that is hidden in the base.
The pendulums have spherical joints with the base.
The pendulums have point-on-line joints (ball in cylindrical hole) with the
yellow part. The latter has planar joint with the base.
Motion of the pink one is reversed motion of the green one in any
vertical plane that contains centers of the two spherical joints.
If a suitable mass is fixed to lower end of the green pendulum, it will
perform oscillations but it is not an inverted one.

Angle doubling drive

http://youtu.be/zwYQ9fy5CtQ
This angle doubling drive will enlarge the oscillating motion of one
machin member into an output oscillation of the other. If gears are
employed, the direction of rotation cannot be the same unless an
idler gear is installed. In that case, the centers of the input and
output shafts cannot be too close. Rotating the input link clockwise
causes the output to follow in a clockwise direction. For any set of
link proportions, the distance between the shafts determines the
gain in angle multiplication.
The video shows case when the green link rotates 90 deg., the blue
rotates 180 deg.

78
Bar mechanism for reversing rotation 1
https://youtu.be/nwuQvjSxz0c
Yellow, pink and violet sliders have prismatic joints with blue bar,
green bar and grey fixed runway respetively.
The sliders are connected together by revolute joints.
Input: blue (or green) bar.
Output: the other bar. It turns at the same input velocity but in
opposite direction.
Disadvantage: turnable angle is less than 180 deg.

Gear rack mechanism for reversing rotation 2

https://youtu.be/BQndfB7xTQs
Input: pink (or blue) gear.
Output: the other gear. It turns at the same input velocity but in
opposite direction.
Green runways are pivoted idly on the gears so it is easy to adjust
position of the output.
It is possible to set the mechanism to get two gears rotate in the same direction:
reassembly the yellow rack in such a way that its teeth are on one side.

Chain mechanism for reversing rotation 1

https://youtu.be/2KCX5VDrTeU
Input: orange (or yellow) sprocket.
Output: the other sprocket. It turns at the same input velocity but in
opposite direction.
Max turnable angle is around 180 deg. It can be larger when increasing sprocket center
distance.
The blue rod should be of a cable tensioner type to ensure chain tension.

Pin rack mechanism for reversing rotation

https://youtu.be/zXwiEyQAXOo
Input: one of the two gears.
Output: the other gear. It turns at the same input velocity but in
opposite direction.
Yellow runways are pivoted idly on the gears so it is easy to adjust
position of the output.
In place of the pins a stretch of chain fixed to the rack base is a possible variant.
It is possible to set the mechanism to get two gears rotate in the same direction: let the pin
rack to mesh with both two gears on one side.

79
Cable drive 14
http://youtu.be/DaQR9ll_YMo
Input: The brown crank having oscillating rotational motion.
The green crank has the same motion but of inverse direction.
Two yellow wheel has oscillating rotational motion of opposite direction.
Each belt (red and blue) has one end fixed to the brown crank, the other
to green one.

Typewriter drive
http://www.youtube.com/watch?v=jYhkRX--2zI
Two four-bar linkages are connected in series. The finger force of a
typewriter is multiplied producing a strong hammer action at the roller
from a light touch.

Nut-screw and bar mechanisms 1a

http://youtu.be/gFAj1TZCLMs

Nut-screw and bar mechanisms 1b

http://youtu.be/asan09b1Gsc

Nut-screw and bar mechanisms 1c

http://youtu.be/oA487meC_1w

Nut-screw and bar mechanisms 2a

http://youtu.be/xE8pSM9MIyo

Nut-screw and bar mechanisms 2b

http://youtu.be/FVahglFr51c
Device for emptying a tank.

80
Nut-screw and bar mechanisms 3
http://youtu.be/o4N6iviUdgs

Nut-screw and bar mechanisms 7

http://youtu.be/fBJr9DMLQtQ
Belt tensioner.

Converting rotation into coaxial rotary oscillation

https://youtu.be/3nMy6ZiES8A
Input: gray gear of a barrel cam rotating continuously.
Output: blue crank of second barrel cam that performs rotary
oscillation with pauses.
Input and output are coaxial.
Pink slider moves along a groove of the base. Red pin fixed to
the slider moves in both slots of the barrel cams.
Gray cam makes the slider reciprocate linearly.
The slider makes the crank oscillate.

Increasing oscillating angle by helical joints

https://youtu.be/QuZqRMrag0o
Input: barrel cam of blue lever.
Output: green barrel cam to which a green bucket is fixed.
Pink slider moves in straight groove of the base. The slider pin (in
red) moves in helical slots of the two cams.
When the blue lever turns 70 deg., the bucket turns 160 deg.

Increasing oscillating angle by gear drives

https://youtu.be/QuZqRMrag0o
Input: cyan lever to which a blue gear is fixed.
Output: green gear to which a green bucket is fixed.
When the cyan lever turns 70 deg., the bucket turns 160 deg.

Increasing oscillating angle by coulisse linkage

https://youtu.be/o5dzfKdz4m0
Input: cyan lever to which a blue crank is fixed.
Output: green crank to which a green bucket is fixed.
Pins of the two cranks moves in straight slots of pink bar.
When the cyan lever turns 70 deg., the bucket turns 160 deg.

81
5. Converting continuous rotation into linear motion

5.1. Bars

Slider-crank mechanism 1
http://www.youtube.com/watch?v=OltIA-Rl86A
Rotary joint between the conrod (in orange) and the slider (in
green) is larger than the conrod length.

Slider-crank mechanism 2
http://www.youtube.com/watch?v=0nnS8ycMVNA
Rotary joint between the conrod (in violet) and the crank (in blue) is
larger than the conrod length.

Slider-crank mechanism 3
http://www.youtube.com/watch?v=aJx1iQHzB6E
Rotary joint between the conrod (in pink) and the slider (in green)
is larger than the conrod length.

Slider-crank mechanism 4
https://youtu.be/67dxX-FMsH4
Blue conrod is inside green slider.
The conrod-slider revolute joint is on the right.
The conrod-slider contact on the left is for form closing of the said
joint.

Slider-crank mechanism 5
https://youtu.be/qHqkESpDMeA
Orange conrod is inside green slider.
Two revolute joints of the conrod are large than their center distance.

Slider-crank mechanism 6
http://youtu.be/Dv6m1AFejJ4
Blue piston-rod is prolonged and works in a guide, which is in line with the
center of yellow fixed cylinder. The lower part of green connecting-rod is
forked to permit the upper part of the piston-rod to pass between. So the
piston is guided very well.

82
Slider-crank mechanism for long stroke 3
https://youtu.be/56fJjeeEo38
Crank length: a. Conrod length: b
Eccentricity of the slider crank mechanism: e
(distance between rotary axis of the crank and line tracing by a point
on axis of the slider pin)
Key factor for this mechanism: e = b – a
Stroke length of the slider: L = 4.sqrt(a.b)
So theoretically, with a given crank of constant radius a, it is possible to get the stroke
length L as long as desired by increasing the conrod length b.
If b = a; l = 4a
See: http://www.youtube.com/watch?v=Ug7TK4YTRlY
Here: a = 30 ; b= 60 ; L = 169.7
Working cycle corresponds with two revolutions of the crank. Green curve is locus of the
conrod middle point. Dead position: when crank and conrod are in line.
This mechanism is numbered as 175 in the book “507 mechanical movements”, 1868.

Rolling slider
https://youtu.be/v_gt3OtdW7w
The rollers are arranged in such a way that the middle ones contact
lower surfaces of the runway, the others contact the upper surfaces.
There is no sliding between the rollers and runway. Compare with the
case when the rollers arranged in line contact both lower and upper
surfaces.

Slider of added rollers

https://youtu.be/AxWRh_1QTVc
Yellow conrod is connected to green slider via a second conrod
(in violet). The latter has revolute joint with the green slider.
Orange rollers are pivoted on axis of the revolute joint between
yellow and violet conrods.
Roller diameter is slightly smaller than the runway height to ensure that the contact
between roller and the runway are only on one side of the rollers (upper or lower). Thus
mainly rolling friction is applied to the runway.

Bar linkage of constant speed slider

https://youtu.be/i5me5yPRU78
It is created by serial connection of 4-bar linkage (pink, yellow
and blue) and slider crank mechanism (blue, green and red).
Input: pink crank rotating regularly.
Red slider has nearly constant speed when going forwards. Red
line of the graph shows relation of the slider speed and time.
This video was made based on:
https://www.youtube.com/watch?v=SSVBeqtnaAw

83
Slider crank mechanism of equal crank and conrod length 1
https://youtu.be/oGlPbZPI2bQ
The mechanism gives long stroke length of orange slider L = 4R.
R is crank radius (in yellow) and length of conrod (in green).
If the crank is driving the mechanism faces unstable positions when
the crank rotary axis and the slider pivot are in line.
To fix this problem here the mechanism is added with two gears of
equal tooth number to make the conrod driving.
Pink gear is the input, green gear is fixed to the conrod.
A working cycle corresponds 3 revolutions of the pink gear.
It is possible to use chain drive instead of the two gears in case the crank radius is too long.
If tooth numbers of the two gears are not the same, the mechanism works with different
working cycle time.

Slider crank mechanism of equal crank and conrod length 2

https://youtu.be/4QBw1wef438
The mechanism gives long stroke length of orange slider L = 4R.
R is crank radius (in pink) and length of conrod (in green).
If the crank is driving, the mechanism faces unstable positions
when the crank rotary axis and the slider pivot are in line.
To fix this problem here the mechanism is added with a chain drive
to make the conrod driving. The yellow transparent part represents a chain.
Grey sprocket of Z2 teeth is stationary. Green sprocket of Z1 teeth is fixed to the green
conrod. Z2 = 2.Z1.
So the mechanism has two driving links: the crank and the conrod that rotate
synchronically.
If lengths of the crank and the conrod are diferent, the mechanism does not work.

Slider crank mechanism of equal crank and conrod length 3

https://youtu.be/1TQ8ISoJkmc
The mechanism gives long stroke length of blue slider L = 4R.
R is crank radius (in yellow) and length of conrod (in green).
If the crank is driving, the mechanism faces unstable positions when
the crank rotary axis and the slider pivot are in line.
To fix this problem here the green conrod is driving thanks a motor
(in blue) fixed to the slider.
If lengths of the crank and the conrod are diferent, the mechanism does not work.

84
Slider crank mechanism of large pressure angle 1
https://youtu.be/uQHmOk4i2HU
R is crank radius (in yellow)
L is length of conrod (in green).
L is a little larger than R: L = 1.0125R
If the crank is driving, the mechanism is hard to move because of
large pressure angle (between the conrod and moving direction of
the slider).
To fix this problem here the mechanism is added with two gears to make the conrod driving.
Pink gear of tooth number Z1 is the input.
Green gear of tooth number Z2 is fixed to the conrod.
Here K = Z1/Z2 = 1
A working cycle (W) corresponds 2 revolutions of the pink gear.
The crank rotates irregularly.
Advantage: orange slider rests at its right position rather long, around 0.2W.
For other value of K, W will be changed.
It is possible to use chain drive instead of the two gears in case the crank radius is too long.
The mechanism needs to be verified in practice.

Mechanism for adjusting crank radius 1a

http://youtu.be/xaMjCjWGpws
Radius of green crank is adjusted by turning pink gear after retracting
the orange pin. The red nut at the back of the pin gear is for clamping
the gear after adjustment.

Mechanism for adjusting crank radius 2a

http://youtu.be/MCoOX06KnGo
Input: blue shaft.
Output: green slider linearly reciprocating.
The video shows the changing stroke length of the green slider
by turning pink screw to change crank radius.

Mechanism for adjusting crank radius 2b

http://youtu.be/gpLN-fB08Vs
Input: beige disk carrying red slider-pivot.
Output: green slider linearly reciprocating.
Turn yellow bevel gear to change position of the red slider-pivot on
the disk (to adjust crank radius) to get various output strokes.
Device for fixing the red slider-pivot to the disk after adjusting is not shown.

85
Mechanism for adjusting crank radius 3a
http://youtu.be/65OM2dezTBs
Input: blue shaft.
Output: green slider linearly reciprocating.
The video shows the changing stroke length of the green slider
by turning violet screw to change crank radius (distance between
blue shaft axis and orange pivot axis).

Mechanism for adjusting crank radius 1b

http://youtu.be/jLMNtKjM2CE
Input: pink eccentric shaft.
Output: blue slider linearly reciprocating.
Yellow eccentric bush is idly mounted on the eccentric of the pink
shaft. Turn the yellow bush to get various angular positions in
relation with the pink shaft, corresponding various stroke lengths of
the output.
The grey gear disk and violet nut are for fixing the yellow bush and
the pink crank together after adjustment.
Stroke position can be adjusted thanks to screw and round nut of the green conrod.
The video shows the process to reduce stroke length from max value to shorter one.

Eccentricity adjustment 1
https://youtu.be/nHW425X_1w8
Move green eccentric in relation with blue disk to get various
eccentricities. The joint between them is prizmatic (two pins and two
straight slots).
Green bolts is for fixing the eccentric with the disk after adjustment.
The video shows the adjustment process from zero to max value.

Eccentricity adjustment 2
https://youtu.be/uB9jHa2QpyQ
It is an improvement of “Eccentricity adjustment 1“ for heavy duty
mechanism.
Turn pink pinion to move green eccentric in relation with blue disk
to get various eccentricities.
A rack is fixed to green eccectric that has prizmatic joint with blue driving disk.
Two bolts are for fixing the eccentric with the disk after adjustment.
The video shows the adjustment process from zero to max value.

86
Eccentricity adjustment 3
https://youtu.be/3Sol8hMB30Y
Turn pink pinion to move green eccentric in relation with blue disk to
get various eccentricities.
An internal gear sector is fixed to green eccectric that has revolution
joint with blue driving disk.
The nut is for fixing the eccentric with the disk after adjustment.
The video shows the adjustment process from zero to max value.

Adjustable eccentric cam

https://youtu.be/La2lv3FHefc
Input: blue shaft.
Turn pink screw to adjust the stroke length of green follower.
The video shows the process of adjusrtment from 2 mm to 10 mm of the
stroke length.

Adjusting crank radius without stopping it 1

https://youtu.be/VF6iT9WWF4A
It’s an application of
https://youtu.be/EhBBxoh0kuQ
Turn pink screw to adjust the eccentric of orange pivot (crank
radius). The pink screw moves violet nut. The latter moves blue
screw. Axial displacement of the blue screw makes green gear
rotate and move orange rack of orange cross slider carrying the
orange pivot.
The orange slider move in runway of face plate (in popcorn color) of input pulley.
The video shows how to adjust the eccentric from 0 to max value and vice versa.
The adjustment can be performed even without stopping the input pulley as shown in last
two scenes of the video.

Adjusting crank radius without stopping it 2

https://youtu.be/dBakj6Ze3h8
When orange handle is kept immobile by red screw, the rotation
of input disk of belt pulley (in popcorn color) does not make
brown screw rotate thus pivot (in pink) is kept immobile in
runway of the disk. The crank radius is not changed as show in
third scene of the video.
That is ensured by:
1. Bevel gear differential of violet carrier.
2. Spur gear train from yellow gear to violet one. Its transmission ratio is 2.
Tooth numbers of bevel gears are the same.
Turn orange handle of orange bevel gear to change position of pink pivot (thus to adjust the
crank radius) as shown in last scene of the video. Speeds of the handle and the brown
screw are the same. It would be better if a revolution counter for the handle is added to
indicate position of the pink pivot (the crank radius) while adjusting.
The crank radius adjustment can be performed without stopping the input pulley as shown
in two first scenes of the video.

87
Slider-crank mechanism for adjusting stroke position 1
http://youtu.be/JMIEaNwuMEk
Input: pink crankshaft.
Output: blue slider linearly reciprocating.
Turn yellow screw to alter length of the assembly conrod (yellow screw,
green bush and violet nut) for adjusting stroke position of the blue
slider.
The violet nut is for fixing the conrod members together after adjusting.

Slider-crank mechanism for adjusting stroke position 2

http://youtu.be/6iNz9Q6-0oc
Input: pink crankshaft.
Output: yellow slider linearly reciprocating.
Turn red screw to alter position between the yellow slider and the
brown inner slider for adjusting stroke position of the yellow slider.
The violet nut is for fixing the two sliders together after adjusting.

Slider-crank mechanism having a pause at both ends of

stroke 2
http://www.youtube.com/watch?v=TTbWZcg1N6c

Slider crank mechanism with eccentric

http://youtu.be/zR_i_DdRlm0
Input is the orange crank.
Turn the blue eccentric and fix it to get various positions of the
slider course.

Slider crank mechanism with face groove cam

http://youtu.be/RFaLPuKkyAE
Input is the orange crank.
The blue cam is fixed. The cam proflie has two portions, radii of
which are equal to the length of the green connecting rod. Thus the
yellow slider reciprocates with dwells at both ends of it course.

88
Slider-crank mechanism having a pause at both ends of stroke 3
http://youtu.be/s0Lx-6c9JYk
Input: pink crank.
Output: green slider that linearly reciprocates with dwell at both
ends of stroke.
Yellow slider moves along the dovetail shaped groove of the
green slider.
Violet screws are for adjusting positions of orange sliders to get
various stroke lengths of the green slider.
Ball spring devices for positionning the green slider at its end
positions are not shown.

Slider-crank mechanism with dwells

https://youtu.be/1RASk3s5axg
Input: pink shaft rotating continuously.
Output: yellow slider linearly reciprocating with dwells.
The dwells are created due to orange teeth-uncompleted gears.
There are two working modes: the dwells take place at both ends
(first part of this video) or at one end (second part) of the slider
stroke.
Use blue shifter to switch between two modes (moving the teeth-
uncompleted gear block).
It is an application of mechanism shown at:
https://youtu.be/8lNxCUpZH8k
This gear drive can be called as the gear box for interrupted rotation.

Conrod of three sliders mechanism

https://youtu.be/mLUa2hcNky0
Input: blue cross slot disk. The slots are eccentrical.
Output: orange slider of complicated motion rule.
If the slot center lines and the disk rotation axis are concurrent,
the mechanism works as a regular slider-crank mechanism with crank radius R = 1/2L.
L: center distance of two pink sliders.

Slider-crank mechanism with added double crank

http://www.youtube.com/watch?v=fBS00ak30OU
The slider's stroke length is nearly 4 times of the red crank length.

Face gear 15
http://youtu.be/2Y8jBdF8U-4
The face gear is placed eccentrically to the shaft, therefore
the relative radius changes. Due to variable circular motion of
the face gear the pink slider’s left to right motion is faster than
right to left one.
The face width of the face gear must be small to enable gear meshing.

89
Slider-crank mechanism with added double crank
http://www.youtube.com/watch?v=Glm8FxatmNI
The slider's stroke length is 4 times of the red crank length.

Dwell Slider Mechanism 2

http://youtu.be/mq3jsfBg2OI
The input blue crank carries the yellow pawl which engages
two slots of the orange disk to make the violet slider
reciprocate with dwell in the middle of its stroke. The pink cam
controls the pawl by pushing the pawl pin.
1 working cycle of the mechanism corresponds 2 revolutions of
the blue input crank.
Angle between the two slots on the orange disk is not 180 deg.
The device (a ball plunger) to keep the slider immobile during its dwell is not shown.

Inverse parallelogram mechanism 15

http://youtu.be/QmEalhjP8f0
Input: pink crank rotating regularly.
Output: orange slider.
Combination of inverse parallelogram mechanism and slider crank
one gives the output an almost regular velocity during its forward
stroke.
Added gears help the inverse parallelogram mechanism overcome unstable positions.

Slider-twin crank mechanism having a pause at both ends of stroke

http://www.youtube.com/watch?v=IkwYHs2Lba0
Angle between two cranks is 90 degrees.
Crank length = 8, Conrod length = 21
T-shape link is an isosceles triangle. Length of the bottom side =
21. Length of altitude to the bottom side = 18
Eccentricity = 0
The dwell period at each end of stroke is around 10% of cycle
time. The graph shows slider position.

Dwell slider mechanism 4

http://youtu.be/YJhMMj3u73M
The green crank is driving. The yellow output slider
reciprocates with dwell at its stroke ends.
The stroke length and dwell time of the out put slider depend
on positions of the blue adjustatble stoppers. For max stroke
length: distance between the stoppers equals to the pink slider
length.

90
One way linear clutch 1
http://youtu.be/beMNGEcYTvc
The yellow slider reciprocates but the pink rack moves to the
left only.
To adjust the blue screws positions for the move to the right.

Double slider crank mechanism

http://youtu.be/r92k9A3sgrg
The pink slider moves on the yellow one. The latter moves on
stationary runway. Both sliders are driven from the red driving
crank. The stroke of the yellow slider is longer than the one of
the pink slider. Their dead points are a little different in term of
phase.
This mechanism is applied in wire bending machines.

Shaper with Coulisse mechanism 1

http://www.youtube.com/watch?v=hZEdBbc-JMo
Reciprocating motion having working stroke slower than return one.

Shaper with Coulisse mechanism 2

http://www.youtube.com/watch?v=5cb7D9pLcq4
Reciprocating motion having working stroke slower than return one.

Shaper with Coulisse mechanism 3

http://www.youtube.com/watch?v=Icbya3378qE
Reciprocating motion having working stroke slower than return one.

Mechanism for increasing stroke length 3

http://youtu.be/ITYKygWmD9Q
Input: orange crank rotating regularly.
Output: grey bar linearly reciprocating with adjustable stroke length.
Yellow lower slider has revolution joint with pink slider.
Adjust position of the pink slider on the fixed runway to get various
stroke lengths of the output.
The video shows stroke length reducing process when the mechanism
is running.

91
Coulisse mechanism of curved slot
http://youtu.be/J7BHvTM7gcA
The circular arc on the oscillating link permits the link to reach a dwell
during the right position of the output slider.

Coulisse mechanism 4
http://www.youtube.com/watch?v=zPh2EzvuVNc
Combination of a coulisse mechanism and a slider-crank
mechanism.
Reciprocating motion has working stroke slower than return one.

Coulisse mechanism 5
http://www.youtube.com/watch?v=yha4fgFOP0k
Combination of a coulisse mechanism and a slider-crank
mechanism.
The green wheel has complicated rotation.

Sine mechanism 1
http://youtu.be/VALy2PlBuM4
Relation between the rotation angle of the crank and the position
of the green slider is a sinus function.

Sine mechanism 2
http://youtu.be/5GXZ2AzRJqE
Sine mechanism of inclined slot has longer stroke length in
comparation with the sine mechanism of uninclined slot.
The rotation angles of the crank to reach the extremities of the
slider are different too.

Sine mechanism of curved slot 1

http://youtu.be/VPZO7txZIZU
The circular arc on the reciprocating link permits the link to reach a
dwell during its right position.

Sine mechanism of curved slot 2

http://youtu.be/BpU7YqW2eH4
The circular arc on the reciprocating link permits the link to reach
dwell at its left position.

92
Sine mechanism of curved slot 3
http://youtu.be/Jb03Ru6E-UA
The circular arc on the reciprocating link permits the link to reach
dwell at its center position.

Sine mechanism 4
http://youtu.be/O4qYJ77Zbq0
Rotate the pink screw to adjust stroke of the blue slider.

Sine mechanism 3: Press

http://youtu.be/TZR7ccjy9VQ
This kind of press can give 2500 ton forging force, 40 strokes per
minute.

Cam and sine mechanism 2

http://youtu.be/CufL-cYm6eM
The green slider reciprocates with dwells at both ends of its stroke.
The orange rhomb-shaped guide helps the yellow crank’s pin enter
into both round slots alternately. A spring forcing the guides
against the red pin clockwise is not shown.

One way clutch 7: Press

http://youtu.be/pOYoSy33Lg4
The yellow input shaft carrying the red pawl rotates continuously anti-
clockwise. The violet disk (ratchet wheel) has a pin that slides in a
slot of the yellow slider.
The slider goes up by the ratchet mechanism action but goes down
by its weight (when the slider moves faster than the input shaft) so
that the motion cycle time is reduced. For this prototype, 4 revolutions
of the input shaft correspond 7 double strokes of the slider.
The ratchet mechanism can be replaced by a roller clutch of video:
http://youtu.be/umaTetoaAao

93
Geneva disk of linear motion
https://youtu.be/6MIX556XF1o
Input: green double crank of radius R.
Output: yellow 4-slot slider of smooth motion.
Slider stroke length: L = 4R.cos(45).
In fact it is an embodiment of sine mechanism (Scotch yoke) of
inclined slot:
http://youtu.be/5GXZ2AzRJqE

Tangent mechanism
http://youtu.be/DymKkYp-W-A
Relation between the rotation angle of the blue crank and the
position of the green slider is a tangent function. No link can have
full rotation

Tangent mechanism 2
https://youtu.be/ScduZh40kXI
It is a structural embodiment of the mechanism shown by the sketch.
Orange input part: 8
Blue disk: 7
Green slider: 3

Tangent mechanism of curved slot

http://youtu.be/0wMIH4x0OKo
Combination of 4R mechanism and tangent mechanism. The
latter has curved slot so the slider has a dwell in the middle of
its stroke.

Ellipse mechanism 1a
http://youtu.be/gnJSN0T4AUw
Ellipse mechanism with non 90 deg. angle between sliding directions.
Position of joint between the blue crank and the green connecting rod
and radius of the blue crank must be selected based on the description in
http://www.youtube.com/watch?v=8WCee-fP9rg

Ellipse mechanism 1b
http://youtu.be/0h0ofdDauQE
Ellipse mechanism with non 90 deg. angle between sliding
directions.

94
Ellipse mechanism 2
http://youtu.be/n59bLDYTEFE
Ellipse mechanism with 90 deg. angle between sliding directions.
Stroke length of the blue and green sliders equal four times of the
pink crank radius.

Dwell Slider Linkage 1

http://youtu.be/IDL-D7DMOc0
Length of the yellow conrod approximates to the radius of curve
segment of the pink locus. The orange slider has dwell at its upper
position.

Dwell Slider Linkage 2

http://youtu.be/bAhpxjeDOBY
Length of the yellow conrod approximates to the radius of curve
segment of the pink locus. The orange right slider has dwell at its
left position.

Dwell Slider Linkage 3

http://youtu.be/UBwra_MjI5g
The slider dwells at its leftest position, when toggle positions of
the conrods happen one after another at the same time. The
mechanism is used in screw making machines

Dwell Slider Linkage 4

http://youtu.be/XI0HrvyT504
The slider dwells at its leftest position, when toggle positions of
the conrods happen one after another at the same time.

Dwell Slider Linkage 5

http://youtu.be/hP4hEeiqS4Y
This mechanism is used in deep stamp machines.
The outer slider has long dwell during 1/3 revolution of the red crank.

95
Double coulisse mechanism 1
http://youtu.be/m2_HCp8DmNU
Input is pink crank of constant velocity.
Output is green slider of forwards slow constant velocity motion to
the left and quick return. The mechanism can be applied for
shapers (machine tools)

Slider and parallelogram mechanism 3

http://youtu.be/f47Oioat0pc
Two cranks and yellow conrod create a parallelogram
mechanism.
Input: pink crank rotating continuously.
Output: green slider performing linear harmonic oscillation like
in sine mechanism. Prismatic joint between the conrod and
green slider ensures no offset for force applied to the slider
(the offset is considerable in case of sine mechanism).
Blue conrod jointing two eccentrics of the cranks is for overcoming dead positions.

Linear reciprocating motion of long dwell

https://youtu.be/xXIvdF5m1Ok
Input: pink crank rotating continuously.
Output: yellow slider that has linear reciprocating motion of long
dwell at its rightest position.
Dwell time is more than 1/2 of working period.
Length of pink crank: a
Length of blue bar: 4a
Distances between stationary bearings: 1.5a.

Slider crank mechanism with elbow-lever 1

http://youtu.be/QHqbYz8lBTI
Input: orange crank having a stud.
Output: pink slider linearly reciprocating with dwell at its leftest
position.
Blue elbow-lever returns to its initial position thanks to violet coil
spring.

Slider crank mechanism with elbow-lever 2

http://youtu.be/fOO_7RDauiM
Input: orange crank having two studs.
Output: pink slider linearly reciprocating.
Blue elbow-lever returns to its initial position thanks to the gravity.
In one revolution of the input the slider performs two double strokes.

96
Dwell Slider Mechanism 3
http://youtu.be/-QT0RL93ST4
The green twin crank rotates with slow speed. The blue slider
reciprocates with quick return and dwells at its end positions. The
slider and the yellow pawl return by their weight or by springs force
(not shown). Angle between the levers of the twin crank decides
dwell time.

Spatial slider crank mechanism 1

http://www.youtube.com/watch?v=qAGZCB3vZDI

Spatial slider crank mechanism 2

http://www.youtube.com/watch?v=PM--PK5ROkg

Spatial slider crank mechanism 3

http://www.youtube.com/watch?v=oqtN3Zrf9Nk

Spatial slider crank mechanism 4

http://www.youtube.com/watch?v=bBBuLt0Vz3k

Spatial slider crank mechanism 5

http://www.youtube.com/watch?v=sc-qsmidxVw

97
In-line reciprocator
http://youtu.be/EG7j2koS9DQ
Input: pink shaft.
This is a simple way to convert rotary motion to reciprocating
motion. Both input and output shafts are in line with each
other.
The right half of the device is a spatial reciprocator. Rotating
the input crank causes its link to oscillate. A second
connecting link then converts that oscillation into the desired
in-line output motion.
Rotary axes of the pink shaft and the orange crank, axis ot revolution joint between the
orange crank and violet part, axis ot revolution joint between the pink shaft and grey part
must be concurrent.

Spatial double crank slider mechanism

https://youtu.be/5EdcZXo3FWY
It is an application of Hobson’s joint for air compressors.
Input: orange shaft.
Center of the conrod head moves along an ellipse (in green).
Advantages:
- Pressure angle on piston is small.
- Small crank radius (R) gives large displacement (L) of the piston.
L = 2.R/sin(A/2)
A: angle between crank rotary axes.
Here A = 60 deg., L = 4R
Recirculating ball linear bearings for round shaft should be used for the green angular bar.
The mechanism has unstable positions when the planes created by axes of two joints of
each crank are vertical.

Nonstop regulatable linear oscillation 1

https://youtu.be/QfCSXu-3C7o
Input: blue spindle.
Output: violet blade linearly reciprocating.
Pink disk of circular groove is pivoted on the blue spindle.
Grey disk of circular groove has prismatic joint with the blue
spindle.
Green conrod connects the two disks.
When the pink disk is perpendicular to the blue spindle, the violet blade is immobile. The
latter comes into motion only when the pink disk is not perpendicular to the spindle.
Use orange screw to move the grey disk thus make the pink disk slanting.
First scene of the video shows regulating process from 0 to max stroke and vice versa
without stopping the spindle.
This mechanism can be used for power scrapers.

98
Spatial slider crank mechanism
https://youtu.be/q9c1o_q8JPI
Input: orange crank shaft rotating continuously.
Output: green slider reciprocating linearly.
Moving direction of the slider is parallel to rotary axis of the crank
shaft.
It can be also used for converting linear reciprocating motion into
continuous rotation.

99
5.2. Gears

Pin rack drive 2A

http://youtu.be/RxgB1xEv5UM
The red pinion is input. Its shaft has an end sliding in the
running track shape slot of the cyan pin rack. Because of
gear forces the cyan pin rack and the yellow slider carrying
the red pinion reciprocate.
The rotation from a stationary source is transmitted to the
red pinion by suitable mechanisms: double Hook’s joint,
Oldham coupling, …

Pin rack drive 2B

http://youtu.be/itP_dBADciU
The blue pulley is input. The red pinion shaft has an end
sliding in the running track shape slot of the yellow pin rack.
Because of gear forces the yellow pin rack reciprocates and
the cyan arm oscillates.

Pin rack drive 3

http://youtu.be/ohRko--KoKc
The green pin wheel is input. The yellow frame carrying two pink
racks reciprocates with constant velocity. The dwell at the stroke
ends is possible by cutting the pins.
Max stroke length = ½ circumference of the pin wheel rolling circle.

Pin rack drive 4

http://youtu.be/q7hpu95C-2M
The pink rotor (3-pin wheel) is driving. The blue frame (assembly
of two racks of one tooth each) reciprocates with dwell.

Ratchet mechanism 6
http://youtu.be/GSABM0GR-j8
This mechanism directly converts the continuous rotary motion of a
drive shaft into the intermittent linear motion of a rack.

Ratchet mechanism 7
http://youtu.be/mDbLJR_bcZU
This mechanism directly converts the continuous rotary motion of
a drive shaft into the intermittent linear motion of a rack.
To flop the green pawl to change the motion direction of the rack
without changing the input motion direction.

100
Reverse gear drive with dwell 2
http://youtu.be/1vQCTBensQc
The pink output gear mesh with the blue rack that reciprocates
with dwell at both ends of its stroke.
The stroke length of the blue rack depends on:
- Adjustable position of the orange pin on the yellow input crank.
- Length of the bars attached to the gears.

Oval gear 1a
http://youtu.be/CL-np3ocEqc
An input blue gear of oval shape, rotating around fixed axis, engages
with an yellow gear. The latter has revolution joint with green slider.
The slider reciprocates with dwell. In case without teeth, the mechanism
acts like an oval cam with possible slip.

Oval gear 1b
http://youtu.be/MNDcRZvtaTI
An input yellow gear, rotating around fixed axis, engages with a gear of
oval shape. The latter has revolution joint with green slider.
The slider reciprocates with dwell.

Oval gear 2a
http://youtu.be/HhNPb9MF1Hc
An input pink gear, rotating around movable axis of blue slider, engages with
a yellow oval gear of green slider. The latter has reciprocating linear motion.
Its speed is constant when the engagement takes place on straight portions
of the yellow oval gear.
The input gear gets rotation from a double Cardan joint.

Oval gear 2b
http://youtu.be/niqX7iAH2ss
An yellow oval gear engages with a pink gear rotating around
fixed axis.
A popcorn slider fixed to the yellow oval gear slides in groove of a
green slider. The latter moves along runway of the grey base.
A pin on the pink gear face slides in an oval groove of the
popcorn slider.
A pin on the right of the popcorn slider slides in the slot of orange slider. The latter moves
along other runway of the grey base.
The green slider reciprocates linearly with dwells at both ends of its stroke.
The orange slider reciprocates linearly. Its speed is constant when the pink gear engages
with the straight portions of the yellow oval gear.

101
Oval gear 2c
http://youtu.be/pNcr06qe968
Green gear, pink large satellite gear and blue carrier create a
differential planetary drive.
A pink small gear, which fixed to the pink large satellite gear,
engages with a oval gear of yellow slider. A pin on the pink small
gear face slides in an oval groove of the yellow slider.
The blue carrier is driving.
The yellow slider reciprocates linearly with dwell at one end of its
stroke. Its speed is constant when the pink small gear engages with the straight portions of
the yellow oval gear.

Transmission with teeth-uncompleted gears 13

http://youtu.be/Tt06tAkyHJQ
The orange gear is driving. The green rack reciprocates with
dwell.
The forward and backward displacement may be different
depending on the tooth numbers of the orange gear and stop
positions of the rack and the blue gear.

Slider-crank mechanism with satellite gear 1

http://www.youtube.com/watch?v=cfVyZkUzzyE
The slider's stroke length is 4 times of the crank length.
The tooth number of internal gear is two times of the one of
satelite gear.
Radius of cranks = 1/2 Pitch diameter of the satelite gear.
An application of Cardano circles.

Regulatable Slider-crank mechanism with satellite gear 1

http://www.youtube.com/watch?v=3g3Ke_1YmpM
The tooth number of internal gear is two times of the one of satelite
gear.
Radius of cranks = 1/2 Pitch diameter of the satelite gear.
The slider's stroke length can be regulated from 4 times of the
crank length to 0 by rotating the internal gear from 0 to 90
degrees.

102
Regulatable slider-crank mechanism with satellite gear 2
http://youtu.be/5cbfFllPENI
Pitch diameter of yellow satellite gear = 1/2 Pitch diameter of blue
internal gear. Their rolling circles are Cardano ones.
Radius of cranks (pink and yellow) = 1/2 Pitch diameter of the
satellite gear.
The green slider's stroke length can be regulated from 0 to 4 times of
the crank radius by turning the internal gear via orange worm from 0
to 90 degrees.
The video shows regulating process: blue gear turns from 0 to 30 deg. for medium stroke
then from 30 to 90 deg. for max stroke.

Rotation to translation mechanism 1

http://www.youtube.com/watch?v=wtn_T-WMDR4
Spur gears have eccentric shafts. The eccentricity is e.
The slider's stroke length = 4e.
Yellow plates have rotary translational motion

Rotation to translation mechanism 2

http://www.youtube.com/watch?v=kOyRtiDRZ_o
The spur gears and the round cams have eccentric shafts.
The eccentricity is e.
The lifting height of the working desk = 4e.
The cams bear lifting forces.

Two-worm drive 4
https://youtu.be/pR9qItSajz4
Two worms are skew at 90 deg. angle.
Threads of two worms are identical
Lead angle of the worm thread is 45 deg.
Start number of the worms: 3.
The pink worm is stationary.
Blue slider moves along popcorn runway when the green
worm rotates.
L = Pi*D
L: displacement of the blue slider in 1 rev. of the green worm.
D: diameter of rolling circle of the green worm.
This mechanism is a replacement for gear-rack mechanism when making the rack is not
wanted.
Disadvantage: low efficiency.
Reduce lead angle of the pink worm for higher efficiency. In that case the green worm
becomes a helical gear. See:
https://youtu.be/7Fh2OVpHIO4

103
Worm gear drive 1
https://youtu.be/7Fh2OVpHIO4
Axes of orange gear and blue worm are skew at 90 deg.
angle.
Start number of the stationary worm: 1.
Tooth number of the gear: 3.
Green slider moves along popcorn runway when the orange
gear rotates.
L = Pi*D
L: displacement of the green slider in 1 rev. of the gear.
D: diameter of rolling circle of the gear.
This mechanism is a replacement for gear-rack mechanism when making the rack is not
wanted.
It’s an improvement of the mechanism shown at:
https://youtu.be/pR9qItSajz4

Paper folding mechanism

https://youtu.be/VWB9VDubaxs
Tooth number of large gear is double ones of small gears.
Blue gear and blue bar are fixed together.
Grey gear is stationary. Pink folding knife has a pin that slide in
groove of glass fixed runway.
The knife performs linear reciprocating translation.
Sheet of paper (not shown) is fed into space between the knife and
orange rollers, folded by the knife and pulled out by the rollers.

104
5.3. Bars and gears

Slider crank mechanism with satellite gear 2b

http://www.youtube.com/watch?v=NctpLKvdneE
Tooth number of yellow gear is double one of green gear.
The gears axle distance = crank length = R
The slider's stroke length = 4R

Slider crank mechanism with satellite pulley

http://www.youtube.com/watch?v=T3pHRBBUSWo
The diameter of the big pulley is double the one of the green
pulley.
The length of each crank = R
The slider's stroke = 4R
The belt should be toothed.
It is possible to use chain drive instead of belt one.

Reciprocating-table drive
http://www.youtube.com/watch?v=VzzaT_eqcmc
A combination of slider-crank mechanism and rack-gear drive.
When the input crank rotates, the table will move out to a
distance of 4 times the crank length.

Piston without lateral force 1

https://youtu.be/bsdlv6mCgr8
Two identical satellite gear drives are connected together by a
parallelogram mechanism.
Z2 = 2.Z1
Z2 and Z1 are tooth numbers of grey and green gears, respectively.
Lengths of pink and yellow conrods are equal to center distance of grey
gears. The mechanism is set so as to get when the piston is at its
highest or lowest positions, orange and green cranks are in line.
Pink piston fixed to the pink conrod vertically linearly translates and
does not apply lateral force to its cylinder (not shown).
The yellow conrod mounted on eccentrics of green gears helps the parallelogram
mechanism to overcome dead positions.
A mechanism of the same feature:
http://youtu.be/muF6Y7TUJz8

105
Piston without lateral force 2
https://youtu.be/CTADdL08sLU
Two parallelogram mechanisms are connected together by a gear drive
of -1 transmission ratio.
Lengths of orange, green and violet cranks are equal.
At starting position all cranks are horizontal.
Input: orange crank.
Blue and pink conrods have circular translating motions. Their
horizontal displacements are equal.
A piston is fixed to the blue conrod.
A cylinder is fixed to the pink conrod.
Stroke length of relative motion between the piston and cylinder is 4 times of the crank
lengths. The piston does not apply lateral force to the cylinder.
The yellow and grey conrods mounted on eccentrics of the cranks help the parallelogram
mechanisms to overcome dead positions.

Air compressor of two coaxial pistons

https://youtu.be/ddFowPwU0Eo
It is a combination of two slider crank mechanisms.
Crank shaft (one in violet and one in yellow) has two cranks
and is connected to two sliders (in blue and in pink) by green
conrods.
Working stroke (distance between the two sliders) is increased
two times (if angle between the two cranks is 180 deg.) in comparison with mechanism of
one crank.

Linkage mechanism and planetary gear drive

http://youtu.be/Pc10Hwileik
An Artobolevski’s invention: combination of planetary gear drive and
double parallelogram mechanism.
Lengths of blue bars are equal.
Lengths of green bars are equal.
Lengths of orange and violet bars and center distance of green bar
fixed pivots are equal.
Pitch radius of the internal gear: R
Pitch radius of the external gear: r
R = 2r (Cardano circles)
Length of pink crank: r
Length of yellow crank (fixed to the external gear): r
The orange bar translates linearly. The violet bar translates circularly.

Worm drive and linkage mechanism 1

http://youtu.be/ihXqTX91n18
Input: green shaft rotating regularly.
Orange worm has sliding key joint with the green shaft.
Output: the grey slider carrying the worm drive reciprocates.
The mechanism performs two functions: reducing speed and
converting rotation into linear translation.

106
Gear and linkage mechanism 9a
http://youtu.be/rGYGc-Qtqgk
Tooth numbers of the gears are 50 and 25.
The gears have the same distance of their pins to their rotation axes (crank
radius).
The blue slider has complicated motion that depends on dimensions of the
orange and violet bars, tooth numbers, crank radii and relative positions of
the gear pins.

Gear and linkage mechanism 9b

http://youtu.be/Se3318gM_cg
The mechanism is symmetric in term of dimension and assembly conditions
so transverse force applied to the slider is limited. The pink conrods can be
directly connected to the blue slider. The green bar is added for reducing
the influence of manufacturing errors.

Three-gear stroke multiplier

http://youtu.be/w2sHE327EXk
Input: pink gear.
The rotation of the input gear causes violet conrod, attached to the
machine frame to oscillate. This action produces a large-stroke
reciprocating motion and fast return in the yellow output slider.

Sine mechanism 5
http://youtu.be/dtaLfwzwcDQ
Green gear-crank, red slider and blue slider create a sine
mechanism. The green gear-crank receives rotation from pink input
gear through yellow gear. The bars maintain gear engagement
The blue output slider has reciprocating linear motion. Its stroke
position can be adjusted during motion by cyan screw.

Gear and linkage mechanism 13

http://youtu.be/i9ayXz9tEXU
Tooth number of pink crank gear: 20
Tooth number of yellow gear: 40
The crank gear, green connrod and orange slider create a slider
crank mechanism. Input is the crank gear rotating regularly.
The green conrod length = Center distance of the gear drive.
The blue slider has linear motion of complicated velocity rule.
Beside geometric dimensions of the links, its motion also depends on
the position between the pin of the yellow gear and the crank gear when assembling.

107
Gear and linkage mechanism 10
http://youtu.be/Pe_nNqVXAek
Pitch radius of red gear: R1.
Pitch radius of green gear: R2 = 2R1.
The rotation axis of the red gear is eccentric.
Its eccentricity is E1 = 0.125 R1.
Distance between rotation axis of the green gear and the pin for orange
slider is E2 = R1.
Length of the yellow connrod L = 3R1
The red gear, the yellow connrod and the red slider create a slider-crank mechanism.
The violet slider has linear motion with approximately uniform speed in the middle of its
stroke.
Assembly condition: There is mechanism position when gear rotation axes, pin axes are on
the same plane.

Slider-crank mechanism with gears on conrod

http://youtu.be/doSUZ1AdKU8
The orange gear and orange crank are fixed together.
The blue and pink gears, each rotates idly on its axle.
The orange and pink gear have the same tooth number.
The input crank rotates regularly while the blue and pink gears
rotates irregularly.

Drive for rotary printing press

http://youtu.be/PkBikUF369E
Input: the orange crank.
Output: the green printing bed which translates and the grey printing
cylinder which rotates.
The blue gear is for additional supporting the bed.

Rack pinion mechanism 5

http://youtu.be/CBsb2Pdf2Jk
The sinus mechanism of yellow crank and blue rack-slider
makes the green shaft oscillate with amplitude of 1 revolution
(see “Sinus and rack pinion drive”).
The green teeth-uncompleted gear gives the pink racks
dephasing reciprocating motions with pauses at both ends of
stroke.
The green sector and 4 pink plates are for blocking pink output racks when pausing.

108
Slider-crank mechanism having a pause at the end of stroke.
http://www.youtube.com/watch?v=ObmXPNQhI1k
The tooth number of internal gear is 3 times of the one of satellite
gear.
The short crank's length is half of the long crank's one. One axle of
the connecting rod draws a deltoid that consists of 3 nearly round
curves. The length of the connecting rod is equal the radius of the
curve.

Slider-crank mechanism having a pause at the end of stroke 2.

http://www.youtube.com/watch?v=MhFiRHWSoUc
The tooth number of internal gear is 5 times of the one of satellite gear.
The short crank's length is half of the long crank's one. One axle of the
connecting rod draws a closed curving line that consists of 5 nearly round
curves. The length of the connecting rod is equal the radius of the curve.

Dwell Slider Mechanism 1

http://youtu.be/LjLH45PSf-s
Tooth number of the fixed internal gear: 60
Tooth number of the planetary external gear: 20
Gear module: 0.5 mm
The pink curve is locus of the yellow conrod point.
Length of the yellow conrod approximates to the radius of curve
segment of the pink locus. The red right slider has dwell at its right position.

Slider-crank mechanism having a pause at both ends of stroke 1

http://www.youtube.com/watch?v=7Ewb5C-UNfo
Tooth number of the satellite gear Z1: 20
Tooth number of the fixed gear Z2: 100
e/A = 0.1
e: crank length
A: axle distance between gear Z1 and gear Z2.

Loci in Epicyclic gearing A4b

http://youtu.be/ft9gmtesYUE
R: pitch radius of the fixed sun gear
r: pitch radius of the planetary gear
k = R/r = 4
Distance between the hole axis of the orange slider and the planetary
gear axis is (11/30)r for getting a square of straight sides.
The blue cross has linear reciprocating motion with dwell at both stroke
ends.

109
Loci in Epicyclic gearing B4
http://youtu.be/zMOeztecSu4
r: pitch radius of the fixed sun gear
R: pitch radius of the green planetary gear
k = R/r = 1.5
Distance between the hole axis of the orange slider and the planetary
gear axis is (124/30)r for getting a curve having two straight segments.
The input link is the orange disk.
The pink cross has linear reciprocating motion with dwell at both stroke
ends.

Gear crank mechanism for linear motion with dwells 1

https://youtu.be/lZODzdY3HR0
Input: pink crank.
R: pitch diameter of fixed gear of internal teeth.
r: pitch diameter of planetary gear (in yellow).
k = R/r = 6
Yellow crank is fixed to the yellow gear.
Yellow crank radius Rc = 0.215r.
Center of red slider traces green line, which is approximately an equilateral hexagon (a
hypotrochoid).
Blue slider performs reciprocating motion with dwells at its end positions.
The dwell results from the portions of the green line that are perpendicular to the blue slider
moving direction.
The dwell time T corresponds less than 360/k deg. (60 deg.) of input rotation.
For other value of T alter k and Rc.
In this video k is an even number.
If k is an odd number, the dwell can be only at one end of the slider stroke.

Gear crank mechanism for linear motion with dwells 2

https://youtu.be/QrOQ8YsEjag
Input: pink crank.
R: pitch diameter of fixed gear of internal teeth.
r: pitch diameter of planetary gear (in yellow).
k = R/r = 5
Yellow crank is fixed to the yellow gear.
Yellow crank radius Rc = 0.275r.
Center of red slider traces green line, which is approximately an equilateral pentagon (a
hypotrochoid).
Blue slider performs reciprocating motion with dwell at its left end position.
The dwell results from the portion of the green line that are perpendicular to the blue slider
moving direction.
The dwell time T corresponds les than 360/k deg. (72 deg.) of input rotation.
For other value of T alter k and Rc.
In this video k is an odd number.
If k is an even number, the dwell can be at two ends of the slider stroke.

110
Linear translation without runway 1
https://youtu.be/9bGxJuOk8Dw
Input: pink gear that makes two blue cranks of two identical
planetary mechanisms rotate at the same velocity and direction.
Z2 = 2.Z1
Z2 and Z1 are tooth numbers of grey and green gears,
respectively.
Radius of cranks (blue and green) R = 1/2 pitch diameter of the green gear.
The mechanism is set so as when the blue cranks are vertical, the green cranks are vertical
too.
Yellow platform has revolution joints with the green cranks. Center distance of platform
joints is equal to center distance of two grey gears.
The platform is translated vertically along an absolutely straight line (no need of a runway).
Its stroke length L = 4R.

Linear translation without runway 2

https://youtu.be/zyBiC34PQNI
Input: pink gear that makes two blue cranks of two identical
planetary mechanisms rotate at the same velocity and direction.
Z2 = 2.Z1
Z2 and Z1 are tooth numbers of grey and green gears, respectively.
The mechanism is set so as when the blue cranks are horizontal,
the green cranks are horizontal too.
Yellow platform has revolution joints with the green cranks. Center
distance of platform joints is equal to center distance of two grey gears.
The platform is translated horizontally along an absolutely straight line (no need of a
runway). Its stroke length L = 4R.
R is radius of the green crank.
It is an application of the mechanism showed at:
https://youtu.be/LHjLRiW7aYc
It is possible to set the mechanism for translation along a slanting straight line.

Nonstop regulatable linear oscillation 2

https://youtu.be/OPwQAonIXB4
It is an application of mechanism shown at
https://youtu.be/_Z2uncDpQXU
Input: pink crank.
Output: yellow table linearly reciprocating.
If green gear is immobile, center of red slider traces a straight line.
The line direction depends on angular position of the green gear.
Use violet worm to turn the green worm wheel (fixed to the green
gear) to regulate stroke of the table. The video shows regulating
process from 0 to max stroke.
The process can be performed without stopping the mechanism.

111
Nonstop regulatable angular oscillation 2
https://youtu.be/zWd007xxvR4
It is an application of mechanism shown at
https://youtu.be/_Z2uncDpQXU
Input: pink crank.
Output: green slotted bar angularly reciprocating.
If green gear is immobile, center of red slider traces a straight line.
The line direction depends on angular position of the green gear.
Use violet worm to turn the green worm wheel (fixed to the green
gear) to regulate stroke of yellow slider, thus reciprocating angle
of the green bar.
The video shows regulating process from 0 for reciprocating angle.
The process can be performed without stopping the mechanism.

Linear translation without runway 3a

https://youtu.be/VnS-V-cnyu4
It is an application of Sarrus mechanism.
Input: pink crank that can rotate full revolutions.
The yellow platform is translated vertically along an absolutely
straight line (no need of a runway).
Its stroke length L = 4R.
R: length of the cranks (in pink and blue) and bars (in green).
The mechanism has dead positions when the cranks and the
bars are vertical so to overcome it the blue cranks are driven
thanks to orange face gear.
When the platform crosses through the center plane (all the cranks and bars are
horizontal), since the pivots on the base and the platform are aligned, the bars could rotate
without the platform moving if it does not have enough momentum. Therefore, avoid
stopping the platform at the center plane. If not, the mechanism can’t be started.

Linear translation without runway 3b

https://youtu.be/iW9WwMPx9j8
It is an embodiment of the mechanism shown at:
https://youtu.be/VnS-V-cnyu4
Input: pink shaft.
Two blue cranks are driven thanks to bevel gear drives.
The yellow platform is translated horizontally along an absolutely
straight line (no need of a runway).
Its stroke length L = 4R.
R: length of the cranks (in blue) and bars (in green).
Two chain drives are used to help overcome unstable positions. Refer to:
https://youtu.be/4QBw1wef438
Grey chain wheels of Z2 teeth are stationary.
Green sprockets of Z1 teeth are fixed to the green bars.
Z2 = 2.Z1

112
External gear slider mechanism 1
http://youtu.be/1N7XVZPPFj8
The yellow gear (Z2 = 20 teeth) is fixed to the connecting
rod.
The green gear (Z1 = 20 teeth) is not fixed to the pink input
crank.
The green output gear irregularly continuously rotates faster than the pink input crank in the
same direction.
1 revolution of the pink input crank corresponds 2 revolutions of the green output gear.

External gear slider mechanism 2

http://youtu.be/QSRgQfbgLjI
The yellow gear (Z2 = 20 teeth) is fixed to the connecting
rod.
The green gear (Z1 = 40 teeth) is not fixed to the pink
input crank.
The green output gear irregularly continuously rotates
faster than the pink input crank in the same direction.
1 revolution of the pink input crank corresponds 1.5 revolutions of the green output gear.

External gear slider mechanism 3

http://youtu.be/rzXoR-OXLtA
The yellow gear (Z2 = 60 teeth) is fixed to the connecting
rod.
The green gear (Z1 = 20 teeth) is not fixed to the pink input
crank.
The green output gear irregularly continuously rotates
faster than the pink input crank in the same direction.
1 revolution of the pink input crank corresponds 4 revolutions of the green output gear.

Internal gear slider mechanism 1

http://youtu.be/tup8vGK4smA
The yellow gear (Z2 = 80 teeth) is fixed to the connecting rod.
The green gear (Z1 = 20 teeth) is not fixed to the pink input
crank.
The green output gear irregularly continuously rotates faster
than the pink input crank in the opposite direction.
1 revolution of the pink input crank corresponds 3 revolutions of the green output gear.

Internal gear slider mechanism 2

http://youtu.be/CbFPxpRHyRI
The yellow gear (Z2 = 20 teeth) is fixed to the connecting rod.
The green gear (Z1 = 80 teeth) is not fixed to the pink input
crank. The green output gear irregularly continuously rotates
slower than the pink input crank in the opposite direction.

113
Internal gear slider mechanism 3
http://youtu.be/diW797QmiyA
The yellow gear (radius r2 = 30) is fixed to the connecting rod.
The green gear (radius r1 = 60) is not fixed to the pink input
crank.
Crank length: R = 60
Connecting rod length: L = 90
(r1 = L – R)
The green output gear irregularly rotates (with dwell) 2 revolutions when the pink input
crank rotates 1 revolution in the opposite direction.

Internal gear slider mechanism 4

http://youtu.be/W8Hv6cRyUTU
The yellow gear (radius r2 = 30) is fixed to the connecting rod.
The green gear (radius r1 = 60) is not fixed to the pink input crank.
Crank length: R = 60
Connecting rod length: L = 70
(r1 longer than L – R)
The green output gear irregularly rotates (with going back) 2
revolutions when the pink input crank rotates 1 revolution in the opposite direction.

Three-gear-slider-crank mechanism 1
http://www.youtube.com/watch?v=jq_Jl7BmXec
Modified-Watt’s reverser
Teeth numbers of two large gears Z1 = Z2 = 40
Teeth number of the small gear Z0 = 20
Gear module m = 2
Length of the pink crank a = 180
Length of the green connecting rod b = 220
The output blue gear reverses after each 180-degree rotation of the input pink crank.
The output gear oscilates through the same angle as the green connecting rod.

Three-gear-slider-crank mechanism 2
http://youtu.be/DD5w0B8hpCg
Teeth numbers of two small gears Z1 = Z2 = 20
Teeth number of the large gear Z0 = 40
Gear module m = 2 mm
Length of the pink crank a = 150 mm
Length of the green connecting rod b = 220 mm
The output blue gear irregularly continuously rotates slower than the pink crank in the same
direction. 2 revolutions of the pink crank corresponds 1 revolution of the output blue gear.

114
Three-gear-slider-crank mechanism 3
http://youtu.be/aZl5tY-00J4
Teeth numbers of two small gears Z1 = Z2 = 20
Teeth number of the large gear Z0 = 40
Gear module m = 2 mm
Length of the pink crank a = 150 mm
Length of the green connecting rod b = 220 mm
The green gear irregularly rotates (with going back) 1 revolution when the pink crank
rotates 1 revolution in the opposite direction.

Guiding pulley
https://youtu.be/QxfErrBm8mc
Blue disk has sliding joint (3 cylindrical pins) with glass pulley and both
can rotate around pink fixed worm. Glass pulley can move axially but
the disk not.
Yellow worm wheel and orange cam (an eccentric) are fixed together
and rotate on a pin of the blue disk thanks to the fixed worm. Violet
roller mounted on the pulley is forced toward the cam by three green
springs.
A moving strip (not shown) makes the glass pulley and the blue disk rotate by friction. At
the same time the pulley slowly reciprocates axially under action of the cam and roller, thus
gives the strip lateral motion.
Red screw is for reducing axial stroke of the pulley (limiting its motion to the right).
An unusual thing in this mechanism: a worm wheel rotates around a worm. See also:
http://www.youtube.com/watch?v=4gS5QgwIkok
http://youtu.be/RcsllgLLm70

Bevel gear and slider mechanism

http://youtu.be/jrYQ6wZDRbw
Input is pink gear of constant velocity.
Yellow bars have spherical joints with green gears an cylindrical
joints with violet slider.
The slider linearly reciprocates.

115
5.4. Cams

Disk cam mechanism DF9

http://youtu.be/F3scqTa1CDw
The cam profile is an Archimedian spiral so the follower’s speed is constant.
Gravity maintains permanent contact between follower and cam.

Gear cam
http://youtu.be/4p-6tIA-kuc
The orange cam is a combination of disk cam and internal gear.

Disk cam mechanism DF1

http://youtu.be/AWq7r9YwU48
The roller is bigger than the cam.

Disk cam mechanism DF2

http://youtu.be/gAyj_MAqmrQ
The follower has two rollers conctacting both sides of the cam rim of
thickness A. If A is constant, distance between the rollers is slightly bigger
than A.
If backlashless is required, A must be inconstant.

Disk cam mechanism DF3a

http://youtu.be/QoMAmxIJRCo
The follower has two rollers that move in the cam’s slot. Rollers axles
are slightly eccentric so the orange roller contacts with the outter wall of
the slot; the pink roller contacts with the inner wall of the slot. This
prevents the sliding of roller that happens in slot cam of one roller.

Disk cam mechanism DF3b

http://youtu.be/Wodc-C4a1m4
The follower has two rollers that move in the cam’s slot. The slot is
designed in the way that the orange roller contacts only with the outter
wall of the slot; the pink roller contacts only with the inner wall of the slot
(the slot outter wall is stepped). This prevents the sliding of roller that
happens in slot cam of one roller.

116
Disk cam mechanism DF3c
http://youtu.be/-uQCJx5bwBg
The follower has two rollers (of different diameters) that move in the
cam’s slot. The slot is designed in the way that the orange roller
contacts only with the outter wall of the slot; the pink roller contacts only
with the inner wall of the slot. This prevents the sliding roller that
happens in slot cam of one roller.

Cam-slider mechanism
http://youtu.be/NLNBzzuOZiA
Input: pink crank.
Output: cam-slider that linearly reciprocates.
Its velocity is almost constant with the shown 8-shaped cam profile.

Multi-profile cam
http://youtu.be/TLZ2vqH31zo
Left mechanism:
Blue cam contains various profiles. Its follower has some identical
pins. This design helps reduce cam dimension and avoid cam-
follower contact near to the cam center.
Geometric closure by pins causes a considerable backlash.
Right mechanism is shown for comparison purpose.
Red cam has continuous profile of Archimedean curves. Its dimenssion is to be large to
reduce presure angle at cam-follower contact points near to the cam center.

Disk cam mechanism DF4a

http://youtu.be/QFgPJGiIbzY
A working period of the mechanism corresponds two revolutions of the
green slot cam. The pink rhomb-shaped part plays role of roller.

Disk cam mechanism DF4b

http://youtu.be/Sae9B_61i0I
A working period of the mechanism corresponds three revolutions of the
green slot cam. The pink rhomb-shaped part plays role of roller.

117
Disk cam mechanism DF4c
http://youtu.be/jVQVF-SQea8
A working period of the mechanism corresponds two revolutions of the
green slot cam. The pink guides help the roller go through the slot cross.
Springs forcing the guides against the yellow pins are not shown.
This roller concept is used instead of a rhomb-shaped slider when the
slot’s curvature is small.

Disk cam mechanism DF12

http://youtu.be/ssvJhSpClSI
Working cycle of the mechanism is 2 revolutions of the green cam. The
pink guide helps roller come into the outer groove one time in every
two rev. A spring toggle device and two yellow pins maintain right
positions of the guide.

Disk cam mechanism D8a

http://youtu.be/AvxtHLCeykE
Cam mechanism of geometrical closure. To maintain backlashless, the
distance between any two points of the cam theoretic profile laying on
the line through the cam’s center (parallel to the sliding direction of the
follower) must be constant.

Disk cam mechanism DF8b

http://youtu.be/twiPc5QzxmM
Cam mechanism of geometrical closure.
To maintain backlashless, the distance between any two points of the cam
theoretic profile laying on the line through the cam’s center (parallel to the
sliding direction of the follower) must be constant. The cam profile is a n-fold
rotational symmetric closed curve, n is an odd number (here n = 3).

Disk cam mechanism DF10a

http://youtu.be/mCbe9RD61aA
With eccentric round cam the follower gets harmonic motion.

Disk cam mechanism DF10b

http://youtu.be/DhKg3nntPIA
Reuleaux triangle cam. The rotation center and the curved triangle’s
one are coincident. The follower goes forward and backward three
times in one cam revolution.

118
Disk cam mechanism DF10c
http://youtu.be/hLEnUOu2-kU
Reuleaux triangle cam. The follower goes forward and backward one time
in one cam revolution with short dwell at stroke’s ends.
Stroke length = DB

Disk cam mechanism DF10e

http://youtu.be/8NKh9lxNnTI
Reuleaux triangle cam. The follower goes forward and backward one time
in one cam revolution with long dwell at stroke’s ends.
Stroke length = DB + R

Disk cam mechanism DF8d

http://youtu.be/61oZWpqJ2yI
Dual cam.
The main cam is pink. The yellow one is added for cam geometrical closure.
Its profile must be designed to maintain permanent contact of both rollers with
cams.

Disk cam mechanism DF8e

http://youtu.be/kjo85swsOrU
Dual cam.
The main cam is pink. The yellow one is added for cam geometrical
closure.
Its profile must be designed to maintain permanent contact of both
follower’s planes with cams.

Cam driven press

http://youtu.be/hbtKTa6rCWg
Cam in combination with toggle mechanism gives high pressing force.

Fixed cam mechanism 4

http://youtu.be/0ZTaScDawKs
The yellow cam is fixed. The blue follower moves in a groove of
the input crank. Length of the yellow rod plus radius of the
magenta roller equals profile radius of the yellow cam. The
violet slider reciprocates with dwell at its leftest position. Adjust
position of the magenta nuts for various stroke lengths and
dwell times.

119
Fixed cam mechanism 5
http://youtu.be/1HdJEO3iHrM
The orange cam of contact radius R is fixed. The green follower of
contact radius r has planar motion. If R = 2r and the axis of the contact
cylindrical surface of the fixed cam intersects sliding axis of the blue
slider (case of Cardano circles), the green follower rolls without sliding
on the fixed cam.

Cam mechanism of follower’s planar motion 3

http://youtu.be/z3rnRgAbRBo
The orange cam is a triangle of six curves (curved polygon of constant
width). The green follower has planar motion and the pink slider
reciprocates with dwells at both stroke ends.

Disk cam assembly 3

http://youtu.be/0xx98A1VFlg
Cam 1 is a green round disk. The orange cam 2 is fixed on cam 1. Its
position can be adjusted to get various motions of the follower, both in
stroke length and in phase by moving the two pink T-slot bolts. Gravity
maintains permanent contact between rollers and cam.

Disk cam mechanism DF5

http://youtu.be/QBGc2VD-drM
Adjust rollers distance to alter dwell time of the follower.
Gravity maintains permanent contact between rollers and cam.

Disk cam mechanism DF6

http://youtu.be/rvAWqUyXKLE
The green main cam moves the plunger to up position which is maintained
by orange latch. The cyan springs forces the latch against the violet catch.
The red pin lets the plunger go down by unlatching the orange latch. Dwell
time is obtained by adjusting the red pin’s position on the main cam.

Disk cam mechanism DF7

http://youtu.be/BkPOyRcEZVA
Input is the green shaft, on which the orange cam rotates idly. Motion is
transmitted to the cam through the pink pin. A quick drop of the follower is
obtained by permitting the cam to be pushed out of the way by the follower
itself as it reaches the edge of the cam. Gravity maintains permanent contact
between follower and cam.

120