Linkage Analysis

Slider Crank Linkage

Linkage Mobility
A linkage is a connection of n-rigid bodies Bi, i =1n, that are connected by j-hinges or sliding joints to form a mechanism.
Each of the rigid bodies Bi can be located in a world reference frame F, using three parameters
Ti = (di, i), where di is the coordinate vector of the origin of the frame Mi, attached to body Bi,
and i is the angle of the x-axis of Mi measured relative to the x-axis of F. There are M = 3n of these parameters.
Each hinge or sliding joint constrains two of these parameters, so M = 3n 2j. If we include the xed frame as one of the bodies, so N = n+1 and subtract its three parameters then: M = 3N-2j-3.
Serial chain: N = j+1, so M = 3(j+1)-2j-3.
Simple closed chain: N = j, so M = 3j-2j-3 = j-3.

Degrees of Freedom
The formula M = 3N-2j-3 allows us to determine the number of links and joints (N, j) in a mechanism
to obtain a specic mobility.
M = 1: j = (3N-4)/2; j = (3/2)N 2; This has whole number solutions for even N
(j = 4 for N = 4): four bar linkage (quadrilateral)
(6, 7): six bar linkage
(8,10): eight bar linkage.
M = 2: j = (3N-5)/2. This has whole number of solutions for odd N
(5, 5): ve-bar linkage (pentagon)
(7, 8): seven-bar linkage
(9, 11): nine-bar linkage.
M = 3: j = (3N-6)/2; (3/2)N-3; This has a solution for even N
(4, 3): four-bar open chain (3R robot)
(6, 6): six-bar closed chain (hexagon)
(8, 9): eight-bar parallel platform.

The Slider-Crank Linkage

Let R denote a hinge joint and P a sliding joint (prismatic). These are the initials in revolute joint and prismatic joint, which are the technical names of these joints.
A four-bar linkage with four revolute joints forms a quadrilateral. A four-bar linkage that has a prismatic joint forms a triangle.
These gures show an RRRR, RRRP, and PRRP linkages:

The RRRP is the slider-crank linkage, and the PRRP is called a double slider linkage.

Inversions of the Slider-Crank

Cyclic permutation of the joints RRRP to obtain RRPR, RPRR, and PRRR is the same as changing which link of the four-bar loop is to be the ground link. Each of these is called an inversion of the slider-crank linkage.

The RRPR (up left) called an inverted slider-crank, and the RPRR (up right) is called a turning block. The PRRR is actually the same as the RRRP.

Linkage Frames for Slider-Cranks

For a slider-crank and its inversions, it is generally convenient to consider the slider movement s as either the input or output parameter, even if it is not moving relative to the ground link. Then, let dene as the rotation of the crank.

Constraint Equation for a Slider-Crank

For slider-crank linkages the constraint equation can take several forms. If the slider is an input or output link, then the constraint equation is given by the distance between the two moving pivots of the connecting rod AB.

The quadratic formula yields two values of slider position s for each value of the input crank angle . The range of crank angles that yield real values for s is dened by the discriminant of the quadratic formula.

Loop Equations for a Slider-Crank

Once the output slide s has been determined using the slider-crank constraint equation, the position loop equations are used to compute the coupler angle .
The position and velocity loop equations for a slider-crank are obtained in the same way as for a 4R linkage.
Position Loop Equations:

yields the angle

Velocity Loop Equations

The velocity loop equations can be written as the matrix equation and solved using Cramers rule.

Acceleration Loop Equations

The values of , d/dt = and d2/dt2 = are known input parameters to the motion of the slider-crank linkage, so the acceleration loop equations can be rearranged into the form,
Acceleration Loop Equations:

These equations can be assembled into the matrix equation:

The values for , s, and d/dt = , ds/dt are determined by solving the position and velocity loop equations.
Thus, the parameters Kx and Ky are known and the acceleration loop equations are solved using Cramer s rule.

Mechanical Advantage of a Slider Crank (performance)

The derivative of the constraint equations yields a relationship between the input angular velocity and output velocity:

This yields the speed ratio: R

Let the input torque be Tin = Fin r, then power in equals power out
yields the relationship

Mechanical advantage is a measure of the force amplication achieved by using a tool, mechanical device or machine system. Ideally, the device preserves the input power and simply trades off forces against movement to obtain a desired amplication in the output force. Machine components designed to manage forces and movement in this way are called mechanisms.

Slider Crank: Applications (pistons, pumps, compressors, etc.)

Internal Combustion Engine: Engine in which the burning of a fuel occurs with air in a combustion chamber. The expansion of high temperature and high pressure gases produced by combustion apply direct force to a piston. This force moves the piston over a distance transforming chemical into mechanical energy.
Four-stroke engines: Piston completes four separate strokes during two separate revolutions (intake, compression, power/spark plug, exhaust).

Inverted Slider Crank

The constraint equation for the inverted slider-crank linkage is the distance between the pivots AB on either side of the slider. In this case, the distance is not constant. Instead, it equals the amount of slider movement.

The slider position s for each value of the input crank angle is computed using the quadratic formula. The discriminant of quadratic formula denes the range values for the crank angle .

Loop Equations: Inverted Slider-Crank

Once the output slide s has been determined for the inverted slider crank, we use its loop equations to compute the coupler angle .
The position and velocity loop equations for the inverted slider-crank are obtained in the same way as for a slider-crank linkage.
Position Loop Equations

Velocity Loop Equations

Inverted Slider Crank: Application in Vehicle Suspension

The vehicle suspension is the interface between the chassis and body of the vehicle and the road surface.
The purpose of the suspension is to ensure that the tires maintain proper contact with the road surface during acceleration, braking and turning of the vehicle.

Spring Suspension
The suspension formed by using a spring to support a crank form an inverted slider-crank linkage.
Recall that the constraint equation of this linkage is:

From this constraint equation, we can compute the mechanical advantage of this system to be:

Special case
Assemble the suspension so bx = a, and by = s0, then for =0,

Summary

An ideal linkage is a collection of rigid links connected by ideal joints. These assumptions allow the use of geometry to analyze the movement of the linkage and evaluate its mechanical advantage. Real linkage systems will ex and lose energy through friction and wear.
The constraint equation of a linkage is obtained from the distance specied between the input and output moving pivots. This equation is solved to determine the relationship between the input and output variables. Differentiation of this constraint yields the velocities needed to compute mechanical advantage.
The position, velocity, and acceleration loop equations are used to compute the other conguration variables in the linkage, such as the coupler angle and its angular velocity.

Problem