Chapter 3 v2008 v3 Color Noprint

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell Chapter 3 - 1
Mechanical Engineering - 22.321 Design of Machinery

Chapter
GRAPHICAL
LINKAGE SYNTHESIS
3.0 Introduction
Engineering Design involves
1. Synthesis
2. Analysis
3.1 Synthesis
Qualitative Synthesis creation of potential solutions
in the absence of a well defined algorithm which
configures or predicts the solution.
Real design problems involve more unknowns
than equations.
Need to do some type of qualitative
judgment.
Use: Drawings, Simulations,
Paper Models
Qualitative design by successive
analysis.
Type Synthesis refers to the definition of the proper
type of mechanism best suited to the problem
(form of qualitative analysis)
Design is essentially an exercise in trade-offs
Quantitative Analysis (a.k.a. Analytical Analysis)
Generation of one or more solutions of a
particular type and for which a synthesis
algorithm is defined.
Set of Eqns
But in general: # Eqns < # Variables
Best done in some computer code.
Dimensional Analysis
Determination of linkage sizes required to
accomplish the desired motions.
3.2 Function, Path and Motion Generation
Function Generation the correlation of an
input motion with an output motion in a
mechanism.
e.g. gun aiming systems (mechanical
analog, computer)
and computer controlled servos
Path Generation control of a point in the plane
so that it follows some prescribed path.
Typically uses at least four bars.
Motion Generation control of a line in the
plane so that it follows some prescribed set of
sequential positions.
e.g. Bucket on a bulldozer.
Have a potential solution
evaluate its quality
Toggle Position is a position s.t. two of the moving
links are collinear.
Only undesirable if it prevents the mechanism from

moving from one desired position to another.
3.3 Limiting Conditions
A toggle may be desirable for locking.
Transmission Angle the angle between the
output link and the coupler
Taken as the absolute value of the acute angle
at the intersection of two links
Varies continuously throughout the motion
T
2
induces an axial force in Link 3.
At Point D, the linkage has forces normal to and radially inline with
Link 4.
Radial component only increases friction at pivot O
4
.
Tangential (normal to Link 4) produces torque.
= 90
o
is optimal.
In design, keep > 40
o
To promote smooth running and good force transmission.
3.4 Dimensional Analysis
The determination of the proportions
(lengths) of links necessary to
accomplish the desired motions.
Example 3-1
Example 3-2
Example 3-3
Example 3-4
ANIMATE ME
Example 3-5
ANIMATE ME
Example 3-6
ANIMATE ME
Example 3-7
Example 3-8
3.5 Quick Return Mechanisms
Desire work done in forward stroke and quick return in
back stroke (return). See Fig 3-12 (next page)
Fig 3-4a shows a linkage w/ equal time in forward and
return strokes.
Why?
Because the center of the crank is inline with the chord of the
rockers extreme points.
ANIMATE ME
Example 3-9
Time in forward and return strokes is different.
T
R
= Time Ratio = /
Recall that + = 360
o
Use a construction angle , where
= 180
o
- = 180
o
-
To synthesize the linkage
See Example 3-9 (Fourbar crank-rocker)
This design works well with
T
R
s down to 1:1.15
ANIMATE ME
Sixbar Quick Return
Good for larger T
R
s up to 1 : 2.
Strategy
1. First design a fourbar drag link mechanism
which has the desired T
R
between its driver
crank and its driven crank (dragged crank)
2. Then add a dyad (Twobar) output stage
driven by the dragged crank.
See Example 3-10
Example 3-10
ANIMATE ME
Crank Slider Quick Return
Capable of larger T
R
s than fourbar quick-return
linkage.
Easy to synthesize.
Simply move O
4
until desired T
R
is achieved.
Whitworth Mechanism behaves as a double crank with
both pivots making full rotations.
Crank-Shaper Mechanism Driving crank is shortest link
Crank-Rocker linkage
See Fig 3-14
Crank-Shaper Mechanism Driving crank is shortest link
Crank-Rocker linkage
ANIMATE ME
3.6 Coupler Curves
Coupler
Undergoes complex motion
Coupler curve is always closed
Fourbar Coupler Curves
Cusp Sharp point on the curve associated w/ zero
velocity (but acceleration 0).
Crunode Creates a figure-eight shaped curve which
contains a double point at the crossover.
Two slopes, i.e. velocities.
The Hrones and Nelson Atlas of Fourbar Coupler Curves is a good reference.
(On reserve in the library BE GENTLE WITH IT PLEASE!)
Better to use online version
ANIMATE ME
3.7 Cognates
Consider the problem:
A good solution to a linkage synthesis problem is
found to satisfy path-generation constraints
BUT linkage has fixed pivots in inappropriate locations for
attachment
or
Linkage is non-Grashof when Grashof is required.
Use Cognate A linkage of different geometry, which
generates the same coupler curve
See Figs. 3-24 and 3-25
Chebychev discovered that any fourbar coupler
curve can be duplicated w/ a geared fivebar
linkage.
Useful to avoid toggle lock-up.
See Fig 3-28.
The fivebar is constructed by simply drawing
Link 6Link 2, Link 7Link 4, Link 5A
1
P and
Link 8B
1
P
A three-gear set is required to couple links 5 and 8
with a ratio of +1 (i.e. Dia
5
= Dia
8
and have same
direction of rotation)
3.8 Straight Line Mechanisms
A common application of coupler curves is for
the generation of approximate straight lines.
See Fig 3-29 a d
Note: Hoeckens and Chebychev are
cognates of one another
To generate an exact straight line requires more
than four links.
The geared fivebar linkage can generate an
exact straight line.
Peaucellier discovered an exact straight-
line mechanism of eight bars. (Fig 3-29e)
Links 5, 6, 7 and 8 form a rhombus.
Links 3 and 4 are of equal length.
When O
2
= O
4
, Point C generates an arc of
infinite radius.
By moving O
2
left or right and only changing
the length of Link 1:
Point C will generate true circle arcs with
radii much greater than any one of the link
lengths.
3.9 Dwell Mechanisms
Dwell = zero output motion for some
nonzero input motion.
Dwells are often achieved by using
cams and followers (but w/ cost!)
Can also achieve dwells with pure
linkages of only links and pin joints
(at a lower cost than cams)
Single Dwell Linkages
Results in a sixbar linkage
First find a fourbar linkage,
then add a dyad
Design a fourbar with a coupler curve that
contains an approximate circular arc portion
(good to use coupler curve atlas)
See Example 3-11
Example 3-11
Double Dwell Linkages
Can use a Fourbar coupler curve to create a double-
dwell output motion.
Approach 1
Similar to Example 3-11
Need a coupler curve which has two approximate circle
arcs of the same radius
but with different centers
Both of these arcs are either concave or convex.
Link 5 of length equal to the radius of the arcs so that it
and Link 6 will remain nearly stationary at each of the arc
centers while the coupler traverses arcs of its path.
Multiple dwells can be created by higher-order linkages
which possess coupler curves with multiple, approximate
circle arcs.
Approach 2
Use a coupler curve with two approximate straight-line
segments of appropriate duration
Attach a pivoted slider block (Link 5) to coupler path
point
Link 6 will slide on Link 5
Choose pivot point O
6
at the intersection of the
extensions of the straight line segments
While Link 5 is moving along the straight line path, Link 6
will not experience any angular motion
Note: Approximate Straight Line allows jitter in Link 6
(see Example 3-12)
3.10 Other Useful Linkages
Constant Velocity Piston Motion
Fourbar slider crank linkage is one of the most
frequently used in machinery
Used in IC engines
Consider a situation where a constant velocity is
needed,
e.g. piston pump for metering fluids which needs
to be constant during the delivery stroke
Large Angular Excursion Rocker Motion
It is often desired to obtain a rocking motion through a
large scale w/ continuous rotary input
In Grashof linkage, rocker motion is limited to 120
o
to
keep transmission angles > 30
o
To get a larger oscillation and good transmission
angles requires six links
Remote Center Circular Motion
Used when rotary motion is needed but the center of
that rotation is not available to mount the fixed pivot of
the crank
The linkage will generate circular motion in the air

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Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell Chapter 3 - 1

Mechanical Engineering - 22.321 Design of Machinery

Only undesirable if it prevents the mechanism from

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