The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

A21_451

STRAIGHT-LINE MECHANISMS IN THE COLLECTION OF

BAUMAN MOSCOW STATE TECHNICAL UNIVERSITY
D. Klyukin1
BMSTU
Moscow, Russia

M.Shchedrin2
BMSTU
Moscow, Russia

Abstract. Straight-line mechanisms (SLM) are one

of the most specific parts of machines mechanics. It is
more than enough to say that BMSTU owns more
than 20 models of such mechanisms in its collection
of mechanisms models. Lots of famous scientists,
such as Watt, Reuleaux, Chebyshev, Peaucellier,
were engaged in designing and investigation those
mechanisms. However, it is known these mechanisms
didnt receive enough application on practice. At
present time, even people in mechanics studies dont
exactly know where mechanisms were used and how
the high interest for them in 18-19 centuries can be
explained. This article will look at straight-line
mechanisms of BMSTUs collection, the principles of
their designing, the history of creation and
application of them.
Keywords:
Straight-line
mechanisms,
collection
of
mechanisms, models of BMSTU, history of machines and
mechanisms

I.

General Introduction

The majority of mathematics curves can be created

by using simple hinge-lever mechanisms. Fixing the rod
with the use of hinge on the base, we would get a
mechanism with all its points moving on precise circles
Similarly, the straight line would appear if the rod is
attached to the base by translational pair. However, the
accuracy of such straight line depends on the precision
of manufacturing of the translational pair. The
technologies, existed in engineering in 18-19 centuries,
couldnt guarantee high accuracy of translational pair,
though that rotational pairs were manufactures at a
pretty high level of precision. As a result, there was a
need in mechanics for a simple hinge mechanism which
can provide a straight-line motion of an output link or a
point.
First mechanisms werent able to ensure a
theoretically precision movement on a straight line.
They have created that motion approximately with the
enough accuracy for the practical application. However,
scientists and inventors were still trying to find a type of
construction of mechanism which would provide a
perfect motion. The first one who has created such
mechanism was Peaucellier. However, the mechanism
has become famous just after its second independent
birth by Lipkin, Chebyshevs student. Thats why now
1

Student, amanish@yandex.ru
Student, wanksta-91@mail.ru
3
Ass. Prof, docent, vtarabarin@gmail.com
2

V. Tarabarin3
BMSTU
Moscow, Russia

this mechanism is known as the Peaucellier-Lipkin

mechanism. Later on, other straight-line mechanisms
were designed. The fact that Reuleauxs collection was
consisted of 38 such mechanisms tells us about high
interest for them at that time. There were lots of them in
the BMSTUs collection, however only 19 Reuleauxs,
5 Ershov-Redtenbachers, 1 Orlov's and 3 Reshetov's
models are left.
II. Classification of lever straight-line
mechanisms
The description and the analysis of SLM is given in
projects [1-5]. The principles, on based what close and
precision straight-line mechanisms are designed, are
explained in more details in the book of Zernov [3].
Here, only 3 main types of close mechanisms are
highlighted; they are elliptical, lemniscoidal and
conchoidal. The table 1 shows the division of straightline mechanisms models based on types of mechanisms
of Reuleauxs and BMSTU's collections. The all
Reuleaux's collection models are described by Moon,
website [6]. Moreover, there are also names of scientists
who have designed the outline of mechanism, defined
the optimum ratio of the length of links. The majority of
those mechanisms are related to Reuleaux collection. He
has developed many of them, has taken part in
engineering and construction of models. That's why in
case when the original author of mechanism was
unknown, it was said to be the Reuleaux's one.

M 04

M 05

M 31

M 12

M 34

Fig. 1: Straight-Line Mechanisms of

BMSTU collection

The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

Table 1: Classification Straight-Line Mechanisms

Type
Inventor
Numbers in Numbers in
of Mechanisms (Creator)
collection collection
Reuleaux
BMSTU
1. Elliptical
Reuleaux S01,S02,S03, Q17,B28,
S04,S08,S09, Q04,Q15
S13
Evans
S05,S06,S07 Q02, M31
Nehrlich S10,S11,S12 Q13,Q14,
M18,M12
Roberts
S14,S15
Hypocycloid Watt (Lahire)
S16,S17
2. Epicycloid Reuleaux
S18
3. Lemniscate Chebyshev
S19,S30
B11,Q05
Watt
S24,S25
Q10,Q18,
M05,M34
Reuleaux S26,S32,S36, Q16,Q19,
S37,S38
36
Harwey
S31
Q09
Maudslay
S33
4. Conchoidal Reuleaux
S20
Q07
Reichenbach S21,S22
Q11
5. Cycloid
Reuleaux S27,S28,S29
S13
6.
Cartwright
S34
7.
Peaucellier-Lipkin
S35
8. Rhombus Reuleaux
S39

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S19 (B11)

S38 (36)

S04 (B28)

S30 (Q05)

S20 (Q07)

S11 (Q14)

S13 (Q15)

S26 (Q16)

S03 (Q17)

S12 (M18)

S05 (Q02)

S08 (Q04)

S24 (Q10)

S22 (Q11)

S11 (Q14)

S25 (Q18)

S36 (Q19)

S29 (S13)

III. Approximate lever straight-line

mechanisms
First of all, we would look at three main types of
approximate mechanisms. The Cardan's circles mean
that there is a pair of centroids in which the largest is
motionless, while the smallest is inside the first one. The
radius of largest centroid is twice bigger than the
smallest.
The centre of small centroid is moving around the
circle and all its points are making straight lines during
the motion of it on large. The Figure 3a shows a scheme
of epicyclical notched SLM (the mechanism of Lahire
or Watt), where the output link, 3, is fixed at point C of
centroid with the use of rotational kinematic pair and
creates translational straight-line movement. If the link
would be made in the lever form, which joins hinges B
and C, we get elliptical SLM (Fig. 3b) with its point S
moving approximately on straight line (with small
corners movements of rocker 1). Also the lever SLM of
Evans can be got by fixing the hinge C on the ending of
rocker 3 (Fig. 3c). In this mechanism the length of
rocker 3 has to be enough large to make the tiny motion
of arc C looks similar to the straight line motion.

Fig. 2: Straight-Line Mechanisms of

Reuleauxs collection

The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

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Reuleaux has made a suggestion of setting points of a

connecting rod 3 (S, E and F) not on the straight line,
but on isosceles triangle which inscribed in smaller
circle of Cardan (Fig. 4a). In this case, points E and F
are situated on the equal distance from the diameter SP.
The next step is to connect those points by the rotational
pairs with sliders 4 and 5, and translational pair Q and K
forward in a straight lines ee and ff (radiuses of larger
Cardans circle). The models SLM S08 and S09 (Q04)
are designed based on this scheme.
The Robertss mechanism (S14 and S15) is a
elliptical one as well as other. In this kind of
mechanisms points E and F are on the same distance
from the diameter SP inside the smaller circle (Figure
4b). During the rolling of Cardans circles these points
are moving along the arcs of ellipses. The approximated
motion of point S along straight ss can be received by
approximating those arcs by points E and F of cranks
QE and KF.

Fig. 3: Elliptical Straight-Line Mechanisms of Evans

Because all points of connecting rod 2 move in ellipses,
it is not necessary to choose the middle point BS. It can
be chosen at any part of this line. In the case of point A,
the length of crank AB is defined by the radius of the
curvature of the curve , which approximates the
following part of ellipse. There are schemes of 3 types
of Evanss mechanisms on the figure 3: the first one is
S05, M31 d, the second is S06 e and the last one is
S07 f.

Fig. 5: Conchoidal Straight-Line Mechanisms

a

b
Fig. 4: Elliptical Straight-Line Mechanisms of
Reuleaux and Roberts

Curves drown by points placed at the link 2 of

mechanism, which represented at the Fig. 5a, are called
conchoids. While S is moving on the straight line ss and
point A is fixed, coupling link can slide and roll with a
point A as a center. Approximating conchoid pieces by
arcs with help of rockers OE, OQ and OK we can
receive different types of approximate conchoidal SLM.
Reichenbach was the first who offered such kind of
mechanisms. There are three types of conchoidal
mechanisms in the Reuleauxs collection: the first
mechanism is S20 (Fig. 5c), the second model is S21
(Fig. 5d) and the last one is S22 (Fig. 5b).

The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

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There are two models of this mechanism in the

collection of BMSTU: the first one is the model by
Reuleaux-Voigt and the second is model supposedly
made by F.E. Orlov. Its wooden model created at the
TMM department of BMSTU, and it demonstrates the
rolling of centrodes of the connecting rod (Fig. 7).
b
a

Fig. 7: Model and scheme cross link SLM of

Chebyshev

e
Fig. 6: Lemniscoidal Straight-Line Mechanisms
Complex line made by points of a connecting rod of
a four-hinge mechanism is called lemniscates. Different
pieces of this curve are close either to arcs of a circle or
to straight lines. This is exactly what Watt has used in
his famous parallelogram. Two kind of Watts
parallelograms are known: the first is called reduced
(Fig. 6a, b) and the other one is full (Fig. 6c). The
best approximation to the straight line in the reduced
Watts parallelogram ensures by the point of the
connecting rod S which divides it into segments
inversely proportional to length of links 1 and 3:

lCS l AB
=
.
lSB lCD

Based on this SLM Chebyshev had developed the

original scheme of the steam-engine [9]. The
mechanism of this steam-engine ensured movement of
the point where connected rod of the piston on a straight
line with high accuracy. This steam-engine machine and
its model were made at the factory of IMTU. The
machine was demonstrated at the exhibition in Paris and
was awarded by organization committee. Figure 8
represents the photo of the model of the steam-engine
machine and structure scheme of its mechanism.
Unfortunately, the dynamical properties of this machine
were bad, therefore, only one prototype was released.
Nowadays, its kept in the museum of BMSTU.

(1)

Full mechanism of Watt (Fig. 6c) has two links more

and these links create the parallelogram BCEF, which
point E moving in a straight line parallel to ss. In the
Watts steam engine (model M4) point S was connected
with the rod of general cylinder and point E was
connected with the rod of pumping piston.
Point S can divide connecting rod in external way
(Fig. 6b) as well, as long as the equation (1) is fulfilled
(model S25).
P.L. Chebyshev had improved the mechanism of Watt
(Fig. 6e). Scheme of mechanism and ratio of dimensions
suggested by Chebyshev allowed to decrease deviation
of the path of the point S from a straight line to 0.05 mm,
while Watts mechanism had deviation of almost 2 mm
[7]. Later he suggested another four-linkage SLM [8],
where linkages of rockers were crossed, and which
guaranteed precision of reproduction of a straight line
two times better than reduced parallelogram of Watt
(Fig 6d). The ratio of lengths of links defined by
proportion (markings by the Fig. 6d):

lAD : lAB : lDC : lCB = 4 : 5 : 5 : 2.

(2)

Fig. 8: Model and scheme of the Chebyshevs steam

engine
The considerable part of section of collection SLM is
made by inverse mechanisms (S10-13, 16-17, 23, 26
and M12). The mechanism rotation is carrying out by
the rack change. The straight line moving link or a point
as fixed (i.e. transform into a rack), and an old rack is

The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

released and connected to new proof forward pair. At

the Fig. 9 the transformation of elliptic mechanisms to
inverse Nehrlichs SLM is shown.

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b
b

Fig. 9: Inversion elliptical SLM of Nerlich

During the rotation the mechanism structure changes
as two new kinematic pairs (E and S) and a link 4 are
formed. The general mobility of the flat mechanism
changes as well and becomes equal to zero.

e
f

W p= 3n+2p1= 34+26 =0
Fig. 10: Exact Straight-Line Mechanisms
One superfluous connection appears in the
mechanism and defines orientation of forward pair
in parallel to the trajectory of point S. At the Fig. 9
mechanism 9a is transforming to the mechanism 9b
(S11 or Q14, 12), 9c to 9d (S10 or Q13) and 9e to
9f (S12 or 14).
IV. Exact straight-line mechanisms
To exact SLM we can subsume mechanisms of
Reuleaux (S08, 09), Lahire (S16, 17 and N12 last
model's photo is shown on Fig. 11), Cartwright (S34),
ellipsographs (S02,04) and mechanisms with rack (S2729). But these mechanisms have forward or higher pair,
in other words they are not link-jointed mechanisms.
Precise SLM were created with basing on inversion.
Inversion means transformation on plane which
transform every point in such point S, overlaying on
the ray ,

OP OQ = c = l 2 r 2 ,
where center or pole of inversion, coefficient of
inversion [ 10 ].

On Fig .10 there are accurate hinge SLM of

Peaucellier-Lipkin (S35, M26 Fig. 10a,b) and Gart
(photo of model from the [11] is on the Fig. 10c,d ) and
notched-lever mechanism N13 (Fig. 10e,f). Peaucellier
offered to readers of the magazine Nouvelles Annales
de Mathmatiques to make jointed compasses for
imaging a straight line [12]. A problem solving was
found in 1868 by L.I. Lipkin and published in
academy's bulletin in 1870 [13]. Peaucellier published
the same solution on his own in 1873 [14]. Finally
mechanism (Fig. 10 ,b) received a title of "
PeaucellierLipkins mechanism". This mechanism was
complicated enough because it had 8 links. In 1874 G.
Gart [15] offered more simple six-linkage inversor,
which scheme is represented on Fig. 10c,d.
Model represented at the Fig. 10 e, f was made in
the BMSTUs TMM department. This model ensures
straight line motion of the point S placed on the link 2.
Model has two levers, connected with stand and among
themselves by rotational pairs and . The rotary
motion set to the link 1, then motion transfer to the link
2 with help of two bevel gears P1 and P2. The first one
has gear ratio u10= 0.5 and the other one u21= 1.

The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

[3]

Zernov D.S. Applied mechanics. Part1. Moscow-Leningrad, The

merged scientific and technical publishing house, 1937. 343pp.

[4]

Taimina Daina How to Draw a Straight Line. Kinematic Models

for Design. Degital Library. Cornell University College of
Engineering (kmoddl.library.cornell.edu).

[5]

Kempe A. B. How to Draw a Straight Line. A lecture on

linkages. London, Macmillan and Co., 1877. 51pp.

[6]

Kinematic Models for Design. Degital Library. Cornell

University College of Engineering (kmoddl.library.cornell.edu).

[7]

Chebyshev P.L. About some modification of cranked

parallelogram Watt (1861). The collected works, vol.1, St.Peterburg, 1899. pp. 512-528 (in Russian).

[8]

Chebyshev P.L. About one mechanism (1868). Proceedings of

Emperors Academy of Science.vol.15, 1868 pp. 38-46 (in
Russian).

[9]

Chebyshev P.L. About parallelograms (1870). The collected

works, vol.1, St.-Peterburg, 1907. pp. 85-106 (in Russian).

V. Straight-line mechanisms of BMSTU.

The models of mechanisms
shown before present the bigger
part SLM's collection of TMM
BMSTU department. There are
no some models of XX century
middle, repeated ones, which
were described. Part of the mode
was made in department's
workshops or in demonstration
plant IMTU - these are models
from Fig. 1, 7, 8, 10 b, e and 11,
another one was bought in XIX
Fig. 11: Model
SLM Ph. de Lahire century in Germany (Fig. 1).
Unfortunately, this section of
BMSTU's collection is not saved fully. Some of them
were lost recently. There was an influence on Reuleaux
-Voigt's models safety of this part of collection because
of its using by students on laboratory researches
with structural analysis study on L.V. Assur's
classification. Whereby models were partly changed:
displaced forward pairs, halfway taken away members.
It can be seen by models comparison on Fig. 1 with
analogous ones, which are shown on site [6].
VI.

Conclusions

As D.S. Zernov noticed in [3], "practical importance is

shown by not many mechanisms of this type". SLM
were used in steam-engines on first stages of its
development, nowadays they are applied in different
apparatus and instruments, machines and tools. Large
number of hinges makes these mechanisms not hard and
not accurate (because of looseness in steams). In fact,
sensitive mechanisms can provide a straight-line path
with a less accuracy then approximate ones. However,
problem of its invention has consolidated many famous
mathematics and mechanics: Chebyshev, Watt,
Reuleaux, etc. It has promoted rise and development of
mathematic part such as functional approximation or
inversion. That's why study of this mechanisms
working out history and its appearance principles,
saving SLM models is an important aim of modern
machine science.
Acknowledgments. Authors thank creators of the
kmoddl.library.cornell.edu web-site for information
about models and history of development of straightline mechanisms.
References
[1]

Golovin A., Tarabarin V. Russian Models from the Mechanisms

Collection of Bauman University. History of Mechanisms and
Machines Science. Vol.5. Edited M. Ceccarelli. Springer. 2008. 238pp.

[2]

Dobrovolskiy V.V. Theory of mechanisms. Moscow: Mashgiz.

1946. 447pp. (in Russian)

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[10] Kaazik Ju.A. Mathematic dictionary. Tallin, Valgus, 1985.

293pp. (in Russian)
[11] Artobolevskiy I.I. Theory mechanisms and machines. MoscowLeningrad, Gostechizdat, 1940. - 762pp. (in Russian)
[12] Bogoliubov A.N. Theory mechanism and machines in history
evolution its ideas. Moscow, Publish house Science, 1976.
465pp. (in Russian)
[13] Veber eine gelenkgeaef hrung von L. Lipkin. Mlanges math
matiques de IAcademie lmp riale a St-Ptesbourg. 1870.
[14] Peaucellier C-N. Note sur un question du gometrie de compass.
Nouvelles Annales de Mathmatiques. 1873, 2 s., vol. 12, pp.
71-78.
[15] On certain conversion of motion. Messenger of Mathematics,
1874, vol. 4, pp. 82-86, 116-120. Report of the 44 Meeting of
British Association for the Advancement of Science. Meeting of
Belfast, 1874.