Linkages

FUNDAMENTALS Topic 4
Gerald Rothenhofer
9/21/2009
What is a Linkage?
A mechanical linkage is a series of rigid links connected with joints
to form a closed chain, or a series of closed chains. Each link has
two or more joints, and the joints have various degrees of freedom
to allow motion between the links. A linkage is called a mechanism if
two or more links are movable with respect to a fixed link.
Mechanical linkages are usually designed to take an input and
produce a different output, altering the motion, velocity, acceleration,
and applying mechanical advantage.
A linkage designed to be stationary is called a structure.
en.wikipedia.org/wiki/Linkage_(mechanical)
History
Leonardo da Vinci (1452, 1519), Codex Madrid I.
Industrial Revolution was the boom age of linkages: cloth
making, power conversion, speed regulation, mechanical
computation, typewriting and machining
Linkages Today
In many applications (typewriting) linkages have been replaced by
electronics.
Still linkages can have a cost advantage over electronic solutions:
Couple different outputs by a mechanism rather than using one
motor per output and electronics to achieve the coupling.
Current applications: Sports Equipment, Automotive (HVAC
modules), Precision Machinery (Compliant Mechanisms), Medical
Devices
Linkage Categorization
Planar Linkages
Three bar
Four bar
Slider Crank
Five bar
Six bar
be creative
Spatial Linkages
Degrees of Freedom
Planar Linkages:
F=3*(N-1)-2*J
1
-J
h
F total degrees of freedom
N number of links
J
1
constraints by 1DOF joints
J
h
constraints by 2DOF joints


Four Bar
Grashof: The sum of the shortest (S) and longest (L) links of a
planar four-bar linkage must be smaller than the sum of the
remaining two links (P, Q). In this case the shortest link can rotate
360degree relative to the longest link.
L + S < P + Q: crank-rocker, double-crank, rocker-crank, double-
rocker
L + S = P + Q: crank-rocker, double-crank, rocker-crank, double-
rocker, note: linkage can change its closure in singularity
positions (all links aligned)
If L + S > P + Q, double-rocker, no continuous rotation of any link

Transmission Angles Four Bar
Angle between coupler and output link
should be 40140
Zero torque at output link if =0 or
=180
A ground link
B input link
C coupler
D output link
A
B
D
C

Transmission Angles Slider Crank
Especially important in critical position such as within the
main working range or high load positions
Minimize
Minimize |2-90|
No stick condition: 1/tan()<



a
b
y
x
T

1

Four Bar Synthesis
Function Generation (input/output relation)
Line Path Generation (line on coupler)
Point Path Generation (coupler point)

A
B
D
C
A ground link
B input link
C coupler
D output link
Four Bar Two Position Synthesis
Four Bar Three Position Synthesis
Cognate Mechanisms
Provide identical
motion of a point
or link
Here: coupler
point cognate
Four Bar Function Generation
Two angular displacements
Only one initial position;
either primary or secondary
side can be chosen freely
(here 60)
E.g.:
Primary side moves by
2x 20
Secondary side moves
by 35+30
Crank Rocker Design
Design in extreme positions
Typically design for crank
movement >180
depending on required
transmission ratio i.e. rocker
should move slowly when
load is heavy, the return fast
In this example rocker
moves through 60 while the
crank moves through
180+10=190
Slider Crank Synthesis I
Two point synthesis
Slider Crank Synthesis II
Three point
synthesis by
geometrical
inversion

Other Basic Four Bar Design
Methods
Approximate function generation
Approximate coupler point path generation
Uncorrelated with input
Correlated with input
Slider crank synthesis by approximation

What is possible with advanced
design methods?
Four coupler position synthesis
In some cases five coupler position synthesis is
achievable
Straight line motion
Complex linkages (more than four bars)
Spatial linkages

Five Bar
How many degrees of freedom?
Why does it work?
Six Bar
Watt & Stephenson Linkages
approximate dwells or better MTB suspension
Four Bar Analysis I
2 is a complicated trigonometric function of 1, 2=f(1)
2 2 2 2
)
sin( ) sin( )
)
cos( ) sin( )
cos )
:
2 cos( ) 2 cos( ) 2
2 2 2
p 1
2 2 2
p 2
2 2 2 2
1 2
2 1
2 1
1 2
lawof cosine:
r =a +b -2abcos(180- + )
r =c +d -2cdcos(180- )
a +b +2abcos( - )=d +c +2cdcos(
c a
sin(
b
d c a
(
b
aftersome math
a b c d ad cd ac
u
u
u u
u u

u u

u u

=
+
=
+ + +
1 2
1 2 1 2
2 1 1 1 2
1 2 2 1 2
cos( ) 0
(), ,
2 sin( ) 2 sin( ) 2 ( ) sin( ) 0
:
sin( ) sin( )
sin( ) sin( )
1 2
1 2
1 2 1 2
taketimederivativeof assume const const
ad cd ac
transmissionratio
T ad ac
r
T cd ac
u u
u e u e
e u e u e e u u
e u u u
e u u u
=
= = = =
+ =
+
= = =
+
r
p


d
e
x

e
y

a
b
c

1

Four Bar Transmission Ratio
2 2 2 2
21
2 cos( ) 2 cos( ) 2 cos( ) 0
:
1 2 2 2 2 cos( 1)
2 2 2 cos( 1)
3 2 sin( 1)
1 2cos( 2) 3sin( 2) 0
:
1 2 1 2
2 2 2 2 2 0.5
1 3 2 3 2 1 3
2 2
3 2 3
a b c d ad cd ac
substitute
K a b c ad
K cd ac
K ac
K K K
two solutions
K K +K (K (K -K +K ))
atan(-
K (K +K
u u u u
u
u
u
u u
u
+ + + =
= +
=
=
+ + =
=
22
2 1 1 1 2
1 2 2 1 2
)
)
:
sin( ) sin( )
sin( ) sin(
2 2 2 2 0.5
2 1 3 2 1 3
2 2
2 3
2 2 2 2 2 0.5 2 2 2 2 0.5
1 3 2 3 2 1 3 2 1 3 2 1 3
2 2 2 2
3 2 3 2 3
-K K +(K (K -K +K ))
,
) (K +K )
-K K +K (K (K -K +K )) K K +(K (K -K +K ))
=atan( ,-
K (K +K ) (K +K )
transmissionratio
T ad ac
r
T cd ac
u
e u u u
e u u u
+
= = =
+ )

Slider Crank Analysis
F is maximum available force (no friction or other loads
taken into account)
2 2 2
0 0
2 2 2 2 2
0 0 0 0
2 2 2 2 2
0 0 0
1 0 0 0
2
cos( ) cos( )
sin( ) sin( )
( ) ( )
2 cos( ) 2[ ( cos( ) cos( )) ( sin( ) sin( ))] 0
:
2 sin( ) 2 cos( )
2
1 2
1 2
1 2 1 2 1 2
1 1
x a b
y a b
x x y y R
a b x y R ab x a b y a b
substitute
Q a b x y R
Q Q y a x a
Q ab
u u
u u
u u u u u u
u u
= +
= +
+ =
+ + + + + + + =
= + + +
=
=
0
3 0
1 2 2 3 2
21
22
cos( ) 2
2 sin( ) 2
cos( ) sin( ) 0
:
)
1
1
2 2 2 2 2 0.5 2 2 2 2 0.5
1 3 2 3 2 1 3 2 1 3 2 1 3
2 2 2 2
3 2 3 2 3
2 2 2 2 2 0.5
1 3 2 3 2 1 3
3 2
x b
Q ab y b
Q Q Q
two solutions
Q Q +Q (Q (Q -Q +Q )) -Q Q +(Q (Q -Q +Q ))
atan(- ,
Q (Q +Q ) (Q +Q )
-Q Q +Q (Q (Q -Q +Q ))
=atan(
Q (Q
u
u
u u
u
u

=
+ + =
=
1
1
)
:
sin( )
) sin( )
2 2 2 2 0.5
2 1 3 2 1 3
2 2 2 2
3 2 3
1 2
2 2 0.5
0 0 2 1 2
Q Q +(Q (Q -Q +Q ))
,-
+Q ) (Q +Q )
transmissionratio
T a V
r R
F (x +y ) sin( a

u u
e u | u u

= = =
+ +
x
0
y
0
R
a
b

2
F, V
T
1
,
1

Slider Crank Transmission Ratio
The transmission ratio determines the relation of slider
(flapper) position and motor angle.
1
1
:
sin( )
) sin( )
1 2
2 2 0.5
0 0 2 1 2
transmissionratio
T a V
r R
F (x +y ) sin( a
u u
e u | u u

= = =
+ +
x
0
y
0
R
a
b

2
F, V
T
1
,
1

Power Budget
Assumes that load forces are constant
Average and max load forces should be used to check
for safety factors
l arc length between starting point and end point of
slider movement
( )
out in
in
in in in in
out load
load in in
load friction pressure others
friction pressure others in in
P P
P T T
t
l
P F
t
and therefore
F l T
F F F F
F F F l T
ou
e
o
o
o
o ou
o ou
=
= =
=
=
= + +
+ + =
a
b
y
x
T
in

in

l
Slider Friction I

a
b
y
x
T

1

T

2

R
F

F
F
a
y

1
x
b
2 1
2
cos( ) cos(
sin( )
0
z
at the slider,
forces can only be applied
in the direction of the link:
R F,
could alsobeobtained by
a forcebalancein x- and y- directions
moment balance around crank pivot:
a
Te F
u u
u
=
(
(
=
(
(

1
1 2
1 2
1 2
1
)
sin( )
0
cos( )
sin( )
:
cos( )
sin( )
sin( )
sin( )
sin( )
sin( )
: 1,
friction
2
2 1 1
a
F F
F F
after sometrigonometry
T
F
a
T
F
a
T
F F
a
note is a function of is a functionof
=f( ), =g( )
u
o
o
o
u u
o
u u
o

u u
u u o u
u u o u

(
(
(
(

=
=
=

= =

Slider Friction II
1
tan( )
:
:
1
tan( )
friction
F
F
F F
sticking if F F
and therefore at any point along the slider track it must be
o

=
=
s
<
F

F

F


a
y
x
T

1

Questions