Inversions of double slider crank mechanism:

Elliptical trammel. This is a device which is used for generating an elliptical

profile.

Fig.1.35

In fig. 1.35, if AC = p and BC = q, then, x = q.cosθ and y = p.sinθ.

2 2
x  y
  +   = cos 2 θ + sin 2 θ = 1
q
Rearranging,    p . This is the equation of an ellipse. The
path traced by point C is an ellipse, with major axis and minor axis equal to 2p and
2q respectively.

Oldham coupling. This is an inversion of double slider crank mechanism, which is

used to connect two parallel shafts, whose axes are offset by a small amount.
One of the most useful and most common mechanisms is the four-bar linkage. In
this mechanism, the link which can make complete rotation is known as crank (link
2). The link which oscillates is known as rocker or lever (link 4). And the link
connecting these two is known as coupler (link 3). Link 1 is the frame.

Inversions of four bar chain:

Fig.1.23 Inversions of four bar chain

Slider crank chain: This is a kinematic chain having four links. It has one sliding
pair and three turning pairs. Link 2 has rotary motion and is called crank. Link 3 has
got combined rotary and reciprocating motion and is called connecting rod. Link 4
has reciprocating motion and is called slider. Link 1 is frame (fixed). This
mechanism is used to convert rotary motion to reciprocating and vice versa.

Fig1.27

Inversions of slider crank chain: Inversions of slider crank mechanism is

obtained by fixing links 2, 3 and 4.

(c) slider fixed

(a) crank fixed (b) connecting rod fixed

Fig.1.28

Rotary engine – I inversion of slider crank mechanism. (crank fixed)

 Fig.1.29

b a
c 2 1
3
d
90
°
120

4
°

5 12
e 60° ° l
6 90 11
10 k
9
f 7 8
j

i
h
g
 a
b
1 0
c
2
3
d
20mm
°
120

5
60°
°

e
90

12 l
6 11
k
10
9
f 7 8
j

h
g
0100090000032a0200000200a20100000000a201000026060f003a03574d4643010
000000000010073780000000001000000180300000000000018030000010000006
c00000000000000000000001a000000370000000000000000000000783300009b12
000020454d46000001001803000012000000020000000000000000000000000000
00f6090000e40c0000d8000000170100000000000000000000000000005c4b03006
8430400160000000c000000180000000a0000001000000000000000000000000900
0000100000001306000033020000250000000c0000000e000080250000000c00000
00e000080120000000c00000001000000520000007001000001000000d2ffffff0000
00000000000000000000900100000000000004400022430061006c006900620072
006900000000000000000000000000000000000000000000000000000000000000
000000000000000000000000000000000000000000001200b0b312001000000014
b7120094b412005251603214b712000cb41200100000007cb51200f8b6120024516
03214b712000cb412002000000049642f310cb4120014b7120020000000ffffffff7cad
3c01d0642f31ffffffffffff0180ffff01800f020180ffffffff000007000008000000080000d4f
bd90301000000000000002c01000025000000372e90010000020f05020202040302
04ef0200a07b20004000000000000000009f00000000000000430061006c0069006
200720000000000a02f250770a06032353990495cad3c01d445270e40b412009c38
273104000000010000007cb412007cb41200e878253104000000a4b412007cad3c0
16476000800000000250000000c00000001000000250000000c0000000100000025
0000000c00000001000000180000000c00000000000002540000005400000000000
000000000001a000000370000000100000088870741d1450741000000002c000000
010000004c00000004000000000000000000000014060000330200005000000020
001b001b00000046000000280000001c0000004744494302000000ffffffffffffffff1406
000033020000000000004600000014000000080000004744494303000000250000
000c0000000e000080250000000c0000000e0000800e00000014000000000000001
0000000140000000400000003010800050000000b0200000000050000000c02980
0a601040000002e0118001c000000fb020400020000000000bc0200000000010202
2253797374656d0000000000000000000000000000000000000000000000000000
040000002d010000040000002d01000004000000020101001c000000fb02f4ff0000
000000009001000000000440002243616c69627269000000000000000000000000
00000000000000000000000000040000002d010100040000002d01010004000000
2d010100050000000902000000020d000000320a0c0000000100040000000000a60
1980020fa0700040000002d010000040000002d010000030000000000Configurati
on Diagram

Velocity vector diagram

2πx 120
x4
Vb = ω r = ω ba x AB = 60 = 50.24 cm/sec

Choose a suitable scale

1 cm = 20 m/s = ab

0100090000032a0200000200a20100000000a201000026060f003a03574d4643010
000000000010073780000000001000000180300000000000018030000010000006
c00000000000000000000001a000000370000000000000000000000783300009b12
000020454d46000001001803000012000000020000000000000000000000000000
00f6090000e40c0000d8000000170100000000000000000000000000005c4b03006
8430400160000000c000000180000000a0000001000000000000000000000000900
0000100000001306000033020000250000000c0000000e000080250000000c00000
00e000080120000000c00000001000000520000007001000001000000d2ffffff0000
00000000000000000000900100000000000004400022430061006c006900620072
006900000000000000000000000000000000000000000000000000000000000000
000000000000000000000000000000000000000000001200b0b312001000000014
b7120094b412005251603214b712000cb41200100000007cb51200f8b6120024516
03214b712000cb412002000000049642f310cb4120014b7120020000000ffffffff7cad
3c01d0642f31ffffffffffff0180ffff01800f020180ffffffff000007000008000000080000d4f
bd90301000000000000002c01000025000000372e90010000020f05020202040302
04ef0200a07b20004000000000000000009f00000000000000430061006c0069006
200720000000000a02f250770a06032353990495cad3c01d445270e40b412009c38
273104000000010000007cb412007cb41200e878253104000000a4b412007cad3c0
16476000800000000250000000c00000001000000250000000c0000000100000025
0000000c00000001000000180000000c00000000000002540000005400000000000
000000000001a000000370000000100000088870741d1450741000000002c000000
010000004c00000004000000000000000000000014060000330200005000000020
001b001b00000046000000280000001c0000004744494302000000ffffffffffffffff1406
000033020000000000004600000014000000080000004744494303000000250000
000c0000000e000080250000000c0000000e0000800e00000014000000000000001
0000000140000000400000003010800050000000b0200000000050000000c02980
0a601040000002e0118001c000000fb020400020000000000bc0200000000010202
2253797374656d0000000000000000000000000000000000000000000000000000
040000002d010000040000002d01000004000000020101001c000000fb02f4ff0000
000000009001000000000440002243616c69627269000000000000000000000000
00000000000000000000000000040000002d010100040000002d01010004000000
2d010100050000000902000000020d000000320a0c0000000100040000000000a60

1980020fa0700040000002d010000040000002d010000030000000000Vcb = bc

Vc = dc = 38 cm/sec = Vcd

We know that V =ω R

Vcd = ω CD
x CD

Vcd 38
= = 4.75
ωcD = CD 8 rad/sec (cw)

1. Slider Crank Mechanism:

In a crank and slotted lever mechanism crank rotates of 300 rpm in a counter
clockwise direction. Find

i) Angular velocity of connecting rod and

ii) Velocity of slider.
0100090000032a0200000200a20100000000a201000026060f003a03574d4643010
000000000010073780000000001000000180300000000000018030000010000006
c00000000000000000000001a000000370000000000000000000000783300009b12
000020454d46000001001803000012000000020000000000000000000000000000
00f6090000e40c0000d8000000170100000000000000000000000000005c4b03006
8430400160000000c000000180000000a0000001000000000000000000000000900
0000100000001306000033020000250000000c0000000e000080250000000c00000
00e000080120000000c00000001000000520000007001000001000000d2ffffff0000
00000000000000000000900100000000000004400022430061006c006900620072
006900000000000000000000000000000000000000000000000000000000000000
000000000000000000000000000000000000000000001200b0b312001000000014
b7120094b412005251603214b712000cb41200100000007cb51200f8b6120024516
03214b712000cb412002000000049642f310cb4120014b7120020000000ffffffff7cad
3c01d0642f31ffffffffffff0180ffff01800f020180ffffffff000007000008000000080000d4f
bd90301000000000000002c01000025000000372e90010000020f05020202040302
04ef0200a07b20004000000000000000009f00000000000000430061006c0069006
200720000000000a02f250770a06032353990495cad3c01d445270e40b412009c38
273104000000010000007cb412007cb41200e878253104000000a4b412007cad3c0
16476000800000000250000000c00000001000000250000000c0000000100000025
0000000c00000001000000180000000c00000000000002540000005400000000000
000000000001a000000370000000100000088870741d1450741000000002c000000
010000004c00000004000000000000000000000014060000330200005000000020
001b001b00000046000000280000001c0000004744494302000000ffffffffffffffff1406
000033020000000000004600000014000000080000004744494303000000250000
000c0000000e000080250000000c0000000e0000800e00000014000000000000001
0000000140000000400000003010800050000000b0200000000050000000c02980
0a601040000002e0118001c000000fb020400020000000000bc0200000000010202
2253797374656d0000000000000000000000000000000000000000000000000000
040000002d010000040000002d01000004000000020101001c000000fb02f4ff0000
000000009001000000000440002243616c69627269000000000000000000000000
00000000000000000000000000040000002d010100040000002d01010004000000
2d010100050000000902000000020d000000320a0c0000000100040000000000a60
1980020fa0700040000002d010000040000002d010000030000000000

Configuration diagram

Step 1: Determine the magnitude and velocity of point A with respect to 0,

2π x 300
x 60
VA = ω O1A x O2A = 60 = 600 π mm/sec

Step 2: Choose a suitable scale to draw velocity vector diagram.

0100090000032a0200000200a20100000000a201000026060f003a03574d4643010
000000000010073780000000001000000180300000000000018030000010000006
c00000000000000000000001a000000370000000000000000000000783300009b12
000020454d46000001001803000012000000020000000000000000000000000000
00f6090000e40c0000d8000000170100000000000000000000000000005c4b03006
8430400160000000c000000180000000a0000001000000000000000000000000900
0000100000001306000033020000250000000c0000000e000080250000000c00000
00e000080120000000c00000001000000520000007001000001000000d2ffffff0000
00000000000000000000900100000000000004400022430061006c006900620072
006900000000000000000000000000000000000000000000000000000000000000
000000000000000000000000000000000000000000001200b0b312001000000014
b7120094b412005251603214b712000cb41200100000007cb51200f8b6120024516
03214b712000cb412002000000049642f310cb4120014b7120020000000ffffffff7cad
3c01d0642f31ffffffffffff0180ffff01800f020180ffffffff000007000008000000080000d4f
bd90301000000000000002c01000025000000372e90010000020f05020202040302
04ef0200a07b20004000000000000000009f00000000000000430061006c0069006
200720000000000a02f250770a06032353990495cad3c01d445270e40b412009c38
273104000000010000007cb412007cb41200e878253104000000a4b412007cad3c0
16476000800000000250000000c00000001000000250000000c0000000100000025
0000000c00000001000000180000000c00000000000002540000005400000000000
000000000001a000000370000000100000088870741d1450741000000002c000000
010000004c00000004000000000000000000000014060000330200005000000020
001b001b00000046000000280000001c0000004744494302000000ffffffffffffffff1406
000033020000000000004600000014000000080000004744494303000000250000
000c0000000e000080250000000c0000000e0000800e00000014000000000000001
0000000140000000400000003010800050000000b0200000000050000000c02980
0a601040000002e0118001c000000fb020400020000000000bc0200000000010202
2253797374656d0000000000000000000000000000000000000000000000000000
040000002d010000040000002d01000004000000020101001c000000fb02f4ff0000
000000009001000000000440002243616c69627269000000000000000000000000
00000000000000000000000000040000002d010100040000002d01010004000000
2d010100050000000902000000020d000000320a0c0000000100040000000000a60
1980020fa0700040000002d010000040000002d010000030000000000Velocity

vector diagramVab = ab =1300mm/sec

Vba 1300
= = 8.66
ω ba = BA 150 rad/sec

Vb = ob velocity of slider

Note: Velocity of slider is along the line of sliding.