Four-bar linkage

A four-bar linkage, also called a four-bar, is the simplest movable closed chain linkage. It consists of four bodies, called bars or
links, connected in a loop by four joints. Generally, the joints are configured so the links move in parallel planes, and the assembly is
called a planar four-bar linkage. Spherical and spatial four-bar linkages also existand are used in practice.[1]

Contents
Planar four-bar linkage
Planar quadrilateral linkage
Grashof condition
Classification
Design of four-bar mechanisms
Time ratio
Timing charts
Slider-crank linkage
Spherical and spatial four-bar linkages
Examples
Example simulations
See also
References
External links

Planar four-bar linkage

Planar four-bar linkages are constructed from four links connected in a loop by four
one-degree-of-freedom joints. A joint may be either a revolute, that is a hinged joint,
denoted by R, or a prismatic, as sliding joint, denoted by .P

A link connected to ground by a hinged joint is usually called a crank. A link

connected to ground by a prismatic joint is called a slider. Sliders are sometimes
considered to be cranks that have a hinged pivot at an extremely long distance away
perpendicular to the travel of the slider.

The link that connects two cranks is called a floating link or coupler. A coupler that
Coupler curves of a crank-rocker
connects a crank and a slider is often called aconnecting rod. four-bar linkage. Simulation done
with MeKin2D.
There are three basic types of planar four-bar linkage depending on the use of
revolute or prismatic joints:

1. Four revolute joints: Theplanar quadrilateral linkageis formed by four links and fourrevolute joints, denoted
RRRR. It consists of two cranks connected by a coupler .
2. Three revolute joints and a prismatic joint: Theslider-crank linkage is constructed from four links connected by
three revolute and oneprismatic joint, or RRRP. It can be constructed with crank and a slider connected by the
connecting rod. Or it can be constructed as a two cranks with the slider acting as the coupler
, known as an inverted
slider-crank.
 3. Two revolute joints and two prismatic joints: The double slider is a PRRP linkage.[2] This linkage is constructed by
connecting two sliders with a coupler link. If the directions of movement of the two sliders are perpendicular then the
trajectories of the points in the coupler are ellipses and the linkage is known as an
elliptical trammel, or the Trammel
of Archimedes.
Planar four-bar linkages are important mechanisms found in machines. The kinematics and dynamics of planar four-bar linkages are
important topics in mechanical engineering.

Planar four-bar linkages can be designed to guidea wide variety of movements.

Planar quadrilateral linkage

Planar quadrilateral linkage, RRRR or 4R linkages have four rotating joints. One link of the chain is usually fixed, and is called the
ground link, fixed link, or the frame. The two links connected to the frame are called the grounded links and are generally the input
and output links of the system, sometimes called the input link and output link. The last link is the floating link, which is also called a
coupler or connecting rod because it connects an input to the output.

[2]
Assuming the frame is horizontal there are four possibilities for the input and output links:

A crank: can rotate a full 360 degrees

A rocker: can rotate through a limited range of angles which does not include 0° or 180°
A 0-rocker: can rotate through a limited range of angles which includes 0° but not 180°
A π-rocker: can rotate through a limited range of angles which includes 180° but not 0°
Some authors do not distinguish between the types of rocker
.

Grashof condition
The Grashof condition for a four-bar linkage states: If the sum of the shortest and longest link of a planar quadrilateral linkage is less
than or equal to the sum of the remaining two links, then the shortest link can rotate fully with respect to a neighboring link. In other
words, the condition is satisfied ifS + L ≤ P + Q, where S is the shortest link, L is the longest, and P and Q are the other links.

Classification
The movement of a quadrilateral linkage can be classified into eight cases based on the dimensions of its four links. Let a, b, g and h
denote the lengths of the input crank, the output crank, the ground link and floating link, respectively. Then, we can construct the
three terms:

;
;
.

The movement of a quadrilateral linkage can be classified into eight types based on the positive and negative values for these three
terms, T1, T2, and T3.[2]
 Grashof condition Input link Output link

− − + Grashof Crank Crank

+ + + Grashof Crank Rocker
+ − − Grashof Rocker Crank
− + − Grashof Rocker Rocker
− − − Non-Grashof 0-Rocker 0-Rocker
− + + Non-Grashof π-Rocker π-Rocker
+ − + Non-Grashof π-Rocker 0-Rocker
+ + − Non-Grashof 0-Rocker π-Rocker

The cases of T1= 0, T2=0, and T3=0 are interesting because the linkages fold. If we distinguish folding quadrilateral linkage, then
there are 27 different cases.

[3]
The figure shows examples of the various cases for a planar quadrilateral linkage.

Types of four-bar linkages,s = shortest link, l = longest link.

The configuration of a quadrilateral linkage may be classified into three types: convex, concave, and crossing. In the convex and
concave cases no two links cross over each other. In the crossing linkage two links cross over each other. In the convex case all four
internal angles are less than 180 degrees, and in the concave configuration one internal angle is greater than 180 degrees. There exists
a simple geometrical relationship between the lengths of the two diagonals of the quadrilateral. For convex and crossing linkages, the
length of one diagonal increases if and only if the other decreases. On the other hand, for nonconvex non-crossing linkages, the
[4]
opposite is the case; one diagonal increases if and only if the other also increases.

Design of four-bar mechanisms

The synthesis, or design, of four-bar mechanisms is important when aiming to produce a desired output motion for a specific input
motion. In order to minimize cost and maximize ef
ficiency, a designer will choose the simplest mechanism possible to accomplish the
desired motion. When selecting a mechanism type to be designed, link lengths must be determined by a process called dimensional
synthesis. Dimensional synthesis involves an iterate-and-analyze methodology which in certain circumstances can be an inefficient
ism may not exist.[5]
process; however, in unique scenarios, exact and detailed procedures to design an accurate mechan
Time ratio
The time ratio (Q) of a four-bar mechanism is a measure of its quick return and is defined as follows:[5]

With four-bar mechanisms there are two strokes, the forward and return, which when added together create a cycle. Each stroke may
be identical or have different average speeds. The time ratio numerically defines how fast the forward stroke is compared to the
( tcycle ) for a mechanism is:[5]
quicker return stroke. The total cycle time Δ

Most four-bar mechanisms are driven by a rotational actuator, or crank, that requires a specific constant speed. This required speed
(ωcrank )is related to the cycle time as follows:[5]

Some mechanisms that produce reciprocating, or repeating, motion are designed to produce symmetrical motion. That is, the forward
stroke of the machine moves at the same pace as the return stroke. These mechanisms, which are often referred to as in-line design,
[5]
usually do work in both directions, as they exert the same force in both directions.

Examples of symmetrical motion mechanisms include:

Windshield wipers
Engine mechanisms or pistons
Automobile window crank
Other applications require that the mechanism-to-be-designed has a faster average speed in one direction than the other
. This category
of mechanism is most desired for design when work is only required to operate in one direction. The speed at which this one stroke
operates is also very important in certain machine applications. In general, the return and work-non-intensive stroke should be
accomplished as fast as possible. This is so the majority of time in each cycle is allotted for the work-intensive stroke. These quick-
return mechanisms are often referred to asoffset.[5]

Examples of offset mechanisms include:

Cutting machines
Package-moving devices
With offset mechanisms, it is very important to understand how and to what degree the offset affects the time ratio. To relate the
geometry of a specific linkage to the timing of the stroke, an imbalance angle (β) is used. This angle is related to the time ratio, Q, as
follows:[5]

β:[5]
Through simple algebraic rearrangement, this equation can be rewritten to solve for

Timing charts
Timing charts are often used to synchronize the motion between two or more mechanisms. They graphically display information
showing where and when each mechanism is stationary or performing its forward and return strokes.iming
T charts allow designers to
qualitatively describe the requiredkinematic behavior of a mechanism.[5]

These charts are also used to estimate the velocities and accelerations of certain four-bar links. The velocity of a link is the time rate
at which its position is changing, while the link's acceleration is the time rate at which its velocity is changing. Both velocity and
acceleration are vector quantities, in that they have both magnitude and direction; however, only their magnitudes are used in timing
charts. When used with two mechanisms, timing charts assume constant acceleration. This assumption produces polynomial
equations for velocity as a function of time. Constant acceleration allows for the velocity vs. time graph to appear as straight lines,
thus designating a relationship between displacement (ΔR), maximum velocity (vpeak ), acceleration (a), and time(Δt). The following
equations show this.[5][6]

ΔR = vpeakΔt
ΔR = a(Δt)2

Given the displacement and time, both the maximum velocity and acceleration of each mechanism in a given pair can be
calculated.[5]

Slider-crank linkage
A slider-crank linkage is a four-bar linkage with three revolute joints and one
prismatic, or sliding, joint. The rotation of the crank drives the linear movement the
slider, or the expansion of gases against a sliding piston in a cylinder can drive the
rotation of the crank.

There are two types of slider-cranks: in-line and offset.

1. In-line: An in-line slider-crank has its slider positioned so the line of

travel of the hinged joint of the slider passes through the base joint of
the crank. This creates a symmetric slider movement back and forth as
the crank rotates.
2. Offset: If the line of travel of the hinged joint of the slider does not pass Crank slider mechanisms with 0 and
through the base pivot of the crank, the slider movement is not 1.25 eccentricity.
symmetric. It moves faster in one direction than the other . This is called
a quick-return mechanism.

Spherical and spatial four-bar linkages

If the linkage has four hinged joints with axes angled to intersect in a single point, then the links move on concentric spheres and the
assembly is called a spherical four-bar linkage. The input-output equations of a spherical four-bar linkage can be applied to spatial
four-bar linkages when the variables are replacedby dual numbers.[7]

Bennett's linkage is a spatial four-bar linkage with hinged joints that have their axes angled in a particular way that makes the system
movable.[8][2]
Universal joint. Tractor steering Bennett four-bar linkage.

Examples
Biological linkages
Bicycle suspension
Door closer
Pantograph (four-bar, two degrees of freedom, i.e., only one pivot joint is fixed.)
Pumpjack
Double wishbone suspension
Foot operated machines i.e.treadle sewing machine, grindstone, lathe etc.
Glider (furniture)
Fordable steps and fordable chairs
Step-on trash can
Gear shift linkages
Steam engines and locomotives
Oscillating fan
Watt's linkage and Chebyshev linkage (linkages that approximate straight-line motion)
Windshield wiper
Example simulations

Crank-rocker stops at the Fixed and moving Coupler cognates of a four-bar type (Ackerman)
limit positions and at centrodes of a four-bar crank-rocker four-bar steering linkage
min/max transmission
angle

Four-bar function Turning coupler four-bar Parallel four-bar linkages Galloway (deltoid or kite)
generator linkages four-bar linkage
Folding crank-rocker
four-bar linkage

See also
Burmester's theory
Universal joint
Chebyshev linkage
Cognate linkage
Linkage (mechanical)
Pumpjack
Roberts Mechanism
Slider-crank linkage
Spherical trigonometry
Straight line mechanism
Watt's linkage

References
1. Hartenberg, R.S. & J. Denavit (1964)Kinematic synthesis of linkages(http://kmoddl.library.cornell.edu/bib.php?m=2
3), New York: McGraw-Hill, online link fromCornell University.
2. J. M. McCarthy and G. S. Soh, Geometric Design of Linkages, 2nd Edition, Springer
, 2010 (https://books.google.co
m/books?id=jv9mQyjRIw4C&printsec=frontcover&dq=geometric+design+of+linkages&hl=en&ei=3L_5T cvZGaHV0Q
G2wMiDAw&sa=X&oi=book_result&ct=result&resnum=1&ved=0CDMQ6AEwAA#v=onepage&q&f=false)
3. Design of Machinery 3/e, Robert L. Norton, 2 May 2003, McGraw Hill.ISBN 0-07-247046-1
4. Toussaint, G. T., "Simple proofs of a geometric property of four-bar linkages",American Mathematical Monthly,
June–July 2003, pp. 482–494.
5. Myszka, David (2012).Machines and Mechanisms: Applied Kinematic Analysis
. New Jersey: Pearson Education.
ISBN 978-0-13-215780-3.
6. Chakrabarti, Amaresh (2002).Engineering Design Synthesis: Understanding, Approaches and ools.
T Great Britain:
Springer-Verlag London Limited. ISBN 978-1852334925.
7. Angeles, Jorge (2012), "The Dual Generalized Inverses and Their Applications in Kinematic Synthesis",
Latest
Advances in Robot Kinematics, Springer Netherlands, pp. 1–10,doi:10.1007/978-94-007-4620-6_1(https://doi.org/1
0.1007%2F978-94-007-4620-6_1), ISBN 9789400746190
8. Hunt, K. H., Kinematic Geometry of Mechanisms, Oxford Engineering Science Series, 1979

External links
The four-bar linkages in the collection of Reuleaux models at Cornell University
Linkage animations on mechanicaldesign101.com include planar and spherical four-bar and six-bar linkages.
Animations of planar and spherical four-bar linkages.
Animation of Bennett's linkage.
Mechanical Expressions | 4 Bar Linkage Kinematics (web based simulator).
Retrieved from "https://en.wikipedia.org/w/index.php?title=Four-bar_linkage&oldid=878981341
"

This page was last edited on 18 January 2019, at 05:32(UTC).

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