Mechanism Design

Transmission angle of
mechanism
 Transmission angle of
mechanism
It would be useful to have a measure, criterion, or
index of how well a mechanisms might „run“*. The
transmission angle is an important criterion for the
design of mechanisms by means of which the
quality of motion transmission in a mechanism, at
its design stage can be judged.
*„Run“ is a term that more formally means the effectiveness
with which motion is imparted to the output link
 Transmission angle of mechanism

Definition:

• Transmission angle is the angle between the coupling

member and the output member in a mechanism.

• The angle between the direction of absolute motion and

direction of the relative motion of the point in which the
driven member gets the motion impulse

ABSOLUTE MOTION: Motion with respect to a fixed frame

RELATIVE MOTION: Motion with respect to a moving frame
 Transmission angle of mechanism

The optimum value of the transmission angle is 90

degree. Since the angle will be constantly changing during
the motion cycle of the mechanism, there will be a
position at which the transmission angle will deviate most
from 90 degree. In practice it has been found out that if
the maximum deviation of the transmission angle from 90
degree exceeds 40 or 50 degree (depending on the type
of application), the mechanism will lock. In certain cases
this maximum deviation must be kept within 20 degree
and in certain other applications maximum deviations of
up to 70 degree may be permissible. One must consider
the practical application of a mechanism in order to give a
limit to this deviation (whenever in doubt, try to keep this
deviation to less that 40 or 50 degree).
 Transmission angle of 4bar mechanism

We can express the transmission angle of 4bar

mechanism in terms of the crank angle and the link
lengths as (by writing the cosine theorem for AB0
(lenght f) using the triangles A0AB0 and ABB0 and
equating the length f=AB0).
 Transmission angle of 4bar mechanism

The minimum and the maximum of the

transmission angle can be determined by taking
the derivative of the equation with respect to ψ
and equating to zero.
𝑏2 + 𝑐 2 − 𝑎2 − 𝑑 2 𝑎𝑑
cos 𝜇 = − cos ψ
2𝑏𝑐 𝑏𝑐

using derivatives we can find the

slope of that function
𝑎𝑑
−sin 𝜇 𝑑𝜇 = sin ψ 𝑑 ψ
𝑏𝑐
 Transmission angle of 4bar mechanism

The minimum and the maximum values of the

transmission angle will be when (sinψ=0) or
when ψ =0 or π (when the crank and the fixed
link are collinear in extended or folded
positions). The minimum and the maximum
value of the transmission angle for the four-bar
mechanism will be given by:
The minimum transmission angle occurs
when link 2 (crank) becomes collinear with
link 1 (ground link)
 Transmission angle of 4bar mechanism

The critical transmission angle is either µmin or µmax, whichever deviates most from 90 degree.
Sometimes, for the transmission angles greater than 90 degree , instead of m (180 degree-m) is used
for the value of the transmission angle. In such a case, there are two minimum values of the
transmission angle ( mmin1=mmin, mmin2=180 degree-mmax) The most critical transmission angle is the
minimum of mmin1 and mmin2.
Transmission angle of 4bar mechanism
 Transmission angle of 4bar mechanism
MSC.Adams – Creating a new Angle Measure 3. Angle measure window
1. Create new Angle Measure

2. Select Advanced function

(Angle measure window opens)
 Transmission angle of crank mechanism

The transmission angle can be determined from

the equation:

We can substitute:

We received:

Maximum deviation of the transmission angle occurs cos 𝜇 = λ(sin ψ + 𝑘)

when the derivative of µ with respect to ψ is zero.
Hence differentiating equation with respect to ψ : using derivatives we can find the
slope of that function
−sin 𝜇 𝑑𝜇 = λ cos ψ dψ
 Transmission angle of crank mechanism

Maximum or minimum deviation occurs when

ψ is 90 degree or 270 degree and the value
of the maximum or minimum transmission
angle is given by:
Transmission angle
 Instant centre of mechanism (I. C.) / Pole of mechanism

Instant centre / Pole of a kinematic link is the point about which the link of the mechanism is
rotating at a particular instant.

Instant centre of 4-bar mechanism.

• Pin joint A – Instant centre 12 or 21
• Pin joint B – Instant centre 23 or 32
• Pin joint C – Instant centre 34 or 43
• Pin joint D – Instant centre 14 or 41

Link 2 can revolve with relativ to link 1 with point A as centre. Hence pin joint
A becomes I.C. for links 1 and 2. Arguing in a similar way, it can be shown
that:
Point B is I.C. for links 2 and 3,
Point C is I.C. for links 3 and 4,
Point D is I.C. for links 1 and 4.

In this 4-bar mechanism 12, 23, 34 and 14 are fixed I.C.

Note: instant center is also called the pole, centro, instantenuous center of rotation, zero velocity point
 Aronhold-Kennedy´s Theorem of three centres (Kennedy´s Rule)
Three bodies having relative motion with respect to one another, have three instant
centres, all of which lie on the same straight line.
Instant centre of a kinematic link is the point about which the link of the
mechanism is rotating at a particular instant. It may be fixed, permanent
or variable.
• Fixed IC is present when the link are in direct contact & one of the
links may be stationary/fixed.
• Permanent IC is present when the link are connected through a pin
joint & are in relative motion. There relative position may be
changing but the IC is always present at the centre of pin.
• Variable IC is present when the links are although in relative motion
but they aren't in direct contact.

In this slider crank mechanism,

13=12+23, 14=13+34 (13=14+43)
24=23+34, 14=12+24 (24=21+14)
12 & 14 are fixed ICs while 23 &
34 are permanent ICs & can be
easily found by visual
inspection. But 24 & 14 are
found by Kennedy's theorem.
Transmission angle – compound mechanism
Instant centre (pole) of absolute motion – member 5 (P51)
Transmission angle– compound mechanism
Transmission angle – compound mechanism
 Transmission angle of crank mechanism

Literature: https://en.wikipedia.org/wiki/Instant_centre_of_rotation
Ashok G. Ambekar: Mechanism and machine theory. PHI Learning private Limited. Delhi. 2013