GRAPHICAL LINKAGE

SYNTHESIS
ENT 348 MECHANICAL SYSTEM DESIGN

K I N E M AT I C S AN D D Y N AM I C S O F M AC H I N E R Y , 2 ND
EDITION, ROBERT NORTON,2013
 SYNTHESIS

QUALITATIVE SYNTHESIS
The creation of potential solutions in the absence of a well-
defined algorithm that configures or predicts solution
TYPE SOLUTION
Definition of the proper type of mechanism best suited to the
problem and is a form of qualitative synthesis
QUANTITATIVE SYNTHESIS
Generation of one or more solutions of a particular type that
you know to be suitable to the problem
DIMENSIONAL SYNTHESIS
Determination of the proportions (lengths) of the links
necessary to accomplish the desired motions and can be a
form of quantitative synthesis if an algorithm is defined for the
particular problem.
 FUNCTION, PATH AND MOTION
GENERATION
Function generation is define as the correlation of
an input function with an output function in a
mechanism.

Path generation is define as the control of a point in

the plane such that it follows some prescribed path.

Motion generation is defined as the control of a line

in the plane such that it assumes some sequential
set of prescribed positions.
 LIMITING CONDITIONS

Toggle Positions
Limits of motion

Colinearity of two of the moving links

Linkage assumes a triangular configuration

When in a triangular (toggle position), it will not

allow further input motion in one direction from one
of its rocker links
TOGGLE POSITIONS
TOGGLE POSITIONS
 TRANSMISSION ANGLE

The transmission angle is the angle between the

output link and the coupler.

It is usually taken as the absolute value of the acute

angle of the pair of angles at the intersection of the
two links and varies continuously from some
minimum to some maximum value as the linkage
goes through its range of motion.
TRANSMISSION ANGLE
 TRANSMISSION ANGLE

Ideally we would like all forces F34 to into producing

output torque T4 on link 4

However only tangential component creates

torque on link 4

Radial component provides only tension and

compression on link 4.
TRANSMISSION ANGLE
 DIMENSIONAL SYNTHESIS

Dimensional synthesis of a linkage is the determination of the

proportions (lengths) of the links necessary to accomplish the
desired motions.

Many techniques exist to accomplish this task of dimensional

synthesis of a fourbar linkage.

The simplest and quickest methods are graphical.

The rules for bisection of lines and angles, properties of parallel

and perpendicular lines, and definitions of arc are all that
needed to generate this linkages.

Compass, protractor and rule are the only tools needed for
graphical linkage synthesis.
 TWO-POSITION SYNTHESIS

Rocker output (pure rotation)

Rocker output is most suitable for situations in which a
Grashof crank-rocker is desired. The output function is
defined as two discrete angular positions of the
rocker.

Coupler output (complex motion)

Coupler output is more general and is a simple case
of motion generation in which two positions of a line
in the plane are defined as the output.
 EXAMPLE 3-1

Design a fourbar Grashof crank-rocker to give 45 of

rocker rotation with equal time forward and back,
from a constant speed motor input.
 EXAMPLE 3-1
1. Draw the output link O4B in both extreme positions, B1 and B2 in any
convenient location, such that the desired angle of motion 4 is
subtended.

45o
 EXAMPLE 3-1

2. Draw the chord B1B2 and extend it in either direction.

45o
 EXAMPLE 3-1

3. Select a convenient point O2 on line B1B2 extended.

45o
 EXAMPLE 3-1

4. Bisect line segment B1B2, and draw a circle of that radius about O2.

45o
 EXAMPLE 3-1

5. Label the intersections of the circle and B1B2 extended, A1 and A2.

45o
 EXAMPLE 3-1
6. Measure the length of the
coupler as A1 to B1 or A2 to B2.

7. Measure ground length1,

crank length 2, and rocker
length 4.
45o

8Find the Grashof condition. If non-

Grashof, redo step 3 to 8 with O2 further
from 4.
 EXAMPLE 3-2

Design a fourbar linkage to move link CD from position C1D1

to C2D2.
 EXAMPLE 3-2

1. Draw the link CD in its two desired positions, C1D1 and C2D2,
in the plane as shown.
 EXAMPLE 3-2

2. Draw construction lines from point C1 to C2 and from point D1

to D2.
 EXAMPLE 3-2

3. Bisect line C1C2 and line D1D2 and extended their perpendicular
bisectors to intersect at O4. Their intersection is the rotopole.
 EXAMPLE 3-2

4. Select a convenient radius and draw an arc about the rotopole to

intersect both lines O4C1 and O4C2. Label the intersections B1 and B2.
 EXAMPLE 3-2

5. Do steps 2 to 8 of previous problem to complete the linkage.

EXAMPLE 3-2
 COUPLE OUTPUT-TWO POSITIONS WITH COMPLEX
DISPLACEMENT (MOTION GENERATION)

Design a fourbar linkage to move the link

CD shown from position C1D1 to C2D2 (with
moving pivots at C and D)

27
COUPLE OUTPUT-TWO POSITIONS WITH COMPLEX
DISPLACEMENT (MOTION GENERATION)

28
COUPLE OUTPUT-TWO POSITIONS WITH COMPLEX
DISPLACEMENT (MOTION GENERATION)

29
 THREE-POSITION SYNTHESIS WITH
SPECIFIED MOVING PIVOTS

Three-position synthesis allows the

definition of three positions of a line in
the plane and will create a fourbar
linkage configuration to move it to
each positions.
 EXAMPLE 3-5

Design a fourbar linkage to move the link

CD shown from position C1D1 to C2D2 and
then to position C3D3. Moving pivots are at
C and D. Find the fixed pivot locations.
EXAMPLE 3-5
 EXAMPLE 3-5
1. Draw link CD in its three design positions C1D1, C2D2, C3D3 in
the plane as shown.
 EXAMPLE 3-5
2. Draw construction lines from point C1 to C2 and from point C2 to C3.
 EXAMPLE 3-5
3. Bisect line C1C2 and the C2C3 and extend their perpendicular
bisectors until they intersect. Label their intersection O2.
 EXAMPLE 3-5
4. Repeat steps 2 and 3 for lines D1D2 and D2D3. Label the
intersection O4
 EXAMPLE 3-5
5. Connect O2 with C1 and call it link 2. Connect O4 with D1 and call it
link 4.
 EXAMPLE 3-5
6. Line C1D1 is link 3. Line O2D4 is link1.
 EXAMPLE 3-5

7. Check the Grashof condition. Note that any Grashof

condition is potentially acceptable in this case.
8. Construct a model and check its function to be sure it can get
from initial to final position without encountering any limit (toggle)
positions.
EXAMPLE 3-5
 QUICK-RETURN MECHANISM

Many machine design applications have a need for

a difference in average velocity between their
forward and return strokes.

Typically some external work is being done by the

linkage on the forward stroke and the return stroke
needs to be accomplished as rapidly as possible so
that a maximum of time will be available for the
working stroke.
 QUICK-RETURN MECHANISM

Non-quick-return linkage
crank-rocker that gives two positions of the rocker with equal time for the
forward stroke and the return stroke.
The positioning of the crank center O2 on the chord B1B2
extended causes the non-quick-return.
 QUICK-RETURN MECHANISM

If the crank center O2 is located off the chord B1B2 extended,

unequal angles will be swept by the crank
Unequal angles ( and ) will give unequal time, when crank
rotates at constant velocity
QUICK-RETURN MECHANISM

Source:
youtube
 QUICK-RETURN MECHANISM

The time ratio (TR)- is defined the degree of quick-

return of the linkage.

If the crank is rotated in the opposite direction, it will

be a quick-forward mechanism.
, =

+ = 360

=
360

Construction angle = 180 180 |

 EXAMPLE 3.9

Redesign Example 3-1 to provide a

time ratio of 1:1.25 with 25 output
rocker motion.
 EXAMPLE 3.9

1. Draw the output link O4B in both extreme positions,

in any convenient location, such that the desired
angle of motion, 4, is subtended.
 EXAMPLE 3.9

2 Calculate , , and using equations 3.1 and 3.2. In

this example, =160, =200, =20.
 EXAMPLE 3.9

3. Draw a construction line through point B1 at any convenient

angle.
4. Draw a construction line through point B2 at angle from the first line.
 EXAMPLE 3.9

5. Label the intersection of the two construction lines O2.

6. The line O2O4 now defines the ground link.
 EXAMPLE 3.9

7. Find the lengths of crank and coupler by measuring O2B1 and

O2B2 and solve simultaneously:
Coupler +crank = O2B1 and Coupler - crank =O2B2.
 EXAMPLE 3.9

8. Calculate the Grashof condition. If non-Grashof, repeat steps 3 to 8 with O2

further from O4.
9.Make a model of the linkage and articulate it to check its function.
10.Check the transmission angles.
EXAMPLE 3.9