What are Inversions of a Four-Bar Mechanism?

A typical four bar mechanism, as the name denotes, is formed of a kinematic chain of four members connected by revolute joints. This mechanism can have four possible configurations with a different link fixed as frame each time. Configuration 1 Link 1 is taken as the base link or frame. In this configuration the shortest link is jointed to the base link and this joint can fully rotate and hence called as crank. The other link jointed to the base link oscillates and called as a rocker. This configuration of the four-bar kinematic chain is called as Crank-Rocker mechanism.

Configuration 2 Link 2 is fixed as the base link. In this configuration shortest link is the base and both joints to the base can rotate completely. It is thus called as Double-Crank or a Drag-Link.

Configuration 3 Link 3 is fixed as the base link. It can be observed that this configuration is same as the Crank-Rocker mechanism.

Configuration 4 Link 4 is fixed as the base link. In this configuration shortest link is the coupler and both the links connected to the base link cannot rotate fully, both oscillate. In this configuration the four-bar kinematic chain is called as Double-Rocker mechanism.

Question 2

Different mechanisms obtained by fixing different links of a kinematics chain are known as its inversions. A slider crank chain has the following inversions :1. First inversion this inversion is obtained when link 1 is fixed and links2 and 4 are made the crank and the slider respectively. Its used in Reciprocating engine and compressor) 2. Second inversion

fixing of link 2 of a slider crank chain.example (i.e., Whitworth quick return mechanism and Rotary engine) 3. Third inversion (i.e., Oscillating cylinder engine and crank & slotted - By fixing link 3 of the slider crank mechanism. Example lever mechanism) 4. Fourth inversion if link 4 of the slider crank mechanism is fixed, the fourth inversion is obtained. example Hand pump.

Question 3 DOUBLE-SLIDER CRANK-CHAIN: A four-bar chain having two turning and two sliding pairs such that two pairs of the same kind are adjacent is known as a double-slider-crank chain. The following are its inversions: 1. First inversion (i.e., Elliptical trammel) The Elliptical Trammel (also known as the Elliptic Trammel, or the Trammel of Archimedes) is a simple mechanism which can trace an exact elliptical path. Figure 1 shows the geometry of this mechanism, which consists of two prismatic (or sliding) joints and two revolute (or rotational) joints. These joints guide the movement of a central rigid body.

2. Second inversion (i.e., Scotch yoke) The Scotch yoke is a mechanism for converting the linear motion of a slider into rotational motion or vice-versa. The piston or other reciprocating part is directly coupled to a sliding yoke with a slot that engages a pin on the rotating part. The shape of the motion of the piston is a pure sine wave over time given a constant rotational speed.

This setup is most commonly used in control valve actuators in high pressure oil and

gas pipelines. 3. Third inversion (i.e., Actual Oldhams coupling)

An Oldham coupler is a method to transfer torque between two parallel but not collinear shafts. It has three discs, one coupled to the input, one coupled to the output, and a middle disc that is joined to the first two by tongue and groove. The tongue and groove on one side is perpendicular to the tongue and groove on the other. Often springs are used to reduce backlash of the mechanism. The coupler is much

more compact than, for example, two universal joints. Used in motors and pump.