Basics of Mechanisms

Dr.B.Santhosh
Department of Mechanical Engineering
Amrita School of Engineering
Inversions of a mechanism
• Every mechanism has a fixed link called FRAME
• It is possible to obtain different mechanisms by fixing different links of
a kinematic chain as the frame
• This process of choosing different links of a kinematic chain as the
frame is known as Kinematic Inversions of the original kinematic chain
• For an n link mechanism n inversions are possible
Four bar mechanism

• Crank (link 2) – pure rotation

• Rocker (link 4) – oscillation
• Coupler (link 3) – general plane motion
Examples from every day life
Grashoff's Law
• Mechanisms are generally driven by motors
• It is necessary to ensure that one of the link undergoes a complete
revolution
• Grashoff’s law is the test for the same in a 4 bar mechanism
• For a four bar planar linkage, the sum of the shortest and longest link
lengths cannot be greater than the sum of the remaining two link
lengths if there is to be continuous relative rotation between two
members
If Grashoff’s condition not satisfied

(a) s + l + p < q and the links cannot be connected; (b) s + l − p > q

and s is incapable of rotation; (c) s+q+p < l and the links cannot be
connected; (d) s+q−p < l and s is incapable of rotation.
 Inversions of 4 bar mechanism

Rocker Mechanism

Drag link Mechanism

Double Rocker Mechanism
Slider crank mechanism

• Link 1 – frame
• Link 2 – crank
• Link3 – connecting rod
• Link 4 - slider
Inversions of a slider crank mechanism
Mechanical Advantage of a 4 bar mechanism
• Mechanical advantage is the ratio of the output torque exerted by the
driven link to the necessary input torque required at the driver

• MA changes continuously as the mechanism moves

• When sinβ = 0, MA becomes infinity – The two positions are AB1C1D and
AB4C4D
• These are the two extreme positions of the rocker (DC1 and DC4)
• Both positions, the MA is infinity and the mechanism is in TOGGLE position
Transmission Angle
• The angle γ between the coupler
and the follower
• When γ is small MA is advantage
is small
• Thumb rule – γ should not be less
than 45 or 50 degrees
• AB2 and AB3 are extreme
positions
• Transmission angle is a
commonly accepted measure of
the quality of the design of a 4
bar linkage
Snap through mechanisms
Ratchets and escapements
Indexing mechanisms
Oscillating mechanism
Oscillating mechanisms
Reciprocating mechanism
Reciprocating mechanism