Hrones and Nelson Atlas

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ANALYSIS of the
FOUR- BAR LINKAGE

to the
Synthesis , of Mechanisms
I t8 Application
from
Design of Machinery 4ed
by Robert L. Norton
McGraw-Hill
Copyright 2008
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ANALYSIS
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of the
FOUR- BAR LINI(AGE

Its Application to the
Synthesis of Mechanisms
John A. Hrones
George L. Nelson
PROFESSOR OF
ASSISTANT PROFESSOR OF
MECHANICAL ENGINEERING
MECHANICAL ENGINEERING
TilE MASSACHUSETTS INSTITUTE OF
TECHNOLOGY
Published Jointly by THE TEC~NOLOGY PRESS of
THE MASSACHUSETTS INSTITUTE of . TECHNOLOGY

and JOHN WILEY & SONS~ INC., NEW YORK
CHAPMAN & HALL, LIMITED , LONDON
from
by Robert L. Norton
McGraw-Hill
Copyright 2008
( viiiJ
Classes of Linkage Operation

The basic four-bar
linkage is shown in figure 1.
The fixed member
are the cranks 1

is the line of centers. . Pinned to the
The moving ends of the cranks are joined by the fourth bar , the
extremities of
The F our- Bar Linkage
and
B.
A.
coIWecting rod
Determi~ate linkage motion results when the number of independent
input angular motions is two less than the number of links, All links
are assumed to be rigid members and are pin-connected to one another.
Freedom of relative angular motion exists between any two members at
The minimum number of links which will permit relative
motion between links is four. In the majority of applications one of the
links (the line of centers) is stationary while a second link (the driving
crank) is driven from an outside motion source. The motion of the remaining two links isa function of the geometry of the linkage and the motion
the pin joint.
of the driving crank and the line of centers.
The driving crank 1 " and the follower crank
in rotation about their
G.
fixed axes located on the .line of centers
move
The
in general moves jn combined translation and rotation.

connecting rod
and the follower
The nature of the motion of the conhecting rod
crank
fora given input motion to the
relative to the line of centers
All;
driving crank 1 is determined by the three basic link length ratios
, B and G. The shortest

BIl; Gl1 which will hereaJterbe designated by
link will always be designated as unity, The remaining links will be
in order around the linkage. It is convenient to
, B ahd
labeled
separate the geometrically
possible motions into three main categories
of operation.
Crank and Rocke
Four Bar Linkage

Fig. 2
Fig. 1
A four-bar linkage isschema.tically shown in figure 1. It consists of

the four links having pin-to-pin lengths of 1 , B and G. The geometry
All , Bl1
of the linkage is determined by the three ratios
and
GI1.
Up ,to this point the four-bar linkage has been represented as consisting
of four lines, Actually, each
member is a solid body which from purely
theoretical aspects can be considered as being of indefinite extent (figure 6).

Manufacturing and design considerations place very real limitations
on the size of the members. Within these limits a wide variety of motions
are available. In this volume the points indicated in figure 6 on the connecting rod included.. within a rectangular boundary extending a distance
right
equal to the driving crank length in directions parallel to and at
angles to the centerline of the connecting rod have been investigated and,
their trajectories and velocities presented, Thus , for each series of linkage
ratios the behavior of the points indicated in figure 6 has been studied
and the results published for class
(a)
type linkage operation.
Crank and Rocker

Fig. 3
from
by Robert L. Norton
McGraw-Hill
Copyright 2008
~c-'" "
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---
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Class
(a)
One crank is capable of rotation through a complete revolution while the second crank can only oscillate.
Class
(b)
Both cranks are capable
Class
(c)
Both cranks oscillate ,
. '. ,.
.. ..
,.........
, "
:.. .
of rotating through 3600
but neither can rotate through a
complete revolution. '

1: '
~he above
t c
of the variolls
classifications arise from a consideration of the motions

links relative to the fixed link. As any link can be fixed
, arbitrarily the classification of a given linkage is dependent upon the choice

of a fixed
member. In figure
2,
link
is fixed. Crank 1 can make a
can only oscillate. The linkage

operating as a class
(a)
unit commonly known as a crank-and-rocker
linkage, Similarly, if link A is fixed (figure 3), Class
(a)
operation results,
complete revolution while the crank
both cranks are capable of full 3600 rotation

operation results, ' This linkage is often referred to as a
If link 1 is fixed (figure 4),
and
(b)
class
is fixed (figure 5), the two cranks A and

can only oscillate , hence class
(c)
operation takes place.
Though the above clas.sifications are helpful in design , it is important
to realize that the relative. motion of any link to the remaining members
of the linkage is the same , regardless of which member is fixed.
drag link mechanism, If link
determining the class of operation when link ratios are

known are
listed below.
Criteria for
Class (a)
(crank and rocker mechanism),

crank mustbe the shortest link (1).
(1) Drive
(2)
C.c (A
(3)
C;:. (IA
Class (b)
1).
BI*
(drag link mechanism),

must be the shortest link (1).
(1), Line of centers

(2)
C.c (A
(3)
C;:. (IA
Class (c)
+1).
BBI
1).
"
+ I),
Same as class
(a).
Two
(double rocker mechanism).

All cases where the connecting rod is the shortest link (1).
(1)
(2) All linkages in ~hich (2) and
(3) for classes
(a)
and
(b)
Rockers
are
not satisfied;
Fig,
The above conditions have been graphically expressed in figure 7.

is the abscissa; and values of ratio A
are plotted as 450 lines, For a given value of A , if the point specified by
the coordinates Band
falls inside the oblique rectangular spa~e bounded
by the lines of constant A , the ' linkage will operate in ' class (a) or (b):
class
(a)
if the shortest link is made a crank; class (b) if the shortest liI~lk
is made the line of centers, If Jhe point determined by the coordinates
B).
(A
IA- BI = absolute value of
The ratio
(ixJ
is the ordinate; ratio
Fig. 6
from
by Robert L. Norton
McGraw-Hill
Copyright 2008
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- =
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'-'
Ex)
Band
class
C falls outside the rectangular area bounded by the lines of constant

(c)
operation is indicated, Crank and rocker linkages (class (a)
operation) included in heavily outlined area are covered in this book.
Example:
'1;
Data:
Find:
Drive crank = 4" ; Connecting Rod = 10"

Follower Crank = 8" ; Line of Centers = 12"
(1) Class of operation.

(2) Variation in link ratios possible without changing class
10
of operation.
Solution
(see figure 8):

- = 2, 5;
= - = 2;
C=
Drive crank is the shortest link,

C = 3) falls within oblique rectangular area-
Refer to figure 7. Point
Therefore
class (a)
= 2,
= 2.
=
(B
= 2
=2.
bounded by lines
operation is indicated
= 2 C may be varied from 1.5 to 3.

may be varied from 1.5 to 4.
2, C =
may be varied from 2 to 4
, C = 3
bs.
I\~
bs.
'1.
Fig; 7
FOUR~BAR LINKAGE CLASSIFICATION CHART

Linkage whose ratios Band
Link,
area bounded by lines of constant ratio
determine a point which lies in the oblique rectangular

operates as a Crank and Rocker or as a Drag
;~,;.it1i'&"~;,:J!f;;t.
Fig,
iii
III
...c,,
from
by Robert L. Norton
McGraw-Hill
Copyright 2008
Mathematical Relationships
(See figure 9. ) The follower crank ,angular
Driver-Follower Crank.
position is given by 4.
given in reference 1.
al-
1ft =
IUustrative Exam les, (See reference 2.

Figure 10 shows the path
DwellPeriod from Straight-Line Path.
1.
of a point on the connecting rod of a linkage which is approximately straight
b.
A rotation of 550 of the drive crank produces this
and
between points
straight portion, This is indicated by the eleven dashes which constitute
and
the path lying between
If the point having this displacement path drives a member with a
sin 8
al
C+cos8
cos 8
K2 +2C
a2
K2
= cos
2BL
= 1 +
B2
C2
= 1 +
C2
2C
M'i
1.
'Y
cos 8
cos 8
K2 +2C
S2
=, an
...J 4B2V
cos
2C cosO
K2
2BL
+ cos 8
(1)
Differentiating equation 1 with respect to time yields the following
dt V S2
equation for the velocity of the follower crank:
sin 8
dt
(C
cos 8 + 1)
2 +
A second differentiation yields an expression for the angularaccelera-
tion of the follower crank: "

1ft
dt2
l(Ccos 8 +
d28
1) +
202
2C2
VS2
sin2 8
sin2 8
S2
cos 8
M2) C
sin 8
2(C
1 -
1 -
27P
These figures are obtained

directly from the trajectory by counting the number of dashes in each phase
of the motion and multiplying by 50
the total angular motion
If the pivot of the rotating link is located at
.
At
a
uniform
drive
crank
speed
approximately one-half
of the link is 200
of each cycle is used for the forward stroke , one~third for the return stroke
and one-sixth of each cycle for the dwell.
All alternative method of obtaining a dwell is to drive a " scotch yoke
a 2200 forward stroke , and an 850 return stroke.
move in the
2 +
(2B2 -
of
ab
a member slotted parallel to the straight portion
sin 8
dt2 V
an angular motion
will result. In terms of drive crank angle there will be a 550 dwell
l;,
radial slot constrained to rotate about the fixed point
M4
sin
d1ft
The relationships for displacemen~,

velocity, and acceleration of a point located anywhere on the connecting"
r()d are considerably more cu~bersome than the above equations and are
Motion of Points on Connecting Rod.
L2
cos 8 + I
direction
ef
perpendicular to
ab,
but constrained to
In this case the ratio of
forward return stroke is not adjustable" and is equal to 51/21 or

ratio of the length of stroke to drive crank length is 1.37.
2,
4. The
Figure 11 shows the path

Dwell Period from Circular-Line Path.
whose basic ratios
bar
linkage
on tbF connecting rod of a fourof a point
andb an approximate circular arc exists
are 4; 2, 5;3. 5. IBetween points
2.
pinned to the midpoint

of the connecting rod drives a bell crank rotating about the same fixed
over a 900 drive crank angle displacement, Link
axis as the drive crank,
Link proportions are selected such that
is the
The bell crank has a dwell period of

ab.
center of curvature ' of the arc
one-fourth the total cycle and a total angle of travel of 340 with approximately equal times for advance and return.
The "time ratio of forward to return stroke and the angle of oscillation
OIC':
"2
f/I
can be adjusted by choosing other locations for the bell crank

with corresponding changesin the length of the bell crank arm so that
remains the center of curvature of the arc
6r~9)
ac
ab.
fixed axis
For instance , it is possible
using this linkage to locate the bell crank axis at the fixed axis of the
follower crank, Care must be taken to avoid a dead center position between
ac
and the" bell crank arm to which it is p illned.
the iink
The same fundamental linkage can be employed to produce a straight
Fig,
(xi)
from
the end of the
line reciprocating motion with the same dwell period at
Design
of Machinery 4ed
by Robert L. Norton
McGraw-Hill
Copyright 2008
~':;""'~ """"
:;,,
--..
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" ' ,-
(xii) ,
for the bell crank ~ slider constrained to move in a
stroke, Substitute
fixed" straight slot passing through point c,
Adjust the direction of this
ratio of forward to return stroke. For

, the slider will dwell at
example , using the line cd as the axis of the slot
,
and
return
to point c in 1200
point cfor 900 , advance to point d in 1500
slot to obtain the desired time
Four-bar linkages are often used as computers.
Computer Linkages.
time required for each part of the cycle is obtained by counting the dashes
between the points of tangency b , c , d , and e and is given in the table below,
The linkage has the basic ratios 2
rotation of the drive crank,
3,
whose trajectory exhibits an interoscillations

can
differ in amplitude and time,
section, The two output
is of the sa~e
Figure 14 illustrates the special case where each oscillation point
a. The
amplitude : The pivot of the output member is located at
driven by a point on the connecting rod
Because of the infinite number of output-input
coordinate location (+1
In this event the primary linkage approximates the
desired relationship
function4'=~(~l5
finding
over a range of (Hrom 0 to 550 , when used as indicated below, In
crank angle was
this mechanism the procedure was as follows. The drive
assumed to be the variable (), The value of 4'corresponding to values of
calculated angular
() from 0 to 750 at 50 intervals was calculated. The
Repeated
positions 4' were then accurately laid out on transparent paper.
superposition of this layout on various charts resulted in finding a trajectory

cp (of the overlay) fell
on which the lines representing the angular position
on successive dash terminals, The point on this particular linkage giving
pivoted
sheet.
this desired result can be used to drive a radially slotted member

a~ the intersection of the lines on the overlay
The selected linkage has the basic ratios 2; 3; 2,
sentation of
cp
5, The drive point
location + 1.5
, + 1. The slotted
the range of () from 0 to
135
2d return
errors
within the tolerance limits required, (See reference 3.
Figure 12 shows a linkage which closely satisfies the
Crank
Degrees
Dashes
1st forward
1st return
2d forward
necessary,
while additional linkages apply corrections to bring the maximum
Within
Path
Stroke
accuracy is required more than one four-bar linkage is often
member is pivoted ata.
1).
Drit'e
functions. Where a high degree of
the conne~ting rod has the coordinate
The drive point is at the
relationships available a
wide variety of functions can be represented over limited ranges of the
variables appearing in the desired
, and 2,
5.
Symmetrical-Motion
Pat~s. In a number
of applications it is
desirable to obtain a path which is

reference line. Linkages where the connecting rod and
symmetrical with respect to some
follower crank are
have points on the connecting rod whosetrajeccircle of radius A

tories meet this condition, The locus of such points is a
the follower crank.
of equal length (A =
B)
on the connecting rod with its center at the moving end of '
Figure 15 shows the paths of twelve points on the connecting rod

points are equally
bar linkage with the basic ratios 2; 2; 2, 5. The
symmetrical
, spaced on the dashed circle. The trajectory of each point is
about the straight line passing through the follower crank fixed axis and
The twelve trajectories illustrate a
the zero position of the trajectory.
symmetrical-motion paths and show the great variety of
a four-
typical set of
curves available for use where symmetry of forward and return stroke is
essential.
550 a good repre-
is obtained.
. J
is the logarithm
Figure 13 shows a linkage in which the output position
the previous problem an
of the input position over a limited range. As in
overlay was constructed and the charts searche d for satisfactory matching
of the overlay over the
desired range. In
the mechanism shown , the
radially slotted output member pivoted at a
has angular displacements
proportional to the logarithm of the drive crank
displacement in the range
position 1 the accuracy is good, Two

linkages of this type feeding a differential unit could be used as a multiplier,
location of
, The basic linkage ratios are 2, , 2, 5, and 1.5. The coordinate
of positions 1 to 10. Except at
, + 1.
the point on the connecting rod is + 1.5
from
by Robert L. Norton
McGraw-Hill
Copyright 2008
A slotted crank whose frequency of
14, It
oscillation is twice that of the drive crank is shown in figure
4,
Double Oscillating Crank,
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McGraw-Hill
Copyright 2008
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(xvi)
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inkAlle
. Analysis ofth~ Fo,ur Bar

J.
A.
Hrones Ond G.
L.
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A= 2.
B=
C= 1.
Fig.
LOGARITHMIC
LINKA.
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by Robert L. Norton
McGraw-Hill
Copyright 2008
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Copyright 2008
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by Robert L. Norton
McGraw-Hill
Copyright 2008
'= -
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Cam versus Linkage
struct a simple scale
The cam is in wide

solution. In many instances ,
. =
the linkage for bad angularity

however , the cam design limits the perform-
ance of the machine. Often , in such circumstances , a suitable linkage
removes the cam-imposed difficulties. Because of the
sizing a linkage to achieve a

eliminate the linkage from the design in favor of the cam despite certain
limitations. It is
, excessive ' torque ratio , and
possible interferences.
II!
Velocity Determination
. Consider the trajectory shown in figure

distanceab
measured along the path in an interval
the trajectory traverses a
required for the drive crank to
linkages . in such . problems.

The cam has certain distinctive
can be easily designed to give a wide variety of motions.

small and compact.
, however, subjected to very high stresses at the
points of contact. The
cam contour either by a spring which
or by a, grooved slot in which the backlash causes trouble at high
If the drive crank
rotating at a uniform angular speed the average velocity

this travel is the length
ab
divided by the time the drive crank requires to
move through 50
(ab)""
(V"b)
where
= average velocity of point
V"b
point
(inches per second).
to point
measured along trajectory

"" = angular speed of drive crank
of operation. In order to limit the
ab
able levels the degree of

contour is beyond the abilities of most shops and in any event results in
an extremely expensive operation.
of many machines are set by the limitations of

results in excessive
design and careful machining can raise such limitations.
and
= length between
Acceleration Determination
The acceleration of a point moving in space
relationships.
= lim
dt
~t
Linkages very often offer distinct

motion is determined by the relative length of the
, small percentage
variations in these lengths do not radically influence the
Furthermore , the machining
With precision in any shop.
the link pivots is standard
of ::i::O. OO2 inch are easily
acc.
dV
= hm
V"b
Vb" -
~t
~t--O
~t--O
(be -
~t
Thus , an approximation of the acceleration at

the vector
25 .
is found by evaluating
2/25).
facture required tolerances for high-speed operation are of the

::i::O. OOO2 inch. In addition
more favorable than they are at the cam

Balancing of Linkages
Ifa
must be paid to the dynamic
keep
the mass of the moving links as small as possible.
. alloys with a low-weight

members with low inertia
oscillating forces to the linkage supports , inertia forces should be balanced.
The subject of balancing

Use of Models in Design Work
Ti!e charts give motion characteristics of many linkages aIid therefore
lead directly to the selection of the basic link ratios. It
(xix)
Fig. 16
from
by Robert L. Norton
McGraw-Hill
Copyright 2008
,"
(xx)
As the acceleration is determined by subtraction , where the acceleration

is small the vectors
be
and
ab
are nearly equal and very
acceleration determination can ' be encountered. However , at points

the trajectory
relatively low.
, errors in acceleration
from as low as 10 per cent to as high as
, greater.
the error tends to be excessive , owing to the.
equal velocity vectors , the use of
drive crank angle is
on
LIST
(1) Talbpurdet ,
, instead of using average
vectors for a 50 crank increment , values for a 150 -increment
(2) Nelson , George L.
desirable.
Accuracy
Guy J.
Machine Design;
OF
REFERENCES
Mathematical Solution of Four-Bar
May, June and July,

Synthesis of Four-Bar
duction of Desired Motio n
of the machine over
Technology; June , 1949.

(3) Svoboda , Antonin Computing Mechanisms and Linkages;
HubertM. James , McGraw-Hill; 1948.
detectable by the naked eye.
(4) Hrones , John A.
005 inch. For a given
::!::0. 01
Linkages for the Repro-
Paths; " Master of
Dept. of Mechanical
Traject~ries
Link lengths of the machine used in producting the ,trajectories were
of
held
Linkages;
edited by
Key Factors in
April , May and June , 1949 , and " An Analysis

of the Dynamic
Driven System; Transactions
of the American Sodety of Mechanical Engineers Vol. 70 , 1948.
inch. The
Machine Design;
resulting from a possible accumulation of machining errors on the timing

cam , variable time lag in the pen operating mechanism , etc.
tions are that the errors in

usually are very much smaller.
The length of the drive crank of the
00 inches ' and
tolerances indicated above are referred to this basic size.

are one-half the scale of the originals. For
crank the point moves

the dot to the tail of the dash.
'Y
from
by Robert L. Norton
McGraw-Hill
Copyright 2008
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, "

FOUR- BAR LINKAGE

FOUR- BAR LINI(AGE

TilE MASSACHUSETTS INSTITUTE OF

Published Jointly by THE TEC~NOLOGY PRESS of

THE MASSACHUSETTS INSTITUTE of . TECHNOLOGY

Classes of Linkage Operation

linkage is shown in figure 1.

The fixed member

are the cranks 1

The F our- Bar Linkage

Determi~ate linkage motion results when the number of independent

of the driving crank and the line of centers.

The driving crank 1 " and the follower crank

in rotation about their

fixed axes located on the .line of centers

in general moves jn combined translation and rotation.

fora given input motion to the

relative to the line of centers

driving crank 1 is determined by the three basic link length ratios

, B and G. The shortest

possible motions into three main categories

Crank and Rocke

Four Bar Linkage

A four-bar linkage isschema.tically shown in figure 1. It consists of

of the linkage is determined by the three ratios

member is a solid body which from purely

theoretical aspects can be considered as being of indefinite extent (figure 6).

type linkage operation.

Crank and Rocker

Both cranks are capable

Both cranks oscillate ,

of rotating through 3600

but neither can rotate through a

complete revolution. '

classifications arise from a consideration of the motions

, arbitrarily the classification of a given linkage is dependent upon the choice

is fixed. Crank 1 can make a

can only oscillate. The linkage

both cranks are capable of full 3600 rotation

If link 1 is fixed (figure 4),

is fixed (figure 5), the two cranks A and

determining the class of operation when link ratios are

(crank and rocker mechanism),

(drag link mechanism),

(1), Line of centers

(double rocker mechanism).

(3) for classes

The above conditions have been graphically expressed in figure 7.

is the ordinate; ratio

:.., ' ~" .;..

C falls outside the rectangular area bounded by the lines of constant

operation) included in heavily outlined area are covered in this book.

Drive crank = 4" ; Connecting Rod = 10"

(1) Class of operation.

(see figure 8):

Drive crank is the shortest link,

Refer to figure 7. Point

= 2 C may be varied from 1.5 to 3.

FOUR~BAR LINKAGE CLASSIFICATION CHART

area bounded by lines of constant ratio

determine a point which lies in the oblique rectangular

IUustrative Exam les, (See reference 2.