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DETC98/MECH-5887
C1 =
(g2 + a2 ) , (h , b)2 ; (3)
Introduce the parameters
2ag
T1 = g , a + h , b and T2 = g , a , h + b: (7)
(g2 + a2 ) , (h + b)2 Noting that T1 T2 = (g , a)2 , (h , b)2 , the driving link passes
C2 =
2ag
: (4) through the angle Θ = 0 if the product T1 T2 0.
(g + a)
2
(h + b)2 : (9) (h , a)2 , (g2 + b2) ,1 ; (16)
2bg
Since all of the link lengths are positive we need only consider
the parameter or,
The condition T3 0 identifies that the input link passes through Using the parameters
Θ = π.
The three parameters, Ti ; i = 1; 2; 3, characterize the move-
ment of the driving link: g , b + h , a = T1 and g , b , h + a = ,T3 ; (18)
1. The driving link fully rotates: T1 T2 0, and T3 0;
2. The driving link rocks through Θ = 0: T1 T2 0 and T3 < 0; if T1 T3 0 then the link passes through π, otherwise it does not.
3. The driving link rocks through Θ = π: T1 T2 < 0 and T3 0; The result is that the same parameters, Ti ; i = 1; 2; 3 char-
and acterize the movement of the output link, and we have the four
4. The driving link rocks over two ranges neither of which in- cases:
cludes 0 or π: T1 T2 < 0 and T3 < 0.
1. The output link fully rotates: T2 0 and T1 T3 0;
2. The output link rocks through Ψ = 0: T2 0 T1 T3 > 0;
The Output Link 3. The output link rocks through Ψ = π: T2 > 0 and T1 T3 0;
The limiting values of cos Ψ associated with the output link and
of a planar mechanism are given by: 4. The output link rocks over two ranges: T2 > 0 and T1 T3 > 0.
C3 =
(h + a)2 , (g 2 + b 2 ) ; (11)
2bg PLANAR MECHANISM CLASSIFICATION
The three parameters Ti ; i = 1; 2; 3 classify the movement of
the driving and output links of a 4R linkage into eight basic types.
C4 =
(h , a)2 , (g2 + b2) : (12)
If a configuration exists such that all four joints of a pla-
nar linkage lie on a line the mechanism is said to “fold.” If
2bg one (or more) of the characteristics Ti ; i = 1; 2; 3 is zero, then
the mechanism is a foldable linkage. If we consider the parame-
The condition that the output link pass through Ψ = 0 is obtained ters Ti ; i = 1; 2; 3 can take the values (+; 0; ,), then there are 27
from C3 as classifications of planar 4R linkages, 19 of which fold. The num-
ber of parameters Ti that are zero equals the number of folding
(h + a)2 , (g2 + b2) 1 ; (13)
configurations of the linkage.
2bg
Grashof’s Condition
or, Grashof’s condition states that one of the links in a mech-
anism can fully rotate if the sum of the lengths of the longest
(h + a)
2
(g + b)2 : (14) and shortest links is less than (or equal to) the sum of the
Linkage type T1 T2 T3
1. Crank-rocker + + +
2. Rocker-crank + - -
3. Double-crank - - +
4. Grashof double-rocker - + -
5. 00 double-rocker - - -
6. 0π double-rocker + + -
7. π0 double-rocker + - +
8. ππ double-rocker - + +
jγ , αj jη , βj : (25)
cos γ cos β , cos(η , α)
Introduce the parameters C4 = : (32)
sin γ sin β
T1 = γ , α + η , β and T2 = γ , α , η + β: (26) The condition that the output link pass through Ψ = 0 is obtained
from C3 as
The driving link passes through the angle Θ = 0 if the product
T1 T2 0. cos γ cos β , cos(η + α)
sin γ sin β
1 ; (33)
The root C2 determines the largest positive angle reachable
by the driving link. The range of movement of the driving link
includes Θ = π if or,
REFERENCES
Barker, C.R., 1985 A Complete Classification of Planar Four-
Bar Linkages, Mechanism and Machine Theory, Vol. 20, No. 6,
pp. 535-54.