Four Bar Linkages Penn Engineering（四连杆结构佩恩工程）.pdf

MEAM 211 Four Bar Linkages 1. Types of linkages 2. Synthesis (Design) MEAM 211 Four Bar Linkage y P Simplest 1 dof linkage r Used very commonly 3 r 4 θ Types of four bar linkages Q θ3 4 r 1 Grashof Type I r2 θ2 θ1 R Crank rocker s + l p + q O x Double-rocker Drag-link s = smallest link length Non-Grashof or Grashof Type II l = longest link length p , q = other two lengths Triple-rocker s + l p + q MEAM 211 Facts Grashof linkages There exists one link that completes a full 360 degree rotation relative to another link This is the shortest link The pair of joints connecting this link to other links are such that they rotate through 360 degrees Three types of linkages Crank rotates through 360 deg. (relative to frame) Coupler rotates through 360 deg. (relative to frame) Frame rotates through 360 deg. (relative to, let us say, crank) Non Grashof linkages No link completes a full 360 degree rotation relative to another link MEA