DESIGN OF MACHINERY - 5th Ed.

SOLUTION MANUAL 3-74-1

PROBLEM 3-74
Statement: Design a sixbar, single-dwell linkage for a dwell of 80 deg of crank motion, with an output
rocker motion of 45 deg using a symmetrical fourbar linkage with the following parameter
values: ground link ratio = 2.0, common link ratio = 1.75, and coupler angle = 70 deg.
(See Example 3-13.)
Given: Crank dwell period: 80 deg.
Output rocker motion: 45 deg.
Ground link ratio, L1/L2 = 2.0: GLR 2.0
Common link ratio, L3/L2 = L4/L2 = BP/L2 = 2.0: CLR 1.75
Coupler angle, 70 deg

Design choice: Crank length, L2 2.000

Solution: See Figures 3-20 and 3-21 and Mathcad file P0374.
1. For the given design choice, determine the remaining link lengths and coupler point specification.
Coupler link (3) length L3 CLR L2 L3 3.500

Rocker link (4) length L4 CLR L2 L4 3.500

Ground link (1) length L1 GLR L2 L1 4.000

180 deg
Angle PAB 55.000 deg
2
Length AP on coupler AP 2 L3 cos AP 4.015

2. Enter the above data into program FOURBAR, plot the coupler curve, and determine the coordinates of the
coupler curve in the selected range of crank motion, which in this case will be from 140 to 220 deg.
DESIGN OF MACHINERY - 5th Ed. SOLUTION MANUAL 3-74-2

FOURBAR for Windows File P03-74

Angle Coupler Pt Coupler Pt Coupler Pt Coupler Pt

Step X Y Mag Ang
Deg in in in in

140 -0.676 5.208 5.252 97.395

150 -0.958 4.940 5.032 100.971
160 -1.226 4.645 4.804 104.781
170 -1.480 4.332 4.578 108.860
180 -1.720 4.005 4.359 113.242
190 -1.945 3.668 4.152 117.942
200 -2.153 3.322 3.958 122.946
210 -2.337 2.969 3.779 128.210
220 -2.493 2.613 3.612 133.663

3. Layout this linkage to scale, including the coupler curve whose coordinates are in the table above. Use the
points at crank angles of 140, 180, and 220 deg to define the pseudo-arc. Find the center of the pseudo-arc
erecting perpendicular bisectors to the chords defined by the selected coupler curve points. The center will
lie at the intersection of the perpendicular bisectors, label this point D. The radius of this circle is the
length of link 5.
y

140

180

220 B

PSEUDO-ARC
4
3

A O4
2
x
O2
D

4. The position of the end of link 5 at point D will remain nearly stationary while the crank moves from 140 to
220 deg. As the crank motion causes the coupler point to move around the coupler curve there will be
another extreme position of the end of link 5 that was originally at D. Since a symmetrical linkage was
chosen, the other extreme position will be located along a line through the axis of symmetry (see Figure
3-20) a distance equal to the length of link 5 measured from the point where the axis of symmetry intersects
the coupler curve near the 0 deg coupler point. Establish this point and label it E.
DESIGN OF MACHINERY - 5th Ed. SOLUTION MANUAL 3-74-3

FOURBAR for Windows File P03-74

Angle Coupler Pt Coupler Pt Coupler Pt Coupler Pt

Step X Y Mag Ang
Deg in in in in

340 -1.382 1.658 2.158 129.810

350 -0.995 2.360 2.562 112.856
0 -0.494 3.147 3.185 98.919
10 0.074 3.886 3.887 88.916
20 0.601 4.490 4.530 82.372

140

P
20
180
10

0 AXIS OF
220 B SYMMETRY
350
PSEUDO-ARC 340 4
3

A O4
2
x
O2 D

E
5. The line segment DE represents the maximum displacement that a link of the length equal to link 5, attached at
P, will reach along the axis of symmetry. Construct a perpendicular bisector of the line segment DE and
extend it to the right (or left, which ever is convenient). Locate fixed pivot O6 on the bisector of DE such that
the lines O6D and O6E subtend the desired output angle, in this case 30 deg. Draw link 6 from D through O6
and extend it to any convenient length. This is the output link that will dwell during the specified motion of
the crank.
DESIGN OF MACHINERY - 5th Ed. SOLUTION MANUAL 3-74-4

y SUMMARY OF LINKAGE
SPECIFICATIONS
Original fourbar:
140 Ground link L1 4.000
P Crank L2 2.000
20
180 Coupler L3 3.500
10
Rocker L4 3.500
Coupler point AP 4.015
0
220 B
350 55.000 deg
PSEUDO-ARC 45.000°
340
4
3

A O4 O6
2
x
Added dyad:
O2 D
Coupler L5 7.676
E Output L6 1.979
Pivot O6 x 6.217
y 0.653