An educational software for the analysis and synthesis of planar four bar linkages

V. Petuya* M. Díez† Ch. Pinto‡ A. Hernández§

Department of Mechanical Engineering. University of the Basque Country
Alameda de Urquijo s/n. 48013- Bilbao, Spain.

Abstract—In this paper is presented a new educational not new. Other universities as Dresden University [6] or
computer program for the simulation of four-bar linkages, Aachen University [7] have previously used it in the
slider-crank mechanisms and other planar linkages derived lectures.
from them. It has been developed by the authors1 as a The software MECAN4 presented in this paper is
complement to the Machine Theory lectures. As it is shown in
the paper, the software covers almost all kinematical analysis
focused on the analysis and dimensional synthesis of the
and synthesis aspects from a graphical point of view. Finally, a planar four-bar linkage and other mechanisms derived
complete design example done with the software presented is from it. There is also a version, BIEMAN, for the
shown. This software is available via internet and is free of simulation of the slider-crank mechanism. The reason
charge. why this software is focused on the planar four-bar
linkages, is that from an educational point of view, these
Keywords: analysis, synthesis, educational software, kind of linkages cover almost all kinematic aspects
four-bar linkage. common to other planar and spatial mechanisms [8], [9].
MECAN4, BIEMAN and their user manuals are
available to be downloaded at the web page of the
I. Introduction authors: www.ehu.es/compmech.
In recent years, there is an increasing interest in the use
of simulation softwares in the teaching of Machine II. Geometry module
Theory. These computer programs help the student to MECAN4 and BIEMAN have been developed in
understand deeply, and in a more visual way, the FORTRAN language and have a modular structure. The
theoretical basis explained during the lectures. This is geometry module has a user-friendly interface based on
clear taking into account that more and more textbooks the use of pull-down menus (figure 1).
of Machine Theory include a CD-ROM with a
simulation program to complement the book contents
[1], [2], [3].
One possibility is the use of a commercial software
package as, ADAMS® [4], DADS® [5] or Working
Model®. These kind of general-purpose programs have
the advantage of their powerful capabilities and their
reliability. However, in the case of ADAMS® and
DADS®, it is necessary to spend a considerable time to
train the student in the use of these programs that have
been developed to be used by professionals and experts.
In the case of Working Model®, it is an analysis tool but
not a synthesis tool. Also, due to their general-purpose
approach, all these programs are based in multibody
techniques. As a result, the geometrical bases of the
Machine Theory are hidden into the mathematical
formulation of the kinematic problems. Fig. 1. MECAN4: Pull-down menus.
Because of this, in the Department of Mechanical
Engineering of the University of the Basque Country, an To start with the kinematic analyses, the student has to
educational computer program has been developed to enter the linkage parameters. It can be done by clicking
help the students in the understanding of the Machine on the screen or by keyboard. There are two ways to
Theory. This approach for the teaching of this subject is define the linkage:
• Enter the lengths of the mechanism links.
* E-mail: victor.petuya@ehu.es • Define the coordinates of the kinematic joints.
† E-mail: mikel.diez@ehu.es In figure 2 the parameters that define the four-bar and the
‡ E-mail: charles.pinto@ehu.es
§ E-mail: a.hernandez@ehu.es
slider-crank linkages in the software are shown.
 can note how their radiuses change with the position of
the coupler. Also the acceleration pole is obtained.
• The cusp circle is obtained as the locus of centres of
curvature of the envelopes to straight lines moving
together with the coupler.
• The cubic of stationary curvature (c.s.c) and the pivot-
point curve (p.p.c).

Coupler curve I
Path of moving
pair

Assembly
mode I

Crank

Coupler curve II
Assembly mode II

Fig. 2. Mechanism parameters.

After the linkage parameters have been entered, an

editable database is created and saved. The geometry c.s.c.
module has also the usual edition options: zoom, modify,
etc.

III. Analysis module

All the kinematic analyses are implemented in p.p.c.
De la Hire
MECAN4 and BIEMAN. Using this software the student circle Cusp
can know in deep the kinematic behaviour of any four- circle
bar or slider-crank linkage.

A. Position problem Bresse

Once the user has defined the linkage, the position
problem is solved automatically. This problem is solved
graphically and all the assembly modes are obtained. All
the position parameters of the linkage can be shown in
graphical or tabular format.
When the position problem has been solved, the
student can compute the following kinematic curves
(figure 3):
• Ranges of movements of all links. Also, using Grashof
Theorem, cranks are detected in the mechanism.
• Coupler curves of each assembly mode. The student
sees how, changing the dimensions of the links, the
number of coupler curves changes.
• Pole curves of the coupler. The rolling of the moving
polode along the fixed polode is simulated and the
velocity pole is identified.
• De la Hire and Bresse circles are drawn. The student
circle
Fig. 3. Computation of kinematic curves.
During analysis singular positions are also detected.
The dead point and the uncertainty positions are
obtained. In the case of a transition linkage, in an
uncertainty position, the linkage gains an instantaneous
degree of freedom (figure 4a). Thus, the simulation is
stopped and the student can choose the branch of the
trajectory to continue the movement (figure 4b and 4c).
The transmission angle and the mechanical advantage
are also calculated and shown in tabular or graphical
format. These parameters help the student to analyse the
quality of the transmission of movement and force in the
mechanism.
 a)
b)
c)
Fig. 4. Uncertainty position.
The student can also define a line moving together with
the coupler. Then, the software calculates its envelope
and the involute of the previous envelope. This
calculation is very useful to understand in deep the
Euler-Savary’s Theorem in its most general form
Line
Involute
Envelope
Fig. 5. Envolvente and evolute curves.
B. Velocity and acceleration problems.
Once the angular velocity and acceleration of the input
link are introduced, the velocities and accelerations of
the other links are computed. To do this, the loop
equations are differentiated and the resultant linear
systems of equations solved. Now the student selects a
link and its velocity or acceleration is shown in tabular or
graphical format as a function of the generalised
coordinate (figure 6).
IV. Synthesis module
Using the software, the student can make different
types of dimensional synthesis. In this section these
capabilities are described.
Fig. 6. Calculation of angular velocities.
A. Coupler-curve synthesis.
It consists on the calculation of the link lengths that
make the coupler curve to verify a certain condition.
A.1 Synthesis using precision points
In the software three, four and five precision points can
be defined. Then, a linkage whose coupler point passes
exactly through these points is calculated. In this case
graphical procedures based of point-position reduction
and kinematic inversion concepts have been
implemented [2], [10]. In figure 7 a solution of the
synthesis with five precision points is shown.
Fig. 7. Coupler curve synthesis using 5 precision points.
When the student works with this synthesis module, the
concepts of branch and order errors are easily
understood. They are detected making the kinematic
analysis of the linkage obtained.
A.2 Synthesis of coupler curves with approximate
straight lines.
Given the positions of the kinematic pairs of the four-
bar linkage, MECAN4 uses the theoretical concept of the
Ball point (intersection between the De la Hire circle and
the c.s.c) to obtain a coupler point that draws an
approximate straight path [11]. The length of this path four-bar linkage and a slider-crank mechanism are
depends on the lengths of the links and the position of shown.
the kinematic pairs. Figure 8 shows the path obtained
locating the coupler point at the computed Ball’s point
for this particular position.

Fig. 8. Coupler curve with a straight section.

B. Coupler-position synthesis.
As in the case of the coupler curve synthesis, graphical
procedures have been implemented in the software for
the coupler-position synthesis with three and four
precision positions given the position of the fixed pairs.
In figure 9 the result of a four position synthesis is
shown.
Fig. 10. Cognate linkages.
D. Linkage with a permanent translational link.
The student can also synthesize a one degree of freedom
mechanism with a translational link. Based on the
Roberts’ construction, MECAN4 translates one cognate
until its fixed joint meets the non-common fixed pair of
the original linkage. Joining the two input links and
locating an additional link between the two coupler
points, this link has translational movement. If it is
pinned to both couplers, the mechanism has a redundant
link that can be eliminated. In figure 11 the resulting link
from this synthesis process is shown

Translational link

Fig. 9. Four position synthesis.

C. Cognate linkages.
Based on the graphical construction of the Roberts’
Theorem [12], the path-cognates of a given linkage can
be obtained. In this way, there are available two
additional design possibilities. In the software, the
cognate linkages can move together so Roberts’ Theorem
is stated in a visual way. In figure 10 the cognates of a
 Fig. 11. One-dof mechanism with a translational link.

V. Design example
The software presented in this paper is not only used as
a complement to the theoretical lectures. Using it, our
students have to solve a final design problem. It is also
used to solve a specific design problem. The design
example is presented to the student at the end of the
lectures of Machine Theory [11]. They must apply all the K
C0
knowledge acquired and, aided by this software, be able B
A B0
to obtain a reliable and efficient solution to the problem.
In this case, the goal is the design of an elevation
planar mechanism fixed in a transporting truck with the
following specifications: A0
• During the elevation phase the end-effector must have
vertical permanent translation.
• The fixed joints must be located at the chassis of the Fig. 13. Cognate linkages.

truck.
Now, translating one cognate, a 1-dof linkage with a
• The design must be a 1-dof mechanism.
permanent translational link ( KK ′ ) is obtained (figure
The design problem proposed is a coupler-position
14).
synthesis. The coupler must move vertically with a null
angular velocity. Thus, the first step is the synthesis of a
four-bar linkage with a coupler curve with a straight K
section. In this case, a four-bar linkage in cycloidal
B
position has been entered in MECAN4 and its Ball’s
point has been calculated locating the coupler curve on it K’ A
(figure 12) B0
A0

p.p.c. ≡ De la
Hire Circle

C”’
c.s.c.
Fig. 14. Mechanism with a translational link.
P K
(Ball’s point) However, from a practical point of view, link KK ′ is
too much long. In this way, a similar four-bar loop
AEFD will be used (figure 15)

Fig. 12. Calculation of the Ball point.

An alternative is to make a coupler-curve synthesis

using precision points. In this case, after the synthesis of
the four-bar linkage, the position problem must be solved E
F
to detect possible branch and order errors. A

The next step is the calculation of the cognate linkages

(figure 13).
D
 Fig. 15. Reducing the translational link.
To obtain not only a permanent translational
movement, but also a vertical one an R-dyad is added
obtaining a moving parallelogram EFGK (figure 16). So
the link GK translates vertically.
K Currently a new version of the software is being
G programmed on Visual C# to make use of its new
E Ministerio de Educación y Ciencia (Project DPI2005-
F 02207), the FEDER founds of the European Union and
A
D
Fig. 16. Adding a R-dyad.
Finally the end effector is fixed to link GK and the
projected linkage mounted in the truck (figure 17).
K L
G mechanical systems. Ed. Allyn and Bacon, 1989.
Fig. 17. Final design.
VI. Conclusions
In this paper a new educational program for the
kinematic analysis and synthesis of planar four-bar and
slider-crank linkages has been introduced. The user-
friendly graphical interface and its modular structure
make it suitable to be used by undergraduate students
without any previous simulation abilities. When the
position problem is solved, the user can view all the
representative kinematic curves during the linkage
motion. It helps the student to assimilate the geometrical
background of the Machine Theory. The synthesis
module, based on graphical techniques, allow the student
to start out in the mechanism design for specific
applications.
graphical capabilities.
Acknowledgments
The authors of this paper wish to acknowledge the
finance received from the Spanish Government via
the University of the Basque Country (Project
GIU05/46).
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