Position Analysis of a Grashofian Slider Rocker RRRP Mechanism
Schematic Diagram of a 4 Bar RRRP Linkage
The 4 bar RRRP mechanism is another basic mechanism in studies on kinematics. It is also widely used in various forms because of the relative simplicity of design and manufacture. Like RRRR linkages, Grashof's criteria is used to distinguish between 4 bar linkages with one prismatic joint, depending on the rotatability of the links In brief, if l is the shorter of the crank and the coupler and L the longer of the two, and e is the offset, then the following cases arise
-
l + e < L : Grashofian linkage
-
l + e < L, shortest link s is the ground link. : Inverted Slider Crank (RRPR)
-
l + e < L , shortest link is the coupler : Inverted Slider Rocker (RRPR)
-
l + e < L , shortest link is crank : Slider Crank (RRRP)
-
l + e < L , shortest link is coupler : Slider Rocker (RRRP)
-
-
l + e > L : Non Grashofian linkage
For a more detailed introduction to Grashof criteria for linkages with one prismatic joint see the animated guide that follows. If undisturbed , the animation will proceed at a predetermined pace. You can either click on the animation itself to move from step to step as per your convenience. Alternatively you can use the controls at the bottom of the animation to see it at your own pace.
In an inverted Grashofian RRPR Slider Rocker the input link (link 2) CAN rotate through a full circle but the output link (link 4) CANNOT. Like the slider, there exists limits on the range of motion for the output link (link 4) as well.