EXPERIMENT – 1
Course Code: BMHA303P
Course Title: Industrial Robotics Lab
Slot: L5+L6
Sricharan Rangarajan
22BMH1119 (Group D)
HARDWARE EXPERIMENT: CONSTRUCTION OF STRAIGHT LINE FOUR-
BAR MECHANISM
Introduction:
The four-bar straight-line mechanism is a fundamental concept in
mechanical engineering, widely utilized to create a path or motion that
approximates a straight line. This experiment demonstrates the
construction and working principle of a four-bar linkage system using a
MAKIT-Master kit. The linkage adheres to specific dimensional
relationships to achieve the desired motion, making it a key component in
various mechanical applications.
Objective/Aim:
To construct and analyze a four-bar straight-line mechanism using the
MAKIT-Master kit and verify the conditions under which the mechanism
achieves an approximate straight-line motion.
Methodology:
1. Materials Used:
o MAKIT-Master kit components:
▪ Four links (Code No. 009) of equal length for the bars.
▪ Link (Code No. 009) for AD, which is twice the length of
BC.
▪ Spacers (Code No. 008) for motion alignment.
▪ Pins (Code No. 012) to secure the linkages.
▪ Circlips (Code No. 013) to lock the pins on both sides.
2. Steps:
▪ Linkage Assembly:
1. Assemble four links of equal length to form the
basic structure.
2. Attach the longer link (AD) to span twice the length
of BC.
▪ Fixation of Axes:
1. Fix one end of the linkage at point A and the other
at point D to create pivot points for movement.
▪ Motion Alignment:
1. Use spacers (Code No. 008) to ensure smooth
motion and flexibility between the links.
▪ Secure Mechanism:
1. Attach pins (Code No. 012) and secure them with
circlips (Code No. 013) for stability.
▪ Testing Movement:
1. Rotate link 1 about the fixed axis A and observe the
motion of point E to verify if the path approximates
the straight-line q−qq-q, passing through points A
and D.
By following the above steps, the constructed mechanism demonstrates
the working principle of a straight-line linkage, validating the theoretical
dimensions and constraints.
Conclusion:
The four-bar straight-line mechanism was successfully constructed using
the MAKIT-Master kit. The mechanism adhered to the theoretical
dimensional constraints, with the longer link (AD) being twice the length of
the shorter link (BC). Upon testing, point E demonstrated an approximate
straight-line motion passing through points A and D, validating the
functionality of the linkage.
Results:
The mechanism was constructed accurately and performed as expected.
The motion of point E closely resembled a straight line due to the proper
alignment of the links and adherence to the dimensional relationships.
Smooth movement was achieved, confirming the stability and reliability of
the setup.
Inference:
The experiment highlights the importance of precise dimensional
relationships in achieving specific motion paths in a four-bar linkage. This
mechanism effectively approximates straight-line motion, demonstrating
its relevance in mechanical systems requiring precise and predictable
movement.
Schematic/Picture:
FIG. Final design of straight-line mechanism
