Singular Linkages

These linkages are four-bar Grashof crank-rockers where

s + l = p + q


s = length of the shortest link
l = length of longest link
p and q are the lengths of the two remaining links.

Since the sum of the shortest and longest links are equal to the sum of the other two links, a change point condition is reached when all links become collinear. In this case, the output link may change directions. Three different crank-rockers exist as singular linkages.

Singular Linkage #1

Singular Linkage #2

Singular Linkage #3

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