In kinematics, the parallel motion linkage is a six-bar mechanical linkage invented by the Scottish engineer James Watt in 1784 for the double-acting Watt steam engine. It allows a rod moving practically straight up and down to transmit motion to a beam moving in an arc, without putting significant sideways strain on the rod.
In previous engines built by Newcomen and Watt, the piston pulled one end of the walking beam downwards during the power stroke using a chain, and the weight of the pump pulled the other end of the beam downwards during the recovery stroke using a second chain, the alternating forces producing the rocking motion of the beam. In Watt's new double-acting engine, the piston produced power on both the upward and downward strokes, so a chain could not be used to transmit the force to the beam. Watt designed the parallel motion to transmit force in both directions whilst keeping the piston rod very close to vertical. He called it "parallel motion" because both the piston and the pump rod were required to move vertically, parallel to one another.
In a letter to his son in 1808 describing how he arrived at the design, James Watt wrote "I am more proud of the parallel motion than of any other invention I have ever made." [1] The sketch he included actually shows what is now known as Watt's linkage which was a linkage described in Watt's 1784 patent but it was immediately superseded by the parallel motion. [2]
The parallel motion differed from Watt's linkage by having an additional pantograph linkage incorporated in the design. This did not affect the fundamental principle but it allowed the engine room to be smaller because the linkage was more compact. [2]
The Newcomen engine's piston was propelled downward by the atmospheric pressure. Watt's device allowed live steam to be used for direct work on both sides of the piston, thus almost doubling the power, and also delivering the power more evenly through the cycle, an advantage when converting the reciprocating motion to rotary motion (whether through a crank or through a Sun and planet gear system).
See the diagram on the right. A is the journal (bearing) of the walking beam KAC, which rocks up and down about A. H is the piston, which is required to move vertically but not horizontally. The heart of the design is the four-bar linkage consisting of AB, BE and EG and the base link is AG, both joints on the framework of the engine. As the beam rocks, point F (which is drawn to aid this explanation, but is not a marked point on the machine itself) describes an elongated figure-eight (more precisely, a lemniscate of Bernoulli) in mid-air. Since the motion of the walking beam is constrained to a small angle, F describes only a short section of the figure-eight, which is quite close to a vertical straight line. The figure-eight is symmetrical as long as arms AB and EG are equal in length, and straightest when the ratio of BF to FE matches that of AB to EG. If the stroke length (that is, the maximum travel of F) is S, then the straight section is longest when BE is around ⅔ S and AB is 1.5 S. [3]
It would have been possible to connect F directly to the piston rod (the "Watt's linkage" design), but this would have made the machine an awkward shape, with G a long way from the end of the walking beam. To avoid this, Watt added the parallelogram linkage ▱BCDE to form a pantograph. This guarantees that F always lies on a straight line between A and D, and therefore that the motion of D is a magnified version of the motion of F. D is therefore the point to which the piston rod DH is attached. The addition of the pantograph made the mechanism shorter and so the building containing the engine could be smaller.
As already noted, the path of F is not a perfect straight line, but merely an approximation. Watt's design produced a deviation of about one part in 4000 from a straight line. Later, in the 19th century, perfect straight-line linkages were invented, beginning with the Peaucellier–Lipkin linkage of 1864.
A machine is a physical system using power to apply forces and control movement to perform an action. The term is commonly applied to artificial devices, such as those employing engines or motors, but also to natural biological macromolecules, such as molecular machines. Machines can be driven by animals and people, by natural forces such as wind and water, and by chemical, thermal, or electrical power, and include a system of mechanisms that shape the actuator input to achieve a specific application of output forces and movement. They can also include computers and sensors that monitor performance and plan movement, often called mechanical systems.
The atmospheric engine was invented by Thomas Newcomen in 1712, and is often referred to as the Newcomen fire engine or simply as a Newcomen engine. The engine was operated by condensing steam drawn into the cylinder, thereby creating a partial vacuum which allowed the atmospheric pressure to push the piston into the cylinder. It was historically significant as the first practical device to harness steam to produce mechanical work. Newcomen engines were used throughout Britain and Europe, principally to pump water out of mines. Hundreds were constructed throughout the 18th century.
The Watt steam engine design became synonymous with steam engines, and it was many years before significantly new designs began to replace the basic Watt design.
Steam power developed slowly over a period of several hundred years, progressing through expensive and fairly limited devices in the early 17th century, to useful pumps for mining in 1700, and then to Watt's improved steam engine designs in the late 18th century. It is these later designs, introduced just when the need for practical power was growing due to the Industrial Revolution, that truly made steam power commonplace.
In kinematics, Watt's linkage is a type of mechanical linkage invented by James Watt in which the central moving point of the linkage is constrained to travel on a nearly straight line. It was described in Watt's patent specification of 1784 for the Watt steam engine.
In the study of mechanisms, a four-bar linkage, also called a four-bar, is the simplest closed-chain movable linkage. It consists of four bodies, called bars or links, connected in a loop by four joints. Generally, the joints are configured so the links move in parallel planes, and the assembly is called a planar four-bar linkage. Spherical and spatial four-bar linkages also exist and are used in practice.
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