Mathematical Model and Experimental Validation for a Four Bar Mechanism with a Flexible Coupler Link

  • Daniel Rodríguez Flores
  • Héctor Cervantes CulebroEmail author
  • Carlos-Alberto Cruz-Villar
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 84)


A mathematical model for a four bar mechanism with a flexible coupler link is presented in this paper. Modeling equations are obtained using a constrained Lagrangian Formulation, resulting in a nonlinear integro-differential system of equations with a fourth order Partial Differential Equation (PDE). This system of equations is subject to boundary, initial and consistent conditions in order to obtain the system response and observe the elastic deformation of the flexible link. Measurements of the elastic deformation at the coupler link are presented, and the proposed model is experimentally validated.


Flexible link Partial differential equation Four-bar mechanism Timochenko’s beam 


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Daniel Rodríguez Flores
    • 1
  • Héctor Cervantes Culebro
    • 2
    Email author
  • Carlos-Alberto Cruz-Villar
    • 1
  1. 1.CINVESTAVMexico CityMexico
  2. 2.Tecnológico de MonterreyCiudad de MexicoMexico

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