Last Updated and Links Checked 24 July 2003
Note two spellings when searching:- Grashof and Grashoff.
www-2.cs.cmu.edu/People/rapidproto/mechanisms/tablecontents.html Carnegie Mellon University
Introduction to Mechanisms -Table of Contents. Very extensive. (*See 5. Planar Linkages -vey helpful for Grashov definition examples and transmission of force in coupler bar and applications.
www-2.cs.cmu.edu/People/rapidproto/mechanisms Index of Mechanism Terminologies. Very good. Among other things told me that Dead Point and Toggle point are the same thing.
ch.engr.ucdavis.edu reference only. See Design link below.
ch.engr.ucdavis.edu/design Four bar linkage mechanisms. Good. Glance at Slider-Crank Mechanism and Vibration.
ch.engr.ucdavis.edudesign/fourbar Four bar linkage mechanisms index. Probably all good when your are up to it but start with Grashov (s+l<p+q), Non-Grashof (s+l>p+q) and Singular (s+l=p+q) (direction and reverse at co-linear is 'change point') and the Transmision Angle section is talking about velocity differences eg V32 and the angle gamma being theta4-theta3 which 'reduces the task to a positional one'.
www.me.ufl.edu/SAMM/0315.pdf A (small) pdf file showing a worked example of a non-Grashof four bar linkage. Transmission angle(s) are calculated and the coupler curve of point P plotted. Graphical methods and use of Cosine Rule. Good. Print and do in Autocad/MDT.
www.nd.edu/~stanisic/ME339/grashoff.criterion.pdf A (small) pdf. Well worth printing. Shows the different Grashoff four bar linkages as variations of the one particuar linkage example but with different links chosen to be the ground link and the coupler.
me.lsu.edu/~ram/TEACHING/kinematics/Grashoff.pdf One page. Good Interesting definition based on how the short link is conected ie both to ground (grounded), one to ground or both free (coupler).
4barlink/ass2_q2.html Images of Floating Link Center of Instantaneous Rotation for Ass2 Q2 and the various Grashof combinations.