Synthesis of Linkages

MECH103 Mechanisms and Dynamics of Machinery
Chapter 10 Introduction to Mechanism Synthesis
Mechanism synthesis
Qualitative synthesis: to create the potential solutions Some linkage design in the absence of a well-defined algorithm that predicts the solution Iteration between analysis and synthesis: With the help of CAD such as Working Model or popular programs Norton textbook: Chap 3
2
Mechanism synthesis classification

Function generation: correlation of I/P motion with O/P motion in an
mechanism (black box: mechanical analog computer, artillery rangefinder, shipboard gun aiming system); Linkage performs a mathematical function w/ input the independent variable and output the dependent variable
- rocker output Path generation: control of a Point in the plane such that it follows some
prescribed path; The linkage guides some pt. (coupler pt.) along a desired path
Motion generation: control of a Line in the plane such that it follows some
prescribed set of sequential positions: bucket control on a bulldozer (rigid body guidance); The linkage guides a body through a specified path with specified orientation
- simple case: coupler output
Mechanism synthesis: two approaches

Traditional Computer-aided design synthesis
- Graphical (chap 3) - Analytical (chap 5)

4
Synthesis CAD program: Symech http://www.symech.com

More CAD programs: http://www.tenlinks.com/CAE/products/kinematics.htm
- Working model
Two-Position Synthesis
Rocker output: - Grashof crank-rocker is desired - a trivial case of function generator Coupler output (complex motion) - more general - simple case of motion generation - two positions of a line are defined as O/P
Two-Position Synthesis 4-bar Grashof crank-rocker synthesis

Design a 4-bar Grashof crank-rocker to give 45 of rocker rotation with equal time forward and back, from a constant speed motor input
Nortons textbook, Example 3-1, p. 93 See Animation\WM\Ch3\fig3_4\ in Nortons CD-Rom
Limiting conditions: Toggle positions 4-bar Grashof crank-rocker synthesis

Step 1
B2 B1 O4
The linkage in its two toggle positions

8
Nortons textbook Example 3-1, p. 93
4-bar Grashof crank-rocker synthesis

Step 2, 3
B2 O2 B1 O4

Step 4a
B2 O2 B1 O4
10

Step 4b
a O2 A2 B1 O4 a B2
O2 A2 =
1 (O2 B2 O2 B1 ) 2
11

Step 5 Link 2
a a B2 A1 O2 A2 B1 O4 Link 2
12

Step 6
Link 3 Link 2
B2 A1 O2 A2 B1 O4
13

Step 7
Link 3 Link 2
A2 A1 O2 Link 1 B1 O4
B2 Link 4
14

Step 8
Link 3 Link 2
A2 A1 O2 Link 1 B1 O4
B2 Link 4
Find the Grashof condition:

15
< L+S = P+Q >
If non-Grashof (>), then redo Step 3~8 by moving O2 further from O4

Step 9
Link 2 O2
Link 3
B2 Link 4
Link 1 O4
- Simulate this mechanism to check its function and transmission angles (Nortons CD: working model file)
16
17
In inch
18
Rocker output- two positions with complex displacement (motion generation)

Problem: design a 4-bar linkage to move link CD from position C1D1 to C2D2
19

Step 1
Draw link CD in two desired positions
D1 Link 4 C1 C2
D2
20

Step 2
Draw construction line from C1 to C2 and from D1 to D2
D1 Link 4 C1 C2
D2
21

Step 3
Bisect C1C2 and D1D2 and extend to intersect at O4
D1 Link 4 C1 C2
O4
D2
22

Step 4:
draw an arc about O4 to intersect O4C1 and O4C2 at B1 and B2 respectively
D1 Link 4 C1 B1 O4 B2 D2 C2
O4CiDi = output link, i=1,2

23

Step 5:
Follow Steps 2~8 of previous example to complete the C1 linkage
D1 Link 4 C2 B1 O4 B2 D2
24

Link 4
D1
a O2 A2
C1 B1
a B2
C2
O4
D2
25

D1 Link 4 Link 2 Link 3 A1 O2 A2 Link 1 B1 O4 D2 C1 B2 C2
26

27
Three-position Synthesis with specified Fixed Pivots

Problem: design a inverted 4-bar linkage to move link CD from position C1D1 to C2D2 and then C3D3. Use specified fixed pivots O2 and O4
Step 1
Draw link CD in three desired positions
Norton, Section 5.8 Synthesis CAD program: Symech http://www.symech.com

28

Problem: design a inverted 4-bar linkage to move link CD from position C1D1 to C2D2 and then C3D3. Use specified fixed pivots O2 and O4
Step 2
Draw the ground link O2O4
29
Three-position Synthesis with specified Fixed Pivots Step 3

Draw the arcs from C2 to O2 and from D2 to O2
(a) Original coupler three-position problem with specified pivots (b) Position of the ground plane relative to the second coupler position (arbitrary).
30

Draw the arcs from C2 to O4 and from D2 to O4
(a) Original coupler three-position problem with specified pivots (b) Position of the ground plane relative to the second coupler position (arbitrary).
31

Transferring O2O4 to O2O4
(c) Transferring second ground plane position to reference location at first position
32

Repeat the process for the 3rd coupler position. Transferring O2O4 to O2O4
O2 O4 (d) Position of the ground plane relative to the third coupler position (e) transfer 3rd ground plane position to ref location at 1st position
33
O2 G
O2 O2 O4 H
O4
O4
O2O4
(f) Check the 3 inverted positions of the ground plane

O2O4 and O2O4
E1F1, E2F2 and E3F3
(g) Find the ground pivot points: G and H

34
(h) The correct inversion of desired linkage

35
(i) Re-invert to obtain the result (E1F1 pivots)

36
(j) Re-place the Link CD
37
Quick-return Mechanism
- Used in single point metal cutting machine. - Forward = cutting
38
Analytical Mechanism Synthesis

Two-Position Motion Generation by Analytical Synthesis Design a four-bar linkage, which will move a line on its coupler link such that a point P on that line will be first at P1 and later at P2 and will also rotate the line through an angle 2 between those two precision positions. Find the lengths and angles of the four links and the coupler link dimensions A1P1 and B1P1 as shown in Fig 5-1.
P2
P1
A1 A2
B2
B1
o2 o4
Fig. 5-1 Nortons textbook
39
Two-Position Motion Generation by Analytical Synthesis
The problem statement is: Design a four-bar linkage, which will move a line on its coupler link such that a point P on that line will be first at P1 and later at P2 and will also rotate the line through an angle 2 between those two precision positions. Find the lengths and angles of the four links and the coupler link dimensions A1P1 and B1P1 as shown in Figure 5-1.
40
The displacement of the output motion of point P P21 = R2 R1 (5. 1)

s1
Link 3
V1 = Z1 S1
(5. 2a)
Z1
Ground link 1
G1 = W1 + V1 U1
(5. 2b)
W1
V1 u1
Thus if we can define the two dyads W1, Z1, and U1, S1, we will have defined a linkage that meets the problem specifications. Dyads = open kinematic chain of 2 binary links and one joint
41
G1
First solve for the left side of the linkage (vectors W1 and Z1). A vector loop equation around the loop which includes both positions P1 and P2 for the left-side dyad.
P21 z2 z1
W2 + Z2 P21 Z1 W1 = 0
(5.3)
x - component
(5.6a)
W2 W1
[ w cos ] ( cos 2 1) [ w sin ] sin 2 + z cos ( cos 2 1) z sin sin 2 =

y - component
p 21 cos 2
[ w sin ] ( cos 2 1) [ w cos ] sin 2 + z sin ( cos 2 1) + z cos sin 2 =

42
p 21 sin 2
(5.6b)
p 21 cos 2
p 21 sin 2
There are eight variables in these two equations: w, , 2, z, , 2, p21 and 2. Three of the eight are defined in the problem statement, namely 2, p21 and 2. Of the remaining five w, , 2, z, , we are forced to choose three as free choices (assumed values) in order to solve for the other two. One strategy is to assume : Values for the three angles, , 2,
43
B = cos (cos 2 1) sin sin 2

C = p 21 cos 2
A = cos (cos 2 1) sin sin 2
(5.7a)
E = sin (cos 2 1) + cos sin 2 F = p 21 sin 2
D = sin (cos 2 1) + cos sin 2
(5.7b)
Aw + Bz = C Dw + Ez = F
(5.7c)
Solving simultaneously,
CE BF ; w= AE BD
44
z=
AF CD AE BD
(5.7d)
Repeat the process for the righthand dyad, U1S1

U2 + S2 P21 S1 U1 = 0
(5.9a)
S1 S2
The x and y component equations become:

cos (cos 2 1) sin sin 2
+ s cos (cos 2 1) s sin sin 2 = p 21 cos 2
(5.10a)
U2
U1
sin (cos 2 1) + cos sin 2

+ s sin (cos 2 1) + s cos sin 2 = p 21 sin 2
45
(5.10b)
2, p21 and 2 Right-hand dyad: three angles , , 2
Left-hand dyad: three angles , 2,

C = p 21 cos 2
(5.11a)
(5.11b)
Au + Bs = C Du + Es = F
(5.11c)
CE BF u= ; AE BD
46
AF CD s= AE BD
(5.11d)
Nortons FOURBAR program for 2 position synthesis
47
Ex: 5-1, p.219
48
Three-Position Motion Generation by Analytical Synthesis There are 12 variables in these FOUR equations (Eq. 5.22): w, , 2 , 3, z, , 2, 3 , p21 , p31 , 2 and 3. Six of the 12 are defined in the problem statement, namely 2, 3, p21 , p31 2 and 3. Of the remaining six w, , 2, 3, z, , we are forced to choose three as free choices (assumed values) in order to solve for the other FOUR.
left-hand dyad
W2 + Z2 P21 Z1 W1 = 0 W3 + Z3 P31 Z1 W1 = 0
(5.19) (5.20)
right-hand dyad
U2 + S2 P21 S1 U1 = 0 U3 + S3 P31 S1 U1 = 0
(5.28)
49
50
51
Nortons FOURBAR program for 3 position synthesis with fixed pivot points
52
Nortons FOURBAR program for 3 position synthesis with fixed pivot points
53
Bulldozer Mechanism
Bulldozer: a tractor-driven machine usually having a broad blunt horizontal blade for moving earth (as in road building) http://www.kenkenkikki.jp/special/no02/e_index.htm http://maeweb.ucsd.edu/~mae3/spring2002/mae3_19/web/load.html
54
Backhoe Bucket Mechanism
Backhoe: an excavator whose shovel bucket is attached to a hinged boom and is drawn backward to move earth
55
Mechanism Categories
Function Generation Mechanisms
A function generator is a linkage in which the relative motion between links connected to the ground is of interest.
- Correlation of an input motion with an output motion in a mechanism

56
- Typically, correlation of 2 grounded links
Function Generation Mechanisms A function generator is a linkage in which the relative motion between links connected to the ground is of interest.
A four-bar hand actuated wheelchair brake mechanism

57
Function Generation Mechanisms
A four-bar drive linkage for a lawn sprinkler

58
Path Generation Mechanisms In path generation, we are concerned only with the path of a tracer point and not with the motion (rotation) of the coupler link.
59
Example: film advance mechanism, See Animation/WM/Ch3/camera in Nortons CD-Rom Control of a point so that it follows a prescribed path Doe not specify orientation
Path Generation Mechanisms In path generation, we are concerned only with the path of a tracer point and not with the motion (rotation) of the coupler link.
Crane straight line motion
60
Motion Generation Mechanisms In motion generation, the entire motion of the coupler link is of interest (rigid body guidance).
- Control of a line in a plane so that it assumes a prescribed set of positions and orientations - Hard to do with more than 3 positions if ground pivots specified
61
Motion Generation Mechanisms In motion generation, the entire motion of the coupler link is of interest (rigid body guidance).
New Rollerblade brake system

62
Motion Generation Mechanisms
Hood
Four-bar automobile hood linkage design
63
Two position synthesis

Design a four-bar crank and rocker mechanism to give 45o of rocker rotation with equal time forward and back, from a constant speed motor input. 1 Draw the rocker O4B in both extreme positions, B1and B2 in any convenient location with angle 4 = 45o. 2 select a convenient point O2 on line B1B2 extended. 3 Bisect line B1B2 , and draw a circle with that radius about O2. 4 Label the two intersection of the circle with B1B2 extended, A1 and A2. 5 Measure O2A (crank, link2) and AB (coupler, link3).
64
Two position synthesis

Design a four-bar crank and rocker mechanism to give 45o of rocker rotation with equal time forward and back, from a constant speed motor input.
65
Motion Generation Mechanisms: Graphical Solution

Two position synthesis C1D1 and C2D2
1. Draw the link CD in its two desired positions, C1D1 and C2D2 2. Connect C1 to C2 and D1 to D2. 3. Draw two lines perpendicular to C1 C2 and D1D2 at the midpoint (midnormals) 4. Select two fixed pivot points, O2 and O4, anywhere on the two midnormals.
66
Motion Generation Mechanisms: Graphical Solution

Two position synthesis (coupler output) C1D1 and C2D2
The rigid body to be moved from position 1 to 2 is secured to link 3.
67
Three positions with specified fixed pivot points, coupler as the output
1. Draw the link CD in its three desired positions, C1D1, C2D2 and C3D3 and locate the fixed pivot points O2 and O4. Draw an arc from C1 with radius O2C2 and another arc from D1 with radius O2D2. Locate the intersection, O2. Draw an arc from C1 with radius O4C2 and another arc from D1 with radius O4D2. Locate the intersection, O4.
O4
O2 C2 D1 C1 O2 O2 O4 O4 C3 D2 D3
2.
3.
68
4.
Draw an arc from C1 with radius O2C3 and another arc from D1 with radius O2D3. Locate the intersection, O2. Draw an arc from C1 with radius O4C3 and another arc from D1 with radius O4D3. Locate the intersection, O4.
O4 O2 C1 O 2
C2 D1 C3 O2 O 4 O2
D2 D3
5.
O4
O4
69
6. Connect O2 to O2 and O2 to O2 . Draw two midnormals and locate the intersection, G. Connect O4 to O4 and O4 to O4 . Draw two midnormals and locate the intersection, H. O2G is link 2 and O4H is link 4. Construct a link (3) containing GH and CD.
O 4 O 2 O4 C2 D1 G O2 C3 O4
7.
D2 H D3
O2
8. 9.
C1
10. Verify the solution by constructing the mechanism in three position
70
Two position Motion synthesis
71
Mechanism used in Mechanical Analog Computer

Type LC-1: WWII Navy PV-1 "Balance Computor
Librascope Incorporation, Burbank, California Made for the WWII U.S. Navy Lockheed PV-1 Vega "Ventura" antisubmarine patrol bomber. The computer has 19 dials to input fuel load and tanks, bomb load, guns, ammo, torpedos etc. and uses this information to calculates Total Weight and Center of Gravity. http://dcoward.best.vwh.net/analog/libra.htm
72
we j ( + 2 ) + ze j ( + 2 ) p 21e j 2 ze j we j = 0
we e
j
j 2
+ ze e
j 2
p 21e
j
j 2
ze
we
=0
Euler formula
we (e
j 2
1) + ze (e
j 2
1) = p 21e
(5.6a)
j 2
x - component
e j = cos + j sin , j = 1

y - component
p 21 cos 2

73
p 21 sin 2
(5.6b) Textbook p.213
Slide 42,
Final Solution to Example: Design a four-bar mechanism to give 2 positions shown in Fig. P3-1 of coupler motion y O4
A1 P21 A2 B2
B1
A1x=0.0, B1x=1.721, A2x=2.656, B2x=5.065 A1y=0.0, B1y=-1.75, A2y=-0.751, B2y=-0.281

O2
74
Example: Design a four-bar mechanism to give 2 positions shown in Fig. P3-1 of coupler motion A1x = 0.0, B1x = 1.721, A2x = 2.656, B2x = 5.065 A1y = 0.0, B1y = -1.75, A2y = -0.751, B2y = -0.281 R1 = (A1x, A1y), R2 = (A2x, A2y), P21 = R2 - R1 = (2.656, -0.751), p21 = 2.76
A B1 y A2 y B2 y 1 1 y o 2 = tan tan = 56 . 519 A B 1x A2 x B2 x 1x
1
2 = tan 1
P21 y P21x
o = 15 . 789
From graphical method, determine the I/P for Eq. (5.7) = 94.394, 2 = -40.366, = -45.479
Solve for (w z) dyad using Eq. (5.7)

ArcTan( y / x), if x > 0 y tan 1 ( ) = x ArcTan( y / x) + , otherwise
75
Example: Design a fourbar mechanism to give 2 positions shown in Fig. P3-1 of coupler motion

C = p 21 cos 2
(5.7a)
(5.7b)
Aw + Bz = C Dw + Ez = F
w= CE BF = 4 .000 AE BD
(5.7c)
z=
AF CD = 0 .000 AE BD
76
Example: Design a fourbar mechanism to give 2 positions shown in Fig. P3-1 of coupler motion From graphical method, determine the I/P for Eq. (5.11) = -93.449, 2 =54.330, = 134.521

C = p 21 cos 2
(5.11a)
(5.11b)
Au + Bs = C Du + Es = F
(5.11c)
CE BF u= = 4 .000 AE BD
77
s=
AF CD = 2 .455 AE BD
Example: Design a four-bar mechanism to give 2 positions shown in Fig. P3-1 of coupler motion (5. 2a) Link 3 V1x = z cos s cos = 1.721 V =2.455
V1 = Z1 S1
V1 y = z sin s sin = 1.750

(5. 2b)
3 = tan 1
V1 y V1x
o = 45 . 479
Ground link 1
G1 = W1 + V1 U1 G1x = w cos + v cos 3 u cos = 1.655 G =6.447 G1 y = w sin + v sin 3 u sin = 6.231
1 = tan 1
G1 y = 75.123o G1x
Determine the initial & final value of the input crank wrt vector G 2i = - 1=19.271, 2f = 2i + 2 = -21.095 Determine the coupler point wrt point A and the vector V rp = z = 0.0, p = - 3 = 0
78
Example: Design a fourbar mechanism to give 2 positions shown in Fig. P3-1 of coupler motion Locate the fixed pivots in the global frame using all the vector definitions
1 = tan 1
A1 y = 90.0o A1x
R1 = (A1x, A1y)
R1 = 0
O2 x = R1 cos 1 z cos w cos = 0.306 O2 y = R1 sin 1 z sin w sin = 3.988 O4 x = R1 cos 1 s cos u cos = 1.962 O4 y = R1 sin 1 s sin u sin = 2.243
O O = tan 1
2 4
O4 y O2 y o = 75 . 123 O O 2x 4x
79
Example: Design a fourbar mechanism to give 2 positions shown in Fig. P3-1 of coupler motion Link 1 : Link 2 : Link 3 : Link 4 : Coupler : g = 6.447, 1 = 75.123 w = 4.000, = 94.394 v = 2.455, 3 = -45.479 u = 4.000, = -93.449 rp = 0, p = 0
Crank angle: 2i = 19.271
2f = -21.095
80
Final Solution to Example: Design a fourbar mechanism to give 2 positions shown in Fig. P3-1 of coupler motion y O4
A1 P21 v
u x A2 B2
B1
G1 = W1 + V1 U1
O2
81
A1 P21 v
u x A2 B2
B1
O2
82
u A1 P21 A2 v B2
B1 w
O2
83
Lockheed PV-1 Vega "Ventura" antisubmarine patrol bomber
84

Synthesis of Linkages

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Synthesis of Linkages

Uploaded by

Copyright:

Available Formats

MECH103 Mechanisms and Dynamics of Machinery

Chapter 10 Introduction to Mechanism Synthesis

Mechanism synthesis classification

- simple case: coupler output

Mechanism synthesis: two approaches

- Graphical (chap 3) - Analytical (chap 5)

Synthesis CAD program: Symech http://www.symech.com

Two-Position Synthesis 4-bar Grashof crank-rocker synthesis

Nortons textbook, Example 3-1, p. 93 See Animation\WM\Ch3\fig3_4\ in Nortons CD-Rom

Limiting conditions: Toggle positions 4-bar Grashof crank-rocker synthesis

The linkage in its two toggle positions

Nortons textbook Example 3-1, p. 93

4-bar Grashof crank-rocker synthesis

4-bar Grashof crank-rocker synthesis

4-bar Grashof crank-rocker synthesis

4-bar Grashof crank-rocker synthesis

4-bar Grashof crank-rocker synthesis

4-bar Grashof crank-rocker synthesis

4-bar Grashof crank-rocker synthesis

Find the Grashof condition:

< L+S = P+Q >

If non-Grashof (>), then redo Step 3~8 by moving O2 further from O4

4-bar Grashof crank-rocker synthesis

4-bar Grashof crank-rocker synthesis

4-bar Grashof crank-rocker synthesis

Rocker output- two positions with complex displacement (motion generation)

Rocker output- two positions with complex displacement (motion generation)

Rocker output- two positions with complex displacement (motion generation)

Rocker output- two positions with complex displacement (motion generation)

Rocker output- two positions with complex displacement (motion generation)

O4CiDi = output link, i=1,2

Rocker output- two positions with complex displacement (motion generation)

Rocker output- two positions with complex displacement (motion generation)

Rocker output- two positions with complex displacement (motion generation)

D1 Link 4 Link 2 Link 3 A1 O2 A2 Link 1 B1 O4 D2 C1 B2 C2

Rocker output- two positions with complex displacement (motion generation)

Three-position Synthesis with specified Fixed Pivots

Norton, Section 5.8 Synthesis CAD program: Symech http://www.symech.com

Three-position Synthesis with specified Fixed Pivots

Three-position Synthesis with specified Fixed Pivots Step 3

Three-position Synthesis with specified Fixed Pivots Step 4

Three-position Synthesis with specified Fixed Pivots Step 4

Three-position Synthesis with specified Fixed Pivots Step 5

Three-position Synthesis with specified Fixed Pivots

(f) Check the 3 inverted positions of the ground plane

E1F1, E2F2 and E3F3

(g) Find the ground pivot points: G and H

Three-position Synthesis with specified Fixed Pivots

(h) The correct inversion of desired linkage

Three-position Synthesis with specified Fixed Pivots

(i) Re-invert to obtain the result (E1F1 pivots)

(j) Re-place the Link CD

Three-position Synthesis with specified Fixed Pivots

Analytical Mechanism Synthesis

Fig. 5-1 Nortons textbook

Two-Position Motion Generation by Analytical Synthesis

Two-Position Motion Generation by Analytical Synthesis

The displacement of the output motion of point P P21 = R2 R1 (5. 1)

Two-Position Motion Generation by Analytical Synthesis

[ w cos ] ( cos 2 1) [ w sin ] sin 2 + z cos ( cos 2 1) z sin sin 2 =

[ w sin ] ( cos 2 1) [ w cos ] sin 2 + z sin ( cos 2 1) + z cos sin 2 =

Two-Position Motion Generation by Analytical Synthesis

[ w cos ] ( cos 2 1) [ w sin ] sin 2 + z cos ( cos 2 1) z sin sin 2 =