MECH103 Mechanisms and Dynamics of Machinery

Chapter 9 INTRODUCTION TO MECHANISMS

POSITION ANALYSIS

http://www.designofmachinery.com/
1

Textbook: Chap 1, 2, 4

Engineering Design
Definition:
The process of applying the various
techniques and scientific principles for the
purpose of defining a device, a process or a
system in sufficient detail to permit its
realization

Engineering Design Process

1. Identification of need: boss, market research
2. Background research: patent literature, etc
3. Goal statement
4. Performance specifications
5. Ideation and invention
6. Analysis
7. Selection
8. Detailed design
9. Prototyping and testing
10. Production
3

Performance Specifications

1. Device to have self-contained power supply

2. Device to be corrosion resistant
3. Device to cost less than $100.00
4. Device to emit < 80 dB sound intensity at 10 m.
5. Device to shorten acre of grass per hour
6. Etc.

The Creative Process

1. Idea generation:
brainstorming= 6~15 people, fear of ridicule
analogies, inversion, synonym
mind-mapping (Tony Buzan), etc.
2. Frustration: leave it alone
3. Incubation: sub-conscious mind
4. Eureka! Idea comes to your mind, unexpected
Mind Mapping:
http://en.wikipedia.org/wiki/Tony_Buzan
http://www.mind-mapping.co.uk/
5

Kinematics terminologies
Degree of Freedom (DOF)=mobility (M) :
Number of independent parameters that are needed to
uniquely define its position in space at any instance of
time (No. of I/P needed to be provided to create a predictable O/P)
Link: binary, ternary, quaternary
Joints: (kinematic pairs):
Revolute (1), prismatic (1), helical (1), cylindric (2),
spherical (3), planar (3)

Kinematics terminologies
Kinematic chain :
Assemblage of links and joints,
interconnected in a way to provide a
controlled output motion in response to a
supplied input motion
Mechanism: a kinematic chain in which at
least one link has been ground, or
attached, to the frame of reference
Machine: a combination of resistant bodies
arranged to compel the mechanical forces
of nature to do work accompanied by
determinate motions
7

Kinematics terminologies
Crank : a link that makes a complete revolution
and is pivoted to ground (full rotation, no limit)
Rocker: a link that has oscillatory rotation and is
pivoted to ground (not full rotation)
Coupler: a link that has complex motion and is not
pivoted to ground
Ground: any link or links that are fixed with
respect to the reference frame
Inversions: a derivative of a kinematic chain
created by grounding a different link
8

Example of Different Linkages

Statically Determinate Structure:A structure whose internal load distributions may be fully
determined using the six equations of three-dimensional statics without using deflection and
stiffness criteria

http://www.brockeng.com/mechanism/index.htm
10

11

Helical gears

12

Geneva wheel mechanism

Cam-and-follower mechanism

http://www.adept.com

13

http://www.mhi-ir.jp

Mobility
Kutzbacks modification of
Grueblers eqn. for 2D mechanisms

M = 3( N 1) 2 J1 J 2

Textbook: (2.1c)

where M is the mobility

N is the total # of links, including ground
J1 is the number of 1 DOF joints
J2 is the number of 2 DOF joints
1DOF joints: revolute (pin), prismatic
2DOF joints: cam pair, gear pair, slotted pin joint (all having rolling &
sliding)
3D mechanisms M = 6( L 1) 5 J 1 4 J 2 3 J 3 2 J 4 J 5
14

For ref only

Mobility example
M 1: a mechanism with M degrees of freedom
M = 0: statically determine structure
M 0: statically indeterminate structure
M = 3*(4-1)-2*(4) = 1

Note: a joint connecting k links at a single point : counted as k-1 joints

15

Mobility example: special case due to geometry

M = 3*(5-1)-2*(6) = 0
The Grublers equation does not apply for this speical mechanism:
Several links of a mechanism are parallel Grublers equation

16

Four-bar linkage example

Using Working model
coupler link
input link
(driver)

output link

Ground link

4-bar linkage = Simplest one-DOF linkage

17

1. Input link 2 (driver) :

a) rotate completely

Ground Link = Link1, Input link = Link 2

Coupler link = Link 3, Output Link = Link 4

- transform rotary motion into oscillatory motion

- no linkage locking
b) oscillate
- the mechanism multiplier oscillatory motion
- may have dead points (toggle points),
need flywheel to pass through these points
2. Transmission angle :
the angle between the coupler link 3 and the output link 4
- measure of mechanical advantage of mechanism; 90 deg =
ideal, 180 deg = zero transmission (measure of quality of
force & vel. transmission at the joint)
- Rule of thumb : 40 < < 140
18

Textbook: p.91

Four-bar linkage example

Using Working model

19

Grashoffs law for four-bar linkage

Identify longest, shortest, intermediate 2 links: L, S, P, Q
I: If L + S < P + Q, then we call this a Grashof Mechanism
G.1 = crank-rocker if S is the crank and either of the
adjacent link is the fixed link
G.2 = double-crank if S is the fixed link
G.3 = double-rocker if the link opposite S is the fixed link
II: If L + S > P + Q, then we call it non-Grashof mechanism
only double-rocker: no link is capable of making a complete revolution
III: If L + S = P + Q, it can have G.1~G.3 and
parallelogram form (colinear)
20

Grashof Mechanisms

21

Non-Grashof Mechanisms

22

III: If L + S = P + Q, it can have G.1~G.3 and

parallelogram form (colinear)

23

Grashoffs law example

demonstrate the 3 possibilities

24

Position Analysis
Vector Loop Representation of Linkage
The links are represented as position vectors.

Fig. 4-6 Position vector loop for a four-bar linkage

25

Textbook: Chap 4

Vector Loop Equation for a Four-bar Linkage

R 2 + R 3 R 4 R1 = 0

or

(4.5a)

R A + R B / A R B / O4 R O4 / O2 = 0

(4.5b)

x component
a cos 2 + b cos 3 c cos 4 d cos 1 = 0
Since
1 = 0,

a cos 2 + b cos 3 c cos 4 d = 0

(4.6a)

y component
a sin 2 + b sin 3 c sin 4 d sin 1 = 0
26

a sin 2 + b sin 3 c sin 4 = 0

(4.6b)

Four-bar linkage Position Analysis

2 = input, 4 = output
Eliminate 3 and solve for 4

b cos 3 = a cos 2 + c cos 4 + d

(4.6c)

b sin 3 = a sin 2 + c sin 4

(4.6d)

Squares both sides of equations and add them:

b 2 = ( a sin 2 + c sin 4 ) 2 + ( a cos 2 + c cos 4 + d ) 2

(4.7b)

Simplify this expression defined

d
K1 =
a

d
K2 =
c

a2 b2 + c2 + d 2
K3 =
2 ac

(4.8a)

Then
K 1 cos 4 K 2 cos 2 + K 3 = cos 2 cos 4 + sin 2 sin 4
27

(4.8b)

Substitute the identity

cos( 2 4 ) = cos 2 cos 4 + sin 2 sin 4
into the earlier equation, we get Freudensteins
equation
K 1 cos 4 K 2 cos 2 + K 3 = cos( 2 4 )

4 = f ( 2 )
Output

28

(4.8c)

And projection on the y-axis (y-component) gives

a sin + b sin c sin( 180) = 0
2

or

a sin + b sin + c sin = 0

Since we are looking for a relationship between the input

and the output , we need to eliminate from the above
equations. Rewriting these equations leads to
b cos = d ( a cos + c cos )

From (4.6c)

b sin = ( a sin + c sin )

where

cos 2 + sin 2 = 1
cos( ) = cos cos + sin sin

=180
=

29

=180

Squaring and adding yields

b 2 = a 2 + c 2 + d 2 + 2ac cos( ) 2ad cos 2cd cos

or

b 2 (a 2 + c 2 + d 2 ) d
d
+ cos + cos = cos( )
c
a
2ac

This equation may be written more simply as

K 1 cos + K 2 cos K 3 = cos( )
2

4+180o

Freudensteins equation
where
30

d
K1 =
c

d
K2 =
a

2 - 4 - 180o
a2 b2 + c2 + d 2
K3 =
2ac

This equation may be written more simply as

K 1 cos + K 2 cos K 3 = cos( )
2

4+180o

2 - 4 - 180o

This equation depends on , the position of the output for a

given position of the input . We can derive an expression for
by rewriting

K 1 cos + K 2 cos K 3 = cos ( )

Then
where

= f ( )
31

A sin + B cos = C

A = sin
B = cos K 2
C = K 1 cos K 3

=180
=

A sin + B cos = C
Using the identity
2 tan( / 2 )
sin =
1 + tan 2 ( / 2 )

1 tan 2 ( / 2 )
cos =
1 + tan 2 ( / 2 )

We have
( B + C ) tan 2 ( / 2 ) 2 A tan( / 2 ) + (C B ) = 0

which is quadratic in tan(/2) whose solution is

where

A
= 2 arctan

A2 + B 2 C 2
B+C

A = sin ,

B = cos K 2 ,

= f ( )
32

C = K 1 cos K 3

Thus the output can take on two positions corresponding to

the two roots 1 and 2. The following figure illustrates these
positions. Position BCD is a mirror image of BCD about the
line BD. In practice, only one of the positions is the required
one.
C

You now can obtain

and

1
2

C
33

Trigonometry Equations
cos
1 + tan 2 ( / 2 )

tan( / 2 )

sin

/2
1

sin = sin(

) = 2 sin

cos

1 + tan 2 ( / 2 )
tan( / 2 )

1 + tan 2 ( / 2 )

2 tan( / 2 )
1 + tan 2 ( / 2 )

cos = cos 2 ( / 2 ) sin 2 ( / 2 ) = cos( 2 + 2 )

tan 2 ( / 2 )
1 tan 2 ( / 2 )
=

=
2
2
1 + tan ( / 2 ) 1 + tan ( / 2 ) 1 + tan 2 ( / 2 )
1

sin( A + B ) = sin A cos B + sin B cos A

cos( A + B ) = cos A cos B sin A sin B

34

The half angle identities

2 tan
2
sin =

1 + tan 2
2

1 tan 2
2
cos =

1 + tan 2
2

(4.9)

This result is in the following simplified form, in terms of link

lengths and input value 2
where:

A tan 2 4 + B tan 4 + C = 0
2
2
A = cos 2 K 1 K 2 cos 2 + K 3

C = K 1 ( K 2 + 1) cos 2 + K 3

The solution is

2
4 B B 4 AC
tan =
2A
2

(4.10a)

B = 2 sin 2

(4.10b)
Nortons textbook: p. 176

35

The solution for angle 3 is essentially similar to that for 4

c cos 4 = a cos 2 + b cos 3 d

(4.6e)

c sin 4 = a sin 2 + b sin 3

(4.6f)

The resulting equation

K 1 cos 3 + K 4 cos 2 + K 5 = cos 2 cos 3 + sin 2 sin 3

where

36

d
K4 = ;
b

c2 d 2 a2 b2
K5 =
2ab

(4.11a)

(4.11b)

This also reduces to a quadratic form:

3
3
D tan + E tan + F = 0
2
2
2

where:

(4.12)

D = cos 2 K 1 + K 4 cos 2 + K 5

E = 2 sin 2
F = K 1 + ( K 4 1) cos 2 + K 5

and the solution is:

3

1, 2

37

E E 2 4 DF
= 2 arctan

2D

(4.13)

Transmission Angles of Four Bars

The angle between output link and the coupler
b 2 + c 2 (d + a) 2

2
bc

2 = 2 = cos 1

b 2 + c 2 (d a) 2

1 = 1 = cos
2bc

extended

overlapped

an acute angle:

trans = 3 4

trans = 3 4
then
if 3 4 > / 2
Extreme Values of the Transmission Angle
For a Grashof crank-rocker four-bar linkage the extreme
values of the transmission angle will occur when the crank
(O2A) is collinear with the ground link as shown
Textbook: p.187

38

FOUR-BAR SLIDER-CRANK POSITION SOLUTION

Application:
- Internal combustion
engine: explosion drives
piston (input), output is the
rotation of drive shaft
-Air compressor: electric
motor drives crank (input),
piston (output) compressed
air

O2

Check: working model demo

Figure 4-9 Position vector loop for a four-bar slider-crank linkage

Offset slider-crank (c)= the slider axis not pass through the crank pivot O2
http://www.pneumofore.com/air/docu_01.htm
39

FOUR-BAR SLIDER-CRANK POSITION SOLUTION

Vector loop equation

R2 - R3 - R4 - R1 = 0

(4.14a)

x component
a cos 2 b cos 3 c cos 4 d cos 1 = 0

(4.15a)

y component
a sin 2 b sin 3 c sin 4 d sin 1 = 0
Since 1 = 0, 4 = 90o

a cos 2 b cos 3 d = 0
a sin 2 b sin 3 c = 0

40

(4.15b)

FOUR-BAR SLIDER-CRANK POSITION SOLUTION

a cos 2 b cos 3 d = 0
The solution is
a sin 2 c

1
b

d = a cos 2 b cos 3

3 = arcsin

The arcsine function is multi-valued

a sin 2 c
+
b

3 = arcsin
2

41

a sin 2 b sin 3 c = 0

(4.16a)
(4.16b)

4.7 AN INVERTED SLIDER-CRANK POSITION

SOLUTION

FIGURE 4-10
42

Inversion #3 of the slider-crank four-bar linkage

R2 - R3 - R4 - R1 = 0

The vector loop equation

a cos 2 b cos 3 c cos 4 d = 0

a sin 2 b sin 3 c sin 4 = 0

where:

= 4 3

The Equation above reduces to

R = c sin

43

P sin 4 + Q cos 4 + R = 0

P = a sin 2 sin + ( a cos 2 d ) cos

Q = a sin 2 cos + ( a cos 2 d ) sin

This will result in a quadratic equation in tan(4/2)

1

{2 P tan 4 + Q[1 tan 2 4 ]} 1 + tan 2 4 + R = 0
2
2
2

( R Q) tan 2 4 + 2 P tan 4 + (Q + R) = 0
2
2

This reduces to:

let:
then:

(4.22a)

S = R Q; T = 2P; U = Q + R

S tan 2 4
2

+ T tan 4

and the solution is

+U = 0

(4.22b)

4 = 2 arctan (T T 2 4SU ) / 2S
1,2

= 4 3

(4.22c)
R = c sin

P = a sin 2 sin + ( a cos 2 d ) cos

Q = a sin 2 cos + ( a cos 2 d ) sin

44

Example: Four-bar linkage Position Analysis

45

Example: Four-bar linkage Position Analysis

= transmission angle
46

Example: Four-bar linkage Position Analysis

47

Complete range analysis for four-bar linkage

48

Complete range analysis for four-bar linkage:

coupler pivot

49

Four-bar linkage analysis by Graphical method

B

Needs only: Ruler & compass

3
A

Popular before the age of

4 digital computer

2
4

O2

O4

1. Draw the known ground link (Points O2 & O4)

2. Draw the given input link 2 length at the given angle (Point A)
3. Draw a circle of radius r3, centered at Point A
4. Draw a circle of radius r4, centered at Point O4
5. These circles intersect the slider line in general in two places
6. Connect the two branches and measure the unknown values
50

Four-bar linkage analysis by Graphical method

3

B
3 b
open

4
c
2
a

4
2

3
d

O2

4
crossed
B

51

O4

Practical example of four-bar linkage

52

Four-bar linkage analysis by Numerical method

(Newton Raphson Method)

Textbook: Sec 4.13

53

Four-bar linkage analysis by Numerical method

(Newton Raphson Method)

54

Four-bar linkage analysis by Numerical method

(Newton Raphson Method)
f(x)

[x f (x )]

f(xi)

i,

f(xi-1)

xi+2

xi+1

f(xi )
xi +1 = xi i)
f (x
55

xi

Example: four-bar slider-crank

a sin 2 c

3 = arcsin
1

56

Example: four-bar slider-crank

57

Example: four-bar slider-crank

58

Example: four-bar slider-crank

Complete range analysis

59

Four-bar slider-crank by Graphical Method

1. Place the grounded revolute for the crank at the origin O2

2. Draw the line of the slider, offset vertically from the origin by h
3. Draw the given input link 2 length at the given angle (Point A)
4. Draw a circle of radius r3, centered at Point A
5. This circle intersects the slider line in general in two places
60

6. Connect the two branches and measure the unknown values

Four-bar linkage analysis by Mathematica

61

Check Whats new for the program

Four-bar linkage analysis by Mathematica

62

Four-bar linkage analysis by Mathematica

63

Four-bar linkage analysis by Mathematica

64

Tractor Loader Backhoe

Backhoe: an excavator whose shovel bucket is attached to a hinged boom

and is drawn backward to move earth
65

Geneva Mechanism Application

http://kmoddl.library.cornell.edu/tutorials/10/

"intermittant sprocket" in a motion picture projector. The intermittent sprocket

allows for frame-by-frame advancement of the movie frames as it moves past
the projection lens. This intermittent motion is synchronized with a lens shutter
to produce flicker-free motion of the projected movie.
66

MEMS based micro gear and gear trains

Textbook: Section 2.16

Introduction to ME
http://teaching.ust.hk/~mech106/

http://www.sandia.gov/mstc/technologies/micromachines/movies/index.html
67

Analysis for Engineering Design

Decision matrix

Textbook: Fig. 1-2

68

Transmission angle in 4-bar linkage

Linkage transmission angle

Static forces at a linkage joint

To let Torque T2 effectively transmit to T4, only tangential

force F34 is useful via F34sin()
Textbook: p.92

69

Revolute (1)

PRS on 10 Nov 05

M = 3( N 1) 2 J1 J 2

prismatic (1)

N = 4, J1 = 3 revolute joints + 1 prismatic joints

M = 3(4-1)-2(4)=9-8=1
70

Four-bar slider-crank application

71

Four-bar linkage example

Given: a=20 inches, b=8 in., c=16 in., d=16 in. 2 = 45
Find: 3 4

72

Solution 1: Graphical solution

73

Solution 2: Analytical solution I

d
K1 =
c

d
K2 =
a

a2 b2 + c2 + d 2
K3 =
2ac

K1 = 1, K2 = 0.8, K3 = 1.325

A = sin

= 45=0.7854 rad

B = cos K 2

A = sin ()=0.707

C = K 1 cos K 3

B = -0.093
C = 1*cos() 1.325 = -0.618

A
= 2 arctan

A2 + B 2 C 2
B+C

= 2 arctan(1.14), 2 arctan(-2.77)
= 97.5, -140.3
Slide 32

74

Solution 2: Analytical solution

D = cos 2 K 1 + K 4 cos 2 + K 5

E = 2 sin 2
F = K 1 + ( K 4 1) cos 2 + K 5

1, 2

E E 2 4 DF
= 2 arctan

2D

3 =39.67, -80.72

Slide 32
75

Parallelogram
Mechanisms in Bicycles

76

Four bar door damper linkage

77

Four-bar linkage in cars suspension system

78

Position analysis of 4-bar linkage : Graphical solution

B1

45

O4

O2

B2
79

Mobility of a mechanism with one special joint

M = 3( N 1) 2 J1 J 2
N = 4, J1 = 5, J2=0
M = 3(4-1)-2*5 = 3*3-10=-1

Note that we had to count the pin

A twice once for joining Link 2
and Link 3, and once for joining
Link 3 and Link 4!

M=-1 statically indertminate

structure

80