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8 views2 pagesPosition Analysis Lecture Note Theory of Machines

Dec 12, 2017

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Position Analysis Lecture Note Theory of Machines

© All Rights Reserved

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Position Analysis Lecture Note Theory of Machines

© All Rights Reserved

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Keith Hekman

ae j 2 + be j 3 ce j 4 de 1 = 0

We are looking for a solution for 3 and 4 in terms of a, b, c, d, 2. Grouping the known

values on one side, and calling

s = e j 3 and t = e j 4

we have

bs ct = de 1 ae j 2 = Z . (1)

Since the conjugate of s is

1 1

s = e j 3 = j =

e 3

s

Then the conjugate of (1) is

b c

=Z . (2)

s t

Moving the c term to the other side in both (1) and (2) we have

bs = Z + ct . (3)

b c

=Z+ . (4)

s t

c

b 2 = ZZ + Z + Z ct + c 2 . (5)

t

2

Moving the b term to the other side and multiplying by t, one has the quadratic expression

for t of

( )

0 = Z ct + ZZ + c 2 b 2 t + Zc .

2

(6)

Using the quadric formulae, one can solve for t to get

t=

( ) (ZZ + c

ZZ + c 2 b 2 2

b2 )

2

4c 2 Z Z

. (7)

2Z c

The two solutions of t correspond to the two possible assembly positions for the linkage

found in the graphical position analysis. From (3) one can calculate s to be

Z + ct

s= . (8)

b

ae j 2 be j 3 ce j 4 de 1 = 0

We are looking for a solution for 3 and d in terms of a, b, c, 2. Grouping the known values

on one side, and calling

s = e j 3

we have

bs + d = ae j 2 cj = Z . (9)

Then the conjugate of (9) is

b

+d =Z . (10)

s

Moving the d to the other side in both (9) and (10) we have

Position Analysis Page 2 of 2 Dr. Keith Hekman

bs = Z d . (11)

b

= Z d . (12)

s

b 2 = ZZ d ( Z + Z ) + d 2 . (13)

Moving the b2 term to the other, one has the quadratic expression for d of

0 = d 2 (Z + Z )d + ZZ b 2 . (14)

Using the quadric formulae, one can solve for d to get

d=

Z +Z (Z + Z ) 2

(

4 ZZ b 2 ). (15)

2

The two solutions of d correspond to the two possible assembly positions for the linkage

found in the graphical position analysis. From (11) one can calculate s to be

Z d

s= . (16)

b

ae j 2 be j 3 ce j 4 de 1 = 0

We are looking for a solution for 4 and b in terms of a, c, d, 2. Noting that geometry keeps

the angle between 3 and 4 fixed at

3 =4 +

we can make this substitution in the equations. Grouping the known values on one side, and

calling

s = e j 4 and t = e j

we have

bst + cs = ae j 2 de j1 = Z = s (bt + c) . (17)

Then the conjugate of (17) is

b

+c

t =Z . (18)

s

Multiplying (17) and (18) one gets

1

b 2 + bc t + + c 2 = ZZ . (19)

t

Moving the ZZ term to the other, one has the quadratic expression for b of

1

0 = b 2 c t + b + c 2 ZZ . (20)

t

Using the quadric formula, one can solve for d to get

(

ct+ 1

t

) (t + 1t ) c 2

2

(

4 c 2 ZZ )

b= . (21)

2

The two solutions of b correspond to the two possible assembly positions for the linkage

found in the graphical position analysis. From (17) one can calculate s to be

Z

s= . (22)

bt + c

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