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! PROBLEM 5-8

Statement: Design a linkage to carry the body in Figure P5-1 through the two positions P1 and P2 at the angles

shown in the figure. Use analytical synthesis without regard for the fixed pivots shown. Use the

free choices given below.

P 1x 0.0 P 1y 0.0 P 2x 1.236 P 2y 2.138

θ P1 210 .deg θ P2 147.5 .deg

z 1.075 β2 27.0 .deg φ 204.4 .deg

Free choices for the US dyad :

atan2( x , y ) return 0.5 .π if x 0

y

return atan if x > 0

x

y

atan π otherwise

x

1. Note that this is a two-position motion generation (MG) problem because the output is specified as a complex

motion of the coupler, link 3. Because of the data given in the hint, the second method of Section 5.3 will be

used here.

2. Define the position vectors R1 and R2 and the vector P21 using Figure 5-1 and equation 5.1.

P 1x P 2x P 21x

R1 R2 R2 R1 P 21x = 1.236

P 1y P 2y P 21y

P 21y = 2.138

2 2

p 21 P 21x P 21y p 21 = 2.470

3. From the trigonometric relationships given in Figure 5-1, determine α2 and δ2.

α2 θ P2 θ P1 α 2 = 62.500 deg

DESIGN OF MACHINERY SOLUTION MANUAL 5-8-2

A . C .Z 1x D .Z 1y E B . C .Z 1y D .Z 1x F

W 1x W 1x = 1.462

2 .A

A . C .Z 1y D .Z 1x F B . C .Z 1x D .Z 1y E

W 1y W 1y = 3.367

2 .A

2 2

w W 1x W 1y w = 3.670

A . C .S 1x D .S 1y E B . C .S 1y D .S 1x F

U 1x U 1x = 3.180

2 .A

A . C .S 1y D .S 1x F B . C .S 1x D .S 1y E

U 1y U 1y = 4.439

2 .A

2 2

u U 1x U 1y u = 5.461

Link 3: V 1x z .cos( φ ) s .cos( ψ ) V 1x = 1.321

2 2

v V 1x V 1y v = 2.103

DESIGN OF MACHINERY SOLUTION MANUAL 5-8-3

2 2

g G 1x G 1y g = 0.690

7. Determine the initial and final values of the input crank with respect to the vector G.

θ 2i θ θ1 θ 2i = 301.323 deg

θ 2f θ 2i β2 θ 2f = 274.323 deg

8. Define the coupler point with respect to point A and the vector V.

rp z δp φ θ3

9. Locate the fixed pivots in the global frame using the vector definitions in Figure 5-2.

ρ1 atan2 P 1x , P 1y ρ 1 = 90.000 deg

2 2

R1 P 1x P 1y R 1 = 0.000

10. Determine the rotation angle of the fourbar frame with respect to the global frame (angle from the global X axis to

the line O2O4.

Condition( S , L , P , Q ) SL S L

PQ P Q

return "Grashof" if SL PQ

return "non-Grashof" otherwise

Condition( g , w , u , v ) = "Grashof"

Link 2: w = 3.670 θ = 246.528 deg

Link 3: v = 2.103 θ 3 = 231.086 deg

Link 4: u = 5.461 σ = 234.381 deg

DESIGN OF MACHINERY SOLUTION MANUAL 5-8-4

Coupler: r p = 1.075 δ p = 26.686 deg

Crank angles:

θ 2i = 301.323 deg

θ 2f = 274.323 deg

13. Draw the linkage, using the link lengths, fixed pivot positions, and angles above, to verify the design.

O2

1.236

G1

Y O4

U2

P2

W2 W1 U1

B2 S2 Z2

V2

A2

2.138

Z1 A1

P1 X

62.5°

S1 V1

B1

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