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snclude#inculdecmath.b> void main() ( int j,int, th, theta, limit, ins; float a,b, e,cl,c2,c3,c4, vela, acca, thet, pi,dthet, bet, velb, vels,accs, acebs cleser(); printé("enter values a,b,e,vela,acca, theta, Limit\n"); scant (“8fiesftfifideda”, aa, eb, 6e,cvela,éacca,ttheta, sli mithy printf( " thet vela acca beta “); print£( “ vele velb acce accb \n”}7 if(velas=0 48 acca>0) ins pind*atan (1)? 6a/theta; 1) iht=360/theta; } if(velas=0 6& acca>0) ihtsihttlimit/theta: for (j-0;j (ibt-260/theta-2) 66 ins==0)acca=0; thet=j*dthets if(inses1) {jsiht; thet=theta*pi/180;} thathetatj; if ({ns==1) thethetay bet-asin((e-a*sin(thet))/b); vels--a*vela*sin(thet-bet) / (cos (bet) +1000); velb=-a*vela*cos (thet) /b*cos bet}: cl*atacca*sin (bet-thet) -b*pow (ve lb, 2) : c2*a*pow(vela, 2) *cos (bet-thet) ; aces=(cl-c2)/ (cos (bet) *1000) vacca* cos (thet) -a*pow (vela, 2) *sin(thety ; +pow (vel, 2) tein (bet) aceb=~ (¢3-c4)/ tbtcos (bet) ) printé( “86.2d &6.2f 66.2f 86.2f %6.2¢¢8.2f $8.2f ¥8.2f\n",th,vela, acca, bet”180/pi, vels, velb, aces, accb) + velansgrt (vela*velat2*accatdthet) ; } goteht) + Hig. 464Computer-Aided Analysis of Mechanisms ‘The input variables are a.b,e The magnitudes a, b and e respectively (mm) vela Angular velocity of the input link AB (m/s) acea Angular acceleration of the input Link (mm/s?) theta The interval of the input angle (degrees) limit Angle up to which acceleration continues, in case the crank starts from stationary position (in other cases any value may be given) The output variables are thet ‘Angular displacement of the input link AB (degrees) bet Angular displacement of link 4B (rad/s) vels Linear velocity of the slider (m/s) velb Angular velocity of link BC (rad/s) aces Linear acceleration of the slider (mm/s?) accb Angular acceleration of link BC (rad/s?) Example 4.3 In a slider-crank mechanism, (i) Velocity and the acceleration of the slider the lengths of the crank and (ii) Angular velocity and angular acceleration the- connecting rod. are 480 of the connecting rod min and 1.6.m respectively. It hasan eccentricity of 100 mm. Assuming a velocity af 20 rads of the crank OA, calcttlate the following at an interval of 30: Solution ‘The input and the output have been shown in Fig. 4.7. The results have been obtained at an interval of 30° of the input link (crank). Enter values of a, b, ey vela, acca, theta, limit 480 1600 100 20 0 30 9 thet vela acca beta vels. velb aces aceb 00 20.0 0.0 3.58 0.60 “5.99 -249.49 2.25 30 20.0 0.0 5.02 -5.53 “5.18 -200.88 57.88 60 20.0 0.0 711.38 -9.28 -2.94 -76.65 104, 90 20.0 0.0 13.74 9.60 0.00 46.94 © 123.53 120 20.0 0.0 11.38 -7.35 2.94 118.35 104.27 150 20.0 0.0 5.02 4.07 131.67 57.88 180 20.0 0.0 3.58 -0.60 5.99 134.51 2.25 210 20.0 0.0 12.27 2.99 5.08 144.94 -55.80 240 20.0 0.0 18.80 6.68 2.84 138.98 =107.04 270 20.0 0.0 21.25 9.60 -0.00 74.68 -128.76 300 20.0 0.0 18.80 9.95 2.04 53,02 -107,04 330 20.0 0.0 12.27 6.61 “5.08 -187.61 -55.80 {ie a7]iso Theory of Machines 45 COUPLER CURVES ise A coupler curve is the locus of a point on the coupler link. Ay, four-link mechanism ABCD with a coupler point E (offset) is shown in Fig, 4.8, Let the x-axis be along the fixed link AD. LetBE=e and = LCBE=a Angles B and y are defined as shown in the diagram. Let X,and ¥, be the coordinates of the point E. Then, X,=a.cos 6+ e¢0s (+ B) (4.59) es ¥,= asin + ¢ sin («+ f) (4.60) rig. aa] Be 493 In these equations a, ¢, @ and. a are known, To know the coordinates ¥, and ¥., itis necessary to express f in terms of known parameters, ie..a, 6, ¢, d,e, @and a In ABDC, cpplying cosine law, was cos (S+y)= c (461) where oe ro ww [eed 46) : ‘7 can be found by applying the cosine law to AABD, y fi =a? + d?—2adcos 8 Having found the valucof the angle 8. the coordinates of the point £ can be known for different values of @ from Eqs (4.59) and (4.60). ‘A coupler curve can also be obtained in case of slider-crank mechanism (Fig. 4.9). The angle CBE is a and the eccentricity is e. Draw BLLAD and CF LAL X,,= a 60s 8+ e eos (@-B) (4.63) ¥=asin 8+ esin(a—B) (4.64)4 S where C,=-2acos@ Cab? +e 2aesin 8 (ii) The angle of the coupler, P=: Gi). The velocities of the slider and the angular velocity of the couplerare given by eo,sin(B-6) 207,050 csp bcos B Find expressions to determine the angles of the ‘output link and coupler of a fourlink mechanism. Deduce relations for the angular velocity and accelerations of the same links, Deduce expressions to find the linear velocity and acceleration and angular velocity and angular acceleration of the coupler of a slider-crank mechanism. ‘What are coupler curves? Deduce expressions to ‘draw the same in case of a fourelink mechanism and slider-crank mechanism. Derive expressions for the displacement, velocity and acceleration analyses of an inverted slider- ‘crank mechanism. Ina four-link mechanism (Fig. 4.2), the dimensions ‘of the links are AB = 30 mm, BC = 8 mm, CD = 4o mm and AD = 75 mm. If OA rotates at a constant angular velocity of 30 rad/s in the clockwise direction, calculate the angular velocities and the angular accelerations of links BC and CD for values of Bat aninterval of 30° In a sliderscrank mechanism (Fig. 4.6), the crank AB = 50mm, BC = a6 mm and eccentricity € = 35 mm. For the angle @= 45°, angular velocity of AB = 8 rad/s with an angular acceleration of 12 radis* (both clockwise), find the linear velocity and the acceleration of the slider and the angular velocity Exercises Computer ditt Anais of Medanisns 15 (iv). The accelerations ofthe slider and the angular velocity of the coupler are given by 22, sin l-8)—a073<05(1-8)—ber 4 cos _ gar, cos 6 ~ aa? sin — bw? sin ~ ‘beosB and the angular acceleration of the connecting rod analytically. (0.32 m/s, 2.98 mis*, 2.78 radjs, 26.53 rads") 7. Derive expressions to find the angular displace ment, angular velocity andthe angularacceleration of the link EF of a six-link mechanism shown in Fig. 4.23. AB is the input link having an angular velocity of @ rad/s in the counter-clockwise direction. G o Fossil 8. Derive expressions for the coupler curves of an inverted slider-erank mechanism. 9. For the data of Example 4.3, take some more ‘coupler paints by taking different values of BE and Za and draw coupler curves for the same. Make a cardboard model ofthe mechanism and obtain the ‘coupler curve by rotating the crank through 360°,Introduction Dimensional synthesis of a pre-conceived type mechanism necessitates determining the principal dimensions of various links that satisfy the requirements of motion of the mechanism. A mechanism of preconceived type may be a four-link of a slider-crank mechanism, Principal dimensions invalve link lengths, angular positions, pasition of pivots, eccentricities, angle between bell-crank levers and linear distance of sliders, etc. Synthesis of mechanisms may be done by graphical methods or by analytical means that involves the use of calculators and computers. In general, the types of synthesis may be classified as under: 1. Function generation It requires correlating the rotary or the sliding motion of the input and the output links. The motion of the output and the input links may be prescribed by an arbitrary function y = f(c). This means if the input link moves by x, the output link moves by y = (x) for the range x, SxS yet There lies values of independent parameters (x), X9, ..-af,) in the range between x, and.x, ... In case of rotary motions of the input and the output links, when the input link rotates through an angle 6, the output link moves through an angle corresponding to the value of the dependent variable y = fis). 'n case of slider-crank mechanism, the output is in the form of displacement s of the slider. It is tobe noted that a four-link mechanism can match the function at only a limited number of preseribed points, However, it is a widely used mechanism in the industry since a four-bar is easy to construct and maintain and in most of the cases exact precision at many points is not required. 2, Path generation When a point on the coupler or the floating link of a mechanism is to be guided along a prescribed path, it is said to be a path generation problem, This guidance of the path of the point may or may not be coordinated with the movement of the input link and is generally called with preseribed timing or without prescribed timing. 3. Motion generation In this type, a mechanism is designed to guide a rigid body in a prescribed path, This rigid body is considered to be the coupler or the floating link of a mechanism. Ifthe above tasks are to be accomplished at fewer positions, it is simple to design a mechanism, However, when it is required to synthesize a mechanism to satisfy the input and the output links at larger number of positions, only an approximated solution can be abtained giving least deviation from the specified positions, In this chapter, both graphical as well as analytical methods to design a four-link mechanism and a slider- crank mechanism are being discussed. PART A: GRAPHICAL METHODS 51 POLE IF it is desired to guide a body or link ina mechanism from one position to another, the task ean easily be aceomplished by simple rotation of the body about a point known as the pole. In Fig. 5.1, a link B,C, isGraphical and Computer-Aided Synthesis of Mechanisms — 145) shown to move to another position BC; by rotating it about the pole P, >, This pole is easily found graphically by joining the midnormals of any two ‘corresponding points on the link such as B,B, and. C,C>. If the pole point happens to fall off the frame of the machine, two fixed pivots, one each anywhere along the two midnormals will serve the purpose. In the figure, A and B are taken to be the fixed pivots. ‘The configuration also happens to be 4 four-link mechanism ABCD in two positions AByC,D and ABCD in which the coupler link BC has moved from the position ByC; to ByCy. The input link AB and the output link DC have moved through angles 6); and 2 respectively in the clockwise . direction (Fig. 5.1). sa Thus, a pole Pz of the coupler link BC's its centre of rotation with respect to the fixed link for the motion of the coupler fom B,C, to B2C>. Each point on the link BC describes a circular are with centre at the pole P,>. Thus, a line joining the two positions ‘of a point on the link is a chord of the circle and the midnormal (perpendicular bisector) of the chord passes through the centre of rotation P,,. B and Care also two points on the link BC. B moves from By to B, while C from C, to C,. Therefore, B,B, and C\C; are the chords of the two circles and their midnormals by» and ¢13 also pass through or intersect at the centre of their rotation, ie. at P,z Pia Properties of Pole Point 1, As 4B, = ABs, the midnormal b,2 of B\Bs passes through the fixed pivot 4, Similarly, the midnormal of C,C) passes through pivot D. 2. The coupler link BC’ is rotated about Pz from the position B,C; to B,C, AAP C28 BP Cr 224+ 23+ L1= 214 c4+ 25 ingle subtended by B,C, at P,. = angle subtended by B3C; at Pjy or the angle subtended by BC at P, in two positions is the same, 3. From(2), <2 + 23+ 21= £1 + 24+ 25 or 424 £35244 £5 ie., BB; and C,C; subtend equal angles at P,.. on the midnormal of B,B;, 222243 Similarly, 24 = 25 5. 21+ £3= £44 £5 But £2= 23 and 24= 25,“ TAG Theory of Machines : 2-24 \ and 23-25 icc, the input and the output links subtend equal angles at P,, in their corresponding positions. 6. 22+ £34 L1= 214+ 24+ £5 =214+ 24+ 23 (23 = 25) i.e, the angle subtended by the coupler link is equal to that subtended by the fixed pivots 4 and D. 7. The triangle B,P,2C, moves as one link about P,, to the position BPC. Angular displacement of coupler B,C, = Angular displacement of P,,C, = Angular displacement of P,.B, ie, B= 244+ 25= 22423 A pole of a moving link is the centre of its rotation with respect to a fixed link, However, if the totation of the link is considered relative to another moving link, the pole is known as the relative pole, The relative pole can be found by fixing the link of reference and observing the motion of the other link in the reverse direction. Forthe four-link mechanism relative to AB is at the pivot B. The pole of DC relative to AB ‘can be found as follows: ingle of rotation of 4B (clockwise) ngle of rotation of DC (clockwise) Make the following constructions: 1. Assume d and Bas the fixed pivots and rotate AD, about d through angle 0,2 in the counter-clockwise direction (opposite to the direction of rotation of 4B), Let D, be the new position after the rotation of AD (AB fixed). 2. Locate the point C; by drawing ares with centres Band D, and radii equal to BC, and D,C, respectively. Then ABCD, is known as the inversion of ABC, D,. 3. Draw midnormals of D,D, and C,C, which pass through 4 and B and intersect at R,, which is the required relative pole, Now (3 ~ 6,2) = Angle of rotation of the output link DC relative to the input link 4B. This angle is negative if DC > AB and is positive if DC < AB. Angular displacement of &,3 Dy = angular displacement of D,C, [Refer See. 5.2(7)] ED Riz" (£9..~ 269 (assuming DC > AB) or 2L1=-(£9,.— £02)(as Theory of Machines 5.3 FUNCTION GENERATION BY RELATIVE POLE METHOD ‘The problems of function generation. z for two and three aecuraey positions. are easily solved by the relative pole method as discussed belo (a) Four-link Mechanisms Two-position synthesis Let for a four-link mechanism, the positions of the pivots 4 and D along with the angular displacements 6; (angle between 8, and @,) and g,2 (angle between g, and @,) of the driver and the driven Tinks respectively be known, To design the mechanism (Fig. 5.4), first locate the relative pole R,, by the procedure given in Sec. 5.2. ‘Now, angle subtended by the coupler BC at Rj = angle subtended by the fixed pivots 4 and Dat Rj: 1 1 = 54-5202 (assuming DC > AB) = 242 Adopt any of the following alternatives to design the required mechanism: 1. At point Rj», construct an angle yj at an arbitrary position. Join any two points on the two arms of the angle to obtain the coupler link BC of the mechanism. Join AB and DC to have the driver and the driven links respectively. 2, Locate the point Carbitrary so that DC is the output link, Construct an angle CR,» Z= yin Take any point Bon yz, Join AB and BC. - 3. Instead of locating the point Cas above, locate the point B arbitrary so that AB is the input link, Construct an angle BR,2¥ = jz. Take any point Con &,,¥. Join BC and DC. Then ABCD is the required four- link mechanism. Three-position synthesis. If instead of one angular displacement of the input and of the output link, two displacements of the input (Oj and 6,3) and two of the output (2 and @,3) are known, find R, and Rj, as shown in Fig. 5.5. Let yz and ,; = angles made by the fixed link at R,, and R,, respectively. Construct the angles y,, and yj3 at the points Rj, and Rj; respectively in arbitrary positions such that the arms of the angles intersect at B and C in convenient positions,150 ‘Then, “Theory of Machines [Fig. 5.8(a)] and about D through an angle 15° (= 9/2) taking both counter-clockwise, The point of intersection of the two positions of AO after rotation about A and D is the relative pole Rs. Similarly, locate &,. 3. At point Rs, construct an angle of 15" ( 8; (2 ~ G32) al am arbitrary suitable position, At the point R;, construct an angle of 20° (= Bs /2 — 4/2) in such a way that the intersection of its two arms with that of the arms of the previous angle locates points B and Cal suitable positions. 4, Join 4B, BC and CD, ABCD is the required —fourslink mechanism, Figure 5.86 shows the same in three positions. Example 5.2 Design a sfider-crank mechanism to coordinate three positions of the input Tink and the slider for the following angular and linear displacements of the input link and the slider respectively Sy2= 180 mm sia 300 mar of the slider as 20 mm. @ Solution can be de: 1. 5 3 5, Then, Fig. 5.9 The required slider-crank mechanism ied as follows: Draw two parallel lines J, and f, 20 mm apart from cach other [Fig. $.9{a)]. Take an arbitrary point A on the line /, for the fixed ground pivot. Locate the relative pole Rj, by rotating a vertical line through 4 about 4 through an angle of 20° (=6,3/2) countersclockwise and drawing a vertical fine at 90 mm ( ¥\3/2) to the left of 4. Similarly, locate the relative pole Ry; by rotating vertical ling through 4 about A through an angle 60° (=@,/2) counier-clockwise and drawing a vertical fine at 150 mm (= s,,/2) to the left of A. At point R,:, construct an angle of 20° ( 6,2) and at point 23, construct an angle of 60° (= ,; /2) in such a way that the intersection of their arms locate the points B and Con /;) at suitable positions Join AB and BC. ABC is the required slider-crank mechanism, Figure 5.9(b) shows the same in three:Grapitcal and Computer-Aided Synthesis of Mechanisms 151 54 INVERSION METHOD Basically, the relative pole method is derived from the kinematic inversion principle. But there is no visible inversion of the planes during the solution of the problems. In the inversion method, there is direct use of the concept of inversion, A fourlink mechanism ABCD is shown in two positions AB,C\D and AByCyD in Fig. 5.10. The input and the output links AB and DC are moved through angles 6, and @3 respectively in the clockwise direetion. Rotate AD through 6,, in a direction opposite to the rotation of AB and get the inversion AB\Cy D’. It can be observed that the configuration 483C;D has been rotated about 4 through an angle 6,2 in the counter-clockwise direetion to obtain the figure AB,Cy'D’. Make the following observations: 1. Point C, is rotated through an angle 6, clockwise direction with the centre at 4, 2. CiC’s lies on a curve with the centre of rotation at By. Therefore, 8; lies on the midnormal of C;C’s. in the counter= FUNCTION GENERATION BY INVERSION METHOD The problems of function generation for two, three and four accuracy positions ean be solved by the inversion method as follows: (a) Four-Link Mechanism Two-position synthesis Let the distance between the fixed pivots 4 and D, and the angles @5 and @,3 be known. To design the mechanism, proceed as follows: 1. Draw a line segment AD of length equal to the distance between the fixed pivots (Fig. .11). 2. At point D, construct an angle C,DC; = @,z (clockwise) at an arbitrary position, selecting a suitable output crank length DC, = DC. 3. Rotate point C, in the counter-clockwise direction through an angle 8,3 with A as centre and obtain the point Cy’ 4. Join C\Cy’ and draw its midnormal, Select a suitable point B, on it, AB\C,D is the required four-link mechanism in which B,C; is the coupler. Three-position synthesis If wo angular (Fig. 5.11) displacements of the input link (@,. and @,;) and two of the output link (g,.and g,;)are known, proceed as below:Four-position synthesis input and four positions of the output link, it can be de Theory of Mackines 1. Draw a line segment 4D of length equal to the distance between the fixed pivots (Fig. 5.12), 2. Choose some suitable length of the output link DC. Draw it at some suitable angle with the fixed link AD and locate its three positions DC,, DC, and DC, as its angular displacements are known, 3. Find the points C’z and C’, after rotating AC, and AC, about 4 through angles 0,; and 6,3 respectively in the counter-clockwise direction. 4. Intersection of the midnormals of C; Cy and C C’s locates the point By. ‘Then, 4B,C;D is the required four-link mechanism, The mechanism could also have been obtained by drawing the input link 4B in three positions and rotating DB, and DB; through angles g}2 and g3 respectively in the counter-clockwise, with D as centre, If a four-link mechanism is to be designed for four precision positions of the ed by poini-position reduction method. In this method, the point B, is chosen at the relative pole R,, with an assumed position of fixed link 4D. The corresponding positions of B,, B, and B, are easily located establishing the input link in four positions. Then by using the inversion method, the mechanism can be designed. The method is Then ABCD is the — required mechanism, ven below in brief: 1. Draw a line segment 4D of suitable length to be the distance between the fixed pivots (Fig. 5.13). 2. Locate the position of the relative pote by rotating AD about 4 through angle @j3/2 and about D through an angle ¢,»/2 both in counter- clockwise direction, Take this as the point By. 3. Draw the input link AB in four positions AB,, AB,, AB, and AB, as its angular displacements are known. 4, Find the points B”,, B’ and B’, after rotating DB3, DB; and DB, about D through angles 6,3, 913 and 944 respectively in the counter- clockwise direction, It may be noted that the location of 2’, is situated at 8), 5. Intersection of the midnormals of BY Bt, and BB’ locates the point C. ~ BsGraphicat and Computer-Aided Synthesis of Mechanisms 153) (b) Slider-Crank Mechanism Two-positionsynthesis Iftheangulardisplacement of the input link 6,3 and the linear displacement of the slider s,. along with the eccentricity e are known, the required slider-crank mechanism is obtained as follows: 1, Draw two parallel lines /, and /; at a distance e apart (Fig. 5.14). 2. Take an arbitrary point 4 on the line /; for the fixed pivot and two points C, and C, on the line /;, 2 distance s, apart for the initial and the final positions of the slider. 3. Rotate the point C; about A through an angle 8,» in the counter-clockwise direction to obtain the point C’,. 4, Join C,C’; and draw its midnormal n,,. Take an arbitrary but convenient point B on it. ABC, is the required slider-crank mechanism. Three-position synthesis For three positions of the input link and three positions of the slider, find C°, and C’s as usual, Then midnormal of C,C’; and C\C’y intersect at the point B (Fig.5.15). Four-position synthes's A four-position synthesis can be done in the same way as in case of a four-link mechanism, Example 5.3. Design a fowr-link mechanism to coordinate three positions of the input and of the output links for the following angular displacements by inversion method: Solution For the given two angular displacements of the input and the output links, proceed as given below: 1. Drawa line segment AD of suitable length to represent the fixed link [Fig. 5.16(a)]. 2. Choose a suitable length of the output link DC and a suitable location of C. Then locate the positions of C, and C, by drawing the output link DC in three positions DC,,Graphical ond Computes-Afded Synthesis of Mechanisms 1550 3. Draw the input link 4B in four positions AB, ABs, AB, and AB, as its angular displacements are known. Fig. 5.18) 4, Locate the points B’, 8’, and B', by rotating DB;, DB, and DB, about D through angles Pra» Py and y2 respectively in the counter- clockwise direction such that the location of By is at By. 5. Iniersection of the midnormals of B’8’, and YB’, locates the Then 48,CD is the required mechanism. Figure 5.18{(b) shows the mechanism in the required four positions. 5.6 PATH GENERATION ‘The problem may be of designing the mechanism without or with preseribed timing, i.c., the guidanee of the point on the coupler may or may not be coordinated with the movement of the input link. To design such a mechanism, the method of inversion of mechanisms is used by fixing the coupler and releasing the fixed link, To understand the inversion method, consider a four-link mechanism as shown in Fig. $.19(a) in two positions 4,B,C,D; and 4,B,C3D,. E is an offset point on the coupler which assumes the location E, in the second position. In Fig, $.19(b), the inversion of the mechanism is shown by fixing the coupler B,C, and releasing the fixed link so that the quadrilateral 4,B,C.D of figure (@) in exactly the same as the quadrilateral ,8,C\D, of figure (b). It can be done by taking Zs B,C, = 2A\ByC2, Now if triangles By£,D, and B,E\D; are marked in the two figures, they must be congruent, It can be observed that the point C, is the centre of curvature of the atc passing through D, and D, and thus lies on the right bisector of D,D>. Ei @ (oy Fig.5.19Example 5.6 Designiafour-link mechanism to coordinate the following three positions of the coupler point. The positions are given with respect to coordinate axes: SSmm 4, = 75° 70mm = 50° ry=75mm y= 40° The angular displacements of the input link are to be 6); = 30° and @,; = 70°. A i) ‘Graphical and Computer-Aided Synthesis of Mechanisms 1 Solition It is the case of path generation with prescribed timing, The procedure is given below: 1, Locate the three coupler points £\, £) and és as shown in Fig, 5.22(a), 2. Select a suitable location of the pivot 4, of the fixed link with respect to the positions of the coupler points (Fig. 5.22(b)]. 3. Rotate 4,B, through an angle 30° (=8,;) in the counter-clockwise direction with A, as centre and obtain the point £”;. Similarly, rotate AE} through an angle 70° (=@,3) in the counter-clockwise direction with centre A and obtain the point £’s.[iss Theory of nines 4, Draw midnormals of ££’; and £,E"5, the 7. Draw midnormals of D,D; and DsD,. The intersection locates the point By. intersection of the two locates the point C, 5. Draw the input link in three positions 4B), Thus, 448\C,D, is the required —four- AB, and ABs, link mechanism with the coupler point &, Figure 6. Select suitable location of the pivot D, of the 22(d) shows the required mechanism in three fixed link. Construct AEs, = AE\8\D) positions. and AE\B;2, = AE\B Ds. "57 MOTION GENERATION (RIGID-BODY GUIDANCE) neces Let a rigid body be guided through three LJ prescribed positions. [1 is required to design a four-link mechanism of which this rigid body will be a coupler. The rigid body is shown in Fig. 5.23 in three given positions. To find the lengths of the four links of the mechanism, proceed as follows: 1, Take any two arbitrary suitable points B and C on the rigid body and locate these on the body in three positions. 1 is assumed that the point B,, B,, By and E\, Ey and E; are non-collinea Find the centre 4 of the cirele passing through B,. B;, and B,. Similarly, let the centre of the eirele passing through C,, and C, be D: 3. Join AB,, B,C, and C\D. Then, 48,C,D is the required mechanism which takes the coupler B,C, through 8)C) and BC. In the above case of motion generation, the choice of the ground pivots is not with the designer, Many times, it becomes necessary to fix the locations of these pivots beforchand duc to constraint of space. Such type of problem can also be solved by the inversion method as discussed in Section $.6, In such cases, proceed as follows: "Fig. 5.23,Then 4,B,C,D, cl end Computer-Aided Sumtiesisof Mechanisms 158) |. Take any two arbitrary points £ and F on the rigid body and locate these on the body in three positions [Fig. 5.24(a)]. Let 4, and D, be the locations of the ground pivots (Fig. 5.24(b)] Construct AESF3D, = AE\F,Dyand AE,FyD, = AE\F\Ds. The centre of the arc through ,, Dy and Dy is the crank pin Cy. To locate it, draw midnormals of D\Dy and D,D3, The intersection of the two is the pivot point C; on the rigid body or the coupler, Construct AEF) = AE\F\d,and AEF, = AE Fats [Fig, 5.24(0)], The centre of the are through 1, 4, and 4; is the crank pin B,, Draw midnormals of 4,4, and a4. The intersection of the two locates the pivot point 4, on the rigid body or coupler. s the required mechanism which takes the coupler B,E, F\C through By Cyand BE FC, (Fig. 5.24(d)} A four and d be the magnitudes of the Link: @, Band gare the angles of AB. BC and DC respectively with the X-axis (taken along AD). AD is the fixed link: AB and DC are the input and output li Con: aco than 90° also.) or or PART B: COMPUTER-AIDED SYNTHESIS OF MECHANISMS _ FUNCTION GENERATION ink mechanism shown in Fig. 5.25 is in equilibrium. Let a, 6, ¢ AB, BC, CD and DA respectively. ¥ 1 respectively of the mechanism. dering the links to be vectors, displacement along the X-axis 8 8+ b cos B= d+ e cos @ (The equation is valid for < @ more bcos p (boos By cos g—aeos B+ (c cos P— a cos O+ dy ? cos? p+ arcos’ G+ df ~2ac cos O cos —~ Dad cos Displacement along Y-axis asin 0+ bsinB=csing b sin B=csing-asin@ in B= (c sin g—asin OF ore 6-2acsin Osin g (ii) Adding (i) and (ii), or Divi This B= 2+ a? +d? —2ac cos B cos p— 2ad cos 8+ 2ed cos pac sin Osin p 2ed cose - 2ad cos + a? — b? +c +c = ackcos® cos Y+ sinsin g) ding throughout by 2ac, soos p—“ cose + — 10 = cos 9) = cox 8) @ c Bae is known as Frendenstein’s equation and can be written as, k,cosp+ ky c0s8+ k 6.1) whereFis Theory of Machines Let the input and the output are related by some function such as y= jx) and for the specified positions 6), 6,,65 = three positions of input link (given) and 1, 2. 9s = three positions of output link (given) It is required to find the values of a, 6, ¢ and d to form a four-link mechanism giving the prescribed motions of the input and the output links, Equation (5.1) can be written as, kycosg, + k cos 6; + ky = cos (8, ~ 9) k,cosip, + k, Cos B+ ks = cos (8,~ 94) k,cosq, +k, 0s 8, + ky = cos (8;— py) Ay. qvand fy can be evaluated by Gaussian elimination method or by the Cramer’s rule. lcos@, cos, A= oosg; cos, 1] cosgy cos || e0s(8- 9) cos, | A, = |e0s(@)- 9) 056, || Jeos(@;- 93) cos @, | lcosp, cos(®,-9) Il Ay = [60s 005(@)-@2) | loos@s e0s(@,-95) eos, cos cost, ~ 94) Ay = e059, c0s8, c05(8,—9,)] cos; cos®; cos(@ — 93)| ys Ay and ky are given by, 4 4 katt, y=, gy ma! A Knowing fy, ky and ky, the values of a, 6, c and d can be computed from the relations Brctd 2ac ‘Value of either a or d can be assumed to be unity to get the proportionate values of other parameters. Hincludecstdio.h> #includecconio.n> #includesmath .n> void main() 4 float a,b, c,pl,p2,p3, ti, t2,t3, th2, th3, al,a2,a3,del, rad, ph1,ph2,ph3, deii,de12,de13; elrser(); printé(enter valu scanf ("BEEERERERES of thi, th2, th3, phi, ph2, ph3;\n") ; Gthl, sth2, th3, éphl, Sph2, ¢ph3);462 Thvory of Machines Conditions for this to be minimum are, as. as as. ah aes vands 0 ie. ¥ 21k; cos, +k; cos8, +k; ~cos(0, ~ g)]eos g, = 0 mi or Ay Dik cos? 9, + ky ¥ cos 4, cos.g, +h D,cose, =P cost, — 9, hos, 62 Similar 4D cosq, cos, +k; cos? 8; +4, ¥cos8, =} cos(8, ~ 9,) cos 8, (5.3) and F005 9) +k, ¥ cos 8, + ks S1=T, cost, - 93) 64) These are three simultaneous linear, homogenous equations in three unknowns ky, ky, and £5. These ean be solved by using Cramer's rule or other means. Figure 5.27 shows a program to find the ratio of different Links using the least-square technique. The input variables are Hineludecstdio. finclude 0 void m { ke aybl,b2, th3,al,a2,a3 clrser(); printé(*enter i wad", ei); print€(*enter i values of th[i] and phiil\n"): skeizke+) — scanf¢"8£",sth{k]); #include fincludecmath.n> void main() € FILE* Ep; int kei float al,a2,a3,all,a22,a33,a12,a21,gi2,a2i,e12,¢21, aki, ak2,ak3,all,al2,a13,aa,gl,g2,g3, tli, t22,t33, tbl, tb?, tb3, 99, ganm,s5,8i,dl1,d22, 433,21, e2, 23, 61,p2-p3, tl, £2, ¢3, e1,¢2,¢3, alg, ala,alk, ama, amg, amk, bb, ce, all, el,02,squ, bet, bet2,bet3, pll,p2 23, gs, del, dell, dei2,de13, rad? elrser(); print€('Enter values of tbl, tb2,tb3,rl,r2,r3, a12,a13,")2 print (*gamm, si,deil\n”); Scand (™ELSLRESEDESERELELRERLS E” &tb2, 6tb3,arl, de ér2, 6x3, 61), cal2,£a13, egamn, csi, ade. ra satan Intblrrads t22=tb2*rady t33etb3trady allvall*rad, a22eal2* rae a33-ala*rad; ys eltcos(tl1-all); 2=2*e2* cos (t22~a22) : £3*cos(t33-a33); 2*rl*cos (all-gg); 2rc2* cos (aa2-aghi c2=r2"r2; csers*r3; for (k=O; ke2e k++) ‘ + (v2-t3) +t1* (p3-p2) + (p2*t3-p3*t2)s cht (t2-03) +e1* (c3-c2)+ (c2*Ed-c3 e207 de12=pl* (c2~c3) +cl* (p3-p2}+(p2*c3~p3*e2); del3=pl* (t2*e3-t3*e2) +t1*(e2*p3-c3*p2) 7 elt (p2"t3-p3*t2)#fi Theory of Machines ak2=delz/del; ak: del; itt ‘ alarakl; algnak2; alkeak3; *eos (tll-gg): *cos (t22-99)5 2 cos (t33-99)7 rams ala*alg: rt (squ) 3 LL) / (2%aa); al2=(-bb4all) / (2*aa); alsalatall*ama: gimalgtal. sqrt (alktalltamktaltal+gl*gl}+ sqrt (alktal2*amkta2"e2rg2*g2); 0) {printt 3 a ene printf (* h c E\n)7 ) if (4e=1) [peint£ ("39.26 98.26 88.2E 28.26 bB.2E as.2E \n",gl2,a12,@12,gl,el,al}; print®("88.2£ $8.2£ $8.2 b8.2f $8.2f 98.2£\n", gi2,ai2,012,g2,e2,a2); } if G-=2) [print£("ee.2f 88.2f 88.26 68.26 39.26 88.2f \n",g21,a21,021,gl,e1,a1)7 Printf("$8.2f $8.2£ 88.2 88.2f $8.2f 38.2£ \n", g2i,ai2,e21,92,62,02); }Grapitcal and Computer-Aided Si thesis of Mechanisnrs 173) d22=d11+bet2-bet1 d32-dll+bet3-betl: ) getch(): Fig, 5.39 The input variables are: tbl, tb2, tb3 angular displacement of the input link 48 (degrees) rl, r2, 13 radial distances of the coupler point from origin (mm) all, al2, al3 angular position of the coupler point (degrees) gan, assumed value of the angle y (degrees) si assumed valug of the angle y (degrees) deli assumed value of the angle 6, (degrees) The output variables sre oa é¢ h,e, £ distances or lengths of the links in mm If more than three positions ofthe input link along with the same number of positions of the coupler point176 Theory of Machines from Eq. (5.5) and (5.6) instead of . The equations formed are exactly the same if @is replaced by in Egs (5.11) and (5.12), Also, as B is directly known, there is no need of using Eq, 5.16, ‘The program given in Fig. 5.43 solves this type of problem. The input variables are b> condo. h> Finclude void main () float ah, a2)a3,ah1,a22,a33,a)2, a2teghe e12,e21,akl, ak2,ak3,a12,a12,a13,aa,gl,92, 93, t1L,t -_, 22,033, tbl, tb2, Bie. 542) tb3,99, gam, ss, si, dL1, 422,433, r1,x2,r 3, pl, p2,p3,t1,t2, 3,¢1,€2,¢3,alg,ala, alk, ama, omg, amk, bb, cc, all,el,e2, squ, bet], bet2, bet3, pll, p22, p33,e3,qs,del, dell,del2, dol3, rad clrser( } + print ("Enter v printé(“al2,al3 scant (“SEBESESE 3, 6411, 6012, 6 ade44atan (1) /1807 tllstblt t22etb2*rad: waa-tbd*rad es of tbl, gamm, si,deli\n CSCS CSESEAlsr4f",atbl, stb2, 6tb3, rl, 4x2, yogamm, &ei, sdeLl); b3, £1,£2,13,all,all, "bs (0s 503; 344) ple2*eb*cos(til-all}; p2s2¥2*cos (t22~a22)# p3=2*r3*cos (t33-a33)7 tle2*rltcos(all-gg)s” t2e2*22*¢09 (a22-9g) i £3-2423+cos (a33-gq) 7 for (kaO; ke2sker)Graphicel and Computer-Aided Synthesis of Mechanisms — 177 delepl* (t2-t3) +t1# (p3-p2) + (p24t3-p3*t2); dell=cl* (t2-23)+t1* (e3-62)+4e2*t3-c3"t2) ¢ del2ep1* (c2=c3) #e1* (p3=p2)4(p2*c3-p3te2) ¢ del 3=pl* (t2*c3-t3*c2) +t1* (c2“p3-c3*p2} +e1* (p2*t3-p3*t2); jell /del; alkeak3? cl=2*cos {tll-99) €2-2*cos (t22-gg) : e3=2"cos (t33-gq)! ankeak3: aa-ama*angi bbealatamgtaigtama-1: cosalatalg: squebb*bb- 4*aa¥ec: if (squ>0) ( all=sqrt (squ) : all (-bb-all) /(2*aa): al2=(~bb+all) /(2*aa) : alvalatall*am gizalgtall*ang: a2alatal2*amay g2=algtal2*ang: elvsart (alktall ‘amk+al*altgi*gl): + (alkval2*tamkta2*a2+g2*a2) = ) (printer 9 printe(" oh e ) (printe("88.2f 86.26 eB.2f s6.2f 48.20 48.2£ \n",g1Z,a12,el2,gl,ei,al) printf ("48.2£ 28.2f $8.2¢ $8.2f 28.26 $8.2f \n", g12,al2,e12,g2,e2,a2): } if (J=92) (printé ("48.2 48,2f 86.2f La,2e BB.2f 48.26 \n",g21,a21,e21,gi,el,al): print£("$8.26 89.2£ 48.2¢ ¥8.2f 88.2F 8B.2F \n", g21,a21,021,a2,02,a2);} if Gee) { gi2=qt178 Theory of Machines alz-als el2-el g2ing2: a2lead: glag2i: alea2i: elne2ls tlisdil: d22=dlite22-t11; d33-d11 +t33-tllz a3=a2; 3ag2: ed-e2; pllstil; p22=t224 paget3a; ' getch( 7 {Fig. 543) ‘The input variables are tbl, tb2, tb3 angles B,, Bs and fi, respectively (degrees) rl, 12, 13 radial distances of point E from the origin (mm) all, al2, al3 angular position of point £ (degrees) gamm assumed value of the angle 7 (degrees)Example 5.13 Design four-link mechanism Be =] Summary mae imensional synthesis of @ pre-concelved type mechanism seeks to determine the principal dimensions of various links that satisfy the 7. requirements of motion of the mechanism. 2. Function generation involves correlating the rotary or the sliding motion of the input and the output 8. links. The motion of the output and the input links may be prescribed by an arbitrary function y= fx). 3. When a point on the coupler or the laating link of a mechanism is to be guided along a prescribed path, it is said to be a path-generation problem, This guidance of the path of the point may or may not be coordinated with the movement of the input ink. a % In motion generation, a mechanism is designed to = 3 guide a rigid body in a prescribed path 5. Apole of a moving link is the centre of its rotation with respect toa fixed link. 6. If the rotation of the link is considered relative EE Exercises a. What do you mean by dimensional synthesis of a 2. pre-conceived type mechanism? B; = 85° Graphical and Computer-Aided Synthesis of Mechanisms 178] si assumed value of the angle y (degrees) deli assumed value of the angle 5, (degrees The output variables are Save; By) E distances or lengths of the links in mm ry = 96mm a = 48° to guide a rigid body through Assume the values of ¥, ye and 8; as 20°, 10° 5} three finitely separated and 150° respectivel ondcres aren Gy, Solution: Figure $.44 shows the input and the four B,= 108°, = 80mm 65° sets of values of the output obtained by using the B; = 95° r= 90mm 56° program of Fig. 5.43. Enter values of tbl, tb2, tb3, rl, r2, r3, all, al2, al3, gamn, si, dell 105 95 85 60 90 96 65 56 48 2010 150 ¢ ° b e £ 27.04 102.24 32.33 240.67 =201.61 27.04 102.24 81.82 27.25 66.79 53.75 40.60 32.33 240.67 -201.61 53.75 40.60 81.82 27.25 66.79 alee to another moving link, the pole Is known as the relative pole. The problems of function generation for two and three accuracy positions are easily salved by the relative pole method. Inthe inversion method, there is direct use of the concept of inversion, Frevdenstein's equationis abt 2a =cos(0-9)=co5(0- 8) and is used to coordinate positions ofthe inputand ‘output links ofthe four-link mechanism. For accuracy positions in the range x, £ x © Xys.¢ ‘the Chebychey spacing is given by Maes 1p _ nes Fe ggg (=a 2 2 3A Heasq-tc0s0+ qe e ‘wherei=4,2,3...1 Explain the terms: function generation, path generation and motion generation.40. a 22. 2B 14, 35 Theory of Machines ‘What is the pole of a coupler link of four-link mechanism? Enumerate its properties. What is a relative pole? Describe the procedure ta design a fourslink mechanism by relative pole method when three positions of the input (8, &,, 6) and the output link 40, Py ate known, Describe the procedure to design a slider-crank mechanism by relative pole method when three positions of the input ink (8, 8, @)and the slider (s, 5, 5)are known. Discuss the procedure to design the mechanisms byinversion method. What is Freudenstein’s equation? How is it helpful in designing a fourelink mechanism when three positions of the input(8,, 8, @,)and the output link (Gy 4 Ppareknown? What isleast-square technique? When isit useful in designing a fouslink mechanism? What do youmean by precision or accuracy pointsin the design of mechanisms? Whats structural error? What is Chebychev spacing? What is its. signifi- cance? Design a four-link mechanism to coordinate three positions of the input and the output links for the fallowing angular displacements using relative pole method: | Py 2 75° Design a slidercrank mechanism to coordinate three positions of the input link and the slider for the fellowing angular and linear displacements of the input link and the slider respectively: 0” 5S, = 200mm @,=90° s,s 200mm Take eccentricity of the slider as 10 mm. Use the relative pole method. Ina fourlink mechanism, the angular displace- ments of the input link are 30° and 75° and of the , 40° and 65° respectively. Design the using the inversion method Design a slider-crank mechanism to coordinate three positions of the input and of the slider when the angular displacements of the input link are 4o® and 75° and linear displacements of the slider are 55mm and ge mm respectively with aneccentricity of 20 mm. Use the inversion method For the following angular displacements of the input and the output links, design a fourlink mechanism: Par 45° 26. 7. 38. 19, 20, aa, 5-85" O37 75° O,2220° gy = 130° [Design a four-link mechanism that coordinates the following three positions of the coupler pointif the ated with respect to coordinate @,=75° «= 60° “The angular displacements of th = 40° and 8,,= 75°. Design a four-ink mechanism to coordinate three positions of the input and the output links givenby 0,= 25° 9, = 30° 6,=35° 9, = 40° 50° a (56, 0.27, 4.88, 1) Design a four. lin mechanism when the motions of the input and the output links are governed by the function y = 2° and x varies from 2 to 4 with an interval ofa. Assume Oto vary from 4e* to.20° and 6 rom 60° to 332°, (73,070,272, 2.00) Design 2 four-link mechanism to coordinate the motions ofthe input and the eutput links governed bya function y = 2 log x for 2 - = 3 (given) 180. oo 3 or 04=60mm ‘The relationship of the different arms ofa simplex OR OF ER Od ~ OD” CB Choose convenient dimensions of OD and Da. Let these be 30 mm and 50mm respectively. Thus, as ABCD is to be a parallelogram and the above relation isto be fulfilled, the other dimensions will be OC =30x3=90 mm CR = 503 = 150 mm Construct the diagram as follows: 1. Locate D by making ares of radii 30 mm and 50. mm with centres O and A respectively. 2. Produce OD to C such that OC= 90 mm. 3. Join CR. 4, Draw AB parallel to OC. Thus, the required pantograph is obtained. indicator is as follows: 2. Crosby Indicator This indicator employs a modified form of the pantograph, The mechanism has been shown in Fig. 6.17. To have a vertical straight line motion of R, it must remain in line with @and P, and also the links OC and PB must remain approximately parallel. As P lies on the link 3 and R on 5, locate the L-centres 31 and 51, If the directions of velocities of any tWo points on a link are known, the centre can be located easily which is the intersection of the perpendiculars to the directions of velocities at the ‘hwo points, First, locate 31 as the directions of velocities of P and £ on the link 3 are known, + The direction of velocity of P is vertical. Therefore, 31 lies on a horizontal line through P. + The direction of velocity of E is perpendicular to QE. Therefore, 31 lies on QE (or QE produced). ‘The intersection of QE produced with the horizontal line through P locates the point 31,[Be Teory of Machines Thus, the link 3 has its centre of rotation at 31 (link 1 is fixed) and the velocity of any point on the link is proportional to its distance from 31, the direction being perpendicular to a line joining the point with the L-centre. To locate S1, the directions of velocities of B and C are known. + The direction of velocity of B is 1 to 31 ~ B. Therefore, 51 lies on 31 - B. + The direction of velocity of C is . to OC. Therefore, St lies on OC. Thus, 51 can be located, Now, the link 5 has its cenire of rotation at 51, The direction of velocity of the point & on thi perpendicular to $1-R, To have a vertical motion of R, it must lie on a horizontal line through $1. The ratio of the velocities of R and P'is given by, link will be (8 is common to 3 and 5) (vy As BPG and BFH are similar) (-: As CRH and BRF are similar) = constant This shows that the velocity or the displacement of & will be proportional to that of P. Altematively, locate the [-centre 56 by using Kennedy's theorem, It will be at the point F (the intersection of lines joining I-centres 16, 15 and 35, 36, not shown in the figure). First, consider this point $6 to lie on the link 6. Its absolute velocity is the velocity of 6 in the vertical direction (1 being fixed). Now, consider the point 56 to lie on the link §. The motion of 5 is that of rotation about $1 (1 being fixed). Thus, velocity of R on the link 5 can be found as the velocity of $6, another point on the same link is known. Vy % or 3. Thomson Indicator A Thomson indicator employs a Grass-Hopper mechanism QCEQ. & is the tracing point whieh lies on CE produced as shown in Fig. 6.18. The best position of the tracing point R is obtained as discussed below: Locate the I-centres 31 and 51 as in case of a Crosby indicator. The directions of velocities of two points Cand E on the link 5 are known; therefore, first locate the I-centre 51.