ME 303 Kinematics and Dynamics of Machines

Santhakumar Mohan
Mechanical Engineering
Indian Institute of Technology
gy
Indore
 Lecture 6: Graphical Synthesis of Simple Planar Mechanisms

Contents of this lecture

 Synthesis

 Type and Dimensional Synthesis

 Two position synthesis

 Function generation and motion generation

 Three position synthesis

 With specified moving and fixed pivot points

 Examples

 With and without time-ratios

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ME 303 Kinematics and Dynamics of Machines
 Introduction
• Dimensional synthesis of a linkage: It is the determination of the
proportions
ti (l th ) off the
(lengths) th links
li k necessary to t accomplishli h the
th desired
d i d
motions.
• Type synthesis: It is the process of determine the most appropriate
configuration (linkage) as a solution to the problem or given motion
requirements (or) It refers to the definition of the proper type of mechanism
best suited to the problem. However, it is in the form of qualitative
y
synthesis.
• Function generation: It is the correlation of an input motion with an output
motion in a mechanism.
• Path generation: It is the control of a point in the plane such that it follows
some prescribed path.
• Motion generation: It is the control of a line in the plane such that it
assumes some prescribed set of sequential positions.
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ME 303 Kinematics and Dynamics of Machines
 Recap of Limiting Conditions: Toggle positions of a four-bar mechanism
Toggle positions are determined by the colinearity of two moving links.

Crank and Rocker Mechanism C C2 AC1=L3‐L2

AC2=L3+L2
L3 L4 C1C2=2L2
B L3 C1 4 L4
L3
2  B2 L4
L2 L2 4
L1
L2
A D
B1 Not to scale
Slider Crank Mechanism B

C1 C C2
B1

A B2
d

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ME 303 Kinematics and Dynamics of Machines
 Toggle positions of a four-bar mechanism with time ratio
C2
C
L3
C1 L4
B
4

L2 d
 B2
C1 C C2
A L1 D
B1

L3
B
 B2 AB1
TR    L2
 B1 AB2 B2
    360 A
  180    180   
B1

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ME 303 Kinematics and Dynamics of Machines
 Two position synthesis (graphical) of a four-bar mechanism
Case 1: Rocker output (Pure rotation) – Function generation

Given: 4 Assumption:

To find: L1, L2, L3, L4 Time ratio is unity, i.e., time taken for
Method: Graphical
p Synthesis
y both forward and return strokes are
equal.

C2 C1C2 2 = 2L2
AC1 = L3‐L2
L3+L2
AC2 = LL3+L2
4 L4
C1 AD = L1
L3‐L2

L1
A D

Locus of point A and B

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ME 303 Kinematics and Dynamics of Machines
 Two position synthesis (graphical) of a four-bar mechanism
Case 1: Rocker output (Pure rotation) – Function generation
Assumption:
C2
Time ratio is unity, i.e., time taken for
both forward and return strokes are
equal. C2
L3
L4

B2 4
L2 L1 C1
L4
D B2
A L3
L1
D
L2
A
B1

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ME 303 Kinematics and Dynamics of Machines
 Two position synthesis (graphical) of a four-bar mechanism
Case 1: Rocker output (Pure rotation) – Function generation
Given: 4, TR Locus of point 
To find: L1, L2, L3, L4 A and B1 Locus of point 
Method: Graphical
p Synthesis
y Aaand B
d 2
m C2

 B2 AB1
L4 TR  
C1  B1 AB2
4
 + m     360
  180    180  

D AC1 = L3‐L2
AC2 = L3+L2
A
AD = L1

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ME 303 Kinematics and Dynamics of Machines
 Two position synthesis (graphical) of a four-bar mechanism
Case 1: Rocker output (Pure rotation) – Function generation
Given: 4, TR
To find: L1, L2, L3, L4 C2
Method: Graphical
p Synthesis
y

L3 L4
C1
C1 4
L4

B2
L3 D L2 L1
L1 
A A

L2 B1
B1

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ME 303 Kinematics and Dynamics of Machines
 Two position synthesis
y – motion ggeneration problem
Case 2: Rocker positions – Motion generation Case 3: Coupler positions – Motion generation
E2
Locus of point D

E1 L4
D C2
F2 L4 L3
F1 4 C1 L1
B2
L3
D L2
Locus of point D B1 L2 A

Locus of point A

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ME 303 Kinematics and Dynamics of Machines
Case 2: Rocker positions – Motion generation

F1
F2

E2
C2
C1
E1
B2 D

A
B1

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ME 303 Kinematics and Dynamics of Machines
 Examples on blackboard
• Slider crank mechanism
– With and without time ratio
• Double crank mechanism
– With and without time ratio
• Six bar qquick return mechanism
– With and without sliders (five rotating links, four rotating links with one slider and three
rotating links with two sliders)
• Three position synthesis

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ME 303 Kinematics and Dynamics of Machines