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Kinematic Synthesis (Planar mechanisms)
Tasks (Stages) of kinematic synthesis
Type synthesis
Number synthesis
Dimensional synthesis
Types of kinematic synthesis
Function generation
Path generation
Motion generation
Type synthesis
Refers to the kind of mechanism selected (gear combination, a belt pulley
combination , cam mechanism etc.)
Design aspects:
Space consideration
Safety consideration
Overall economics
Manufacturing process
Material selection etc.,
It is an involved process and difficult to lay down a systematic procedure aimed at
unique determination of mechanism that assures a specified motion characteristic.
Number synthesis
Movability studies based on the number of links and number of joints of a linkage
Based on external characteristics of a kinematic chain, namely the number of
links together with the number and type of joints required for a specified motion.
Involves movability/mobility studies of a mechanism by the use of Greubler’s
criterion.
Neglects effect of,
Link lengths
Directions and location of axis
Position of instantaneous centres of velocity
Complexity of connections etc.,
Errors in synthesis
Errors in design of linkages for function generation include:
Structural error
It is the difference between generated function and the desired function for a
certain value of the input variable
Mechanical error
Caused due to mechanical defects such as improper machining, casting of
components of the linkage, clearance in the components because of rubbing,
overloading of linkages etc.,
Graphical error
Drawing inaccuracy (wrong drawing of perpendicular or parallel lines)
Wrong graphical construction
Wrong scale
Structural error
Motions of the input link is represented as: X0, X1, X2,….., Xn+1 and corresponding
motions of output link are Y0, Y1, Y2,….., Yn+1
At certain points P1, P2, P3 ….. the desired function and generated function agrees well
– Precision points/Accuracy points
The number of precision points normally selected
ranges from 3 to 6 (equal to number
of design parameters).
Precision points are spaced in such a way
as to minimise the structural error of the
linkage
Chebyshev spacing of precision points
Analytical Method
• Graphical method
Dimensional synthesis
Determines significant dimensions of links and the starting position of
links in a mechanism so as to accomplish specified task and prescribed
motion characteristics.
Examples:
Hinge‐pin to hinge‐pin distances on binary, ternary, quaternary links,
angles between arms of bell‐crank levers,
cam contour dimensions etc.,
Function generation
The motion of input link is correlated to the motion of output link
I/P link AB rotates through θ2 ‐ represents independent variable x
O/P link CD rotates through θ4 ‐ represents independent variable y
Assumption: A linear relationship exists between θ2 & x and θ4 & y
x1, x2 – Initial & final positions of independent variable
y1, y2 – Initial & final positions of dependent variable
Path Generation
Here a point on the coupler or floating link is to be guided along a
prescribed path.
With prescribed timing – guidance of the path points coordinated with the
movement of input link
Without prescribed timing ‐ guidance of the path points coordinated without
the movement of input link
Path – arc of circle, ellipse, straight line
Four bar linkage used to pitch tennis ball.
Motion Generation
Here a mechanism is designed to guide to guide a rigid body in a
prescribed path.
The rigid body is considered to be the coupler or floating link of a
mechanism
Bucket of bull dozer moved through a series of prescribed motion
Analytical Synthesis Technique – Freudenstein’s Equation
Pole – The pole of a moving link is the centre of its rotation with respect of
a fixed link
Relative pole – Pole obtained on rotation of a link considered relative to
another moving link.
Two position synthesis – Four Bar mechanism
Two position synthesis – Four Bar mechanism
Locate two points A and B at a fixed distance apart (Assume the length of fixed link.)
Mark the final position of output link BC2(Assume the length of output link)
From the position of BC2 mark the angle Φ12 in the anticlockwise direction to obtain
the initial position of BC1
Join C1C2 and draw its perpendicular bisector passing through B.
Locate any point P (R12) on the same.
Join PC1 (R12C1) and measure the angle β (ψ12).
Join PA and extend it upwards (pa)
With P as centre mark the angle β (ψ12).
With A as centre mark the angle θ12/2 on both sides of Aa.
Name the meeting point with the β line as D1.
Measure AD1 and mark it on the second angular position to locate D2
Join ABC1D1 & ABC2D2, which shows the two positions of four bar mechanism
Three position synthesis ‐ Four bar mechanism
Locate two points A and B at an fixed distance apart (Assume the length of fixed
link.)
Through A & B mark the angles θ12/2, Φ12/2 (X1Y1) in the anticlockwise direction
meeting at P1.
Measure the angle β1 (ψ12).
With P1 as centre arbitrarily position the angle ψ12 (U1V1)
Through A & B mark the angles θ13/2, Φ13/2 (X2Y2) in the anticlockwise direction
meeting at P2.
Measure the angle β2 (ψ13).
With P2 as centre arbitrarily position the angle ψ13 (U2V2)
Name the meeting point of U1 & U2 as C1 and that between V1 & V2 as D1
Join ABCD to get the required four bar mechanism
Three position synthesis – Four Bar mechanism
Two position synthesis ‐ Slider crank mechanism (offset slider)
Synthesize a four bar mechanism to guide a rod AB through three consecutive positions A1B1,
A2B2 and A3B3as shown in figure