Kinematic Analysis Of A-Frame

Irfan khan, Deep Vyawahare

Indian Institute of Space Science and Technology
(Dated: 17 October 2021)

I. INTRODUCTION

small intro. about angles, angular vector and angular

acceleration

FIG. 1. Representative Diagram

II. 4 BAR MECHANISM

II.1. A Frame Marine Crane

FIG. 3. A Frame Crane Side View

So the frame can be considered as a 4 bar mechanism

which is having one degree of freedom. The crane
structure was able to rotate in a way that the angle θ
between a bar and the boat’s surface varied between 10
degrees - 90 degrees while carrying the Dragon capsule .
Height of the frame seems to be around 2 times that of
the capsule so we can take height around 12 meters.
The width of the frame is 6 meters.

FIG. 4. A Frame Crane Front View

θ2 we can find position of other link.

It should be understood that link DP is a

single Link.

First of all let us write known, unknown, Input and

FIG. 2. A Frame Crane Output Parameters.

Known Parameters Length of link AB,BC,CD and

CP. We also know the position of joint A and Joint D.
III. POSITION ANALYSIS Unknown Parameter Position of point P.

As the A-frame is 1-DOF so we must know the posi-
tion of one link so as to get position of other link. So let
us assume the that we are given with position of link AB.
Now to know the position of all point we must only
know θ3 and θ4 as we already have θ2 . Also we know the
value of length of the link. So by knowing the value of
Input Parameter Let us assume the input parameter
as θ2 .
Output The require output to find position of point
C,D. Is θ3 and θ4 .
Now let us apply the Loop Closure equation:
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FIG. 5. Position Analysis Reference Diagram

BC 2 − K12 − K22 − CD2
K3 =
2CD
For θ3
−−→ −−→ −−→ −−→
AB + BC + CD + DA = 0

∠DA= Angle made by Link DA with x axis yc − yb

θ3 = tan−1 ( )
xc − xb
∠DA = 180◦
xb = ABcosθ2
∠AB = θ2
yb = ABsinθ2
∠BC = θ3
xc = AD + DCcosθ4
∠CD = θ4 + π
yc = DCsinθ4
ABcos(θ2 )+BCcos(θ3 )+CDcos(θ4 +π)+DAcos(180◦ ) = 0
For Position of P

BCcos(θ3 ) − CDcos(θ4 ) = DA − ABcos(θ2 )

xP = AD + DP cosθ4
DA − ABcos(θ2 ) = K1
yP = DP sinθ4
BCcos(θ3 ) − CDcos(θ4 ) = K1
III.1. Case 1
Similarly

ABsin(θ2 )+BCsin(θ3 )+CDsin(θ4 +π)+DAsin(180◦ ) = 0

BCsin(θ3 ) − CDsin(θ4 ) = −ABcos(θ2 )

−ABsin(θ2 ) = K2

BCsin(θ3 ) − CDsin(θ4 ) = K2

Now let us eliminate angle θ3

(BC)2 = (K1 + CDcosθ4 )2 + (K2 + CDsinθ4 )2

FIG. 6. Theta For All three Link For Case 1
Solving we get

K3 K2 III.2. Case 2
θ4 = cos−1 ( p ) + tan−1 ( )
K12 + K22 K1

Where
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FIG. 9. Position Of Point P For Case 2

FIG. 7. Position Of Point P For Case 1

D.We also know the Position analysis.

Unknown Parameter Velocity of point P.

Input Parameter Let us assume the input parameter

as θ˙2 .

Output The require output to find velocity of point

C,D. Is θ˙3 and θ˙4 .

FIG. 10. Velocity Analysis Reference Diagram

Now let us apply the Loop Closure equation:

−−→
˙ −−→
˙ −−→
˙ −−→
˙
AB + BC + CD + DA = 0
FIG. 8. Theta For All three Link For Case 2

−AB θ˙2 sinθ2 − BC θ˙3 sinθ3 + CDθ˙4 sinθ4 = 0

IV. VELOCITY ANALYSIS

As the A-frame is 1-DOF so we must know the velocity AB θ˙2 cosθ2 + BC θ˙3 cosθ3 − CDθ˙4 cosθ4 = 0
of one link so as to get velocity of other link. So let
Now we know θ2 ,θ3 and θ4 from positional analysis.
us assume the that we are given with velocity of link AB.

−BC θ˙3 sinθ3 + CDθ˙4 sinθ4 = AB θ˙2 sinθ2

θ̇ = AngularV elocity
BC θ˙3 cosθ3 − CDθ˙4 cosθ4 = AB θ˙2 cosθ2
Now to know the velocity of all point we must
only know θ˙3 and θ˙4 as we already have θ˙2 . Also 
−BCsinθ3 CDsinθ4 θ˙3
  
θ˙2 ABsinθ2

we know the value of length of the link. So by just =
BCcosθ3 −CDcosθ4 θ˙4 −θ˙2 ABcosθ2
knowing the value of θ˙2 we can find velocity of other link.
−DP θ˙4 sinθ4
   
It should be understood that link DP is a x˙P
=
single Link. y˙P DP θ˙4 cosθ4

First of all let us write known, unknown, Input and

Output Parameters. IV.1. Case 1

Known Parameters Length of link AB,BC,CD and IV.2. Case 2

CP. We also know the position of joint A and Joint
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FIG. 14. Velocity Of Point P For Case 2

FIG. 11. Angular Velocity For All three Link For Case 1
V. ACCELERATION ANALYSIS

As the A-frame is 1-DOF so we must know the

Acceleration of one link so as to get acceleration of
other link. So let us assume the that we are given with
acceleration of link AB.

θ̈ = AngularAcceleration

Now to know the acceleration of all point we must

only know θ¨3 and θ¨4 as we already have θ¨2 . Also we
know the value of length of the link. So by just knowing
the value of θ¨2 we can find acceleration of other link.

It should be understood that link DP is a

single Link.

First of all let us write known, unknown, Input and

FIG. 12. Velocity Of Point P For Case 1 Output Parameters.

Known Parameters Length of link AB,BC,CD and

CP. We also know the position of joint A and Joint D.
We also know the position and velocity analysis.
Unknown Parameter Acceleration of point P.

Input Parameter Let us assume the input parameter

as θ¨2 .

Output The require output to find acceleration of

point C,D. Is θ¨3 and θ¨4 .

FIG. 15. Acceleration Analysis Reference Diagram

Now let us apply the Loop Closure equation:

FIG. 13. Angular Velocity For All three Link For Case 2
−−
¨→ −−¨→ −−¨→ −−¨→
AB + BC + CD + DA = 0
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V.2. Case 2

−AB θ¨2 sinθ2 − BC θ¨3 sinθ3 + CDθ¨4 sinθ4 VI. CONCLUSION

2 2 2
−AB θ˙2 cosθ2 − BC θ˙3 cosθ3 + CDθ˙4 cosθ4 = 0

2
AB θ¨2 cosθ2 + BC θ¨3 cosθ3 − CDθ¨4 cosθ4 − AB θ˙2 sinθ2
2 2
−BC θ˙3 sinθ3 + CDθ˙4 sinθ4 = 0

Now we know θ2 ,θ3 and θ4 from positional analysis.

Also we know θ˙3 , θ˙2 and θ˙4 from velocity analysis.

θ˙3
  
−BCsinθ3 CDsinθ4
=
BCcosθ3 −CDcosθ4 θ˙4
2 2 2
" #
AB θ¨2 sinθ2 + AB θ˙2 cosθ2 + BC θ˙3 cosθ3 − CDθ˙4 cosθ4
2 2 2
−AB θ¨2 cosθ2 + AB θ˙2 sinθ2 + BC θ˙3 sinθ3 − CDθ˙4 sinθ4

So from this we can find acceleration of Point P.

FIG. 17. Acceleration Of Point P For Case 1

V.1. Case 1

FIG. 18. Angular Acceleration For All three Link For Case 2

FIG. 16. Angular Acceleration For All three Link For Case 1
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FIG. 19. Acceleration Of Point P For Case 2