Professional Documents
Culture Documents
Faculty of Engineering
Department of Mechanical Engineering
Group Members:
• Jennifer Remmane
• Sayed Kareh
• Ihssan Matar
• Samer Taiba
• Nabil Ramia
• Victor Lattouf
1. POSITION ANALYSIS FOR A FOUR-BAR LINKAGE:
By using the cosine law (Note that the output angle is 4 and is the
transmission angle):
z = r12 + r22 − 2r1 r2 cos 2
From here we calculate the angles:
z 2 + r12 − r22
cos = 3 = −
2r1 z
4 = 180 − ( + )
z 2 + r42 − r32
cos = .In the case of a crank/rocker:
2r4 z
z 2 + r32 − r42
cos =
2r3 z min 2 = 0 0
r32 + r42 − z 2
max 2 = 180
0
cos =
2r3 r4
GRAYSHOF’S LAW:
• Let S be the length of the smallest link, L the biggest and P and
Q the intermediate ones :
• IF S IS ADJACENT TO YES NO
IF
THE FRAME
CRANK/ROCKER S+L<P+Q • DOUBLE
ROCKER
• IF S IS THE FRAME
DOUBLE CRANK
• IF S IS OPPOSITE TO
THE FRAME
DOUBLE ROCKER
EXAMPLE OF A
EXAMPLE OF A DOUBLE
CRANK/ROCKER
ROCKER
A DOUBLE CRANK WITH OPPOSITE LINKS
ANOTHER EXAMPLE OF A
DOUBLE CRANK
2.POSITION ANALYSIS USING LOOP EQUATIONS AND ITERATIVE METHODS:
2 ,3
f1 , f 2
2 , 3
yes no
IF
YES NO
2 = 2 + 2
2 , 3 f1 & f 2
Less
3 = 3 + 3
Than ε
VELOCITY ANALYSIS:
• • •
.GIVEN 1 AND 1 ,WE FIND 2 AND 3 .WE START BY DIFFERENTIATING THE
LOOP EQUATIONS WITH RESPECT TO TIME:
• • •
r1s1 1 + r2 s2 2 + r3 s3 3 = 0
• • •
r1c1 1 + r2 c2 2 + r3c3 3 = 0
r2 s 2 r3 s 3 2 s1
r c = − 1 r1
2 2 r3 c 3 3 c1
r3 c 3 − r3 s 3 s1
− 1 r1
c
2
− r c r2 2 1
s
=
2 2
3 r2 r3 sin( 2 − 3 )
2 r3 sin( 3 − 1 )
r1
1 2
r sin( − 2
)
=
1
3 r2 r3 sin( 2 − 3 )
1
2 r1 sin( 3 − 1 )
k2 = =
1 r2 sin( 2 − 3 )
3 r1 sin( 1 − 2 )
k3 = =
1 r3 sin( 2 − 3 )
ACCELERATION ANALYSIS:
.METHOD 1: BY DIFFERENTIATING WITH RESPECT TO TIME:
r1 s11 + r1 c112 + r2 s 22 + r2 c 222 + r3 s 33 + r3 c 332 = 0
r1 c11 − r1 s112 + r2 c 22 − r2 s 222 + r3 c 33 − r3 s 332 = 0
r2 s 2 r3 s 3
2 s
− r c 2 − r c 2 − r c 2
= −r11 +
1
2
1 1 1 2 2 2 3 3 3
r c
2 2 r c
3 3 3 1 1 1 1
c r s 2
r s
2 2 2 2
r
3 3 3
s
2 k 21 1 r3 c 3 − r3 s 3 − r1 c11 − r2 c 22 − r3 c 33
2 2 2
= + 2
3 3 1k r r
2 3 sin( 2 − 3
) − r s
2 2 r s
2 2 1 1 1 r s 2
r s
2 2 2 2
r
3 3 3
s
2 k 2 1
− r3 [r11 cos( 3 − 1 ) + r22 cos( 3 − 2 ) + r33 ]
2 2 2
= 1 +
3 3
k r r
2 3 sin( 2 − )
3 2 r [ r
1 1
2
cos( 2 − 1 ) + r
2 2
2
+ r
3 3
2
cos( 2 − 3 )]
[ r cos( − ) + r k 2
cos( − ) + r k 2
] 2
2 = k 2 1 −
1 3 1 2 2 3 2 3 3
1
r2 sin( 2 − 3 )
[ r
cos( − ) + r k 2
+ r3 3 cos( 2 − 3 )] 2
k 2
3 = k 3 1 +
1 2 1 2 2
1
r3 sin( 2 − 3 )
ACCELERATION ANALYSIS:
.METHOD 2: BY DIFFERENTIATING AND CALCULATING THE VELOCITY COEFFICIENTS DERIVATIVES
•• ••dK 2 • •• dK 2 d 1 • •• dK 2 • 2
2 = K 2 1 + 1 = K 2 1 + 1 = K 2 1 + 1
dt d 1 dt d 1
dK 2 K 2 K 2 d 2 K 2 d 3 K 2 K 2 K 2
= + + = + K2 + K3
d 1 1 2 d 1 3 d 1 1 2 3
K 2 − r1 cos( 3 − 1 )
=
1 r2 sin( 2 − 3 )
K 2 − r1 sin( 3 − 1 ) cos( 2 − 3 )
=
cos( − ) = − K = − K 2 cot( 2 − 3 )
2 r2 sin ( 2 − 3 ) −
2 2 3 2
sin( 2 3 )
K 2 r cos( 3 − 1 ) sin( 2 − 3 ) + cos( 2 − 3 ) sin( 3 − 1 ) r1 sin( 2 − 1 ) − r3 1
= 1 = = K
3 r2 sin 2 ( 2 − 3 ) r2 sin 2 ( 2 − 3 ) sin( 2 − 3 )
3
r2
dK 2 − r1 cos( 3 − 1 ) r 1
= − K 2 cot( 2 − 3 ) − 3 K 3
2 2
d 1 r2 sin( 2 − 3 ) r2 sin( 2 − 3 )
Where dK 2 is the velocity coefficient derivative
d1
3.SLIDER-CRANK MECHANISM
x = R cos + L cos
v = x = − R sin − L sin
a = x = − R cos 2 − R sin − L cos 2 − L sin
OR
R sin = L sin
R
sin = sin
L
X = R cos + L2 − L2 sin 2
X =R+L−x
R2
x = R − R cos + L − L 1 − 2 sin 2
L
R2
x = R (1 − cos ) + L 1 − 1 − 2 sin
2
L
4.SCOTCH YOKE MECHANISM:
x = R cos
v = x = − R sin
a = x = − R cos − R sin
2
.MODIFIED SCOTCH YOKE DISPLACEMENT EQUATION:
x = R cos + r cos
v = x = − R sin − r sin
a = x = − R cos 2 − R sin − r cos 2 − r sin
OR
R sin = r sin
R
sin = sin
r
X = R cos + r 2 − r 2 sin 2
X =R+r−x
R2
x = R − R cos + r − r 1 − 2 sin 2
r
R2
x = R (1 − cos ) + r 1 − 1 − 2 sin
2
r
5.QUICK-RETURN MECHANISMS:
• THESE MECHANISMS ARE USED ON MACHINE TOOLS TO GIVE A
SLOW CUTTNG STROKE AND A QUICK RETURN STROKE FOR A
CONSTANT ANGULAR VELOCITY OF THE DRIVING CRANK AND
ARE COMBINATIONS OF SIMPLE LINKAGES SUCH AS THE FOUR-
BAR LINKAGE AND THE SLIDER CRANK MECHANISM.AN
INVERSION OF THE SLIDER CRANK IN COMBINATION WITH THE
CONVENTIONAL SLIDER CRANK IS ALSO USED .
• IN THE DESIGN OF QUICK-RETURN MECHANISMS,THE RATIO OF
THE CRANK ANGLE FOR THE CUTTING STROKE TO THAT FOR
THE RETURN STROKE IS KNOWN AS THE TIME RATIO AND IS OF
PRIME IMPORTANCE.
• TO PRODUCE A QUICK RETURN OF THE CUTTING TOOL ,THIS
RATIO MUST BE GREATER THAN UNITY AND AS LARGE AS
POSSIBLE.
IN THIS EXAMPLE OF A QUICK-RETURN
MECHANISM, THE CRANK ANGLE FOR THE
CUTTING STROKE FOR THE MECHANISM IS
LABELED
THE RETURN STROKE IS LABELED