In the name of God

Mechanism design

Professor: Dr. A. Ohadi HW05

TA: Maziar Askari Deadline: 1402/03/29

Cutoff: 1402/04/02

A series
A.1- As part of an automation process, a four-bar linkage must be designed to remove boxes from
one conveyor belt and deposit them on an upper conveyor belt as shown in figure below (three
prescribed positions). Both ground and moving pivots must be located between the upper and
lower conveyor belts. Design an acceptable four-bar by the complex-number method.

A.2- Write the displacement, velocity and acceleration equations describing the linkage in figure
below.

A.3- Synthesize a four-bar linkage so that the following are specified:

𝒁1 = −1.0 + 0.0𝑖

𝜔2 = 1 𝑟𝑎𝑑/𝑠𝑒𝑐 , 𝜔3 = −2 𝑟𝑎𝑑/𝑠𝑒𝑐 , 𝜔4 = 3 𝑟𝑎𝑑/𝑠𝑒𝑐

𝛼2 = 3 𝑟𝑎𝑑/𝑠𝑒𝑐 2 , 𝛼3 = 1 𝑟𝑎𝑑/𝑠𝑒𝑐 2 , 𝛼4 = 2 𝑟𝑎𝑑/𝑠𝑒𝑐 2

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A.4 – Using complex-number method, design a four-bar linkage so that a point of the coupler
move through a circular path of radius 200 𝑚𝑚 by three, four and five accuracy points and do the
following:

a) Construct the mechanisms in a CAD or multibody software and draw the coupler’s point
path.

b) Export the path data to MATLAB and draw the desired and actual path of the
mechanisms in a plot.

A.5- The six-bar linkage of figure below is to be synthesized for both path generation of point 𝑃
and function generation [𝜃𝑗 = 𝑓(𝜑𝑗 )]. Write the standard-form equation for this so that the entire
linkage may be synthesized by the standard form.

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B series
B.1- Devise a method, using complex numbers, to determine the dimensions of a slider-crank
mechanism and the position of it’s links, for which the following are specified:

𝜔1 and 𝛼1 angular velocity and acceleration of the crank

𝜔2 and 𝛼2 angular velocity and acceleration of the coupler

𝑣 and 𝑎 linear velocity and acceleration of the slider

Use the notation shown in the figure, and summarize your findings in tabular fashion.