Chapter 3

Analytic Position Analysis

Imaginary
• A vector can be Axis
represented by a Point A
complex number
• Real part is x-axis jR sin  RA
• Imaginary part is
y-axis 
• Useful when we Real
begin to take Axis
R cos 
derivatives
1 Position synthesis
 Derivatives, Vector Rotations in
the Complex Plane
Imaginary
• Taking a derivative of
a complex number will B
RB = j R
result in multiplication
by j C A
• Each multiplication by RA
RC = j2 R = -R
j rotates a vector 90° Real
CCW in the complex
plane R = j3 R = - j R D
D

2 Position synthesis
 More on Complex Notation
• Polar form: re j
• Cartesian form: r cos + j r sin
• Euler identity: ±e j = cos ± j sin
• Differentiation:

j
de j
= je
d
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 Labeling of Links and
Link Lengths

• Link labeling starts Link 3, length b

B
with ground link Coupler
Link 4,
length c
• Labeling of link Link 2,
length a
A

lengths starts with link Link 1, length d

adjacent to ground Pivot 02

Ground Link
Pivot 04
link

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 Angle Measurement Convention

• All angles measured

from angle of the
ground link 3
B
3
• Define 1 = 0° A
4
2 4
• One DOF, so can 2 1
describe all angles in
1 = 0°
terms of one input,
usually 2

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 The Vector Loop Technique

• Vector loop equation:

R2 + R3 - R4 - R1 = 0 B

• Alternative notation: R3 b
RAO2 + RBA - RBO4 - RO4O2 = 0 A 3 R4
nomenclature - tip then tail a c 4
R2 2 d
• Complex notation:
aej2 + bej3 - cej4 - dej1 = 0 O2 R1 O4
• Substitute Euler equation:
a (cos 2+j sin2) + b (cos 3+j sin3)
- c (cos 4+j sin4) - d (cos 1+j sin1) = 0
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Vector Loop Technique - continued

• Separate into real and imaginary parts:

Real:
a cos 2 + b cos 3 - c cos 4 - d cos 1 = 0
a cos 2 + b cos 3 - c cos 4 - d = 0,
since 1 = 0, cos 1 = 1
Imaginary:
ja sin 2 + jb sin 3 - jc sin 4 - jd sin 1 = 0
a sin 2 + b sin 3 - c sin 4 = 0,
since 1 = 0, sin 1 = 0
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 Vector Loop Technique - continued

a cos 2 + b cos 3 - c cos 4 - d = 0

a sin 2 + b sin 3 - c sin 4 = 0
• a, b, c, d are known
• One of the three angles is given
• 2 unknown angles remain
• 2 equations given above
• Solve simultaneously for remaining angles

8 Position synthesis
 Vector Loop - Summary

• Draw and label vector loop for mechanism

• Write Vector – Loop Equations
• Substitute Euler Identity
• Separate into Real and Imaginary
• 2 equations, 2 unknown angles
• Solve for 2 unknown angles
• Note: there will be two solutions since
mechanism can be open or crossed .
9 Position synthesis
 Example 1:
Analytic Position Analysis
• Input position 2 given
• Solve for 3 & 4

b=2.14
 3=?°
a=1.6
c=2.06

 2=51.3° d=3.5  4 =?°

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 Example:
Vector Loop Equation
R2 + R3 - R4 - R1 = 0
aej2 + bej3 - cej4 - dej1 = 0
1.6ej51.3 °+ 2.14ej3 - 2.06ej4 - 3.5ej0° = 0
R3
b=2.14
 3=?° R4
R2
c=2.06
a=1.6
 2=51.3° d=3.5  4 =?°
R1
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 Example:
Analytic Position Analysis
aej2 + bej3 - cej4 - dej1 = 0
a(cos2+jsin2) + b(cos3+jsin3) - c(cos4+jsin4)
- d(cos1+jsin1)=0
Real part:
a cos 2 + b cos 3 - c cos 4 - d = 0 b=2.14
1.6 cos 51.3 + 2.14 cos 3
- 2.06 cos 4 - 3.5 = 0  3=?°
Imaginary part: a=1.6
c=2.06
a sin 2 + b sin 3 - c sin 4 = 0
1.6 sin 51.3 + 2.14 sin 3  2=51.3° d=3.5
- 2.06 sin 4 = 0
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 Solution: Open Linkage

2 equations from real & imaginary equations

1.6 cos 51.3 + 2.14 cos 3 - 2.06 cos 4 - 3.5 = 0
1.6 sin 51.3 + 2.14 sin 3 - 2.06 sin 4 = 0
2 unknowns: 3 & 4 b=2.14
Solve simultaneously to yield
 3=21Þ
2 solutions.
a=1.6
Open solution: c=2.06
3 = 21°, 4 = 104°
 2=51.3Þ d=3.5  4=104Þ

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 Review - Law of Cosines

2 2 2
A +B -C
cos =
2AB
2 2 2 A 
A + B - C 
 = arccos  B
 2AB 

14 Position synthesis