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(a) (b) (c) (d )
4
2
3 3
4 4
2 2
1 1
3 3
4 4
2 2
1 1
A B
3
4
2
O2 O4
B
A 3
2
4
O2 O4
2 A2
A1
4
B1
1
O2 O4
B
3 B2
A
B1
4
2
A2
1
O2 O4
A1
2 3
1
O
B
4
2 3
O B
4
1
3
2
O
B
1 4
3
2
O
B
1 4
C
R3
b R4
B
3
R2
c
a 4
2
d R1
A D
b
A
c
a
2
d
Ao Bo
R G
S/NO. Input angle, 2
Required Generated Error= 4 4
G
output output angle, 4
R
angle, 4
1.0 30.00 60.0000 60.4334 -0.4334
2.0 40.00 78.0000 78.0976 -0.0976
3.0 50.00 92.7273 92.7521 -0.0249
4.0 60.00 105.0000 105.0273 -0.0273
5.0 70.00 115.3846 115.4127 -0.0280
6.0 80.00 124.2857 124.3058 -0.0200
7.0 90.00 132.0000 132.0209 -0.0209
8.0 100.0 138.7500 138.8003 -0.0503
9.0 110.0 144.7059 144.8252 -0.1193
10.0 120.0 150.0000 150.2220 -0.2220
b
(ii ) a1
b1 b2
(i) b
a a
a c1 c2
b1 O
O B a1
b
B
(iii)
a b1 '
c1 c2
a a
b O
A
b1 '
A A
pi=3.14;
delta=15*pi/180;
alpha=0:1*pi/180:360*pi/180;
VR=cos(delta)./(1-(sin(delta)).^2.*(cos(alpha)).^2);
plot(alpha*180/pi,VR)
ylabel('Velocity ratio (\omega_B/\omega_A)')
xlabel('Input shaft rotation angle (\alpha)')
grid on
1.05
1.04
1.03
1.02
Velocity ratio ( B/ A)
1.01
0.99
0.98
0.97
0.96
0 30 60 90 120 150 180 210 240 270 300 330 360
Input shaft rotation angle ( )
3
B 4
A D
P
RP
y X
z
Z
x
X
O VA , aA
A
A Z
Ao
2
Bo
X
Z
A
a
~
b
~
B
c
~
Y
2 j
Ao
Bo ( X o , Yo )
X d
~
i
4
00 360 0
O ,T
,t
,t
h B
O ,T
,t
,t
y, v, a
O
,t
Y
h B
O ,T
,t
,t
y , v, a
O
,t