Graphical Linkage

Synthesis
ME 363 – Lecture 4
Synthesis

Qualitative Synthesis
-creation of potential solutions in the absence of a well-defined algorithm
which configures or predicts the solution.

*Type Synthesis
- refers to the definition of the proper type of mechanism best suited to
the problem
- (i.e., a certain task can be accomplished by either one of following
mechanisms: via linkages, cam and follower, air/hydraulic cylinder, robots,
solenoids etc.)
*Dimensional Synthesis
- determination of the proportions (lengths) of the links necessary to
accomplish the desired motions
- (i.e., common for qualitative synthesis of linkages)
Synthesis

Quantitative / Analytical Synthesis

-generation of one or more solutions of a particular type suitable to
the problem and has a defined synthesis algorithm

*Dimensional Synthesis
- determination of the proportions (lengths) of the links necessary
to accomplish the desired motions
- (i.e., quantitative dimensional synthesis of cams)
Function, Path, and Motion Generation

Function Generation
-correlation of an input motion with an output motion in a mechanism

Path Generation
-control of a point in the plane such that it follows some prescribed
path

Motion Generation
-control of a line in the plane such that it assumes some prescribed
set of sequential positions
Two-position Dimensional Synthesis

-two-position dimensional synthesis is subdivided into two categories:

Function Generation (Rocker Output)

- suitable for situations in which a Grashof crank-rocker is desired
- the output function is defined as two discrete angular positions of
the rocker
Motion Generation (Coupler Output)
- two positions of a line in the plane are defined as the output
- will frequently result to a triple-rocker mechanism
- can be made motor driven by the addition of a dyad (two-bar
chain)
Function Generation (Rocker Output)

Rocker Output – Two positions with angular displacement

Problem 1:
Design a fourbar Grashof crank-rocker to give 45° of rocker rotation
with equal time forward and back, from a constant speed motor
input.
 45o Rocker Output
Solution to problem 1:

1. Draw the output link in both extreme positions (O4B1 & O4B2)
such that the desired angle of motion (θ4 = 45o) is subtended.
2. Draw the chord B1B2 and extend it in any convenient direction.
3. Select a convenient point O2 on the extended B1B2 line.
4. Bisect line B1B2, and then draw a circle of that radius about O2.
5. Label the two intersections of the circle and the extended line
B1B2 as A1 and A2.
6. Measure the length of the coupler A1B1 or A2B2.
7. Measure the ground length O2O4, crank length O2A and rocker
length O4B.
8. Find the Grashof condition. If non-Grashof, redo steps 3 to 7
with O2 further from O4.
 If: Rocker (O4B) = 3” &
45o Rocker Output
Coupler (AB) = 10” then,
Crank (O2A) = 1.148”
Frame (O2O4) = 10.377”
Function Generation (Rocker Output)

45o Rocker Output Angle 90o Rocker Output Angle

Rocker = 3” Rocker = 3”
Coupler = 10” Coupler = 10”
Crank = 1.148” Crank = 2.121”
Frame = 10.377” Frame = 10.223”
Motion Generation (Rocker Output)

Rocker Output – Two positions with complex displacement

Problem 2:
Design a four-bar linkage to move link CD from C1D1 to C2D2.

D1

C1
C2

D2
 Rocker Motion Generation (2 Position)

Solution to problem 2:

1. Draw the link in its two desired positions, C1D1 and C2D2.
2. Draw construction lines from point C1 to C2 and from
point D1 to D2.
3. Bisect line C1C2 and line D1D2 and extend their
perpendicular bisectors to intersect at O4. Their
intersection is the rotopole.
4. Select a convenient radius and draw an arc about the
rotopole to intersect both lines O4C1 and O4C2. Label the
intersections B1 and B2.
5. Do steps 2 to 8 of the method used to design the rocker
output angle in problem 1 solution.
Rocker Motion Generation (2 Position)
 Rocker Motion Generation (2 Position)

Rocker = 3.25” Rocker total length = 4.493”

Coupler = 10” Rocker arm length = 3”
Crank = 1.817” Arm angle wrt rocker = 113.711o
Frame = 10.357”
Motion Generation (Coupler Output)

Coupler Output – Two positions with complex displacement

Problem 3:
Design a four-bar linkage to move link CD from C1D1 to C2D2 (with
moving pivots at C and D)

D1

C1
C2

D2
 Coupler Motion Generation (2 Position)

Solution to problem 3:

1. Draw the link in its two desired positions, C1D1 and C2D2.
2. Draw construction lines from point C1 to C2 and from point D1
to D2.
3. Bisect line C1C2 and line D1D2 and extend their perpendicular
bisectors in convenient directions. (The rotopole is not necessary
in the solution).
4. Select any convenient point on each bisector as the fixed
pivots O2 and O4, respectively.
5. Connect O2 with C1 (link 2) and O4 with D1 (link 4). Line C1D1 is
the coupler (link 3) and O2O4 is the frame (link 1).
6. Check for Grashof condition, and repeat steps 4 & 5 if
unsatisfied. Note that any Grashof condition is potentially
acceptable in this case.
Coupler Motion Generation (2 Position)
Coupler Motion Generation (2 Position)
Adding a Dyad to Control Motion

Adding a Dyad (two-bar chain) to control motion

Problem 4:
Design a dyad to control and limit the extremes of motion of the
linkage in problem 3 to its two design positions

D1

C1
C2

D2
 Adding a Dyad to Control Motion

Solution to problem 4:

1. Select a point in link 2 (O2C1) of the linkage in problem 3.

Label this point B1.
2. Draw an arc about center O2 through B1 to intersect the
corresponding line O2B2 in the second position of link 2. Label
this point B2. The chord B1B2 provides us with the same
scenario as problem 1.
3. Do steps 3 to 8 of the solution to problem 1 to complete
the linkage, except add links 5 and 6 and center O6 (rather
than links 2 and 3 and center O2 in problem 1). Link 6 will be
the driver crank. The four-bar subchain O6A1B1O2 must be a
Grashof crank-rocker.
Adding a Dyad to Control Motion
Adding a Dyad to Control Motion
Adding a Dyad to Control Motion
Three-position Dimensional Synthesis

- an extension of the two-position synthesis with coupler output

(motion generation)

- allows the definition of three positions of a line in the plane and will
create a four-bar linkage configuration to move it to each of those
positions.

- resultant linkage is any of the Grashof condition and will usually

require the addition of a dyad to control and limit its motion to the
positions of interest.
Motion Generation (Coupler Output)

Coupler Output – Three positions with complex displacement

Problem 5:
Design a four-bar linkage to move link CD from C1D1 to C2D2 and
then to position C3D3. Moving pivots are at C and D. Find the fixed
pivot locations. D1

C1 C2
D3
D2

C3
 Coupler Motion Generation (3 Position)

Solution to problem 3:
1. Draw the link CD in its three desired positions, C1D1, C2D2
and C3D3.
2. Draw construction lines from point C1 to C2 and from point
C2 to C3.
3. Bisect line C1C2 and line C2C3 and extend their perpendicular
bisectors until they intersect. Label their intersection O2.
4. Repeat steps 2 and 3 for lines D1D2 and D2D3. Label the
intersection O4.
5. Connect O2 with C1 and call it link 2. Connect O4 with D1 and
call it link 4. Line C1D1 is link 3 (coupler) and line O2O4 is link
1(frame).
6. Check for Grashof condition. Note that any Grashof
condition is potentially acceptable in this case. Construct a
driver dyad to control the motion.
Coupler Motion Generation (3 Position)
Coupler Motion Generation (3 Position)