ME331: Theory of

Machines

Dr. Kamran Shah

Department of Mechanical Engineering
King Faisal University

Room No.1095
ksshah@kfu.edu.sa
Position Analysis of
Mechanisms

2
 Coordinate Systems
• Cartesian (Rx, Ry)
• Polar (RA, q)
• Converting between the two
R A = Rx 2 + R y 2 Rx = R A cosq
q = arctan(R y Rx ) R y = R A sin q

• Position Difference, Relative position

• Difference (one point, two times) Y
B
RBA
• relative (two points, same time) A
RBA=RB-RA
RA
RB
3
X
 Translation, Rotation,
and Complex motion
• Translation – keeps the same angle
• Rotation – one point does not move
• Complex motion is a combination of rotation and translation

4
Translation

RAA = RBB 5
Rotation

RBB = RBA − RBA 6

 Complex Motion

Total displacement = trans(comp) + rotation(component)

R BB = R BB + R BB
New Absolute position of Point B referred to origin at A is
R BA = R AA + R BA

7
 Graphical Position Analysis of
Linkages
• Given the length of the links (a,b,c,d), the ground position, and q2 find
q3 and q4
b
B
c

b
A q3
c

d q4
q2
O2 O4

8
 Graphical Linkage Analysis
b
• Draw an arc of radius b,
c
centered at A
• Draw an arc of radius c, open
centered at O4 B1
• The intersections are the two b
possible positions for the A q3
linkage, open and crossed c

d q4
q2

O2 O4

B2 crossed 9
 Complex Numbers as vectors

• Can plot complex numbers on the real-imaginary plane

• Euler identity e±iq=cos q ± i sin q
• Cartesian form: RAcos q + i RAsin q
• Polar form: RAeiq
Imaginary

Real

10
 Analytical Position Analysis

• Given: link lengths a,b,c and d, q2 (the motor position)

• Find: the unknown angles q3 and q4

11
 Analytical Position Analysis

• Write the vector loop equation

   
R2 + R3 − R4 − R1 = 0
(Positive from tail to tip)
• Substitute with complex vectors

• Take knowns on one side, unknowns on the other, call the knowns Z
iq 2 iq3 iq 4 iq1
ae + be − ce − de =0

iq3 iq 4 iq 2 iq1
be − ce = −ae + de =Z
12
 Analytical Position Analysis cont.
iq3 iq 4 iq 2 iq1
be − ce = −ae + de =Z
• Define s=eiq3, t= eiq4 gives
bs − ct = Z
• Take conjugate to get a second equation
bs − ct = Z
• For the conjugate of s we have (only true for eiq)
−iq 3 1 1
s =e = iq 3 =
e s
• So our second equation is
b c
− =Z
• Note: 1
s t
Z 13
Z
 Analytical Position Analysis
cont.
bs − ct = Z b c
− =Z
s t
• Use algebra to eliminate one of the unknowns
b c
bs = Z + ct =Z +
• Multiplying the two gives s t
c
b = ZZ + Z + Z ct + c 2
2

t them gives
• Multiplying by t and collecting
2
(
0 = Zct + ZZ + c − b t + Zc 2 2
)
• From the quadratic formula now
Z + ct
t=
(
− ZZ + c − b 
2 2
) (ZZ + c 2
−b )
2 2
− 4c Z Z
2
s=
b
2Z c 14
 Analytical Position Analysis cont.

t=
( ) (ZZ + c
− ZZ + c 2 − b 2  2
−b2 )
2
− 4c 2 Z Z
s=
Z + ct
2Z c b

• In
(
0 = Zct 2 + ZZ + c 2 − b 2 t + Zc )
B1
Zc=conj(Z)
b
t=roots([Zc*c,Z*Zc+c^2-^2,Z*c]) A q3
• q4=angle(t), q3=angle(s) c

• Two solutions relate to the a

open and crossed positions d q4
q2

O2 O4

B2 15