Chapter 4

Position Analysis

After covering this chapter, you should be able to:

 Determine the positions of links

 Determine the positions of points on mechanisms

ME 311: Mechanics of Machinery Kinematic Fundamentals 1 Dr. Bassam Alshaer

 4.1: Coordinate Systems reading

 The global system (GCS)

 Local Non-Rotating Coordinate System (LNCS)

 Local Rotating Coordinate System (LRCS)

 All angles in this text will be measured according to the right-hand

rule: counterclockwise angles, angular velocities, and angular
accelerations are positive in sign.

ME 311: Mechanics of Machinery Kinematic Fundamentals 2 Dr. Bassam Alshaer

 4.2: Position and Displacement

Position : defined as the vector RA as shown in the figure

θ θ

 R X  cos   sin    R x 
    
 R Y   sin  cos    R y 

ME 311: Mechanics of Machinery Kinematic Fundamentals 3 Dr. Bassam Alshaer

 4.2: Position and Displacement
Displacement of a point is the change in its position and can be defined as the straight
line distance between the initial and final position of a point which has moved in the
reference frame.

 RBA=RB-RA

 RBA =RBO-RAO

 CASE 1: One body in two successive positions  position difference

 CASE 2: Two bodies simultaneously in separate positions  relative position

ME 311: Mechanics of Machinery Kinematic Fundamentals 4 Dr. Bassam Alshaer

 4.3: Translation, Rotation and Complex Motion
Translation:

Rotation:

Complex
Motion:

ME 311: Mechanics of Machinery Kinematic Fundamentals 5 Dr. Bassam Alshaer

 4… Terminology

ME 311: Mechanics of Machinery Kinematic Fundamentals 6 Dr. Bassam Alshaer

 4… Terminology

ME 311: Mechanics of Machinery Kinematic Fundamentals 7 Dr. Bassam Alshaer

 4… Position Analysis Objectives

ME 311: Mechanics of Machinery Kinematic Fundamentals 8 Dr. Bassam Alshaer

 4.4: Graphical Position Analysis

• Find θ3 and θ4, given θ2 and Link 1 = d,

Link 2 = a, Link 3 = b, and Link 4 = c

• Draw Link 1 (ground) horizontally

• Draw Link 2 starting at left end of Link 1,

at an angle of θ2

• Set compass to length of Link 3 (b), and

draw an arc centered at end of Link 2
(point A)

• Set compass to length of Link 4 (c), and

draw another arc centered at end of Link 1
(point O4)

• Label the intersection of both arcs B and

B’

• O2-A-B-O4 is first config.

• O2-A-B’-O4 is second config
ME 311: Mechanics of Machinery Kinematic Fundamentals 9 Dr. Bassam Alshaer
 4.4: Graphical Position Analysis –Open Configuration

ME 311: Mechanics of Machinery Kinematic Fundamentals 10 Dr. Bassam Alshaer

 4.4: Graphical Position Analysis –Cross Configuration

ME 311: Mechanics of Machinery Kinematic Fundamentals 11 Dr. Bassam Alshaer

 4.5 Analytical Position
Analysis

ME 311: Mechanics of Machinery Kinematic Fundamentals 12 Dr. Bassam Alshaer

 4. Vectors: Regular Notation

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 4. Vectors: Complex Number Notation

ME 311: Mechanics of Machinery Kinematic Fundamentals 14 Dr. Bassam Alshaer

 4. Vectors: Complex Number Notation

Multiplication by -1 is rotating by 180 degrees

Multiplication by i is rotating by 90 degrees

R=r R = ri

R = -r R = -ir

ME 311: Mechanics of Machinery Kinematic Fundamentals 15 Dr. Bassam Alshaer

 4. Vectors: Complex Number Notation

Multiplication by eifj rotates the vector by an angle of fj

iy

Rj

R
fj r
initial position
q
x
R = reiq
Rj = rei(q +fj) = reiqeifj = Reifj

ME 311: Mechanics of Machinery Kinematic Fundamentals 16 Dr. Bassam Alshaer

 4. Vectors: Complex Number Method

•Break problem down into closed loops

•Each loop should have two unknowns (no more, no less)
•Look for simple linkages within more complex mechanisms
(4-bars, slider-cranks, etc.)
•Vectors associated with sliders should be parallel to the
sliding motion
•May need to solve one loop first and use those variables as
known variables in other loops

ME 311: Mechanics of Machinery Kinematic Fundamentals 17 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method

ME 311: Mechanics of Machinery Kinematic Fundamentals 18 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method

ME 311: Mechanics of Machinery Kinematic Fundamentals 19 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method

ME 311: Mechanics of Machinery Kinematic Fundamentals 20 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method

ME 311: Mechanics of Machinery Kinematic Fundamentals 21 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method

results

ME 311: Mechanics of Machinery Kinematic Fundamentals 22 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method

ME 311: Mechanics of Machinery Kinematic Fundamentals 23 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method

ME 311: Mechanics of Machinery Kinematic Fundamentals 24 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method – Group work

ME 311: Mechanics of Machinery Kinematic Fundamentals 25 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method – Group work

ME 311: Mechanics of Machinery Kinematic Fundamentals 26 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method – Group work

ME 311: Mechanics of Machinery Kinematic Fundamentals 27 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method – Group work

ME 311: Mechanics of Machinery Kinematic Fundamentals 28 Dr. Bassam Alshaer

 4. Position Analysis of Pin-Jointed Fourbar
Linkage using Vector Loop Method – Group work

ME 311: Mechanics of Machinery Kinematic Fundamentals 29 Dr. Bassam Alshaer

ME 311: Mechanics of Machinery Kinematic Fundamentals 30 Dr. Bassam Alshaer
 Revision

Do your own reading for these sections:

4.1: Coordinate Systems

4.2: Position and Displacement
4.3: Translation, Rotation and Complex Motion

ME 311: Mechanics of Machinery Kinematic Fundamentals 31 Dr. Bassam Alshaer