Mechanism

-design project 1
授課老師：徐文祥 教授
 Department of Mechanical Engineering, National Chiao Tung University

車庫門機構
• 需求：請設計一組連桿機構用在車庫門的開關
▫ 車庫門長2.3公尺，厚10公分。
▫ 在關閉位置時需垂直於地面(與地面可有些許間隙) 。
▫ 在打開位置時至少要離地面2公尺，以便讓汽車順利進出。
▫ 在門運動過程中，不可有任一部分穿過地面或屋頂(屋頂高度應小於2.8公
尺)。
▫ 附圖為一建議之連桿機構型態(課本Fig. A9)，請設計一連桿機構達成此需
求，並用機構模擬軟體Working Model 2D確認設計結果符合要求。

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 Department of Mechanical Engineering, National Chiao Tung University

Overhead garage door

• Requests ：design a linkage mechanism used for garage door
▫ Length of garage door=2.3m, thickness=10cm.
▫ Close state → the garage door is vertical.
▫ Open state → the distance between the garage door and floor ≧ 2m
(to let the car moving without interference).
▫ During the process of the door moving, there should be no links
penetrating the roof or floor.
▫ The attached figure is one recommending linkage mechanism,
please design one to fit these requests, also use the simulation
software Working Model 2D to make confirmation.

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 Department of Mechanical Engineering, National Chiao Tung University

Definitions of links’ names

E
B
Y
D
C
Q

X
O

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 Department of Mechanical Engineering, National Chiao Tung University

• Definitions
DE  R1  r1e i1
i 2
F
FD  R2  r2 e
E
i 3
DC  R3  r3e Y
B
QC  R4C  r4C e i 4 D
C
QB  R4 B  r4 B e i 4 Q
BE  R5  r5e i 5
QF  R6  r6 ei 6
X
• Loop equations O
FD  DC  QC  QF  0 red line
FD  DE  BE  QB  QF  0
i.e.
R2  R3  R4C  R6  0
R2  R1  R5  R4 B  R6  0 5
 Department of Mechanical Engineering, National Chiao Tung University

• Definitions
DE  R1  r1e i1
i 2
F
FD  R2  r2 e
E
i 3
DC  R3  r3e Y
B
QC  R4C  r4C e i 4 D
C
QB  R4 B  r4 B e i 4 Q
BE  R5  r5e i 5
QF  R6  r6 ei 6
X
• Loop equations O
FD  DC  QC  QF  0
FD  DE  BE  QB  QF  0 green line
i.e.
R2  R3  R4C  R6  0
R2  R1  R5  R4 B  R6  0 6
 Department of Mechanical Engineering, National Chiao Tung University

R2  R3  R4C  R6  0
F
R2  R1  R5  R4 B  R6  0 E B
r2ei 2  r3ei3  r4C ei 4  r6ei 6  0 D
Y
C
r2ei 2  r1ei1  r5ei5  r4 B ei 4  r6ei6  0 Q

• Let point O=(0,0)

X
▫ Close state(1) O
 B1=(0,0), θ51=90 °(vertical), DE  R1  r1e i1
▫ Open state(2) FD  R2  r2 e i 2
 B2=(XB2,2.0), θ52=180 °(fully open),
DC  R3  r3e i3
r2 e i 21  r3 e i31  r4C e i 41  r6 e i 61  0 (Close state) QC  R4C  r4C e i 4
r2 e i 22  r3 e i32  r4C e i 42  r6 e i 62  0 (Open state) QB  R4 B  r4 B e i 4
r2 e i 21  r1e i11  r5 e i51  r4 B e i 41  r6 e i 61  0 (Close state) BE  R5  r5e i 5
r2 e i 22  r1e i12  r5 e i52  r4 B e i 42  r6 e i 62  0 (Open state) QF  R6  r6 e i 6

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 Department of Mechanical Engineering, National Chiao Tung University

r2 e i 21  r3 e i31  r4C e i 41  r6 e i 61  0
F
r2 e i 22  r3 e i32  r4C e i 42  r6 e i 62  0 E B
r2 e i 21  r1e i11  r5 e i51  r4 B e i 41  r6 e i 61  0 Y
D
C
i 22 i12 i 52 i 42 i 62
r2 e  r1e  r5 e  r4 B e  r6 e 0 Q
• θ61 =θ62 =θ6
r2 ei 21  r3ei31  r4C ei 41  r6 ei 6 O X
r2 e i 22
 r3e i 32
 r4C e i 42
 r6 e i 6 DE  R1  r1ei1 QB  R4 B  r4 B ei4

8 eq. FD  R2  r2 ei2 BE  R5  r5 ei5

r2 ei 21  r1ei11  r5ei51  r4 B ei 41  r6 ei 6 QF  R6  r6 ei6
DC  R3  r3ei3
r2 ei 22  r1ei12  r5ei52  r4 B ei 42  r6 ei 6 QC  R4C  r4C ei4
• 18 variables:
▫ r1, r2, r3, r4C, r4B, r5, r6, θ11, θ12, θ21, θ22, θ31, θ32, θ41, θ42, θ51 , θ52, θ6
• specify 10 design variables:
▫ r2=0.8 m r4B=1.3 m r4C=0.5 m r6=1 m r3=0.8m
▫ θ6=90° θ41=270° θ51=90° θ52=180°, ° θ42=? (YB2=2, OQ=1)
• 8 unknowns with 8 equations → we can solve them!
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 Department of Mechanical Engineering, National Chiao Tung University

• 8 equations
▫ r2 cos(θ21) +r3cos(θ31)-r4ccos(θ41)=-r6cos(θ6)
▫ r2 cos(θ22) +r3cos(θ32)-r4ccos(θ42)=-r6cos(θ6)
▫ r2 cos(θ21) +r1cos(θ11)-r5cos(θ51)-r4Bcos(θ41)= -r6cos(θ6)
▫ r2 cos(θ22) +r1cos(θ12)-r5cos(θ52)-r4Bcos(θ42)= -r6cos(θ6)
▫ r2 sin(θ21) +r3sin(θ31)-r4csin(θ41)=-r6sin(θ6)
▫ r2 sin(θ22) +r3sin(θ32)-r4csin(θ42)=-r6sin(θ6)
▫ r2 sin(θ21) +r1sin(θ11)-r5sin(θ51)-r4Bsin (θ41)= -r6sin(θ6)
▫ r2 sin(θ22) +r1sin(θ12)-r5sin(θ52)-r4Bsin (θ42)= -r6sin(θ6)
• With design factors added in
▫ Acos(θ21) +Bcos(θ31)=0 (1)
▫ Acos(θ22) +Bcos(θ32) =0 (2) Hints:
▫ Acos(θ21) +r1cos(θ11) = 0 (3) (1)+(5) →get θ21 & θ31
▫ Acos(θ22) +r1cos(θ12)+r5=0 (4)
(2)+(6) →get θ22 & θ32
▫ Asin(θ21) +Bsin(θ31) = k1 (5)
▫ Asin(θ22) +Bsin(θ32) = k2 (6) (3)+(4) + (7)+(8) + θ21 + θ21
▫ Asin(θ21) +r1sin(θ11)-r5= k3 (7) →get r1, r5 , θ11 , θ12
▫ Asin(θ22) +r1sin(θ12) = k4 (8)
• 8 unknowns with 8 equations → mathematically solvable !
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 Department of Mechanical Engineering, National Chiao Tung University

• Close state

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 Department of Mechanical Engineering, National Chiao Tung University

• Opening

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 Department of Mechanical Engineering, National Chiao Tung University

• Opening-no link penetrating the roof or

floor.

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 Department of Mechanical Engineering, National Chiao Tung University

• Opening-no link penetrating the roof or

floor.

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 Department of Mechanical Engineering, National Chiao Tung University

• Fully open state

- the distance between the garage door and
floor ≧ 2m

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 Department of Mechanical Engineering, National Chiao Tung University

• What if the simulated results do not make sense

or meet the requirements ?(such as negative
length)
▫ Change design factors or values of some design
factors and redo the process. (Of course, you
should make sure your equations are correct.)

• The process showed here is not the only way to

solve the project.
• Your design should be different from the
example here.
▫ EX. You should try to choose different design
factors or/and different values on some design
factors.

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 Department of Mechanical Engineering, National Chiao Tung University

書面報告內容：
• 報告檔名請用姓名，第一頁請寫明設計專題名稱、
組員之姓名、學號，上傳日期，之後內容應包含：
1. 規格要求；
2. 所用機構合成方法；
3. 設計分析過程與結果，包含以圖表示，並標明各
連桿位置、座標或尺寸；
4. 模擬分析結果，請附上以Working Model建構之
模擬結果圖(至少四個位置的圖檔，包含開及關兩
位置)；
5. 討論 (如傳動角變化，彈簧作用為何) 與心得檢討。

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 Department of Mechanical Engineering, National Chiao Tung University

The project report must contain：

• File name = your name, first page should include
project name, members’ names, student ID number,
upload date and following pages including：
1. Requirements.
2. The composition of the mechanism you used.
3. Design, analysis process and results;
including pictures showing the positions, dimensions and
coordinates of those links.
4. Simulation results with the software “Working Model”;
attach pictures of at least four different positions
including close and open states.
5. Discussion (How the transmission angle vary? What’s the
function of the spring?), and what you learn/how you
feel/what do you think about this project?

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 Department of Mechanical Engineering, National Chiao Tung University

The more you spend on it,

the more you get!
Not just scores,
And not just this project.

Thanks for your attention.

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