BITS Pilani

Pilani Campus

Static Force Analysis

Lecture-18 to 21 26th Feb to 4th March, 2024

Dr J S Rathore
Outline
Formulation of static/dynamic equilibrium equation of each link

1. Design of links
 Static Force Analysis
2. Pin reactions
 Dynamic Force Analysis
3. Stress analysis

Static Force Analysis

1. Newtonian approach (based on FBD and complete approach)
2. Principle of Virtual work (based on energy principle)

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Force analysis: Newtonian approach

R3 B
PB ω3,α3 l3
ω4,α4
F1
B A l4
R2 R4

ω2,α2 l2
PA M1 F = Weight O4
A 2 l1

PB O2
aG3
Resultant Force = R3 B

α3
PA
A

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Force analysis:

R3  
 F  ma cg
 
ω2,α2
ω3,α3
R4  M  J cg
R2 ω4,α4
Inertial loading

1. Motion generated forces are comparable with external forces

2. Must be included in calculation for safe design

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Static Force analysis:
1) Situations, where INERTIA FORCES are negligible
2) Operating speeds are low

 
 F  ma cg F 0
 
 M  J cg  M 0

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Static Force analysis:

F 0  Mass of the link is small 1. Newtonian approach

 Inertial loading is negligible 2. Principle of Virtual work
 M 0

F34

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Ex 1: Static Force Analysis
Sketch complete FBD of the four-bar mechanism. Find all the pin reactions and the
input crank torque M12, required for equilibrium of the four bar linkage subjected
to an external load P = 120 kN acting as shown.
O2A = 6, AB = 18, O4B = 12, O4Q = 5, O2O4 = 8
O2 A  6135 
B O4Q  568.4
P = 120 kN
O4 B  1268.4
40°
3 22.4°
4 P  120 kN220 
Q
A
135°
M12 2 68.4°
1
O2 O4

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Ex 1: SFA
B P = 120 kN

3 40°
22.4°
4
Q
A
135°
M12 2 68.4°
1
O2 O4

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Ex 1: SFA

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 BITS Pilani
Pilani Campus

Analytical approach

Lecture-19 28 Feb, 2024

Static Force analysis:
 Mass of the link is small
 Inertial loading is negligible 1. Newtonian approach
PB
2. Principle of Virtual work
aG3
Resultant Force = R3 B

α3
PA
A
 
 F  ma cg F 0
 
 M  J cg  M 0

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Two and three force members:

F 0  Mass of the link is small 1. Newtonian approach

 Inertial loading is negligible 2. Principle of Virtual work
 M 0

PB
Fresultant B

PA
A

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Ex 2: SFA
Sketch complete free body diagrams for the illustrated four-bar linkage. What torque
must be applied to link 2 to maintain static equilibrium at the position shown?
A
M12
2
60° O4
O2
3 46.06° 109.05°
B
P = 350 N 45 N-m
4

O2 A  200 mm60 O4C  350 mm  109.05

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AB  200 mm  46.06 AC  700 mm  46.06 BITS Pilani, Pilani Campus
Ex 2: SFA
F23
A
F14
A
F32 O4
M12
2 3 46.06° 109.05°
F12
60° B
P = 350 N 45 N-m
O2
4

C C
F43θ F34θ
F43r F34r F34
F43

O2 A  200 mm60 O4C  350 mm  109.05

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AB  200 mm  46.06 AC  700 mm  46.06 BITS Pilani, Pilani Campus
Ex 3:
A four link mechanism subjected to external forces as shown in Figure. Determine
torque required to apply on link AB for static equilibrium. Also find pin reactions at
A, B, C & D.
Link Length Force Magnitude Point of application
AB 500 mm F2 80 N@ 73.5˚ 325 mm from A
 Graphically
BC 660 mm F3 144 N@ 58˚ 297 mm from B
 Analytically
CD 560 mm F4 60 N@ 42˚ 373 mm from D
AD 1000 mm Fixed link

1. By considering the combined action

of all the forces simultaneously.

2. By determining the effect of

each force separately and then
finding the overall effect by
vectorial superposition of
individual effects. 15
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Static Force analysis:

F34r F34

F34θ
F23 F43θ

F32 F43r

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Static Force analysis:

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Static Force analysis:

 T2  T2a  T2b  T2c

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Static Force analysis:
Fig shows a four-bar linkage with external forces PB (1 kN) and PC (2 kN) applied at points B
and C, respectively (link ABC is a single link). Find the torque (M2) that must be applied to
link OA to maintain static equilibrium.
Given OA = 75 mm, AB = 200 mm, AC = 300 mm, CD = 200 mm and OD = 400 mm

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 BITS Pilani
Pilani Campus

Static Force Analysis

Lecture-20 1 March, 2024

ME/MF F221: Mid sem exam 2023-24
Syllabus: Closed book
1. Gruebler’s criterion, Kutzbach equation and Grashof’s law
2. Graphical analysis: Vector polygon method
 4-bar, Slider-crank, Shaper Mechanism etc
(Velocity and acceleration analysis)
 Instant center method for velocity analysis
3. Analytical approach:
 4-bar, Slider-crank, Offset slider-crank, Shaper Mechanism etc
4. Static Force Analysis
 Newtonian approach
 Principle of Virtual work

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Third tutorial is on 7th March. Only handwritten class notes are allowed.

1. link 2 is 4 rad/s (CCW) and the angular acceleration is 8 rad/s2 (CW).

2. link 2 is 4 rad/s (CW) and the angular acceleration is 8 rad/s2 (CCW)
3. link 2 is 5 rad/s (CW) and the angular acceleration is 9 rad/s2 (CCW).
4. link 2 is 5 rad/s (CCW) and the angular acceleration is 10 rad/s2 (CW)
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Ex
Figure illustrates a four-bar mechanism with external forces applied at point B and D. Find
the magnitude and direction of the moment that must be applied to link 2 to maintain static
equilibrium at the position shown.

B PB = 445 N

C
3
D
PD = 890 N
34.61 15
4
A
2 30 67.81 84.34

O2 O4
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Principle of Virtual Work:
1. Newtonian approach
2. Principle of Virtual work

 Based on the assumption that virtual work done by constraint forces is zero.
 Virtual work principle is easier to implement but gives less information.

“If a system is in static equilibrium is subjected to a virtual displacement, the work

done by all the externally applied forces in the system will sum to zero”.

F  0 Fapplied  Fconstraint  0
n
 Fapplied .δr   Fconstraint .δr  0   Fappliedi .δri  0
i 1

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Principle of Virtual Work:
Find the input crank torque M12 required for equilibrium for the four bar linkage
subjected to an external load P = 120 kN acting as shown.
O2A = 6, AB = 18, O4B = 12, O4Q = 5, O2O4 = 8 n
  Fapplied .δri  0i
i 1
B P = 120 kN
dθ4
3 22.4° 40°
4
dθ2 Q
A A' × Q'
135°
 M12.δ 2  P .(QQ)  0
M12 2 68.4°
1
O2 O4

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Principle of Virtual Work:
d 4
 M 12  285 .47
d 2
B
ω4 P = 120 kN
 M12  285.47 dθ4
ω2 3 22.4° 40°
4
dθ2 Q
A A' × Q'
135°
M12 2 68.4°

I24 I12 1 I14

O2 O4

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Ex :
Determine the turning moment M12 that must be applied to the link 2 to hold the
mechanism in static equilibrium at the position shown. Take P = 0.09 kN
n
A'   Fappliedi .δri  0
i 1
 M12 .δ 2  P .δx  0
dθ2
135°
x
B’

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Kinematics analysis

Lecture-21 4 March, 2024

Kinematic analysis:

1. Degree of freedom (number of inputs)

2. Grashof condition (complete rotation required)
3. Quick return ratio
4. Transmission angle
5. Mechanical advantage
6. Presence of toggle positions

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 For S + L  P + Q

 Crank-rocker if either link adjacent to shortest is grounded

P P
Q Q
S S
L L

Q
S

At least one link is

Double crank
(if shortest link is grounded)
capable of making a
complete revolution Double rocker if link opposite
to shortest is grounded
Grashof’s inversions 30
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For S + L > P + Q

 All inversions will be double rockers

 No link can fully rotate

Inversions of non-Grashof’s law

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Grashof crack-rocker mechanism:
(l1  l2 )  (l3  l4 )

α
B
b
θ3
A θ2 c
a θ4
d

Transmission angle
the acute angle between the coupler and the output link


θ trans    θ 3  θ 4 If   then θ trans    
2
else θtrans  
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Transmission angle:

Case 1: when link 1 and 2 are collinear and overlapping

α1

 b 2
 c 2
 ( d  a ) 2

 trans  cos 
1

 2bc 

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Transmission angle:

Case 2: non-overlapping

α2
θtrans = π - α2

 trans     2
 b 2
 c 2
 ( d  a ) 2

 trans    cos 
1
 
 2bc 

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Transmission angle:

α l1  80, l2  20, l3  66, l4  56

B
b
θ3
A θ2 c
a θ4
d

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Transmission angle:

Fr  F34 cos
α
B

Ft  F34 sin 
A

T4  ( F34 sin  )(r )

1. Optimum value of transmission angle is 90˚

2. 
. min  40 to have smooth running and good transmission

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Transmission angle:
F43 B
Fr  F34 cos
α
F23
A

β Ft  F34 sin 

Pout

Pin

Tout O4 B sin 
MA   MA 
Tin O2 A sin 
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Mechanical advantage:
B B
α B2
B1
A A

β A2

A1

O4 B sin 
 MA 
O2 A sin 
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 O4 B sin 
Mechanical advantage:  MA  O A sin 
2

1. Principle of crushing mechanism

2. Clamping mechanism

1. When β = 0 or 180, Mechanical advantage become theoretically infinite

2. A small amount of input force/torque will generate very high amount of output
force/torque
3. Toggle positions 39
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Mechanical advantage:
Grashof mechanism
O4 B sin 
 MA 
O2 A sin 
α1

α2
θtrans = π - α2

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Mechanical advantage:
Non-Grashof mechanism
α = 180˚
O4 B sin 
β  MA 
O2 A sin 

α = 180˚

1. In a four-bar mechanism, the mechanical advantage is zero when the angle

between the coupler and follower link is either 0 or 180 degrees.
2. This position is called the dead center posture, and the mechanism is in the
locked position
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 O4 B sin 
Mechanical advantage:  MA  O A sin 
2

α = 180˚
β

α = 180˚

3. It provides a self locking feature. Manually pulled to take out of these

positions.
4. pick up truck or wagon tail-gate mechanism, ironing board leg mechanism
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