162A.

Position and Displacement in Mechanisms

Chapter 2: Position & Displacement

Chapter 2
Position and Displacement

Notation
Consider a fixed reference coordinate system Oxyz or simply Oxy if we have a 2-d reference system. O is the origin from which positions are measured The position of a point P in the coordinate system is represented as RPO which is a vector verbalized as R P to O. Remember: tip-to-tail. This RPO vector is sometimes simply written as RP, when it is w.r.t. the origin. Vector RP is written with R in bold (or with a line above or below the letter) to connote it is a vector. Without bold (or a line), it connotes just the magnitude

Terms
Absolute Position of a point is its position with respect to the origin of the coordinate system Relative Position between two points P and Q can be expressed as position difference between those two points RPQ = RPO - RQO Apparent Position of a point P is the position of the point P relative to the observer Absolute and Relative Positions are related as: RPO = RQO + RPQ

Well employ two methods for position analysis

Graphical Method
Intuitive Inexact

Complex Algebra Method

Analytic Exact

Before that.

The Loop Closure Equation

Loop Closure Equation: A vector equation representing all or part of mechanism formulated according to the fact: The vector sum of a closed polygon equals zero. That is, the sum of vectors to close the loop is 0, or,

Loop-Closure Equation
Applying the loop closure equation to the hand-operated clamp
RBA + RCB + RDC + RAD = 0

The above loop closure equation can be derived

y

RA O RB = RA + RBA RC = RB + RCB = RA + RBA + RCB RD = RC + RDC = RA + RBA + RCB + RDC RA = RD + RAD = RA + RBA + RCB + RDC + RAD RBA + RCB + RDC + RAD = 0 X

Graphical Method for Position Analysis

Suited for solving planar motion problems Points on the mechanism move in a single or parallel planes Loop Closure vector equation can be broken down into 2 scalar equations: C=A+B => Cx = Ax + Bx and Cy = Ay + By Can solve for 2 unknowns Note: Vectors in bold

4 Cases for 2 unknowns in solving planar position equations

Case 1: Magnitude and direction of the same vector are unknown Case 2: Magnitude of one and direction of the other vector are unknown Case 3: Magnitudes of 2 vectors unknown Case 4: Directions of 2 vectors unknown

Graphical Method Steps

Identify the loop closure equation Choose a coordinate system and scale factor Draw the known vectors Draw a long straight line if direction is known but not the magnitude Draw a circular arc representing the magnitude if magnitude is known but not the direction There could be more than one solutionsa long line can intersect an arc in 2 places or 2 arcs can intersects in 2 places Measure and report the unknowns

Example: The Slider-Crank Mechanism

Given: Lengths of links 2 and 3 and position of slider B Goal: To fully determine the positions of all links Unknowns: 2 and 3
(Slider crank in IC engines versus air compressors)

Example: The Slider-Crank Mechanism (contd.)

Identify Loop Closure Equation: RB = RA + RBA Rotational position () Convention:
Draw a line at the tail of the vector going towards right The rotational position will be the angle starting from the line to the link in the CCW direction

Example: The Slider-Crank Mechanism (contd.)

Draw vector RB With O as center, draw arc equal in length to link 2 With B as center, draw arc equal in length to link 3 Two points where the 2 arcs intersect Measure and report 2 sets of solutions for 2 and 3

Another Example: 4-Bar Mechanism

Given: the lengths of bars, crank angle, 2 and a coupler point (P) position () on link 3 Goal: To perform positional analysis and determine 3 and 4

Example: 4-Bar Mechanism (contd.)

1: Identify Loop Closure Equation: RA + RBA = RC + RBC 2: Draw vectors RC and RA 3: With A as center, draw an arc equal in length to distance between points A and B. With C as center, draw an arc equal in length to link 4 4: Measure off the 2 unknowns for the (two) points of intersection of arcs Draw point P and measure off RP and P

In-class exercise
Given current position with link 2 vertical (2 = 90 deg) Reposition link 2 to 30 degrees rotated CCW Find movement of link 6

Approach: Dont forget to check the mobility first

Complex Algebra Method

Suitable for Planar problems Position of a point A can be represented as below:

Position vector of a point A can be represented as a complex number

j Properties of vector e
jis a unit vector e

jej is also a unit vector rotated counterclockwise by 90 degrees Proofs:

Complex Algebra Method

Identify a triangular loop for loop closure If one is not readily available, improvise a triangular loop

Sliding Block Mechanism

Given O4O2 = 9, O2A=4.5, and 2=135o Find 4 and O4A

Sliding Block Mechanism (contd.)

Identify the loop closure equation: RA = RO2 + RAO2 RA = RA 4 = RA cos 4 + j RA sin 4 RO2 = 9 90o = 9 cos90o + j9 sin90o = 0 + j9 RAO2 = RAO2 135o = RAO2 cos 135o + jRAO2 sin135o = -3.182 + j3.182 RA = (0 + j9) + (-3.182 + j3.182) RA = [(-3.182)2 + 12.1822] = 12.59 4 = tan-1(12.182/-3.182) = 104.64o

Four Bar Linkage

Note: Remember to use a triangular loop closure How do you get a triangular loop in a 4-bar? Draw a diagonal S

Four Bar Linkage (contd.)

Four Bar Linkage (contd.)

Using Cosine and/or Sine Laws, you can set 2 equations and solve for the 2 unknowns:

Position analysis of any arbitrary point using Complex Algebra method

Once the position analysis of the linkage is done, it is easy to calculate the position of any arbitrary point on any linkage

Absolute Positions of A, B and C will be:

Displacement
Displacement of a Point P when it traverses a path: RP = RP RP

Displacement = new absolute position minus old absolute position

Euler Theorem for Rigid Body Motion

Any displacement of a rigid body is equivalent to the sum of a net translation of one point and a net rotation of the body about that point

In-class Exercise