MENG 372

Chapter 5
Analytical Position Synthesis

All figures taken from Design of Machinery, 3rd ed. Robert Norton 2003

1
 5.1 Types of Kinematic Synthesis
• Function Generation: correlation of an input
function with an output function in a mechanism
• Path Generation: control of a point in the plane
such that it follows some prescribed path
• Motion Generation: control of a line in the plane
such that it assumes some sequential set of
prescribed positions

2
 5.2 Precision Points
• The points, positions prescribed for successive
locations of the output (coupler or rocker) link in the
plane.
• In graphical synthesis: P1
move from C1D1 to C2D2 a2
• In analytical synthesis: P2
move from P1 to P2 while
rotating coupler a2
(note: angles are measured
anticlockwise)
3
 Precision Points
• Can define vectors
Z and S from the
attachment points P1
E and F to P a2
Z1 S1
• Note: the coupler P2
is not triangular, A
but 3 points are B
defined on the
coupler
• Points E and F are
called A and B
4
 5.3 Two Position Synthesis
• Want to move from P1 to
P2 while coupler rotates a2
• Given P21, d2 and a2
• Design each half
separately
• Write vector loop
equation(s) to include
given values, find free
choices to make problem
easy to solve.
5
 Problem Statement Y
Design a 4-bar linkage which will move P1 to P2
while coupler rotates thru a2. P lies on coupler. X
Find the lengths and angles of all links. R2 R
1
1. Choose any coordinate system X-Y d2
2. Draw vector P21 inclined at d2 P2 P P 1
21
3. Define position vectors R1 and R2 Z1
4. Draw an arbitrary vector Z1. Then Z2 2a
form vector Z2 with same
magnitude but angle a2 with Z1.
5. Draw vectors W1 and W2 to meet at
O2. W1
6. Write vector loop equation.
W2
O2
6
 Two Position Synthesis
• Vector loop equation
W2 + Z2 - P21 - Z1 - W1 = 0
• Write complex vectors
wei  2   zei a2   p21eid2  zei  wei  0

• Expand exponents
wei ei2  zei eia 2  p21eid 2  zei  wei  0

• Combine terms
   
wei ei2  1  zei eia 2  1  p21eid 2

7
 Two Position Synthesis
we i
e i2

 1  ze i
e ia 2

 1  p21e id 2

• Variables
w, , 2, z, , a2, P21, d2 = 8
• Given
P21, d2, a2 =-3
• Complex equations: 1
can solve for 2 unknowns =-2
• Free Choices =3

8
 Two Position Synthesis
we i
e i2

 1  ze i
e ia 2

 1  p21e id 2

• Choose (, 2, )


S  ei ei2  1 
T  ei e ia 2
 1
U  p21eid 2
Gives 2 simultaneous eqns.
wS  zT  U
wS  zT  U

9
 Two Position Synthesis
we i
e i2

 1  ze i
e ia 2

 1  p21e id 2

• Choose (2, z, )

we i
p21e id 2
 ze i
e ia 2
1  Q
i2
e 1
from which the magnitude and
angle can be calculated
w=abs(Q), =angle(Q)
• The other side can be calculated
similarly

10
 Two Position Synthesis
• Once both sides have been
solved, the coupler and
ground can be calculated
using
V1  Z1  S1
G1  W1  V1  U1

v=abs(V1)
g=abs(G1)
11
 Two Position Synthesis Comparison
• For graphical, position of attachment points A and B
relative to P in x and y directions (4) and points of O2 and
O4 along the perpendicular bisectors (2) gives 6 total
• For analytical, 3 free choices each side * 2 sides=6 total

12
 5.6 Three Position Synthesis
• Want to move from
P1 to P2 while
coupler rotates a2
and from P1 to P3
while coupler
rotates a3
• Given P21, d2, P31,
d3, a2 and a3.

13
 Three Position Synthesis
• Vector loop equations
W2 + Z2 - P21 - Z1 - W1 = 0
W3 + Z3 - P31 - Z1 - W1 = 0
• Write complex vectors
. i    2 
we  zei a2   p21eid 2  zei  wei  0
we 
i   3 
 ze 
i  a 3 
 p31eid3  zei  wei  0

• Combine terms

  
wei ei2  1  zei eia 2  1  p21eid 2 
wei e i 3
 1  ze  e i ia 3
 1  p
31e id 3

14
 Three Position Synthesis
  
wei ei2  1  zei eia 2  1  p21eid 2 
wei e i 3
 1  ze  e
i ia 3
 1  p
31e id 3

• Variables
w,,2,3,z,,a2,a3,P21, P31,
d2 ,d3 = 12
• Given
P21,P31,d2,d3,a2,a3 =-6
• Complex equations *2
2*2 =-4
• Free Choices =2

15
 Three Position Synthesis
  
wei ei2  1  zei eia 2  1  p21eid 2 
wei e i 3
 1  ze  e
i ia 3
 1  p
31e id 3

• Choose (2, 3 )
W  wei S2  ei2  1 T2  eia 2  1 U 2  p21eid 2
Z  zei S3  ei3  1 T3  eia3  1 U 3  p31eid3

• Two linear equations

.

WS 2  ZT2  U 2
WS 3  ZT3  U 3
• Gives solution
w=abs(W), =angle(W)
z=abs(Z), =angle(Z)
16
 WS 2  ZT2  U 2
WS 3  ZT3  U 3

Solution
Eliminate W to get:
U 2 S3  U 3 S 2
Z
T2 S3  T3 S2
Then solve for W:
U 3  ZT3
W
S3

(USE MATLAB)
17
ue j  e j 2  1  se j  e ja2  1  p21e jd 2 REPEAT FOR RIGHT-HAND SIDE
ue j
e j 3

 1  se j
e ja3

 1  p31e jd 3 OF LINKAGE

Choose (2, 3 )
U  ue j S2  e j 2  1 T2  e ja 2  1 U 2  p21e jd 2
S  se j S3  e j 3  1 T3  e ja3  1 U 3  p31e jd3

Two linear equations

US2  ST2  U 2
US3  ST3  U 3

(USE MATLAB)

18
Three Position Synthesis Comparison
• For graphical, position of attachment points A and B
relative to P in x and y directions (4)
• For analytical, 2 free choices each side * 2 sides=4 total

19
Example

Design a 4-bar
linkage to move A1P1
to A2P2 to A3P3

20
21
 3 Position Synthesis with Specified
Fixed Pivots .

• Want to move from P1 to

P2 while coupler rotates a2
and from P1 to P3 while
coupler rotates a3 and
attach to ground at O2 and
O4 
• Given R1,R2,R3,z1,z2, z3,
a2 and a3
• Note: if R1 and R2 are
satisfied, P21 is satisfied,
and R1 and R3 give P31

22
 3 Position Synthesis with Specified
Fixed Pivots .

• Vector loop equations

W1+Z1=R1
W2+Z2=R2
W3+Z3=R3
• Use relationships 
W2  W1ei2 , W3  W1ei3
Z 2  Z1eia 2 , Z3  Z1eia3
to get W1  Z1  R1
ei2 W1  eia 2 Z1  R 2
ei3 W1  eia3 Z1  R 3

23
3 Position Synthesis with Specified Fixed Pivots .

W1  Z1  R1 wei  zei  Reiz1

ei2 W1  eia 2 Z1  R 2 ei2 wei  eia 2 zei  Reiz 2
ei3 W1  eia3 Z1  R 3 ei3 wei  eia3 zei  Reiz 2

• Variables
w,,2,3,z,,a2,a3 ,R,z1,z2,z3
= 12 
• Given
R,z1,z2,z3,a2,a3 =-6
• Complex equations *2
3eqn*2 =-6
• Free Choices (Sub) =0
This makes the problem hard 24
3 Position Synthesis with Specified Fixed Pivots .

W1  Z1  R1 wei  zei  Reiz1

ei2 W1  eia 2 Z1  R 2 ei2 wei  eia 2 zei  Reiz 2
ei3 W1  eia3 Z1  R 3 ei3 wei  eia3 zei  Reiz 2

From 1st equation: Z1  R1  W1

Use this to eliminate Z1

e i2

 eia 2 W1  R 2  eia 2 R1

e i 3
 eia3 W  R
1 3  e ia 3
R1
Divide 2 eq’ns to eliminate W1
e i2
 eia2 R 2  e ia 2
R1
e i 3
 eia3  R 3  e ia3
R1
Cross Multiply
e i2
 eia 2 R 3  e ia 3
R1 
 e i 3
 e ia 3
R 2  e ia 2
R1 
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3 Position Synthesis with Specified Fixed Pivots .

 ei2  eia 2   
R 3  eia3 R1  ei3  eia3  R 2  eia 2 R1 
Arrange into form
A  Be
i 2
 Ce i  0
3

where
A  eia 2 R 3  eia3 R 2
B  eia3 R1  R 3
C  R 2  eia 2 R1
using s and t:
t  ei2 and s  ei3
gives A  Bt  Cs  0
26
3 Position Synthesis with Specified Fixed Pivots
.

A  Bt  Cs  0 (a)
Taking conjugate
A  Bt  Cs  0
Since s and t represent angles
B C
A  0
t s
Multiplying by st
Ast  B s  C t  0 (b)
A  Bt
From (a) s  
C
• Substituting into (b) gives a
quadratic function of only t
27
3 Position Synthesis with Specified Fixed Pivots
.

at 2  bt  c  0
where
a  AB, b  AA  BB  CC, and c  AB
Solving gives
 b  b 2  4ac
t1, 2   e j 2
2a
Only one of the t will be valid.
s can be solved using
A  Bt1,2
s  ei  3
C
Any 2 of the first eqns can be
used to solve for W1 and Z1
 1 1  W1   R1 
 ei  2 ia 2     
 e   Z1   R 2 
28
3 Position Synthesis with Specified Fixed Pivots
.

Summary of calculations (for MATLAB implementation)

A  eia 2 R 3  eia3 R 2
B  eia3 R1  R 3
C  R 2  eia 2 R1
a  AB, b  AA  BB  CC, and c  AB
 b  b 2  4ac
t1, 2   e j 2
2a
A  Bt1, 2
s  e j3
C
 1 1  W1   R 1 
e j 2 ja 2     
 e   Z 1  R 2 
w=abs(W1), =angle(W1), z=abs(Z1), =angle(Z1)
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 Example Problem
• Move from C1D1 to C2D2 to C3D3 using attachment
points O2 and O3
• Call point C, P

3
2

1

30