Position and Displacement

analysis
The position of a point on a
mechanism is the spatial location
of that point. It can be defined
with a position vector, Rp, from a
reference origin to the location of
the point.
As with all vectors, the planar
position of a point can be specified
with a distance from the origin
(vector magnitude) and angle ϴ4
from a reference axis M
(orientation).
Linear Displacement of a point on the mechanism
The linear displacement of point is
calculated as the vectoral difference between
the initial position and the final position

Notice that linear displacement is not the

distance travelled by the point during motion

The magnitude of the displacement vector is the

distance between the initial and final position
during an interval. The direction can be
identified by an angle from a reference axis to
the line that connects the two positions.
The sense of the vector is from the initial
position and pointing toward the final position
Angular displacement
• Angular displacement is the angular distance
between two configurations of a rotating link. It
is the difference between the starting and
ending angular positions of a link, Δϴ

• The magnitude of the angular displacement is

the angle between the initial and final
configuration of a link during an interval. This
magnitude will be in rotational units (e.g.,
degrees, radians, and revolutions), and
denoting either clockwise or counter clockwise
specifies the direction
Displacement analysis – repositioning
Degree of freedom/ mobility

With one degree of freedom, moving one link precisely

positions all other links in the mechanism. Therefore, a typical
displacement analysis problem involves determining the
position of links 3 and 4 when the driver 2 moves by 15⁰

Once C’ has been located, the position of links 3 and 4

can be drawn. Thus, the configuration of the mechanism as
the driver link was repositioned has been determined
Graphical method:
Figure shows a kinematic diagram of a mechanism that is driven by moving link 2. Graphically
reposition the links of the mechanism as link 2 is displaced 30° counter clockwise.
Determine the resulting angular displacement of link 4 and the linear displacement of point E .
1. Calculate mobility

2. Reposition the driver link B to B’

3. Determine the Paths of All Links Directly
Connected to the frame by constructing arcs
r BC and r CE

4. Determine the Precise Position of Point C’

5. Determine the Precise Position of Point E’
6. Make measurements
Position analysis – in line slider crank [SINE
RULE]
A typical analysis involves locating the
position of the links, given
their lengths and L2 and L3 the crank angle
ϴ2. Specifically, the position of the slider
L4 and the interior joint angles ϴ3 and γ
must be determined
Position Analysis: Analytical
Method
Analytically determine the displacement
of the clamp surface as the handle
rotates downward by 15⁰
 Original Configuration

1. Draw kinematic
diagram
2. Analyze the diagram in
original configuration
3. Analyze it in new
configuration
4. Calculate displacement
New configuration

Desired displacement
Position analysis- offset slider crank
A hand pump is used for increasing oil pressure in a hydraulic line. Analytically
determine the displacement of the piston as the handle rotates 15° counter clockwise
1. Draw the kinematic diagram –initial and final positions
2. Analyze the original configuration
3. Analyze the displaced configuration 4. Calculate the displacement
Analytically determine the angle that the handle must be displaced in order to
lift the clamp arm 30° clockwise.
1 Draw a Kinematic Diagram, original configuration and displaced
configuration
2. Analyze original configuration
Sqrt(25 2 + 12 2 = 27.73)=BD

cos -1 (12/27.73) = angle ABD= 64.4

sin -1 (25/27.73) = angle BDA = 25.6
3. Displaced configuration
4. Calculate the Resulting Displacement
Displacement diagram
Plot a displacement diagram of the piston displacement relative to the
crankshaft rotation.
1. Kinematic diagram
2. Designate the Reference Phase: the reference phase is arbitrarily selected as
the crank is vertical, placing joint B directly above joint A. The position of the
piston (point will be measured from this reference

3. Construct the Interval Phases: The actual displacements can be determined

either analytically or graphically.

4. Identify the Limiting Positions: Focusing on the position of the piston, the
oscillation can be approximated as

5. Plot the Displacement Diagram

For in-line crank

L2 = 0.75 in and L3 = 2in and θ2 ranges from 0 to 360

4 bar Mechanism
Limiting positions
The displacement of the follower link
from one limiting
position to the other defines the stroke
of the follower.
For translating links, as shown in Figure
a, the stroke is a linear
measurement.
For links that exhibit pure rotation, the
stroke is an angular quantity, and is
also called throw, as shown in
Figure b.
The mechanism shown in Figure is the driving linkage for a reciprocating saber saw.
Determine the configurations of the mechanism that places the saw blade in its limiting
positions.

1. Draw a Kinematic Diagram

2. Construct the Extended Limiting Position
L2+L3
3. Construct the Retracted Limiting Position
L3-L2
4. Measure the Stroke of the Follower Link

Normally the machines oscillate between these

two extremes
L2+L3 and L3-L2 will give extreme positions- draw arcs from A and
determine the intersecting points along the stroke of slider C.
Graphical method

C’ and C” are the extreme positions. The distance between them is measured.

Stroke = 1.27 “
Figure illustrates a linkage that operates a water nozzle at an automatic car wash. Determine the
limiting positions of the mechanism that places the nozzle in its extreme positions

1. Draw the Kinematic Diagram

2. Construct the Extended Limiting Position
L2+L3
3. Construct the Retracted Limiting Position
L3-L2
4. Determine the stroke or throw
Analytical Method
Figure shows a conveyor transfer mechanism. Its function is to feed
packages to a shipping station at specific intervals. Analytically
determine the extreme positions of the lifting conveyor segment.

• Draw the kinematic diagram

• Analyze the geometry at extended
position
• Analyze the geometry at retracted
position
• Determine the displacement
between the two positions
The law of sines can be used to find either of the remaining internal angles. However, the
law of sines may present some confusion with angles between 90° and 180° because
The conveyor segment (internal angle at joint D <ADC cycles
between 92.3° and 32.1°, as measured upward from the vertical.

The stroke
Assignment
Graphically position the links for the compressor linkage in the configuration
shown in Figure. Then reposition the links as the 45-mm crank is rotated 90°
counter clockwise.
(i) Determine the resulting displacement of the piston.
(ii) Determine the displacement using analytical method also.
(iii) Construct the displacement diagram
Kinematic inversions: Method of obtaining different mechanisms by fixing
different links in a kinematic chain, is known as inversion of the mechanism

In this mechanism, the links AD and BC (having equal

In this mechanism, when the crank rotates about the
length) act as cranks and are connected to the respective
fixed centre A, the lever oscillates about a fixed centre
wheels. The link CD acts as a coupling rod and the link A B
D. The end E of the lever CDE is connected to a piston
is fixed in order to maintain a constant centre to centre
rod which reciprocates due to the rotation of the
distance between them. This mechanism is meant for
crank. The purpose of this mechanism is to convert
transmitting rotary motion from one wheel to the other
rotary motion into reciprocating motion.
wheel