Kinematics of Machinery

{MEC2703}
TOPIC: Pole (A graphical Method for
Synthesis of Mechanisms)

Presented By: Mudit Maheshwari

B.Tech(ME)
190020201010
2nd Year
 Introduction
Synthesis of mechanisms may be done by graphical methods or by
analytical means that involves the use of calculators and computers. In
general, the types of synthesis may be classified as under:

1. Function generation: It requires correlating the rotary or

the sliding motion of the input and the output links.

2. Path generation: When a point on the coupler or the

floating link of a mechanism is to be guided along a
prescribed path, it is said to be a path generation problem.

3. Motion generation: In this type, a mechanism is designed

to guide a rigid body in a prescribed path.
 Pole
(A graphical Method for Synthesis of Mechanisms)

If it is desired to guide a body or link in a mechanism from one

position to another, the task can easily be accomplished by
simple rotation of the body about a point known as the pole. In
figure given alongside, a link B₁C₁ is shown to move to
another position B2C2 by rotating it about the pole P12 This pole
is easily found graphically by joining the midnormals of any
two corresponding points on the link such as B1B2 and C₁C2. If
the pole point happens fall off the frame of the machine, two
fixed pivots, one each anywhere along the two midnormals will
serve the purpose.
 In the figure, A and B are taken to be the fixed pivots. The
configuration also happens to be a four-link mechanism ABCD
in two positions AB₁C₁D and AB₂C₂D in which the coupler
link BC has moved from the position B₁C₁ to B₂C₂. The input
link AB and the output link DC have moved through angles ϴ12
and Φ12 respectively in the clockwise direction.

Thus, a pole P12 of the coupler link BC is its centre of rotation with respect to the fixed link for
the motion of the coupler from B₁C₁ to B₂C₂. Each point on the link BC describes a circular arc
with centre at the pole P12 Thus, a line joining the two positions of a point on the link is a chord
of the circle and the midnormal (perpendicular bisector) of the chord passes through the centre of
rotation P12- B and C are also two points on the link BC. B moves from B₁ to B₂ while C from
C₁ to C2. Therefore, B₁B2 and C₁C2 are the chords of the two circles and their midnormals B12
and C12 also pass through or intersect at the centre of their rotation, i.e., at P12.
Properties of Pole Point