Position Analysis: Review (Chapter 2) Objective: Given the geometry of a mechanism an the inp!t motion" fin the o!tp!

t motion Graphical approach Algebraic position analysis #$ample of graphical analysis of lin%ages" fo!r bar lin%age& Given a' an 2 fin ( an
)

Open b a 2 ( c )

Crosse

Modified Problem: Given: a-d and 3 Find: position of 4-bar linkage

A a O2

b 3

Observation: *oint + is on a circle obtaine by shifting the path of the tip of the cran% by vector O2O2,

b a O2 b A b 3 d O2!

-ol!tion: .raw path of tip of cran%" A& /his is a circle with ra i!s a an center the pivot of the cran%& -wift the circle escribing the path of the cran% by O2O2,& .raw circle with center O) an ra i!s the length of the roc%er C& 0in the location of joint + by fin ing the intersection of the two circles on which + is locate &

A a O2 b

b b 3 d O2!

O4

Algebraic position analysis 2se trigonometry to fin positions of lin%s an joints& #$ample: fo!r bar lin%age:
( + c 2 ) O)

A a O2

Proce !re: 3& 0in triangle O2AO) from a" " 2& 2& 0in triangle AO)+ from b" c" AO)&

Comple$ n!mber metho for position analysis 5 ea: represent lin%s as position vectors an represent these vectors as comple$ n!mbers& 6hy comple$ n!mbers7 5n many problems" it is more straightforwar to erive the e8!ations for position analysis !sing comple$ n!mbers
Comple$ n!mber: Rectang!lar form 5m Ry R$ Re
R = Rx + jR y

Comple$ n!mber: Polar form 5m Ry R$ Comple$ conj!gate

z = x jy
R

(magnit! e)

R = R e j

(angle)
Re

#!ler,s theorem:
e j = cos + j sin
z = x + jy = z cos + j z sin : ; : = z e j rectang!lar form polar form

cos =

e j + e j = Re( e j ) 2

sin =

e j e j = Im( e j ) 2j

Comple$ n!mber algebra:

z = x + jy w = u + jv

#8!ality: : ; w

x ; u and y ; v or : ; w an angle of w ; angle of v

<

ition" s!btraction:

z w = x u + j( y v)

=!ltiplication" .ivision" Powers =!ltiplication of two n!mbers: m!ltiply magnit! es" a phase angles& .ivision of two n!mbers: ivi e magnit! es" s!btract phase angles Raising a comple$ n!mber into a power: raise magnit! e into the power" m!ltiply phase angle by the power 2se rectang!lar form when a ing or s!btracting 2se polar from when m!ltiplying" ivi ing or raising into a power Comple$ e8!ation solving: f(z) ; >" where : an f are comple$ 8!antities& -olve for z&

-ol!tion Real(f(z)) = 0 or Real[f(x+jy)] = 0 Im(f(z)) = 0 or Im[f(x+jy)] = 0 -olving the above two in epen ent e8!ations for x an y we fin z&

#$ample: ()@j)z@1'2j ; >" where z = x + jy -ol!tion -!bstit!ting z = x + jy into the e8!ation we obtain: ()@j)(x+jy)@1'2j ; > or )x@)y j @xj'y@1'2j;> or )x'y@1@j()y@x'2);> +oth real an imaginary parts sho!l be :ero: Real part ; > A )x ' y@1;> 5maginary part ; > A )y@x'2;> -olving the two e8!ations for x an y we obtain the real an imaginary parts of comple$ n!mber z: x ; '3&>1? an y ; >&941& /herefore: z ; '3&>1? @ j>&941&

3>

#$ample: cran%'roc%er fo!r bar lin%age

b 2 R3 ( R1 O) + R4 c )

R2

A a O2

Problem: Given a" b" c" -ol!tion: Bector loop e8!ation:

R2 + R( R) + R3 = > ae j 2 + be j ( ce j ) + de j = >

an 2" fin ( an )

Real part ; > 5maginary part ; > /wo e8!ations with two !n%nowns" ( an ) 5mportant efinitions: !en "ras#of mec#anism: 5f > 2 C 2 then the two lin%s a jacent to the shortest lin% (cran%) o not cross each other& $rossed "ras#of mec#anism: 5f > 2 C 2 then the two lin%s a jacent to the shortest lin% (cran%) cross each other&

33

) = 2 tan 3 (
& = 2 sin 2

& 2 ) '$ ) 2' ' = cos(2 ) %3 % 2 cos(2 ) + %( &

$ = %3 ( % 2 + 3) cos(2 ) + %( %3 = d C a %2 = %( = d c a 2 + c 2 + d 2 b2 2ac )

!en solu+ion for negative s8!are root" crossed solu+ion for positive s8!are root

( = 2 tan 3 (
) = 2 sin 2

) 2 ) *( ) 2* * = cos(2 ) %3 + % ) cos(2 ) + %1

( = %3 + ( % ) 3) cos 2 + %1 %) = d C b %1 = c 2 d 2 a 2 b2 2ab

!en solu+ion for negative s8!are root" crossed solu+ion for positive s8!are root

32

#$ample: -li er'cran% mechanism

Problem: Given a' " 2 fin b" (" ) Open sol!tion first (

-teps:

R(" b 0inal res!lt: 0in angle ) by solving n!merically or ) algebraically the following e8!ation: R2" a R)" c 2 R3"
a cos 2 a sin 2 c sin ) c cos( ) + ) d = > tan( ) + )

R2 R( R) R3 = >

Algebraic sol!tion:

Open solution
) = 2 tan 3
1 + 1 2 ) 2/ 22 where 2 = R0,. 1 = 2 -. / = , + R - = a sin 2 sin + ( a cos 2 d ) cos R = c sin

, = a sin 2 cos + ( a cos 2 d ) sin

5nclination angle of co!pler: ( = ) + #n of open sol!tion

3(

Crossed mechanism: ( = )
a sin 2 c sin ) c cos( ) ) d = > tan( ) )

a cos 2

Algebraic sol!tion:
) = 2 tan 3
1 1 2 ) 2/ 22

0in coefficients /" - an 2 from the e8!ations for the open sol!tion& 5nclination angle of co!pler: ( = )

3)