ME370 KDoM Lab: Experiment No.

2
Freudensteins Method: An Analytical Solution for 4-bar Synthesis 3-pt
Function generation

In this experiment, you will synthesize a 4-bar kinematic chain using Freudensteins method. Freudensteins
method is a technique used for synthesizing function generating mechanisms, i.e., given an input one can
find out the value of the output by simply rotating the input link to the input value and reading the output at
the output link (Refer to figure 1).
Freudensteins Method Loop-Closure Equations
Consider 4-bar mechanism below

Figure 1: Figure demonstrating use of Freudensteins equation.

As shown in the above figure, OA is the input link and OA is the output link. After proper design of the
mechanism and calibration of the scales as shown in the figure, any input value (shown on the input scale)
gives a corresponding output (shown on the output scale) of the given function. Consider vectors l1, l2, l3,
l4 along the links as shown in the figure:
l1 + l2 + l3 l4 = 0
Assuming the origin is at pin 2, and taking X and Y axes as shown in the diagram, we get the following
equations:

(I)

Similarly,

(II)

After squaring and adding equations I and II, we get the following equations:

Where

Since the Ks are defined in terms of four parameters ( ) we can freely choose one and solve for
others in terms of . Assuming a value for , we have:

The tasks comprising this experiment are listed below:

The function to be synthesized is over the range, 12

Since the function cannot be synthesized directly taking the angles themselves as x and y, linear
mapping has to be done from x and y to the angles.
 Take the maximum ranges for and as 10-70 and 80-170 degrees respectively.

Now x=1 will correspond to =10 and x=2 will correspond to =70. Similarly y=1 will correspond
to =80 and y=0.25 will correspond to =170.

Find linear mapping functions for the above.

Take the values of the input as x=1, 1.5 and 2 and calculate the output values for the same. For the 3
input/output angles, use Freudensteins equation to get .

Choose and find the remaining link lengths.

Using the mount board and pins, create the mechanism as done in lab 1.

Over the range of the mechanism, draw a linear scale that is calibrated appropriately for your
function; i.e., on link 2, corresponds to 1 and so on.

Now take any 10 points within specified range including these three and calculate the error in the
output values.

Write down your observations.