Analytical Analysis of Planar Mechanisms

Lecture 11

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Analytical Analysis of Planar Mechanisms

¾Fundamentals of Loop Vector

¾Loop Vector of:
- Angle of Vector
- Polar Expression
- Complex Vector Analysis

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Vector Loop and Angle of Vector

CONVENTION: regardless of the orientation

of a vector in the vector loop, the angle of a
vector is measured from to the positive x-axis
y
in a counter-clockwise (CCW) direction.
R
For vector R (with a magnitude R) the angle
θ is measured as: θ

1. From the base (tail) of the vector draw

a line in the positive x-axis ► x

2. In a counter-clockwise direction,
starting from this line, draw an arc
until it reaches the vector ►

This is the angle θ .

Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
Vector Loop and Angle of Vector

Examples: R1

θ1 = 36.4o
θ2= 160.7o
1. Vector R1 ► x
R2
x
θ3= 215.6o
y
2. Vector R2 ►
θ4= 310.2o
x

3. Vector R3 ►
R3 x

R4

4. Vector R4 ►

Union College MER 312: Dynamics and Kinematics

x
Mechanical Engineering (of Mechanisms) / AT
 Vectors in Complex Plane

¾ A vector can be Imaginary

represented by a Axis
complex number Y Point A
¾ Real part is x-axis
¾ Imaginary part is jR sin θ RA
y-axis
¾ Useful when we
begin to take θ
derivatives X

R cos θ
Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
 Vector Rotations in the Complex Plane

¾ Each vector
Imaginary
rotates a 90° CCW
in the complex B
plane when it is RB = j RA
multiplied by j
C A
¾ Taking a
RC = j2 RA = -RA RA
derivative of a Real
complex number
will result in D
multiplication by j. RD = j3 RA = - j RA
Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
Vector Notations in Complex Plane

¾ Polar form:
Re jθ
¾ Cartesian form:
R cosθ + j R sinθ
¾ Euler identity:
±e jθ = cosθ ± j sinθ
¾ Differentiation:
dejθ
= jejθ
dθ
Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
 Vector Loop Technique

¾ Vector loop equation:

R2 + R3 - R4 - R1 = 0
¾ Alternative notation:
B
RAO2 + RBA - RBO4 - RO4O2 = 0 R3
b
R4
A θ3
¾ Complex notation:
aejθ2 + bejθ3 - cejθ4 - dejθ1 = 0
a c θ4
R2
θ2 d
¾ Substitute Euler equation: O2 R1 O4

¾ a (cosθ2+j sinθ2) + b (cosθ3+j sinθ3)

- c (cosθ4+j sinq4) - d (cos θ1+j sin θ1) = 0
Union College MER 312: Dynamics and Kinematics
Mechanical Engineering (of Mechanisms) / AT
 Vector Loop Technique - continued

¾ Separate into real and imaginary parts:

Real:
a cosθ2 + b cosθ3 - c cosθ4 - dcosθ 1 = 0

a cosθ 2 + b cosθ3 – c cosθ4 - d = 0,

since θ 1 = 0, cos θ 1 = 1
Imaginary:
ja sinθ2 + jb sinθ3 - jc sinθ4 - jd sinθ1 = 0

a sinθ2 + b sinθ3 - c sinθ 4 = 0,

since θ 1 = 0, sin θ 1 = 0

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT
Vector Loop Technique -
continued
In Text book : a =r2, b = r3, c = r4 and d = r1
r2 cosθ2 + r3 cosθ3 - r4 cosθ4 - r1 = 0
r2 sinθ2 + r3 sinθ3 - r4 sinθ4 = 0
† a,b,c,d are known
† One of the three angles is given
† 2 unknown angles remain
† 2 equations given above
† Solve simultaneously for remaining angles

Union College MER 312: Dynamics and Kinematics

Mechanical Engineering (of Mechanisms) / AT