Analytic Approach to

Mechanism Design

http://www.engr.colostate.edu/me/program/courses/ME324/notes/PositionAnalysis.ppt

ME 324
Fall 2000

Position synthesis

Chapter 4 Analytic Position Analysis

A vector can be
represented by a
complex number
Real part is x-axis
Imaginary part is yaxis
Useful when we
begin to take
derivatives
2

Imaginary
Axis
Point A
jR sin

RA

R cos

Real
Axis

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Derivatives, Vector Rotations in the

Complex Plane
Imaginary

Taking a derivative of
B
a complex number will
RB = j R
result in multiplication
by j
C
A
Each multiplication by
RA
RC = j2 R = -R
Real
j rotates a vector 90
CCW in the complex
plane
D
R = j3 R = - j R
D

Position synthesis

Labeling of Links and

Link Lengths
Link labeling starts
with ground link
Labeling of link
lengths starts with link
adjacent to ground
link
Makes no sense - just
go with it
4

Link 3, length b
Coupler
Link 2,
length a

Link 4,
length c

A
Link 1, length d

Pivot 02

Ground Link

Pivot 04

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Angle Measurement Convention

All angles measured
from angle of the
ground link
Define 1 = 0
One DOF, so can
describe all angles in
terms of one input,
usually 2
5

3
2

B
4

1 = 0

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More on Complex Notation

Polar form:
re j
Cartesian form:
r cos + j r sin
Euler identity:
e j = cos j sin
Differentiation:
j

de
j
je
d

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The Vector Loop Technique

Vector loop equation:
R2 + R3 - R4 - R1 = 0
Alternative notation:
R3 b
3
RAO2 + RBA - RBO4 - RO4O2 = 0
a A
nomenclature - tip then tail
R2
2 d
Complex notation:
O
R1
aej2 + bej3 - cej4 - dej1 = 0
2
Substitute Euler equation:
a (cos 2+j sin2) + b (cos 3+j sin3)
- c (cos 4+j sin4) - d (cos 1+j sin1) = 0

R4
4

O4

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Vector Loop Technique - continued

Separate into real and imaginary parts:
Real:
a cos 2 + b cos 3 - c cos 4 - d cos 1 = 0
a cos 2 + b cos 3 - c cos 4 - d = 0,
since 1 = 0, cos 1 = 1
Imaginary:
ja sin 2 + jb sin 3 - jc sin 4 - jd sin 1 = 0
a sin 2 + b sin 3 - c sin 4 = 0,
since 1 = 0, sin 1 = 0
8

Position synthesis

Vector Loop Technique continued

a cos 2 + b cos 3 - c cos 4 - d = 0
a sin 2 + b sin 3 - c sin 4 = 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
9

Position synthesis

Vector Loop Summary

10

Draw and label vector loop for mechanism

Write vector equations
Substitute Euler identity
Separate into real and imaginary
2 equations, 2 unknown angles
Solve for 2 unknown angles
Note: there will be two solutions since
mechanism can be open or crossed
Position synthesis

Example:
Analytic Position Analysis
Input position 2 given
Solve for 3 & 4
b=2.14
3 =?
a=1.6
2 =51.3 d=3.5
11

c=2.06
4 =?
Position synthesis

Example:
Vector Loop Equation
R2 + R3 - R4 - R1 = 0
aej2 + bej3 - cej4 - dej1 = 0
1.6ej51.3 + 2.14ej3 - 2.06ej4 - 3.5ej0 = 0

R2

b=2.14
3 =?

R4
c=2.06

a=1.6
2 =51.3 d=3.5
12

R3

R1

4 =?
Position synthesis

Example:
Analytic Position Analysis
aej2 + bej3 - cej4 - dej1 = 0
a(cos2+jsin2) + b(cos3+jsin3) - c(cos4+jsin4)
- d(cos1+jsin1)=0
Real part:
a cos 2 + b cos 3 - c cos 4 - d = 0

b=2.14

1.6 cos + 2.14 cos 3

- 2.06 cos 4 - 3.5 = 0
Imaginary part:
a sin 2 + b sin 3 - c sin 4 = 0
1.6 sin + 2.14 sin 3
- 2.06 sin 4 = 0
13

3 =?
a=1.6

c=2.06

2 =51.3 d=3.5
Position synthesis

Solution: Open Linkage

2 equations from real & imaginary equations
1.6 cos + 2.14 cos 3 - 2.06 cos 4 - 3.5 = 0
1.6 sin + 2.14 sin 3 - 2.06 sin 4 = 0
2 unknowns: 3 & 4

b=2.14

Solve simultaneously to yield

3=21?
2 solutions.
a=1.6
c=2.06
Open solution:
3 = 21, 4 = 104 2=51.3? d=3.5
4=104?
14

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Review - Law of Cosines

A B C
cos
2AB
2

A2 B2 C 2
arccos

2AB

C
15

Position synthesis

Transmission Angles
Transmission angle is the angle
between the output angle and the
coupler

180-
Absolute value of the acute angle
Measure of quality of force
acute
transmission

Ideally, as close to 90 180-

as possible
16

Position synthesis

Extreme Transmission Angles Grashof Crank Rocker

For a Grashof fourbar,
extreme values occur
when crank is collinear
with ground

2
b

For the extended position shown:

1=arccos [ (b2+(a+d) 2 - c2)/2b (a+d) ]
2=180 - arccos [ (b2+c2 - (a+d)2 )/2b c ]
17

Position synthesis

Extreme Transmission Angles Grashof Crank Rocker

For the overlapped case shown:

2
b

1=__________________________
a

1 d

2=__________________________

18

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Extreme Transmission Angles Grashof Double Rocker

Remember: coupler
makes a full revolution
with respect to
rockers
Transmission angle
varies from 0 to 90

19

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Extreme Transmission Angles Non-Grashof Linkage

b
Transmission angle is zero

degrees in toggle position:

a
output rocker & coupler
d
Other transmission angle given
as:
2=__________________________
Similar analysis for other toggle
position
20

Position synthesis

Calculation of Toggle Angles

The input angle, 2 , for the first
toggle position given as:
a

2=__________________________
Similar analysis for the other toggle
position

21

c
d

Position synthesis