Mechanics of Machines

Dr. Mohammad Kilani

Class 3
Position Analysis
TYPES OF MECHANISM ANALYSESE
 Position Analysis

 Position Analysis
 Given θ12 find θ23, θ34
θ34 and θ14 θ23
θ41
 Find maximum and θ12
minimum values of
θ14 .
 Find the location of
each point on the
mechanism for a
given value of θ12
and the curve traced
by the a point during
motion.
 Velocity Analysis

 Position Analysis
θ 34, ω34
 Given θ12 and ω12
find ω23, ω34 and ω14 θ 23, ω23
 Find the speed of a θ 41, ω41
θ 12, ω12
point in the
mechanism
 Acceleration Analysis

 Position Analysis
θ 34, ω34 , α34
 Given θ12 , ω12 and
α12 find α23, α34 and θ 23, ω23 , α23
α14 θ 41, ω41 ,
θ12, ω12, α12 α41
 Find the acceleration
of a point in the
mechanism
 Question

 Why is acceleration
analysis important? θ 34, ω34 , α34

θ 23, ω23 , α23

θ 41, ω41 ,
θ12, ω12, α12 α41
GRAPHICAL POSITION ANALYSIS
 Graphical Position Analysis

 Use graphical methods,

(pen, ruler, compass θ34
and protractors to θ23
solve position analysis θ41
problems. θ12
 CAD drafting methods
may also be used as a
convenient alternative.
VECTOR POSITION ANALYSIS
 Vector Position Analysis

 Use vector loop

closure equation to
solve position analysis
problems
 Loop Closure Equation

 Use vector
loop closure
equation to
solve
position
analysis
problems

    
rP  r2  r3  r1  r4
 Planar Four Bar Loop Closure Equation

 How many scalar

equations can be
written from the vector
loop-closure equation?
 How many unknowns
can be solved for

    
rP  r2  r3  r1  r4
 Planar Four Bar Loop Closure Equation

 How many scalar

equations can be written
from the vector loop-
closure equation?: Two
scalar equations could be
written from a vector
equation
 How many unknowns can
be solved for: Two
unknowns: In a standard
problem, θ1 and θ2 are
given. θ3 and θ4 are to be
solved for.
 We will focus on planar
    
rP  r2  r3  r1  r4
mechanisms in this course
 Planar Four Bar Loop Closure Equation

 The closure condition

expresses the condition
that a loop of a linkage
closes on itself.
 For the four-bar linkage
shown the closure
equation is

   
r2  r3  r1  r4
   
r2u2  r3u 3  r1u1  r4u4
       
       
r2 cos  2i  sin  2 j  r3 cos 3i  sin 3 j  r1 cos 1i  sin 1 j  r4 cos  4i  sin  4 j
 Planar Four Bar Loop Closure Equation

 The closure condition

expresses the condition that a
loop of a linkage closes on
itself.
 For the four-bar linkage shown
the closure equation is
   
r2  r3  r1  r4
   
r2u2  r3u 3  r1u1  r4u4
       
       
r2 cos  2i  sin  2 j  r3 cos 3i  sin 3 j  r1 cos 1i  sin 1 j  r4 cos  4i  sin  4 j

 The following two scalar

equations are produced r2 cos 2  r3 cos 3  r1 cos 1  r4 cos 4
r2 sin 2  r3 sin 3  r1 sin 1  r4 sin 4
 Analytical Solution when θ2 is known

r2 cos 2  r3 cos 3  r1 cos 1  r4 cos 4

r2 sin 2  r3 sin 3  r1 sin 1  r4 sin 4
 The above two equations could be solved for two
unknowns. One approach is to eliminate one of
the unknown angles by isolating the trigonometric
function involving the angle on the left-hand
side of the equation.
r3 cos 3  r1 cos 1  r4 cos 4  r2 cos 2
r3 sin 3  r1 sin 1  r4 sin 4  r2 sin 2
 Squaring both sides of both equations and using
the identity sin 2   cos2   1 we obtain

r32  r12  r22  r42  2r1r4 cos 1 cos 4  sin 1 sin 4 

 2r1r2 cos 1 cos 2  sin 1 sin 2   2r2 r4 cos 2 cos 4  sin 2 sin 4 
 Analytical Solution when θ2 is known

r32  r12  r22  r42  2r1r4 cos 1 cos 4  sin 1 sin 4 

 2r1r2 cos 1 cos 2  sin 1 sin 2   2r2 r4 cos 2 cos 4  sin 2 sin 4 

 To obtain an explicit expression for θ4 in terms

of θ2 and the constant angle θ1 , we combine
the coefficients of cos θ4 and sin θ4 in the
equation above as follows:

Acos4  B sin 4  C  0

 where

A  2r1r4 cos 1  2r2 r4 cos  2

B  2r1r4 sin 1  2r2 r4 sin  2
C  r12  r22  r42   r32  2r1r2 cos 1 cos  2  sin 1 sin  2 
 Analytical Solution when θ2 is known

Acos4  B sin 4  C  0 A  2r1r4 cos 1  2r2 r4 cos  2

B  2r1r4 sin 1  2r2 r4 sin  2
 The above equation can be solved for θ4 by C  r12  r22  r42   r32  2r1r2 cos 1 cos  2  sin 1 sin  2 
using the following half angle identities
2 tan  4 2 
sin  4 
1  tan 2  4 2 
1  tan 2  4 2 
cos  4 
1  tan 2  4 2 

 After substitution and simplification, we get

C  At 2  2 Bt  ( A  C )  0
where

t  tan 4 2
 Analytical Solution when θ2 is known

A  2r1r4 cos 1  2r2 r4 cos  2

C  At 2
 2 Bt  ( A  C )  0 B  2r1r4 sin 1  2r2 r4 sin  2
C  r12  r22  r42   r32  2r1r2 cos 1 cos  2  sin 1 sin  2 

 Solving for t we obtain

 2 B  4 B 2  4C  AC  A
t
2C  A
or
B A2  B 2  C 2
t
AC
and
 4  2 tan 1 t 
 Analytical Solution when θ2 is known

Given the values of θ1 and θ2 for a four

bar mechanism of known r1, r2, r3 and r4
the output angle θ4 is calculated as:
A  2 r1r4 cos 1  2 r2 r4 cos  2
B  2 r1r4 sin 1  2 r2 r4 sin  2
C  r12  r22  r42   r32
 2 r1r2 cos 1 cos  2  sin 1 sin  2 
B A2  B 2  C 2
t
AC
and
 4  2 tan 1 t 
The ± sign identifies the two possible
assembly modes of the linkage
 Analytical Solution when θ2 is known

Given the values of θ1 and θ2 for a four

bar mechanism of known r1, r2, r3 and r4
the output angle θ4 is calculated as:
A  2 r1r4 cos 1  2 r2 r4 cos  2
B  2 r1r4 sin 1  2 r2 r4 sin  2
C  r12  r22  r42   r32
 2 r1r2 cos 1 cos  2  sin 1 sin  2 
B A2  B 2  C 2
t
AC
and
 4  2 tan 1 t 
The ± sign identifies the two possible
assembly modes of the linkage
 Analytical Solution when θ2 is known

 Note that –π/2 ≤ tan-1 (t) ≤ –π/2. Therefore, θ4 will have the range –π ≤ θ4 ≤ –π.
 Unless the linkage is a Grashof type II linkage in one of the extreme positions of
its motion range, there are two valid solutions for θ4. These correspond to two
assembly modes or branches for the linkage.

A  2 r1r4 cos 1  2 r2 r4 cos  2

B  2 r1r4 sin 1  2 r2 r4 sin  2
C  r12  r22  r42   r32
 2 r1r2 cos 1 cos  2  sin 1 sin  2 
B A2  B 2  C 2
t
AC
and
 4  2 tan 1 t 
 Analytical Solution when θ2 is known

 Because of the square root in the A  2 r1r4 cos 1  2 r2 r4 cos  2

expression for t, it can be complex if B  2 r1r4 sin 1  2 r2 r4 sin  2
(A2 + B2) < C2. In this case, the
C  r12  r22  r42   r32
mechanism is a Grashof type II
linkage in one of the extreme  2 r1r2 cos 1 cos  2  sin 1 sin  2 
positions of its motion range and it B A2  B 2  C 2
cannot be assembled in specified t
AC
values of θ1 and θ2 .
and
 The assembly configurations would  4  2 tan 1 t 
then appear as shown below
 Analytical Solution when θ2 is known

 After θ4 is known, an expression for r3 cos 3  r1 cos 1  r4 cos 4  r2 cos 2

θ3 can be obtained by solving the r3 sin 3  r1 sin 1  r4 sin 4  r2 sin 2
loop closure equation to obtain:
 r1 sin 1  r4 sin 4  r2 sin 2 
3  tan 1  
 r1 cos1  r4 cos4  r2 cos2 
A  2 r1r4 cos 1  2 r2 r4 cos  2
 Note that it is essential that the sign
B  2 r1r4 sin 1  2 r2 r4 sin  2
of the numerator and denominator
be maintained to determine the C  r12  r22  r42   r32
quadrant in which the angle θ3 lies.  2 r1r2 cos 1 cos  2  sin 1 sin  2 
This can be done by using the ATAN2
B A2  B 2  C 2
function. The form of this function t
is: AC
and
ATAN2 (sin θ3, cos θ3)
 4  2 tan 1 t 
 Analytical Solution when θ2 is known

 Once all of the angular

quantities are known, it is
relatively straightforward to
compute the coordinates of any
point on the mechanism.
 In particular, the coordinates of
Q,P, and R are given by

 
   
rQ  r2  r2 cos  2i  sin  2 j

   
      
rp  r2  r3  r2 cos  2i  sin  2 j  r3 cos 3i  sin 3 j
   
      
rp  r1  r4  r1 cos 1i  sin 1 j  r4 cos  4i  sin  4 j

 
   
rp  r1  r1 cos 1i  sin 1 j
 Analytical Solution when θ3 is known

 If the coupler angle θ3 is given, and θ2

and θ3 are to be determined, graphical
solution will require an iterative trial and
error solution.
 The analytical procedure, in contrast,
follows exactly the same procedure as
when θ2 is given. It starts by writing the
loop closure equations with θ2
replacing θ3 as the variable to be r3 cos 3  r1 cos 1  r4 cos 4  r2 cos 2
eliminated. r3 sin 3  r1 sin 1  r4 sin 4  r2 sin 2
 The equations set are of exactly the same
form except that the indices 2 and 3 are
interchanged. Therefore, we can use
r2 cos 2  r1 cos 1  r4 cos 4  r3 cos 3
directly the position solution derived for
the case of known θ2 while r2 sin 2  r1 sin 1  r4 sin 4  r3 sin 3
interchanging the indices 2 and 3.
 Analytical Solution when θ3 is known

 When the coupler angle θ3 is given,

there is an assembly-mode ambiguity
similar to that occurine when θ2 is
given.
 It is necessary to know the
appropriate mode of the linkage
before the analysis is begun;. The
mode is determined by the + or – sign
used for the square root term when
calculating t.
 Once the assembly mode is
determined, it remains the same for
any position of the input link unless
r2 cos 2  r1 cos 1  r4 cos 4  r3 cos 3
the linkage is a class III linkage, and
passes through a singular r2 sin 2  r1 sin 1  r4 sin 4  r3 sin 3
(indeterminate) position .
 Example:
Position Analysis of a Four Bar Linkage
 A four bar linkage with r1 = 1, r2 = 2, r3 = 3.5, r4 = 4, and θ1 = 0, find θ3 and
θ4 for each of the solution branches when the driving crank is in the
positions θ2 = 0, π/2, π,and - -π/2.

A  2 r1r4 cos 1  2 r2 r4 cos  2

A  2(1)( 4)  2( 2)( 4)  8
B  2 r1r4 sin 1  2 r2 r4 sin  2  0
C  r12  r22  r42   r32
 2 r1r2 cos 1 cos  2  sin 1 sin  2 
C  12  2 2  4 2  3.52  2(1)( 2)  4.75
B A2  B 2  C 2
t
AC
0  82  02  4.752
t  0.5049
 8  4.75
 4  2 tan 1  0.5049   53.58
 Example:
Position Analysis of a Four Bar Linkage
 A four bar linkage with r1 = 1, r2 = 2, r3 = 3.5, r4 = 4, and θ1 = 0, find θ3 and θ4
for each of the solution branches when the driving crank is in the positions
θ2 = 0, π/2, π,and - -π/2.
POSITION ANALYSIS FOR A RIGID BODY WHEN
TWO POINTS ARE KNOWN
 Position Analysis for a Rigid Body When
Two Points are Knows
 Given the kinematic properties of one
point on a rigid body and the angular
position, angular velocity, and angular
acceleration of the body, we can
compute the position, velocity, and
acceleration of any defined point on
the rigid body.
 For the rigid body shown. Assume that
A and B are two points attached to an
arbitrary link, say link 5, and a third
point is defined relative to the line
between points A and B by the angle β
and the distance rC/A, which is
represented as r6. Then the position of
point C can be computed directly if rA
and θ5 are known.
 Position Analysis for a Rigid Body When
Two Points are Knows
 The position of point C is given as:
 
     
rC  rA  r6  rA  r6 cos 6i  sin 6 j
where
 6    5
 If θ5 If is known, the equation above can be
used to calculate the location of point C directly.
 We often know the position vectors of two
points A and B on the rigid body. The value of θ5
can be calculated from the from the x and y
components of the position vectors for A and B
using

 rB y  rAy 
5  tan 
1 
 rB  rA 
 x x 
POSITION ANALYSIS FOR A SLIDER-CRANK
MECHANISM
 HW#2
(Prob. 4-6 and 4-7, with data in row (a)
Table P4-1).
(4-10, 4-12, 4-18(f))
 Position Analysis for a Slider-Crank
Mechanism

 Next to the four-

bar linkage, the
slider-crank is
probably the
most commonly
used mechanism.
 It appears in all
internal
combustion
engines and in
numerous
industrial and
household
devices.
 Position Analysis for a Slider-Crank
Mechanism
 To develop the closure
equations, locate vectors r2
and r3 as was done in the
regular four-bar linkage.
 One of the other two
vectors is taken in the
direction of the slider
velocity and the other is
taken perpendicular to the r3
velocity direction. The loop
r4
closure equation is
rp
     r2
rp  r2  r3  r1  r4 r1
 Position Analysis for a Slider-Crank
Mechanism
 Writing the loop closure
equation in terms of the vector
angles, we obtain
r3
    r4
r2  r3  r1  r4
    rp
r2u2  r3u 3  r1u1  r4u4 r2
   
   
r2 cos  2i  sin  2 j  r3 cos 3i  sin 3 j r1

   
   
 r1 cos 1i  sin 1 j  r4 cos  4i  sin  4 j
where
 4  1   2
 Two scalar equations are
r2 cos 2  r3 cos 3  r1 cos 1  r4 cos 4
produced. The equations can
be solved for two unknowns. r2 sin 2  r3 sin 3  r1 sin 1  r4 sin 4
 Position Analysis for a Slider-Crank
Mechanism
 Unlike the four-bar linkage loop
closure equations where all link r2 cos 2  r3 cos 3  r1 cos 1  r4 cos 4
lengths are known, the piston r2 sin 2  r3 sin 3  r1 sin 1  r4 sin 4
displacement r1 is an unknown in the
slider-crank equation. The constraint
resulting from a known r1 is replaced
by the constraint θ4 = θ1 + π/2.
r3
 The following problem statements
r4
are possible
rp
 Crank angle θ2 given , find θ3 r2
and r1 r1

 Piston displacement r1 given,

find θ2 and θ3
 Coupler angle θ3 given, find θ2
and r1.
 Analytical Solution when θ2 is known

 The analytical solution procedure

follows the same major steps as in the r2 cos 2  r3 cos 3  r1 cos 1  r4 cos 4
four-bar linkage case. To eliminate θ3 , r2 sin 2  r3 sin 3  r1 sin 1  r4 sin 4
first isolate it in the loop closure
equations as follows:

r3 cos 3  r1 cos 1  r4 cos 4  r2 cos 2 r3

r3 sin 3  r1 sin 1  r4 sin 4  r2 sin 2 r4
rp
r2
 Squaring both sides of both equations r1
and using the identity sin 2   cos2   1
we obtain

r32  r12  r22  r42  2r1r4 cos 1 cos 4  sin 1 sin 4 

 2r1r2 cos 1 cos 2  sin 1 sin 2   2r2 r4 cos 2 cos 4  sin 2 sin 4 
 Analytical Solution when θ2 is known
r32  r12  r22  r42  2r1r4 cos 1 cos 4  sin 1 sin 4 
 2r1r2 cos 1 cos 2  sin 1 sin 2   2r2 r4 cos 2 cos 4  sin 2 sin 4 

 The expression gives r1 in a

quadratic expression
involving θ2 and the other r3
known variables. To obtain
a solution, collect together r4
the coefficients of the rp
different powers of r1 as r2
r1
follows
r12  Ar1  B  0
where
A  2r4 cos 1 cos  4  sin 1 sin 4   2r2 cos 1 cos  2  sin 1 sin 2 
B  r22  r42  r32  2r2 r4 cos 2 cos 4  sin  2 sin 4 
 Analytical Solution when θ2 is known
r12  Ar1  B  0
where
A  2r4 cos 1 cos  4  sin 1 sin 4   r2 cos 1 cos 2  sin 1 sin 2 
B  r22  r42  r32  2r2 r4 cos 2 cos 4  sin  2 sin 4 
 The expression for A could
be simplified by noting that
r3
cos 1 cos  4  sin 1 sin 4 
 cos(1   4 )  cos(   2)  0 r4
giving rp
r2
A   r2 cos 1 cos  2  sin 1 sin  2  r1
 Analytical Solution when θ2 is known
 Solving for r1 gives
r12  Ar1  B  0
where  A A2  4 B
A   r2 cos 1 cos  2  sin 1 sin  2 
r1 
2
B  r22  r42  r32  The ± sign indicates two
 2r2 r4 cos  2 cos  4  sin  2 sin  4  possible assembly modes
for the same θ2.
 Analytical Solution when θ2 is known

 Because of the square A   r2 cos 1 cos  2  sin 1 sin  2 

root in the expression for B  r22  r42  r32
r1, it becomes complex  2 r2 r4 cos  2 cos  4  sin  2 sin  4 
when A2 < 4B.
 If this happens, the
 A A2  4 B
mechanism cannot be r1 
assembled in the 2
position specified.
 Analytical Solution when θ2 is known

 Once a value for r1 is determined, the A   r2 cos 1 cos  2  sin 1 sin  2 

closure equations can be solved for B  r22  r42  r32
θ3 to give  2 r2 r4 cos  2 cos  4  sin  2 sin  4 
r3 cos 3  r1 cos 1  r4 cos  4  r2 cos 2
r3 sin 3  r1 sin 1  r4 sin 4  r2 sin  2
 A A2  4 B
 r sin 1  r4 sin 4  r2 sin 2  r1 
3  tan  1
1
 2
 r1 cos 1  r4 cos 4  r2 cos 2 

 As in the case of the four-bar linkage, r3

it is essential that the signs of the r4
numerator and denominator in the rp
above expression be maintained to r2
r1
determine the quadrant in which the
angle θ3 lies.
 Analytical Solution when θ2 is known

 Once all of the angular quantities are A   r2 cos 1 cos  2  sin 1 sin  2 
known, it is relatively straightforward B  r22  r42  r32
to compute the coordinates of any  2 r2 r4 cos  2 cos  4  sin  2 sin  4 
point on the vector loops used in the
closure equations.
 In particular, the coordinates of Q  A A2  4 B
r1 
and P are given by 2

 
   
rQ  r2  r2 cos  2i  sin  2 j
r3
   
      
rp  r2  r3  r2 cos  2i  sin  2 j  r3 cos 3i  sin 3 j r4
rp
r2
r1
 Analytical Solution when r1 is known

 The analytical solution procedure

follows the same major steps as in the
previous case.
r12  r22  r42  r32  2r1r4 cos 1 cos 4  sin 1 sin 4 
 2r1r2 cos 1 cos 2  sin 1 sin 2   2r2 r4 cos 2 cos 4  sin 2 sin 4   0

 After eliminating θ3 from the loop

closure equation, we simplify the
resulting equation as follows r3
r4
Acos2  B sin 2  C  0 rp
r2
 where r1
A  2r1r2 cos 1  2r2 r4 cos  4
B  2r1r2 sin 1  2r2 r4 sin  4
C  r12  r22  r42  r32  2r1r4 cos 1 cos  4  sin 1 sin  4 
 Analytical Solution when r1 is known
A  2r1r2 cos 1  2r2 r4 cos  4
Acos2  B sin 2  C  0
B  2r1r2 sin 1  2r2 r4 sin  4
 The trigonometric half-angle identities C  r12  r22  r42  r32
can be used to solve the equation above  2r1r4 cos 1 cos  4  sin 1 sin  4 
for θ2 . Using these identities and
simplifying gives 2 tan  2 2 
sin  2 
1  tan 2  2 2 
C  At 2  2 Bt  ( A  C )  0
1  tan 2  2 2 
where cos  2 
1  tan 2  2 2 
t  tan  2 2 

 Solving for t gives

r3
 2 B  4 B  4C  AC  A
2
t r4
2C  A rp
B A2  B 2  C 2 r2
t r1
AC
and  2  2 tan 1 t 
 Analytical Solution when r1 is known
A  2r1r2 cos 1  2r2 r4 cos  4
 2 B  4 B 2  4C  AC  A B  2r1r2 sin 1  2r2 r4 sin  4
t
2C  A
C  r12  r22  r42  r32
B A  B C
2 2 2
t
AC  2r1r4 cos 1 cos  4  sin 1 sin  4 
and  2  2 tan 1 t 

 The ± sign indicates two possible

assembly modes. Typically, there
are two valid solutions for θ2.
 Because tan-1 has a valid range
of π/2 ≤ tan-1 (t) ≤ –π/2, θ2 will
have the range –π ≤ θ2 ≤ –π.
 Analytical Solution when r1 is known
A  2r1r2 cos 1  2r2 r4 cos  4
 2 B  4 B 2  4C  AC  A B  2r1r2 sin 1  2r2 r4 sin  4
t
2C  A
C  r12  r22  r42  r32
B A  B C
2 2 2
t
AC  2r1r4 cos 1 cos  4  sin 1 sin  4 
and  2  2 tan 1 t 

 Because of the square root

in the equation for the
variable t , it becomes
complex when (A2 + B2) < C2
 If this happens, the
mechanism cannot be
assembled for the specified
value of r1 .
 Analytical Solution when r1 is known
A  2r1r2 cos 1  2r2 r4 cos  4
 2 B  4 B 2  4C  AC  A B  2r1r2 sin 1  2r2 r4 sin  4
t
2C  A
C  r12  r22  r42  r32
B A  B C
2 2 2
t
AC  2r1r4 cos 1 cos  4  sin 1 sin  4 
and  2  2 tan 1 t 

 Knowing θ2 , the closure

equations can be solved
for θ3. As in the previous
cases, it is essential that
the signs of the numerator
and denominator be
maintained to determine
the quadrant in which the
angle θ3 lies.
 Analytical Solution when θ3 is known

 When the coupler angle θ3 is the input link,

the analytical procedure for solving the
position equations follows the same major
steps as when θ2 is the input.
 we can assume that θ1 , θ3, θ3 are known and
that θ2 and r1 are to be found. The link
lengths r2 and r2 and the angles θ1, and θ4 are
constants.
 For the position analysis, again begin with the
loop closure equations and isolate the terms
with θ2 The resulting equations of the same
form obtained when θ2 is the input except r2 cos 3  r1 cos 1  r4 cos 4  r3 cos 2
that the indices 2 and 3 are interchanged. r2 sin 3  r1 sin 1  r4 sin 4  r3 sin 2
Therefore, we can use directly the position
solution derived for the case when θ2 is the
input and interchange the indices 2 and 3.
POSITION ANALYSIS FOR AN INVERTED
SLIDER-CRANK MECHANISM
 Position Analysis for an Inverted Slider-
Crank Mechanism

 An inversion of the fourbar

slider-crank linkage in
which the sliding joint is
between links 3 and 4 is
shown. The slider block
has pure rotation about
point O4.
 Note that the angle
between link 3 and link 4 is
fixed and is equal to π/2,
r3
and that link 1 is assumed
to be aligned with the x- r4
axis of the reference r2 r1
coordinate, θ1 = 0.
 Position Analysis for an Inverted Slider-
Crank Mechanism
 To develop the closure equations,
locate vectors r2 and r3 as was
done in the original slider-crank
linkage. The magnitude of r3 is
variable depending on the
location of the slider.
r3
 Vectors r1 is taken in the direction
of the ground link, and vector r4 is r4
r2 r1
taken perpendicular to r3. The
loop closure equation is

   
r2  r3  r1  r4
 Position Analysis for an Inverted Slider-
Crank Mechanism
 Writing the loop closure
equation in terms of the vector
angles, we obtain

   
r2  r3  r1  r4
   
r2u2  r3u 3  r1u1  r4u4 r3
   
   
r2 cos  2i  sin  2 j  r3 cos 3i  sin 3 j r4
   
    r2
 r1 cos 1i  sin 1 j  r4 cos  4i  sin  4 j r1
where
4  3   2
 Two scalar equations are
r2 cos 2  r3 cos 3  r1 cos 1  r4 cos 4
produced. The equations can
be solved for two unknowns. r2 sin 2  r3 sin 3  r1 sin 1  r4 sin 4
 Position Analysis for an Inverted Slider-
Crank Mechanism
 The piston displacement r3 is an
unknown in the equation. The cos 4   sin 3 cos 1  1
constraint resulting from a known r3 sin 4  cos 3 sin 1  0
is replaced by the constraint θ4 = θ3
+ π/2.
 The following problem statements
are possible r3
r4
 Crank angle θ2 given , find θ4 r2
and r3 r1

 Piston displacement r3 given,

find θ2 and θ4 r2 cos  2  r3 sin 4  r1  r4 cos 4
 Output angle θ4 given, find θ2 r2 sin  2  r3 cos 4  r4 sin  4
and r3.
 Analytical Solution when θ2 is known

 The analytical solution procedure r2 cos  2  r3 sin 4  r1  r4 cos 4

follows the same major steps as in the
r2 sin  2  r3 cos 4  r4 sin  4
non-inverted slider crank. To eliminate
θ4 , first isolate it in the loop closure
equations as follows:

r4 cos  4  r3 sin 4  r2 cos  2  r1

r4 sin  4  r3 cos 4  r2 sin  2

r3
 Squaring both sides of both equations
and using the identity sin 2   cos2   1 r4
r2 r1
we obtain
r42  r32  r12  r22  2r1r2 cos  2
 Analytical Solution when θ2 is known

r2 cos  2  r3 sin 4  r1  r4 cos 4

 The equation can be solved for
r3, which is the one unknown. r2 sin  2  r3 cos 4  r4 sin  4

 Substituting the resulting r3

value in the first closure r42  r32  r12  r22  2r1r2 cos  2
equation, we obtain an
expression with only θ3
unknown
r2 cos2  r3 sin 4  r1  r4 cos4
r3
 The above expression can be
solve using the previous half r4
angle identities r2 r1
 Trigonometric Solution when θ2 is known

 The problem could be

solved using
trignonometry by
solving first for the
length of link O4A from r3
the triangle O2AO4, of
which two sides and an r4
angle are known. r2 r1
 Using length of link
O4A and the triangle
ABO4 the length r3 and
θ4 could be found. O4 A2  r12  r22  2r1r2 cos 2
O4 A2  r12  r32
 Analytical Solution when θ2 is known

r12  r22  r32  r42  2r2 r3 cos2 cos 3  sin 2 sin 3 

 2r1r2 cos 1 cos 2  sin 1 sin 2   2r1r3 cos1 cos 3  sin 1 sin 3   0
 The expression can be seen to be the
same as that obtained for a non-
inverted slider-crank when r1 is known
with interchanging the indices 1 and 2
and the indices 3 and 4.
r3

r4
r2 r1
TRANSMISSION ANGLES
 Analytical Solution when θ3 is known

 The transmission angle μ is defined

as the angle between the output
link and the coupler of a four-bar
mechanism. It is usually taken as
the absolute value of the acute
angle of the pair of angles at the
intersection of the two links and
varies continuously as the linkage
goes through its range of motion.
 The transmission angle is considered
a measure of the quality of force
transmission at the joint. A
transmission angle value close to
π/2 is desired, and a value of 0 or is
avoided.