Chapter
ANALYTICAL LINKAGE
SYNTHESIS
TOPIC/PROBLEM MATRIX
SECT TOPIC PROBLEMS:
5.3. Two-Position Motion Generation by
Analytical Synthesis 5-1, 5-2, 5-8, 6-9, 5-12, 5-13, 5-16, 5-17, 5-21,
5-22, 6-23
5.8 Three-Position Motion Generation by
Analytical Synthesis 5-3, 5-10, 5-14, 5-18, 5-24, 5-25, 5-27, 5-28,
5:31, 5-32, 5-34, 5:37, 5-38, 5-39, 5-41, 5-42,DESIGN OF MACHINERY SOLUTION MANUAL 5-1-1
8S PROBLEM 5-1
Statement: Design afourbar mechanism to give the two positions shown in Figure P3-1 of output rocker
‘motion with no quick-retun, (See Problem 3-3).
Given: Coordinates of the points C), Dy, Co, and Dp with respect to C,:
Cix= 0.0 Dix i= 1.721 C2y= 2.656 Dp := 5.065
Cy= 09 Diy =-1.150 Coy 0.751 Day = -0.281
‘Two argument inverse tangent —atan2x,y) = |return O5- if (x= 0A y> 0)
return 15-2 if @=0Ay<0)
return aw((2)) fx>0
(2) + oe
Assumptions: Use the pivot point between links 3 and 4 (C and C> )as the precision points P and P2. Define
Position vectors in the global frame whose origin is at C,
Solution: See solution to Problem 3-3 and Mathcad file POSO1.
1. Note that this is two-position function generation (FG) problem because the output is specified as an angular
displacement of the rocker, link 4. See Section 5.13 which details the 3-position FG solution. See also Section
5.3 in which the equations for the two-position motion generation problem are derived. These are really the
same problem and have the same solution. ‘The method of Section 5.3 will be used here.
2. Two solution methods are derived in Section 5.3 and are presented in equations 5.7 and 5.8 for the left dyad and
equations 5.11 and 5.12 forthe right dyad. ‘The first method (equations 5.7 and 5.11) looks lke te better one to
se in this case since it allows us to choose the link’s angular positions and excursions and solve forthe lengths
cof links 2 and 3 (w and). Unfortunately, this method fails inthis problem because of the requirement for a
nnon-quick-return Grashof linkage, which requires the angular displacement of link 3 in going from position 1 to
position 2 to be zero (a = 0) causing a divide-by-zero error in equations 5.74,
3. Method 2 (equations 5.8 and 5.12) requires the choosing of two angles and a length for each dyad.
4. To obtain the same solution as was done graphically in Problem 3-4, we need to know the location of the fixed
pivot Og with respect tothe given CD. While we could take the results from Problem 3-3 and use them here to
establish the location of O,, that won't be done. Instead, we will use the point C’as the joint between links 3 and
4 as well as the precision point P.
5. Define the position vectors R and R and the vector Py using Figure 5-1 and equs
Che Cox Pais
Ris| :
Cy Cry, Paty
Poiy = 0.751
TF
pai (Paix + Paty p21 = 2.760
6. From the trigonometric relationships given in Figure 5-1, determine 8. From the requirement for a
non-quick-return, 0.2:= 0.
uan(P21x,P21y)
R2-RI— Pix = 2.656
82
15.789 degDESIGN OF MACHINERY SOLUTION MANUAL 5-1-2
7. From a graphical solution (see figure below), determine the values necessary for input to equations 5.8.
5.000 Bas
80-deg
Solve for the WZ dyad using equations 5
Zip= 4811 Zyy = 2sinld)
A= ~2.000 D:= sina) D = 0,000
B= 0.000 B= prvcos(f:) B= 2656
c= 0.000 Fe papsiég) P= -02751
MC2jq + De2jy + 6) + B-CZy ~ DZin + F)
Wes dee Wyp= 1328
A(-C-Zyy - D-Zjx + F) + B(CZ}x - D-Zy ~ E)
Wyre LLL = Dn + F) + BCZix~ Ply), _ garg
i” 2A ”
we 1380
@ = 164.211 deg
‘This isthe expected value of w (one half of p21) based on the desig choices made inthe graphical solution and
the assumptions made in this problem.
9. From the graphical solution (see figure above), determine the values necessary for input to equations 5.12.
s=0 21 S6S19-deg
10. Solve for the US dyad using equations 5.12.
Sty = scos(y) S}x = 0.000
O-deg
= ssiny)
.000