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Force Analysis
Force Analysis
acceleration of link i
px
a acceleration of point P in x direction
py
a acceleration of point P in y direction
1
C cosine difference
3 2 1 3 2 1
,E ,E ,E ,D ,D D link constants
{ } d local displacement vector
i
d distance of center of each lumped mass
E
i
Youngs modulus of link i
x
F total force in x direction in Equation (2.47)
y
F total force in y direction in Equation (2.48)
inertia
i
F
3
O
2
4
2
r
3
r
4
r
1
r
O
4
A
B
5
0 r ) sin (cos r
) sin (cos r ) sin (cos r
1 4 4 4
3 3 3 2 2 2
= +
+ + +
u u
u u u u
i
i i
(2.3)
Equation 2.3 can be resolved into real and imaginary parts as:
0 r cos r cos r cos r
1 4 4 3 3 2 2
= + u u u
(2.4)
0 sin r sin r sin r
4 4 3 3 2 2
= + u u u
(2.5)
Taking the square of both sides of Equations 2.4 and 2.5 and summing them, the
following equation is found:
2
1 4 4 2 2
2
4 4 2 2
2
3
) r cos r cos r ( ) sin r sin r ( r + + + + = u u u u
(2.6.a)
and by arranging:
) cos cos sin (sin r r 2
cos r r 2 cos r r 2 r r r r
4 2 4 2 4 2
4 1 4 2 1 2
2
1
2
4
2
2
2
3
u u u u
u u
+
+ + + =
(2.6.b)
is obtained. To simplify the Equation 2.6.b, the constants K
1
, K
2
, and K
3
are defined in
terms of the constant link lengths in the equations:
2
1
1
r
r
K =
(2.7)
4
1
2
r
r
K =
(2.8)
4 2
2
1
2
4
2
3
2
2
3
2 r r
r r r r
K
+ +
=
(2.9)
4 2 4 2 3 2 2 4 1
sin sin cos cos K cos K cos K u u u u u u + = + (2.10)
6
Then Freudenstein's equation (Todorov 2002) is obtained as follows:
) cos( K cos K cos K
4 2 3 2 2 4 1
u u u u = +
(2.11)
In order to reduce the Equation 2.11 to a more tractable form for solution, the
following half angle identities are substituted:
)
2
( tan 1
)
2
tan( 2
sin
4 2
4
4
u
u
u
+
=
(2.12)
)
2
( tan 1
)
2
( tan 1
cos
4 2
4 2
4
u
u
u
+
=
(2.13)
Then, the following equation which is quadratic in terms of ) 2 tan(
4
u is found:
0 )
2
tan( )
2
( tan
4 4 2
= + + C B A
u u
(2.14)
where
3 2 2 2 1 2
K cos K cos K cos + = u u u A
(2.15)
2
sin 2 u = B
(2.16)
3 2 2 1
K cos ) 1 K ( K + + = u C
(2.17)
4
u expressed in Equation 2.14 can be found by solving the quadratic equation
as:
)
2
4
( tan 2
2
1
4
A
AC B B
=
u
(2.18)
7
where the plus and minus sign refers to two different configuration of the mechanism.
In order to make velocity analysis of four-bar linkage, the derivation of Equation
2.2 is considered since r
1
is constant and 0
1
= e , the aformentioned equation is found:
0 r r r
4 3 2
4 4 3 3 2 2
= +
u u u
e e e
i i i
e i e i e i
(2.19)
Resolving into real and imaginary parts, the following equations are written:
0 cos r cos r cos r
4 4 4 3 3 3 2 2 2
= + u e u e u e
(2.20)
and
0 sin r sin r sin r
4 4 4 3 3 3 2 2 2
= + u e u e u e
(2.21)
Then velocity equations are obtained as follows:
) sin(
) sin(
r
r
4 3
2 4
3
2 2
3
u u
u u e
e
=
(2.22)
) sin(
) sin(
r
r
3 4
3 2
4
2 2
4
u u
u u e
e
=
(2.23)
In order to make acceleration analysis of four-bar linkage, the derivation of
Equation 2.19 is taken and the following equation is found:
0 r r r
r - r r -
4 4 3
3 2 2
4 4
2
4 4 3 3
2
3 3 2 2
2
2 2
= + +
+
u u u
u u u
o e o
e o e
i i i
i i i
e i e e i
e e i e
(2.24)
Resolving into real and imaginary parts, the following equations are written:
0 sin r cos r sin r
cos r - sin r cos r -
4 4 4 4
2
4 4 3 3 3
3
2
3 3 2 2 2 2
2
2 2
= + +
u o u e u o
u e u o u e
(2.25)
and
8
0 cos r sin r cos r
sin r - cos r sin r -
4 4 4 4
2
4 4 3 3 3
3
2
3 3 2 2 2 2
2
2 2
= + +
+
u o u e u o
u e u o u e
(2.26)
The following parameters are defined:
4
2
4 4 3
2
3 3 2 2 2 2
2
2 2 1
cos r cos r - sin r cos -r D u e u e u o u e + =
(2.27)
3 3 2
sin -r D u =
(2.28)
4 4 3
sin r D u =
(2.29)
4
2
4 4 3
2
3 3 2 2 2 2
2
2 2 1
sin r sin r - cos r sin -r E u e u e u o u e + + =
(2.30)
3 3 2
cos r E u =
(2.31)
4 4 3
cos r E u =
(2.32)
Therefore, Equation 2.25 and 2.26 are written as:
0 D D D
4 3 3 2 1
= + + o o
(2.33)
0 E E E
4 3 3 2 1
= + + o o
(2.34)
Then, acceleration equations are obtained as follows:
3 2 3 2
1 3 3 1
3
D E E D
E D E D -
+
= o
(2.35)
3 2 3 2
1 2 2 1
4
D E E D
D E D E -
+
= o
(2.36)
9
By carrying out the substitution and simplification, angular acceleration
expressions of link 3 and link 4 are found as (Sylemez 1999):
) sin( r
r ) cos( r ) sin( r ) cos( r
3 4 3
2
4 4 3 4
2
3 3 4 2 2 2 4 2
2
2 2
3
u u
e u u e u u o u u e
o
+ +
=
(2.37)
) sin( r
r ) cos( r ) sin( r ) cos( r
3 4 4
2
3 3 3 4
2
4 4 4 2 2 2 3 2
2
2 2
4
u u
e u u e u u o u u e
o
+ +
=
(2.38)
Figure 2.2. Four-bar mechanism showing the centers of gravity of links
The centers of gravity of the links are shown in Figure 2.2. Accelerations of the
centers of gravity can be found using the standard kinematic relationships as follows:
2 2 2 2
2
2 2 G2x
sin g cos a u o u e = g
(2.39)
2 2 2 2
2
2 2 G2y
cos g sin a u o u e + = g
(2.40)
3 3 3 3
2
3 3 2 2 2 2
2
2 2 G3x
sin g cos sin r cos r a u o u e u o u e = g
(2.41)
3 3 3 3
2
3 3 2 2 2 2
2
2 2 G3y
cos g sin cos r sin r a u o u e u o u e + + = g
(2.42)
4 4 4 4
2
4 4 G4x
sin g cos a u o u e = g
(2.43)
O
2
O
4
A
B
G
2
G
3
G
4
g
2
g
3
g
4
Y
X
10
4 4 4 4
2
4 4 G4y
cos g sin a u o u e + = g
(2.44)
2.2. Kinetics of Rigid Four-Bar Mechanism
Kinetic analysis of rigid four-bar mechanism is based on the accelerations of the
centers of gravity given by Equations 2.39 to 2.44.
Inertial force and inertial moment of the link i are given by
i i
inertia
i
a m F
=
(2.45)
i Gi
inertia
i
I M o
=
(2.46)
It is well-known that inertial force and inertial moment represent the resistence
to linear and angular accelerations, respectively.
For dynamic force analysis of four-bar mechanism under external force or/and
moment, dynamic equilibrium conditions for any link i are given as:
=
ix i x
a m F
(2.47)
=
iy i y
a m F
(2.48)
=
i Gi z
I M o
(2.49)
Considering the dynamic equilibrium conditions for each link, the unknown
forces can be found using the standard procedure which are available in related
textbooks.
2.3. Equations of Motion
Lagrangian dynamic formulation is employed to derive equation of motion of
rigid and flexible four-bar mechanism.
11
2.3.1. Lagrangian Method for Rigid Four-Bar Mechanism
The four-bar mechanism shown in Figure 2.2 is considered again. The total
kinetic energy of the mechanism is written below:
=
+ =
3
1
2 2
) (
2
1
i
i Gi Gi i
I v m T e
(2.50)
Then the total potential energy of the system is written as follows:
G4 4 G3 3 G2 2
y m y m y m V g g g + + =
(2.51)
The Lagrangian of the entire system can be written as:
V T L =
(2.52)
Since the four-bar mechanism has one degree of freedom, all parameters can be
written in terms of
2
u . Therefore, the equation of motion by using Lagrange equation
can be expressed as:
ext
T
L L
dt
d
=
c
c
|
|
.
|
\
|
c
c
2 2
u e
(2.53)
It can be found in compact form as (Tang 2006):
2 2 2 2 2
) , ( ) (
u
e u o u T V M = +
(2.54)
where
| |
2 1 2
2
3 4
2
2 3 2 2
2 ) ( S C P S J S J J M + + + = u
(2.55)
12
2
4
3
3
2
2
3
1
2
2
1
2 2
4
2
3
3
2
2
2
2
1 2
4
3
3
3
3
2
2
3
3 4
4
2
3
3
2
2
2
2
2 3
2 2
2
2
) , ( e
u u u
u u
u u u
u u u
u u u
e u
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
c
c
c
c
c
c
|
|
.
|
\
|
c
c
+
c
c
+
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
|
|
.
|
\
|
c
c
+
c
c
+
c
c
=
G
S
G
S
G
C
S
C
S P
S
S
S
S
S
C P
S
S
S
S
S
S J
S
S
S
S
S
S J
V
(2.56)
in which
) (
2
1
2
2 3 2
2
2 2 2
r m I g m J
G
+ + =
(2.57)
) (
2
1
3
2
3 3 3 G
I g m J + =
(2.58)
) (
2
1
4
2
4 4 4 G
I g m J + =
(2.59)
3 2 3 2
g r m P =
(2.60)
) cos( ) , (
3 2 3 2 1
u u u u = C
(2.61)
4 4 4 3 3 3 2 2 3 2 2 4 3 2
sin m sin m sin ) m m ( ) , , ( u u u u u u gg gg gr gg G =
(2.62)
) sin(
) sin(
) , , (
4 3 3
2 4 2
2
3
4 3 2 2
u u
u u
u
u
u u u
=
c
c
=
r
r
S
(2.63)
) sin(
) sin(
) , , (
4 3 4
2 3 2
2
4
4 3 2 3
u u
u u
u
u
u u u
=
c
c
=
r
r
S
(2.64)
13
2.3.2. Lagrangian Method for Flexible Four-Bar Mechanism
The deformed and undeformed configuration of flexible four-bar mechanism is
shown in Figure 2.3 (Yu and Xi 2003).
Figure 2.3. Deformed and undeformed configurations of flexible four-bar
mechanism.
The position of any arbitrary point P on any link j shown in Figure 2.4 is written
in the body-fixed coordinate system xoy as (Yu and Xi 2003):
Figure 2.4. Displacement of any arbitrary point P.
{ }
v
u x
e e R R
i
i i
i y, i x, i 0, i
)
`
+
+ =
(2.65)
Y
X
x
i
y
i
o
i
u
i
v
i
P
'
P
Deformed
Configuration
Undeformed
Configuration
14
where
i 0,
R
, and
i y,
e
are unit
vectors in the
i
x and
i
y directions, respectively.
The absolute velocity of point P' can be written in body-fixed coordinate system
as follows:
)
`
)
`
+
+
)
`
=
i
i
i i
i
y i, o,
x i, o,
i
v
u
) u x (
v -
v
v
R
i
i
e
e
(2.66)
where
x i, o,
v and
y i, o,
v are the x and y velocity components of the reference point
i
o .
i
u
and
i
v are the time derivatives of lateral and longitudinal deflections.
The kinetic energy of the link i is given by:
}
=
i
r
0
i i
R R
2
1
i i i i
dx A T
(2.67)
The strain energy of the link i is given by:
} } |
|
.
|
\
|
c
c
+
|
|
.
|
\
|
c
c
=
i i
r
0
2
2
r
0
2
2
1
2
1
i
i
i i i
i
i i i
dx
x
v
I E dx
x
u
A E V
(2.68)
The work potential of the axial force for any link i is given by:
} |
|
.
|
\
|
c
c
=
i
r
0
2
2
1
i
i
i i
dx
x
v
P W
(2.69)
where
i
P is the axial force acting on the link i.
The lagrangian for link i may be written as:
15
i i i i
W V T L =
(2.70)
Depending on the selected generalized coordinate, equation of motion is found.
For example, using the finite element discretization technique, equation of motion for
flexible mechanism can be found. This is given in next section.
2.4. Finite Element Model for Flexible Four-Bar Mechanism
The finite element model shown in Figure 2.5 is used to model any link of the
flexible four-bar mechanism (Turcic and Midha 1984).
{ } | |{ }
e
u d N =
(2.71)
where { } d is the local displacement vector of any point on element and { }
e
u is the nodal
displacements vector including nodal displacements shown in Figure 2.5.
Figure 2.5. A finite element for flexible link
{ } | |
T
v u v u
2 2 2 1 1 1
e
u u u =
(2.72)
The equation of motion for a single finite element of the mechanism is derived
by using Lagrangian equation:
Y
X
0
u
1
v
1
2
u
2
v
2
y
x
16
{ } { } { }
{ } Q
u
) (
u
) (
u
e e e
=
c
c
+
c
c
|
|
.
|
\
|
c
c PE KE KE
dt
d
(2.73)
where { } Q are the generalized forces acting on elements.
The position of any point in the finite element { } R shown in figre 2.6 can be
written as:
{ } { } | |{ } d R R
0 m
T + =
(2.74)
where { }
0
R is the position of the origin of the local (x,y) coordinate system, | |
m
T is the
transformation matrix between the local (x,y) coordinate system and the reference (X,Y)
coordinate system which is given by:
Figure 2.6. Positions of any point in terms of { } d
| |
(
=
u u
u u
cos sin
sin cos
m
T
(2.75)
The kinetic energy of the element is given below:
{ } { }
}
= dV R R KE
T
2
1
(2.76)
Y
X
x
y
{ }
0
R
{ } d
{ } R
17
The equation of motion of a single finite element is expressed as:
| |{ } | |{ } { } { } { } | |{ } | |{ } | |{ }
e e e
0
e
ex
e
1
e
e1
e e
u - u 2 U Q Q Q u u
e
acc
e
vel
e e e
m m m k m
+ + = +
(2.77)
where
| |
(
(
(
(
(
(
(
(
=
105 / 210 / 11 0 140 / 420 / 13 0
210 / 11 35 / 13 0 420 / 13 70 / 9 0
0 0 3 / 1 0 0 6 / 1
140 / 420 / 13 0 105 / 210 / 11 0
420 / 13 70 / 9 0 210 / 11 35 / 13 0
0 0 6 / 1 0 0 3 / 1
2 2
2 2
L L L L
L L
L L L L
L L
AL m
e
(2.78)
| |
(
(
(
(
(
(
(
(
=
L EI L EI L EI L EI
L EI L EI L EI L EI
L EA L EA
L EI L EI L EI L EI
L EI L EI L EI L EI
L EA L EA
k
x x
x x
e
/ 4 / 6 0 / 2 / 6 0
/ 6 / 12 0 / 6 / 12 0
0 0 / 0 0 /
/ 2 / 6 0 / 4 / 6 0
/ 6 / 12 0 / 6 / 12 0
0 0 / 0 0 /
2 2
2 3 2 3
2 2
2 3 2 3
(2.79)
| | | | | | | || |dV N T T N m
m
T
m
T
e
vel
}
=
(2.80)
| | | | | | | || |dV N T T N m
m
T
m
T
e
acc
}
=
(2.81)
{ }
e
e1
Q is the force vector having the forces acting on the elements from adjacent
elements, { }
e
1
Q is the force vector due to the adjacent links, { }
e
ex
Q is the external force
vector acting on the element. | |{ } u 2
e
e
vel
m has the forces resulting from Coriolis
acceleration and | |{ }
e
u
e
acc
m has the forces resulting from tangential and normal
accelerations.
The equation of motion of links is expressed as (Turcic and Midha 1984):
| |{ } | |{ } { } { } | |{ } | |{ } | |{ }
l l l
0
l
ex
l
1
l l
u - u 2 U Q Q u u
l
acc
l
vel
l l l
m m m k m
+ = +
(2.82)
18
The equation of motion of entire mechanism is given by (Turcic and Midha
1984):
| |{ } | |{ } | |{ } { } | |{ } | | | |{ }
| | | |{ } u 2 -
u 2 U Q u u u
0 ex
acc vel
vel
M Md Mdd
M Md M K C M
+ +
+ = + +
(2.83)
where | | C is the viscous damping matrix, { } u is the displacement vector, { } u is the
velocity vector, { } u is the acceleration vector, and { }
0
U
is the rigid body acceleration
vector of the mechanism.
The derivation of equation of motion is based on small strain theory. However
axial force is effective of the stiffness properties of the beam. Using the large strain
theory, the geometric stiffness matrix is found as follows (Turcic and Midha 1984):
| |
(
(
(
(
(
(
(
(
=
15 / 2 10 / 0 30 / 10 / 0
10 / 5 / 6 0 10 / 5 / 6 0
0 0 0 0 0 0
30 / 10 / 0 15 / 2 10 / 0
10 / 5 / 6 0 10 / 5 / 6 0
0 0 0 0 0 0
2 2
2 2
L L L L
L L
L L L L
L L
L
F
k
e
G
(2.84)
where F is axial force acting on element.
The equation of motion given by Equation 2.83 has been modified as (Yang and
Sadler 2000):
| |{ } | | | | ( ){ } | | | | ( ){ } { } | |{ } U F U U 2 U
0 0 0
M M K M C M = + + + +
o e
(2.85)
where
| | | | | | | | | | | | | |
i i
T
i i
T
i i i
T
i
T dx N T T N A T M
~
~
2 2 i
|
.
|
\
|
=
}
e
(2.86)
and
| | | | | | | | | | | | | |
i i
T
i i
T
i i i
T
i
T dx N T T N A T M
~
~
2 2 i
|
.
|
\
|
=
}
o
(2.87)
19
Eigenanalysis is applied to the system having mass and structural stiffness
matrices, due to lack of generalized force vector in free vibration analysis as follows
(Yu and Xi 2003):
| |{ } | |{ } 0 U ) ( U ) (
r 2 r 2
= + u u
r r
K M
(2.88)
From the following equation the natural frequencies and modal vectors can be
obtained for flexible four-bar mechanism:
| |{ } | |{ } X ) ( X ) (
, 2
2
, 2 k r n k r
M K u e u =
(2.89)
20
CHAPTER 3
NUMERICAL EXAMPLES
3.1. Introduction
In this chapter, two example flexible mechanisms are presented for different
loading conditions. The first one is selected for free vibration analysis of flexible four
bar mechanism with different crank angles. In the second example, inertia forces are
considered to find the natural frequencies of the flexible four bar mechanism for
different configurations. The developed procedure in ANSYS is tested by using the
results available in the literature, then some applications are done.
3.2. Kinetics of Four-Bar Mechanism
In this section, kinetic analysis of an example for four-bar mechanism is
presented for rigid and flexible models. Flexible four-bar mechanism is modelled by
using beam finite elements in ANSYS. The following subsections gives the details for
the solution procedure developed in this study.
3.2.1. Rigid Mechanism
Figure 3.1 shows an example for four-bar mechanism modelled by using lamped
parameter approach. The inertia forces given by Equation 2.42 for the lumped masses
can be found by using the acceleration expressions given by Equations 2.36 to 2.41.
Considering these forces, kinetic analysis of rigid four-bar mechanism can be carried
out by using the standard procedure based on the Equation 2.44 to 2.46.
The inertia forces acting on these lumped masses are summarized below:
ix i ix
a m F =
12 ,..., 1 = i
(3.1)
21
iy i iy
a m F =
12 ,..., 1 = i
(3.2)
where
i
a is the acceleration of mass
i
m and can be calculated by using the formulation
given in Equations 2.36 to 2.41.
Figure 3.1. A four-bar mechanism showing lumped masses.
The numerical values of the first mechanism shown in Figure 3.1 are listed
below:
) 1 link of length ( 254 r
1
mm =
) 2 link of length ( 100 r
2
mm =
) 3 link of length ( 4 . 279 r
3
mm =
) 4 link of length ( 7 . 266 r
4
mm =
) and between distance ( 85 . 69 d
4 4
m A mm =
) and between distance ( 7 . 139 d
5 5
m A mm =
) and between distance ( 55 . 209 d
6 6
m A mm =
) and between distance ( 025 . 200 d
9 4 9
m O mm =
) and between distance ( 35 . 133 d
10 4 10
m O mm =
) and between distance ( 675 . 66 d
11 4 11
m O mm =
O
2
O
4
m
2
+m
3
m
5
m
1
m
4
m
6
m
7
+m
8
m
9
m
10
m
11
m
12
A
B
22
In the second mechanism, the numerical values are taken as the same listed
above except r
2
=102 mm.
For the four-bar mechanism shown in Figure 3.1, the acceleration of the lumped
masses are:
2 2 2 2
2
2 2 3x 2x
sin r cos a a u o u e = = r
(3.3)
2 2 2 2
2
2 2 3y 2y
cos r sin a a u o u e + = = r
(3.4)
3 3 4 3
2
3 4 2 2 2 2
2
2 2 4x
sin d cos sin r cos r a u o u e u o u e = d
(3.5)
3 3 4 3
2
3 4 2 2 2 2
2
2 2 4y
cos sin cos r sin r a u o u e u o u e d d + + =
(3.6)
3 3 5 3
2
3 5 2 2 2 2
2
2 2 5x
sin d cos sin r cos r a u o u e u o u e = d
(3.7)
3 3 5 3
2
3 5 2 2 2 2
2
2 2 5y
cos sin cos r sin r a u o u e u o u e d d + + =
(3.8)
3 3 6 3
2
3 6 2 2 2 2
2
2 2 6x
sin d cos sin r cos r a u o u e u o u e = d
(3.9)
3 3 6 3
2
3 6 2 2 2 2
2
2 2 6y
cos sin cos r sin r a u o u e u o u e d d + + =
(3.10)
3 3 7 3
2
3 7 2 2 2 2
2
2 2 8x 7x
sin d cos sin r cos r a a u o u e u o u e = = d
(3.11)
3 3 7 3
2
3 7 2 2 2 2
2
2 2 8y 7y
cos sin cos r sin r a a u o u e u o u e d d + + = =
(3.12)
4 4 9 4
2
4 9 9x
sin cos a u o u e d d =
(3.13)
4 4 9 4
2
4 9 9y
cos sin a u o u e d d + =
(3.14)
23
4 4 10 4
2
4 10 10x
sin cos a u o u e d d =
(3.15)
4 4 10 4
2
4 10 10y
cos sin a u o u e d d + =
(3.16)
4 4 11 4
2
4 11 11x
sin cos a u o u e d d =
(3.17)
4 4 11 4
2
4 11 11y
cos sin a u o u e d d + =
(3.18)
3.2.2. Flexible Mechanism
The flexible four-bar mechanism selected as an example earlier modelled by
BEAM4 and COMBIN7 elements in ANSYS (Madenci and Guven 2006). The finite
element model is shown in Figure 3.2. Element numbers are shown in square boxes.
Figure 3.2. Finite element model of flexible four-bar mechanism.
11
2 1
3
4
5
6
7 8
9
10
11
12
10
1
2
3
4
5
6
7
8
9
24
The cross-sectional dimensions and material properties of the first flexible four-
bar mechanism are listed below (Yu and Xi 2003):
) links the of width ( 6 . 1 mm b =
) links the of height ( 4 . 25 mm h =
) elasticity of modulus ( 200000 E MPa =
) density ( / 10 * 8 . 7
3 9
mm tonnes
=
) ratio s poisson' ( 3 . 0 = v
For the second mechanism, the cross-sectional dimensions and material properties are
given as (Yu and Xi 2003):
) link2 the of width ( 24 . 4
2
mm b =
) link2 the of height ( 4 . 25
2
mm h =
) link3 the of width ( 6 . 1
3
mm b =
) link3 the of height ( 4 . 25
3
mm h =
) link4 the of width ( 6 . 1
4
mm b =
) link4 the of height ( 4 . 25
4
mm h =
) elasticity of modulus ( 68900 E MPa =
) link2 of density ( / 10 * 698 . 2
3 9
2
mm tonnes
=
) link3 of density ( / 10 * 923 . 2
3 9
3
mm tonnes
=
) link4 of density ( / 10 * 923 . 2
3 9
4
mm tonnes
=
) ratio s poisson' ( 3 . 0 = v
The boundary conditions of the mechanism are applied as:
- Node 1 is clamped due to the input torque applied to link 2.
- Node 12 is pinned.
25
3.3. Vibrations of the Flexible Mechanism
3.3.1. Natural Frequencies of Mechanism without Internal Force
Natural frequencies of flexible four-bar mechanism modelled by finite element
method are found in ANSYS for different crank angle
2
u . This type analysis is known
as eigenanalysis of mechanism for instantaneous structure. For the mechanism of which
parameters are given in previous sections, the natural frequencies and corresponding
mode shapes are presented in Figures 3.3 to 3.12.
Figure 3.3. Natural frequencies of flexible four-bar mechanism.
0
10
20
30
40
50
60
70
80
90
100
0 30 60 90 120 150 180 210 240 270 300 330 360
Crank angle (deg)
N
a
t
u
r
a
l
f
r
e
q
u
e
n
c
y
(
H
z
)
1st mode
2nd mode
3rd mode
26
Figure 3.4. First mode shape of flexible four-bar mechanism for
2
=0
o
.
Figure 3.5. Second mode shape of flexible four-bar mechanism for
2
=0
o
.
Figure 3.6. Third mode shape of flexible four-bar mechanism for
2
=0
o
.
27
Figure 3.7. First mode shape of flexible four-bar mechanism for
2
=120
o
.
Figure 3.8. Second mode shape of flexible four-bar mechanism for
2
=120
o
.
Figure 3.9. Third mode shape of flexible four-bar mechanism for
2
=120
o
.
28
Figure 3.10. First mode shape of flexible four-bar mechanism for
2
=240
o
.
Figure 3.11. Second mode shape of flexible four-bar mechanism for
2
=240
o
.
Figure 3.12. Third mode shape of flexible four-bar mechanism for
2
=240
o
.
29
3.3.2. Natural Frequencies of Mechanism with Internal Force
The internal force due to the inertia force are taken into account in finding the
natural frequencies of mechanism for different angular velocities
2
e . Inertia forces
acting on the lumped masses of the mechanism are considered in finite element model
created in Ansys. The results are shown in Figures 3.13 to 3.21.
Figure 3.13. First natural frequencies of flexible four-bar mechanism.
Figure 3.14. Second natural frequencies of flexible mechanism.
270
275
280
285
290
295
0 30 60 90 120 150 180 210 240 270 300 330 360
omega2=0 rad/s omega2=10 rad/s omega2=20 rad/s
300
302
304
306
308
310
312
314
0 30 60 90 120 150 180 210 240 270 300 330 360
omega2=0 rad/s omega2=10 rad/s omega2=20 rad/s
30
Figure 3.15. Third natural frequencies of flexible four-bar mechanism.
Figure 3.16. First mode shape of flexible four-bar mechanism for s rad / 10
2
= e .
Figure 3.17. First mode shapes of flexible four-bar mechanism for s rad / 20
2
= e .
0
200
400
600
800
1000
1200
0 30 60 90 120 150 180 210 240 270 300 330 360
omega2=0 rad/s omega2=10 rad/s omega2=20 rad/s
31
Figure 3.18. Second mode shape of flexible four-bar mechanism for s rad / 10
2
= e .
Figure 3.19. Second mode shapes of flexible four-bar mechanism for s rad / 20
2
= e .
Figure 3.20. Third mode shape of flexible four-bar mechanism for s rad / 10
2
= e .
32
Figure 3.21. Third mode shapes of flexible four-bar mechanism for s rad / 20
2
= e .
3.4. Discussion of Results
The upper and lower limits of the static natural frequencies of the flexible four-
bar mechanism based on the crank angular position can be seen from the Figure 3.3.
The first, second, and third mode shapes of the mechanism plotted in Figures 3.4-3.12
are consistent in each other. For example, in the first mode shapes of the mechanism for
different crank angular positions, pin A has a displacement in the counterclockwise
direction.
It can be seen from Figure 3.13-3.15 that the crank angular velocity is effective
on the first and second dynamic natural frequencies but not on the third one. The first
and second mode shapes of the mechanism plotted in Figures 3.16-3.21 are very
consistent in each other, namely the links have the similar displacements for these
modes.
The present results are in agreement with the results available in the literature
(Yu and Xi 2003) for Figures 3.3 to 3.6 completely. On the other hand, the results given
in Figures 3.13 to 3.15 are in agreement with the same literature for 360 30
2
s su .
33
CHAPTER 4
CONCLUSIONS
This study presents an eigenanalysis of flexible four-bar mechanism by using
finite element model conjunction with kinematic and kinetic relationships. The solution
procedure based on the discrete crank positions and the discrete inertia forces applied to
the nodes of the finite element model has been developed in ANSYS Parametric Design
Language (APDL) to accomplish this analysis. The present results are in good
agreement with the results available in literature.
34
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