Synthesis of Mechanisms

Unit 3 plan
Freudensteins Equation for four bar mechanism

simple problem function generation- 4 bar mechanism
Solve one problem in 4 bar mechanism for function
generation out precision points.( Chebyshev spacing)
Solve similar to the previous point with Chebychev spacingand understand the error by drawing the mechanism at
these precision points
Two position synthesis for relative pole
Slider crank
4 bar mechanism
Inversion method give problem from ss.rattan home work
Rigid body guidance
Path generation
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KHALID/SMBS/VITU/FALL 2014-15
Number synthesis: based on most obvious external characteristics.
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Dimensional synthesis:
To determine significant dimensions of links and the starting position of links
in a mechanism, to accomplish specified task and motion characteristics.
Methods:
1. Graphical
2. Analytical
3. Computational
Types of problems to solve:
1. Approximate Vs exacts synthesis
2. Function generation- path generation rigid body guidance
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Function generation
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Classical methods for function

generation synthesis
Freudensteins equation ( it is analytical method)
for four bar linkages
can be applied to slider crank mechanism
Graphical methods
Method of the poles for four bar mechanism
Method of the relative poles for bar mechanism
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Freudenstein equaiton
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Freudensteins Equation for four bar mechanism
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Slider crank mechanism
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Chebychev spacing for accuracy points
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12
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A four bar mechanism ABCD, has to generate function

Y=X1.5 where x varies between 1 and 4. Assume input
crank angle, S = 30; = 90 ;Output angle, S = 90 ;
and = 90. Assume the motion of input link and
output link in clockwise direction.
a) Synthesize four bar mechanism, assuming the length
of the fixed link AD=25mm. by using three precision
points.
b) Calculate the error at three Chebyshev points.
c) Draw the four bar mechanism for the three precision
points.
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For three precision points using the equation

K1= - 0.6 = d/a
K2= - 0.453 = d/c
K3= 0.12 = (a2-b2+c2+d2)/2ac
Given
AD=d=25mm
a=42mm;
b=69.8 mm;
c=55mm;
(The relative pole method can be used to obtain length of a, b, c and d)
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1.0
1.20
2.5
3.8
4.0
30
36
75
114
120
1.000
1.314
3.952
7.407
8.000
90
94.0
127.9
172.37
180
obtained
Error (%)
K1Cos(36 )-K2Cos(94)+k3=Cos(58)
K1Cos( 75)-K2Cos(127.9)+k3=Cos(52.9)
K1Cos( 114)-K2Cos(172.37)+k3=Cos(58.37)
K1= 0.4547 =d/a -------------------------------a=2.2
K2 =0.5940 = d/c--------------------------------c=1.684
K3 =0.1205 = = (a2-b2+c2+d2)/2ac-----------b=2.78
given --------d=1
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1.0
1.20
2.5
3.8
4.0
30
36
75
114
120
1.000
1.314
3.952
7.407
8.000
90
94.0
127.9
172.37
180
obtained
Error (%)
K1Cos( )-K2Cos()+k3=Cos( - )
K1Cos(36 )-K2Cos(94)+k3=Cos(58)
K1Cos( 75)-K2Cos(127.9)+k3=Cos(52.9)
K1Cos( 114)-K2Cos(172.37)+k3=Cos(58.37)
K1= 0.4547 =d/a -------------------------------a=2.2
K2 =0.5940 = d/c--------------------------------c=1.684
K3 =0.1205 = = (a2-b2+c2+d2)/2ac-----------b=2.78
given-------d=1
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Tow position synthesis- relative pole

method. 12=700 and 12=900
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method. 12=700 and 12=900
A
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D
20
A
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21
A
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22
12 /2= 350
A
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D
23
12 /2= 350
A
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D
24
12 /2= 350
A
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D
25
12/2=450
12 /2= 350
A
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D
26
12/2=450
12 /2= 350
A
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D
27
R12
12/2=450
12 /2= 350
A
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D
28
R12
12/2=450
12 /2= 350
A
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D
29
R12
12= 100
12/2=450
12 /2= 350
A
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D
30
R12
12= 100
12/2=450
12 /2= 350
A
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D
31
R12
12= 100
12/2=450
12 /2= 350
A
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D
32
R12
12= 100
12/2=450
12 /2= 350
A
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D
33
R12
12= 100
12/2=450
12 /2= 350
A
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D
34
R12
12= 100
12/2=450
12 /2= 350
A
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D
35
R12
12= 100
12/2=450
12 /2= 350
A
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D
36
R12
12= 100
12/2=450
12 /2= 350
A
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D
37
R12
12= 100
12/2=450
12 /2= 350
A
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D
38
R12
12= 100
700
12/2=450
12 /2= 350
A
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39
R12
12= 100
700
12/2=450
12 /2= 350
A
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D
40
R12
12= 100
B
700
12/2=450
12 /2= 350
A
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D
41
R12
12= 100
B
700
12/2=450
12 /2= 350
A
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Solution verification by rotating the input link

450 we can observe that, output link rotates 900
R12
12= 100
B
700
?
12/2=450
12 /2= 350
A
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Solution verification by rotating the input link

450 we can observe that, output link rotates 900
R12
12= 100
B
700
~900
12/2=450
12 /2= 350
A
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Any other random points B, C cab be assumed as

coupler end points. And further solution can be
verified.
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Text Book- theory of machines by

Ambekar
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Synthesize a slider crank linkage when crank rotates 500 slider slides 2 cm and
when crank rotates 1100 slider slides 4 cm. All the crank rotations are clockwise.
N1
N2
a
12 = 500
S12 = 2 cm
13= 1100
S13 = 4 cm
N
Op at
R12
12
R13
- 12/2
13
- 13/2
O2
OA
O1
- S12/2
- S13/2
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12 = 500
13= 1100
S12 = 2 cm
S13 = 4 cm
OA
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12 = 500
13= 1100
N1
S12 = 2 cm
S13 = 4 cm
- 12/2
OA
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12 = 500
13= 1100
N1
S12 = 2 cm
S13 = 4 cm
- 12/2
O1 OA
- S12/2
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12 = 500
13= 1100
N1
S12 = 2 cm
S13 = 4 cm
R12
- 12/2
O1 OA
- S12/2
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12 = 500
13= 1100
N1
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
- 12/2
O2
O1 OA
- S12/2
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12 = 500
13= 1100
N1
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
- 12/2
13/2
O2
O1 OA
- S12/2
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12 = 500
13= 1100
N1
N2
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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12 = 500
13= 1100
N1
N2
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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12 = 500
13= 1100
N1
N2
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
R13
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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12 = 500
13= 1100
N1
N2
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
R13
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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12 = 500
13= 1100
N1
N2
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
R13
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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12 = 500
13= 1100
N1
N2
N
12 = 180- 12/2 =- 12/2
Op at
R12
S12 = 2 cm
S13 = 4 cm
13 = 180- 13/2 =- 13/2
12
R13
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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12 = 500
13= 1100
N1
N2
N
Op at
R12
S12 = 2 cm
S13 = 4 cm
12 = 180- 12/2 =-
12/2
13 = 180- 13/2 =-
13/2
12
R13
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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12 = 500
13= 1100
N1
N2
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
12 = 180- 12/2 =- 12/2

13 = 180- 13/2 =- 13/2
12
R13
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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12 = 500
13= 1100
N1
N2
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
12 = 180- 12/2 =- 12/2

13 = 180- 13/2 =- 13/2
12
R13
13
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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12 = 500
13= 500
N1
N2
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
12 = 180- 12/2 =- 12/2

13 = 180- 13/2 =- 13/2
12
R13
13
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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12 = 500
13= 1100
N1
N2
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
13 = 180- 13/2 =- 13/2
12
R13
13
12 = 180- 12/2 =- 12/2
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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12 = 500
13= 1100
N1
N2
S12 = 2 cm
S13 = 4 cm
N
Op at
R12
13 = 180- 13/2 =- 13/2
12
R13
13
12 = 180- 12/2 =- 12/2
- 12/2
13/2
O2
O1 OA
- S12/2
- S13/2
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Rigid body guidance
167 all dimensions in mm FIGURE P3-13
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Rigid body guidance
In designing pressure-sealing or thermal sealing doors, it is sometimes necessary to reduce

the clearance surrounding the door to less than that could be obtained using a
conventional hinge. One possible solution is to design a four bar linkage that guides the
door in and out with little rotation until it clears the surrounding structure, after which it
swings fully open to one side. Below figure shows three position of such a door undergoing
this type of motion. Use both graphical and analytical techniques to find a four-bar linkage
with moving pivots at points A and B those guides the body through these three positions.
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2-position synthesis slider-crank
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method. 12=700 and 12=900
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Synthesis of Mechanisms

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Synthesis of Mechanisms

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Unit 3 plan

Freudensteins Equation for four bar mechanism

Number synthesis: based on most obvious external characteristics.

Classical methods for function

for four bar linkages

can be applied to slider crank mechanism

Freudensteins Equation for four bar mechanism

Slider crank mechanism

Chebychev spacing for accuracy points

A four bar mechanism ABCD, has to generate function

For three precision points using the equation

Tow position synthesis- relative pole

Tow position synthesis- relative pole

Solution verification by rotating the input link

Solution verification by rotating the input link

Any other random points B, C cab be assumed as

Text Book- theory of machines by

13 = 180- 13/2 =- 13/2

12 = 180- 12/2 =- 12/2

12 = 180- 12/2 =- 12/2

12 = 180- 12/2 =- 12/2

13 = 180- 13/2 =- 13/2

12 = 180- 12/2 =- 12/2

13 = 180- 13/2 =- 13/2

12 = 180- 12/2 =- 12/2

Rigid body guidance

167 all dimensions in mm FIGURE P3-13

Rigid body guidance

In designing pressure-sealing or thermal sealing doors, it is sometimes necessary to reduce

2-position synthesis slider-crank

Tow position synthesis- relative pole

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