Chapter 5 v2008 v1 Color Noprint

Mechanical Engineering - 22.
321 Design of Machinery
Chapter
ANALYTICAL
LINKAGE SYNTHESIS
Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell
Chapter 5 - 1
Mechanical Engineering - 22.321 Design of Machinery
5.0 Introduction
Fundamentals of Position Analysis Established
Can now Analytically Synthesize Linkages

Use an Algebraic Procedure
Chapter 5 - 2
5.1 Types of Kinematic Synthesis

Function Generation the correlation of an input
function w/ an output function in a mechanism
Path Generation the control of a point in the
plane so that it follows some prescribed path
Motion Generation the control of a line in the
plane so that it assumes some sequential set of
prescribed positions
Chapter 5 - 3
5.2 Two-Position Synthesis for Rocker

Output
Example 3-1 showed a simple graphical technique for
the design of a non-quick-return Grashof fourbar
linkage to drive a rocker through an angle
- Rocker excursion should not exceed 180o
- Best to keep excursion to under 120o for min
transmission angle of 30o
Chapter 5 - 4
Consider doing an analytical determination of

link lengths for the driver dyad
- First choose a suitable location on Link 4 to
attach Link 3, e.g. Point B
Chapter 5 - 5
Chapter 5 - 6
Chapter 5 - 7
5.3 Precision Points

Precision Positions or Points
The prescribed points or positions for
successive locations of the output link
(coupler or rocker) in the plane
Chapter 5 - 8
Number of equations limits the number of

precision points that can be synthesized
For example,
Fourbar linkage can synthesize up to:
5 precision points for motion or path
generation (i.e. coupler output)
7 points for function generation
(i.e. rocker output)
Chapter 5 - 9
- 2 or 3 points set of linear equations

- 4 or more points
set of nonlinear equations

need to use a computer program,
e.g. MathCAD or Matlab
Caveat:
May still have intermediate toggle points
Chapter 5 - 10
5.4 Two-Position Motion Generation

Analytical Synthesis
by
Consider a fourbar linkage in one position

1. With a coupler point located at a first
precision point P1
2. A second precision point P2
3. Rocker input is to go through an angle 2
Chapter 5 - 11
4. Angle of the coupler at each precision

position is defined by the angles of the
position vectors z1 and z2
5. The angle corresponds to 3 in
Position 1
6. The angle 2 denotes a change in
orientation in going from the first to
second precision position.
Note: Figure 5-1 is schematic and
dimensions are unknown at this early
point in the problem
Chapter 5 - 12
Chapter 5 - 13
Problem Statement
Design a fourbar linkage which will move a line on
its coupler link s.t.
1. A point P on that line will first be at P1 and later
at P2 and
2. Rotate the line through 2 between those two
precision positions
Find:
Lengths and angles of the four links
The coupler link dimensions A1 P1 and B1 P1 as
given in Fig. 5-1
Chapter 5 - 14
Chapter 5 - 15
Chapter 5 - 16
Chapter 5 - 17
Chapter 5 - 18
Chapter 5 - 19
Chapter 5 - 20
Chapter 5 - 21
Chapter 5 - 22
Chapter 5 - 23
Chapter 5 - 24
Chapter 5 - 25
Chapter 5 - 26
5.5 Comparison of Analytical and Graphical

Two-Position Synthesis
Chapter 5 - 27
Chapter 5 - 28
Chapter 5 - 29
5.6 Simultaneous Equation Solution

Analytical synthesis leads to set of
simultaneous equations.
2-Position Synthesis 2 Equations
3-Position Synthesis 4 Equations
Several solution approaches:
Spreadsheet (e.g. Excel)

MathCAD or Matlab
Calculator
Longhand by Gaussian elimination method
Chapter 5 - 30
Chapter 5 - 31
Chapter 5 - 32
Chapter 5 - 33
Chapter 5 - 34
Chapter 5 - 35
Chapter 5 - 36
5.7 Three-Position Motion Generation by

Analytical Synthesis
Same basic approach as defining two
dyads at each end of the fourbar linkage
A pair of dyads for each precision point
Problem Statement
Design a fourbar linkage which will:
1. Rotate a line on the coupler through 2 and 3
to precision points P1 and P2, respectively
2. Point P is on the coupler line
Find Lengths and angles of the four links and coupler
dimensions A1P1 and B1P1
Chapter 5 - 37
Chapter 5 - 38
Solution Process
Locate Global reference frame at P1
(for convenience)
As was done for the two-position synthesis,
first solve for the LHS and then repeat for
the RHS
Can write two vector-loop equations for
each side
Chapter 5 - 39
Chapter 5 - 40
Chapter 5 - 41
Chapter 5 - 42
Chapter 5 - 43
Chapter 5 - 44
Chapter 5 - 45
Chapter 5 - 46
Summarizing:
Infinite number of solutions
Designer must check to see if linkage is feasible
Chapter 5 - 47
5.8 Comparison of Analytical and

Graphical Three-Position Synthesis
Chapter 5 - 48
Chapter 5 - 49
Chapter 5 - 50
Chapter 5 - 51
Chapter 5 - 52
5.9 Synthesis for a Specified Fixed Pivot

Location
Common problem as the available locations for
fixed pivots in most machines are limited
Our 4 free choices will be the x and y
coordinates of the two fixed pivots
Approach Nonlinear equations containing
transcendental functions of unknown
angles.
As before:
The solution process must be

applied for the LHS and then the RHS
Chapter 5 - 53
Chapter 5 - 54
Chapter 5 - 55
Chapter 5 - 56
Chapter 5 - 57
Chapter 5 - 58
Chapter 5 - 59
Chapter 5 - 60
Chapter 5 - 61
Chapter 5 - 62
Chapter 5 - 63
Chapter 5 - 64
Chapter 5 - 65
Chapter 5 - 66
5.10 Center-Point and Circle-Point Circles

If we could find the loci of all possible
solutions to the three-position synthesis
problem.
We would then have an overview

of the potential locations of the
ends of the vectors
Chapter 5 - 67
Consider holding one of the free choices,

say 2, at an arbitrary value, then solve
Equations 5.25 and 5.26 for 3 = 02.
A circle will be generated
Circle is locus of points for roots of
for the chosen 2
O2 coincides with the root of
Hence, called a Center-Point Circle
Chapter 5 - 68
Chapter 5 - 69
Next consider the vector

Hold 2 constant at some arbitrary angle
Let 3 = 02
A circle of all possible locations of the
root of
for the given 2 chosen.
As
is fixed to the tip of
which in
turn describes a circle about pivot O2.
This locus is called the Circle-Point Circle
Chapter 5 - 70
The x,y components of vectors

and 5.26
and
are defined by Equations 5.25
(5.25)
(5.26)
Negating the x,y components of

the circle-point circle
will give the coordinates of points on
Chapter 5 - 71
The x,y components of N=-Z-W define the points on the O2 center-point

circle for any assumed value of 2 as 3 is iterated thru 02
Vector W is calculated using angles 2 and 3 and vector Z using angles 2
as 3
The process is repeated for the RHS
Note: There are an infinity of solutions because one angle is being
chosen arbitrarily
A computer program can help in making reasonable choices
Chapter 5 - 72
Fig. 5-9 shows the circle-point and center-point circles for the Chebychev straight-line
linkage for choices
Two larger circles are the center-point circles for the potential locations of
the fixed pivots O2 and O4
The two smaller circles define the loci of the possible moving pivot locations
Chapter 5 - 73
Chapter 5 - 74
5.11 Four- and Five-Position Analytical

Synthesis
Can use same basic technique as was used for
2- and 3-position analytical synthesis
Let angles be designed k, k and k
where k=2n
and where:
k
denotes the precision position
n
represents the number of
precision positions for which we
are solving
Chapter 5 - 75
Chapter 5 - 76
Chapter 5 - 77
5.12 Analytical Synthesis of a Path

Generator with Prescribed Timing
Can use same approach for path generation w/
prescribed timing
Here we specify angles 2 and 3 of the input
rocker to define timing
Thus, the free choices are now 2 and 3
Use the same Equations 5.25, 5.26, 5.30 and 5.31
Can be extended to as many as 5 precision points
Chapter 5 - 78
5.13 Analytical Synthesis of a Fourbar

Function Generator
Can still use a similar approach as was used for
the synthesis of path generation
In this case, we do not care about the motion of
the coupler
Coupler only exists to couple input link to output
link
Coupler is simply a line from A to P
P is simply a coupler point which happens to
coincide with the pin joint
P has a simple arc motion
Chapter 5 - 79
Function generator uses Link 2 as the input link and

takes output from Link 4.
Relationship between the angles of Links 2 and 4 is the
function generated.
The function is then:
NOT a continuous function. Holds only for the n discrete
points specified.
Linkage must satisfy
Once again, write vector loop equations.
Chapter 5 - 80
Chapter 5 - 81
Chapter 5 - 82
Chapter 5 - 83
Chapter 5 - 84
Chapter 5 - 85
5.14 Other Linkage Synthesis Methods
Many other techniques for the synthesis of

linkages have been discovered in recent years
Most are involved and mathematically cumbersome

Only a few admit a closed-form solution
Most require an iterative numerical solution
Table 5-5 summarizes some of the existing

fourbar linkage synthesis methods divided into
three types
Chapter 5 - 86
Chapter 5 - 87
1. Precision
A method that attempts to find a solution
which will pass exactly through the desired
precision points but may deviate from the
desired path between these points
Chapter 5 - 88
Limited to matching a number of points

equal to the number of independently
adjustable parameters that define the
mechanism e.g.
Fourbar linkage 9 parameters.
For up to five precision points, equations
can be solved for without iteration.
For 6 to 9 points an iterative is required to
solve the equation set.
Chapter 5 - 89
The 9 parameters are:

- 4 link lengths
- 2 coordinates of the coupler point
with respect to the coupler link
- 3 parameters which define the
location and orientation of the fixed
length in the global reference frame
Chapter 5 - 90
2. Equation
Methods that solve the tri-circular, trinodal
sextic coupler curve to find a linkage that will
generate an entire coupler curve that closely
approximates a set of desired points on the
curve.
3. Optimized
An iterative optimization procedure that
attempts to minimize an objective function that
can be defined in many ways.
Allow larger numbers of points to be specified

then do the precision methods.
Limited only by computer time and round-off error.
Convergence depends on good initial choices.
Chapter 5 - 91
Chapter 5 - 92

Chapter 5 v2008 v1 Color Noprint

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Chapter 5 v2008 v1 Color Noprint

Uploaded by

Copyright:

Available Formats

Mechanical Engineering - 22.

321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Can now Analytically Synthesize Linkages

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

5.1 Types of Kinematic Synthesis

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

5.2 Two-Position Synthesis for Rocker

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Consider doing an analytical determination of

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

5.3 Precision Points

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Number of equations limits the number of

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

- 2 or 3 points set of linear equations

set of nonlinear equations

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

5.4 Two-Position Motion Generation

Consider a fourbar linkage in one position

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

4. Angle of the coupler at each precision

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

Copyright 2008 Department of Mechanical Engineering - University of Massachusetts Lowell

Mechanical Engineering - 22.321 Design of Machinery

5.5 Comparison of Analytical and Graphical