300035 – Kinematics and Kinetics of Machines

DISPLACEMENT, VELOCITY & ACCELERATIONANALYSIS OF A 4-BAR

PLANAR MECHANISM

Experiment 3

Name: Isfakul Jamal shihan

Id: 19227290

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Contents

1.0 Aim .............................................................................................................................................. 3

2.0 Background ................................................................................................................................. 3
3.0 Methodology............................................................................................................................... 3
3.1 Experimental Setup and Procedure .......................................................................................... 3
3.2 Equations used for theoretical calculations.............................................................................. 5
4.0 Results ......................................................................................................................................... 6
5.0 Discussion: ................................................................................................................................ 13
6.0 Conclusion: ................................................................................................................................ 15
7.0 References ................................................................................................................................ 15

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1.0 Aim
The essential goal of this paper is to determine the angular relationship between the input and output
angles of a 4-bar mechanism by measuring the gradual changes of every one of these plots for a total
cycle of the information wrench and contrast and the scientific uprooting condition.

Another task is to confirm graphically the speed and increasing speed of a point on the coupler at a
specific setup of the component and contrast it with that acquired by utilizing the speed polygon
technique for the speed and numerical approximation strategy for the acceleration.

2.0 Background

The velocity between adjacent configurations of the mechanism at which the displacement of the
coupler point was recorded can be calculated by using a finite difference method:
∆𝑠
𝑉=
∆𝑡
Here’s is the displacement of the coupler point for one increment of the input link and t is the time for
the input link to move one increment. You can assume that the angular speed of the input link is one
increment per second i.e. 5o /sec.
∆𝑣
The acceleration can likewise be calculated to be: 𝑎 = ∆𝑡
. In the above calculations, the velocities and
accelerations are approximated over single time increments by constant functions. A more accurate
method passes a polynomial through a series of adjacent values and then differentiates the polynomial.

3.0 Methodology
3.1 Experimental Setup and Procedure

Apparatus used:
1. A 4-link, planar mechanism with a coupler link that has a pen-holder for tracing coupler curves.
2. Two protractors for reading the input and output angles of the input and output links
respectively.
3. A pen fixed to the coupler link for tracing the path of a point in the coupler.
4. The dimensions for the mechanism are a=150mm, b=290mm, c=270mm and d=380mm. The
position of the slot in the coupler is symmetrical between the A and B with a length of 150mm.
The distance between the center of the slot and the line AB is 80mm.

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 Figure 1: The 4 bar linkage apparatus.

The experimental procedure is as following:-

1. Starting with the input angle ∅ at 0 degrees the output angle ∅ from the protractor was taken.
2. Increment ∅ by a constant amount of 10 degrees around the complete cycle (or as far as the
mechanism allows) and the corresponding value of ∅ was recorded
3. Using a setting for the input angle of 30 degrees as the nominal configuration of the mechanism,
a piece of paper was fixed to the frame under the coupler link for tracing the movement.
4. With the pen fixed to the coupler link at a known location in the slot, trace the coupler curve for
2 increments of 5 degrees of the input angle on either side of the nominal position.
5. The length of each incremental movement was recorded by measuring with a ruler. This is an
approximation of the incremental displacement for each step of the input link.
6. Record the x axis and the y axis components of the displacement at each step from an arbitrary
origin.
7. Repeat steps 3, 4, 5 and 6 for two other configurations (different values 30, 130, 210 degrees) of
the mechanism.

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3.2 Equations used for theoretical calculations.

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 4.0 Results

θ° Ф°experiment Ф°theoretical A B C U δ

0 19 19.38 0.000 3.530 3.330 3.530 0

10 23 19.92 0.174 3.515 3.309 3.519 0.000862

20 27 21.45 0.342 3.470 3.245 3.487 0.00172

30 32 23.79 0.500 3.396 3.141 3.433 0.00257

40 38 26.70 0.643 3.296 3.000 3.358 0.003404

50 44 30.02 0.766 3.173 2.826 3.264 0.004214

60 50 33.60 0.866 3.030 2.625 3.151 0.004988

70 56 37.35 0.940 2.872 2.402 3.022 0.00571

80 62 41.21 0.985 2.704 2.165 2.877 0.006357

90 67 45.12 1.000 2.530 1.920 2.720 0.006898

100 73 49.02 0.985 2.356 1.675 2.554 0.007294

110 77 52.87 0.940 2.188 1.438 2.381 0.007496

120 80 56.60 0.866 2.030 1.215 2.207 0.007446

130 83 60.16 0.766 1.887 1.014 2.037 0.007084

140 84 63.43 0.643 1.764 0.840 1.877 0.00636

150 83 66.29 0.500 1.664 0.699 1.737 0.005244

160 81 68.55 0.342 1.590 0.595 1.627 0.003754

170 77 70.02 0.174 1.545 0.531 1.555 0.001961

180 71 70.53 0.000 1.530 0.510 1.530 1.4E-18

190 64 70.01 -0.174 1.545 0.531 1.555 -0.00196

200 57 68.54 -0.342 1.590 0.595 1.627 -0.00375

210 50 66.28 -0.500 1.664 0.699 1.737 -0.00524

220 44 63.42 -0.643 1.764 0.840 1.877 -0.00636

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230 38 60.15 -0.766 1.887 1.014 2.037 -0.00708

240 34 56.59 -0.866 2.030 1.215 2.207 -0.00745

250 30 52.85 -0.940 2.188 1.438 2.381 -0.0075

260 27 49.00 -0.985 2.356 1.675 2.554 -0.00729

270 24 45.10 -1.000 2.530 1.920 2.720 -0.0069

280 22 41.20 -0.985 2.704 2.165 2.877 -0.00636

290 20 37.34 -0.940 2.872 2.402 3.022 -0.00571

300 18 33.59 -0.866 3.030 2.625 3.151 -0.00499

310 17 30.01 -0.766 3.173 2.826 3.264 -0.00421

320 16 26.69 -0.643 3.296 3.000 3.358 -0.0034

330 16 23.78 -0.500 3.396 3.141 3.433 -0.00257

340 17 21.45 -0.342 3.470 3.245 3.487 -0.00172

350 18 19.92 -0.174 3.515 3.309 3.519 -0.00086

360 20 19.38 0.000 3.530 3.330 3.530 -1.2E-18

Table 1: Calculated values of angle in linkage bar.

Theoretical Ф° vs experimental Ф°
160
140
120
100
Ф°

80
Ф°theoretical
60
Ф°experiment
40
20
0
0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300 320 340 360
θ°

Graph 1: Comparison of angles.

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θ° Ф°experiment Ф°theoretical Percentage
error
0 19 19.38 1.96
10 23 19.92 -15.47
20 27 21.45 -25.85
30 32 23.79 -34.53
40 38 26.70 -42.32
50 44 30.02 -46.59
60 50 33.60 -48.81
70 56 37.35 -49.92
80 62 41.21 -50.44
90 67 45.12 -48.51
100 73 49.02 -48.93
110 77 52.87 -45.65
120 80 56.60 -41.33
130 83 60.16 -37.97
140 84 63.43 -32.42
150 83 66.29 -25.21
160 81 68.55 -18.17
170 77 70.02 -9.97
180 71 70.53 -0.67
190 64 70.01 8.59
200 57 68.54 16.84
210 50 66.28 24.56
220 44 63.42 30.62
230 38 60.15 36.82
240 34 56.59 39.92
250 30 52.85 43.24
260 27 49.00 44.90
270 24 45.10 46.79
280 22 41.20 46.60
290 20 37.34 46.44
300 18 33.59 46.41
310 17 30.01 43.35
320 16 26.69 40.06
330 16 23.78 32.72
340 17 21.45 20.75
350 18 19.92 9.63
360 20 19.38 -3.20
Table 2: Percentage error.

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θ X(n-2) X(n-1) X(n) X(n+1) X(n+2) Y(n-2) Y(n-1) Y(n) Y(n+1) Y(n+2)
20 25.5 11.4
25 24.7 12.8
30 24.2 13.8
35 23.2 14.700
40 22.5 15.8

120 7.20 23.8

125 6.60 23.6
130 6.4 23.2
135 6.2 22.800
140 6 22.5

200 16.6 11.1

205 17.8 9.700
210 18.9 8.6
215 20.0 7.50
220 20.8 6.4

Table 3: Using polynomial approximation for velocity ‘Vc’ and acceleration ‘Ac’.

θ Result X'n Result Y'n Vc ResultX''n Result Y''n Ac

30 0.750 0.950 1.210 -0.633 -0.100 0.641

130 0.167 -0.425 0.457 -0.033 0.008 0.034

210 1.117 1.075 1.550 0.033 -0.025 0.042

Table 4: Calculated Result for ‘Vc’ and acceleration ‘Ac from polynomial approximation.

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Figure 1: Relationship between input and output angles.

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Figure 2: X and Y values for polynomial approximations.

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 Figure 3: Velocity polygon diagram for 130 degrees.

Calculations for velocity polygon:

We know OA = a =3CM, OB = b= 9.7CM, BD = C =9CM and OD = d =12.6cm (scaled)
Given 𝜔2 = 5 rad/s

𝑉𝐴 = 𝜔2 ∗ 𝑂𝐴
𝑉𝐴 = 5 ∗ 0.03
𝑉𝐴 = 0.15 𝑚/𝑠

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From graph PA = 10.6 cm
𝜔2 ∗ 𝑂𝐴
𝜔3 =
𝑃𝐴

5 ∗ 0.03
𝜔3 =
0.106

𝜔3 = 1.4151 𝑟𝑎𝑑/𝑠

From graph PC = 3 cm
𝑉𝐶 = 𝜔3 ∗ 𝑃𝐶

𝑉𝐶 = 1.4151 ∗ 0.03

𝑉𝐶 = 0.047 𝑚/𝑠

From graph BP = 2.2 cm

𝑉𝐵 = 𝜔3 ∗ 𝐵𝑃

𝑉𝐵 = 1.4151 ∗ 0.022

𝑉𝐵 = 0.031 𝑚/𝑠

𝑉𝐵
𝜔4 =
𝐵𝐷

0.031
𝜔4 =
0.09

𝜔4 = 0.346 𝑟𝑎𝑑/𝑠

5.0 Discussion:

From the first table we can see that the actual and theoretical values are quite similar which proves the
angular relationship between input and output angles.
We can also see the Velocity ‘Vc’ at 130 degrees, obtained from polynomial approximation graphically
and using velocity polygon method. The results prove that the experiment was successful at proving the
relationship between the 4 bar linkage mechanism.

In this experiment, the dimensions of a planar 4-bar mechanism are known and we successfully verified
the analytically derived kinematic properties of the mechanism by obtaining actual values for various
quantities from the device. Many machines found in industry in such applications as packaging, car
manufacturing and in consumer products incorporate a form of the common 4- bar mechanism to
perform a specific function or operation.

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Figure 2: Ackerman Steer angles of the inner and outer wheels.

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6.0 Conclusion:

The objective of this paper, to determine the angular relationship between the input and output angles
of a 4-bar mechanism by measuring the gradual changes of every one of these plots have been met,
which proves the Ackerman steering mechanism in cars is an example where the input-output links
conform to a certain functional relationship to allow both wheels to turn without slipping.

7.0 References

1. Gupta, K. (1980). Synthesis of position, path and function generating 4-bar mechanisms with
completely rotatable driving links. Mechanism and Machine Theory, 15(2), pp.93-101.

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