ME G511

Mechanisms & Robotics

BITS Pilani Dr. Y. V. D. Rao

Hyderabad Campus
 BITS Pilani
Hyderabad Campus

ME G511
ANALYTICAL SYNTHESIS
Bloch’s Method of Analytical Synthesis

 Freudenstein equation is used to synthesize a function

generator when the three precision points are
displacements of the links, that is link swing angles 𝝍𝟏 ,
𝝍𝟐 & 𝝍𝟑 .

 However, when the function generator is to be

synthesized for the velocity and acceleration values of
the input or output link, then Bloch’s method is useful.

 Bloch method is built on the Loop closure equation of linkages in

general and four-bar linkages in particular.

 To explain this consider the Loop closure equation given below.

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

𝒓𝟏 + 𝒓𝟐 + 𝒓𝟑 − 𝒓𝟒 = 𝟎 − (𝟏)

B
Y

r3

𝜽𝟑
A
r4

r2 𝜽𝟐
𝜽𝟏 𝜽𝟒 X
O1 r1 O2

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Using the complex number form of the Loop closure equation
given below

 𝒓𝟏 𝒆𝒋𝜽𝟏 + 𝒓𝟐 𝒆𝒋𝜽𝟐 + 𝒓𝟑 𝒆𝒋𝜽𝟑 − 𝒓𝟒 𝒆𝒋𝜽𝟒 = 𝟎

 Differentiating the above Loop closure equation it is possible to
get the velocity and acceleration equations and velocity equation
is
 𝒓𝟏 𝒋𝜽ሶ 𝟏 𝒆𝒋𝜽𝟏 + 𝒓𝟐 𝒋𝜽ሶ 𝟐 𝒆𝒋𝜽𝟐 + 𝒓𝟑 𝒋𝜽ሶ 𝟑 𝒆𝒋𝜽𝟑 − 𝒓𝟒 𝒋𝜽ሶ 𝟒 𝒆𝒋𝜽𝟒 = 𝟎
 Since 𝜽𝟏 is constant 𝜽ሶ 𝟏 = 𝟎, hence the velocity equation is
 𝒓𝟐 𝒋𝜽ሶ 𝟐 𝒆𝒋𝜽𝟐 + 𝒓𝟑 𝒋𝜽ሶ 𝟑 𝒆𝒋𝜽𝟑 − 𝒓𝟒 𝒋𝜽ሶ 𝟒 𝒆𝒋𝜽𝟒 = 𝟎

 𝒋 𝒓𝟐 𝝎𝟐 𝒆𝒋𝜽𝟐 + 𝒓𝟑 𝝎𝟑 𝒆𝒋𝜽𝟑 − 𝒓𝟒 𝝎𝟒 𝒆𝒋𝜽𝟒 = 𝟎

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝒓𝟐 𝝎𝟐 𝒆𝒋𝜽𝟐 + 𝒓𝟑 𝝎𝟑 𝒆𝒋𝜽𝟑 − 𝒓𝟒 𝝎𝟒 𝒆𝒋𝜽𝟒 = 𝟎

 𝝎𝟐 𝒓𝟐 𝒆𝒋𝜽𝟐 + 𝝎𝟑 𝒓𝟑 𝒆𝒋𝜽𝟑 − 𝝎𝟒 𝒓𝟒 𝒆𝒋𝜽𝟒 = 𝟎

 𝝎𝟐 𝒓𝟐 + 𝝎𝟑 𝒓𝟑 − 𝝎𝟒 𝒓𝟒 = 𝟎 −−−− −(𝟐)

 Acceleration equation is

 𝒓𝟐 𝒋𝝎ሶ 𝟐 𝒆𝒋𝜽𝟐 + 𝒋𝟐 𝒓𝟐 𝝎𝟐𝟐 𝒆𝒋𝜽𝟐 + 𝒓𝟑 𝒋𝝎ሶ 𝟑 𝒆𝒋𝜽𝟑 + 𝒋𝟐 𝒓𝟑 𝝎𝟐𝟑 𝒆𝒋𝜽𝟑 −

𝒓𝟒 𝒋𝝎ሶ 𝟒 𝒆𝒋𝜽𝟒 − 𝒋𝟐 𝒓𝟒 𝝎𝟐𝟒 𝒆𝒋𝜽𝟒 = 𝟎

 𝒋𝒓𝟐 𝝎ሶ 𝟐 + 𝒋𝝎𝟐𝟐 𝒆𝒋𝜽𝟐 + 𝒋𝒓𝟑 𝝎ሶ 𝟑 + 𝒋𝝎𝟐𝟑 𝒆𝒋𝜽𝟑 − 𝒋𝒓𝟒 ൫𝝎ሶ 𝟒 +

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝒋 𝒓𝟐 𝜶𝟐 + 𝒋𝝎𝟐𝟐 𝒆𝒋𝜽𝟐 + 𝒓𝟑 𝜶𝟑 + 𝒋𝝎𝟐𝟑 𝒆𝒋𝜽𝟑 − 𝒓𝟒 𝜶𝟒 + 𝒋𝝎𝟐𝟒 𝒆𝒋𝜽𝟒 = 𝟎

 𝒓𝟐 𝜶𝟐 + 𝒋𝝎𝟐𝟐 𝒆𝒋𝜽𝟐 + 𝒓𝟑 𝜶𝟑 + 𝒋𝝎𝟐𝟑 𝒆𝒋𝜽𝟑 − 𝒓𝟒 𝜶𝟒 + 𝒋𝝎𝟐𝟒 𝒆𝒋𝜽𝟒 = 𝟎

 𝜶𝟐 + 𝒋𝝎𝟐𝟐 𝒓𝟐 𝒆𝒋𝜽𝟐 + 𝜶𝟑 + 𝒋𝝎𝟐𝟑 𝒓𝟑 𝒆𝒋𝜽𝟑 − 𝜶𝟒 + 𝒋𝝎𝟐𝟒 𝒓𝟒 𝒆𝒋𝜽𝟒 = 𝟎

 𝜶𝟐 + 𝒋𝝎𝟐𝟐 𝒓𝟐 𝒆𝒋𝜽𝟐 + 𝜶𝟑 + 𝒋𝝎𝟐𝟑 𝒓𝟑 𝒆𝒋𝜽𝟑 − 𝜶𝟒 + 𝒋𝝎𝟐𝟒 𝒓𝟒 𝒆𝒋𝜽𝟒 = 𝟎

 𝜶𝟐 + 𝒋𝝎𝟐𝟐 𝒓𝟐 + 𝜶𝟑 + 𝒋𝝎𝟐𝟑 𝒓𝟑 − 𝜶𝟒 + 𝒋𝝎𝟐𝟒 𝒓𝟒 = 𝟎 −− −(𝟑)

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 The above three equations are a set of homogeneous
vector equations having complex numbers as
coefficients.
 𝒓𝟐 + 𝒓𝟑 − 𝒓𝟒 = −𝒓𝟏

 𝝎𝟐 𝒓𝟐 + 𝝎𝟑 𝒓𝟑 − 𝝎𝟒 𝒓𝟒 = 𝟎

 𝜶𝟐 + 𝒋𝝎𝟐𝟐 𝒓𝟐 + 𝜶𝟑 + 𝒋𝝎𝟐𝟑 𝒓𝟑 − 𝜶𝟒 + 𝒋𝝎𝟐𝟒 𝒓𝟒 = 𝟎

 Giving the desired values for the desired angular

velocities and angular accelerations the relative link
dimensions can be determined.

 Using Cramer’s rule

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝒓𝟐 + 𝒓𝟑 − 𝒓𝟒 = −𝒓𝟏

 𝝎𝟐 𝒓𝟐 + 𝝎𝟑 𝒓𝟑 − 𝝎𝟒 𝒓𝟒 = 𝟎  𝜶𝟐 + 𝒋𝝎𝟐𝟐 𝒓𝟐 + 𝜶𝟑 + 𝒋𝝎𝟐𝟑 𝒓𝟑 − 𝜶𝟒 + 𝒋𝝎𝟐𝟒 𝒓𝟒 = 𝟎

−𝟏 𝟏 −𝟏
𝟎 𝝎𝟑 −𝝎𝟒
𝟎 𝜶𝟑 +𝒋𝝎𝟐𝟑 − 𝜶𝟒 +𝒋𝝎𝟐𝟒
 𝒓𝟐 = 𝟏 𝟏 −𝟏
𝝎𝟐 𝝎𝟑 −𝝎𝟒
𝜶𝟐 +𝒋𝝎𝟐𝟐 𝜶𝟑 +𝒋𝝎𝟐𝟑 − 𝜶𝟒 +𝒋𝝎𝟐𝟒

𝟏 −𝟏 −𝟏
𝝎𝟐 𝟎 −𝝎𝟒
𝜶𝟐 +𝒋𝝎𝟐𝟐 𝟎 − 𝜶𝟒 +𝒋𝝎𝟐𝟒
 𝒓𝟑 = 𝟏 𝟏 −𝟏
𝝎𝟐 𝝎𝟑 −𝝎𝟒
𝟏 𝟏 −𝟏
𝜶𝟐 +𝒋𝝎𝟐𝟐 𝜶𝟑 +𝒋𝝎𝟐𝟑 − 𝜶𝟒 +𝒋𝝎𝟐𝟒 𝝎𝟐 𝝎𝟑 𝟎
𝜶𝟐 +𝒋𝝎𝟐𝟐 𝜶𝟑 +𝒋𝝎𝟐𝟑 𝟎
 𝒓𝟒 = 𝟏 𝟏 −𝟏
𝝎𝟐 𝝎𝟑 −𝝎𝟒
𝜶𝟐 +𝒋𝝎𝟐𝟐 𝜶𝟑 +𝒋𝝎𝟐𝟑 − 𝜶𝟒 +𝒋𝝎𝟐𝟒
Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Denominator for all the three expressions is a complex
number and is equal to

𝟏 𝟏 −𝟏
∆= 𝝎𝟐 𝝎𝟑 −𝝎𝟒
𝜶𝟐 + 𝒋𝝎𝟐𝟐 𝜶𝟑 + 𝒋𝝎𝟐𝟑 − 𝜶𝟒 + 𝒋𝝎𝟐𝟒

 When two complex numbers are divided, magnitudes are

divided and angles are subtracted.

𝑹𝒆𝒋𝜽 𝑹 𝒋 𝜽−𝝓
 = 𝒆 = 𝑿𝒆𝒋𝜶
𝒓𝒆𝒋𝝓 𝒓
𝑹
 Where 𝑿 = 𝒓
and 𝜶 = 𝜽 − 𝝓
Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Since the denominator is same for the three link
vectors, the effect of division is to reduce link lengths
by the same factor and their orientations (directions)
are shifted by the same angle.
 Hence the denominator is set to unity and link lengths
are dimensionless.

 Therefore using only the numerator and expanding them

 𝒓𝟐 = 𝝎𝟑 𝜶𝟒 + 𝒋𝝎𝟐𝟒 −𝝎𝟒 𝜶𝟑 + 𝒋𝝎𝟐𝟑
 𝒓𝟑 = 𝝎𝟐 𝜶𝟒 + 𝒋𝝎𝟐𝟒 − 𝝎𝟒 𝜶𝟐 + 𝒋𝝎𝟐𝟐
 𝒓𝟒 = 𝝎𝟑 𝜶𝟐 + 𝒋𝝎𝟐𝟐 − 𝝎𝟐 𝜶𝟑 + 𝒋𝝎𝟐𝟑
 𝒓𝟏 = −𝒓𝟐 − 𝒓𝟑 + 𝒓𝟒
Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 −𝟏 𝟏 −𝟏
𝟎 𝝎𝟑 −𝝎𝟒
𝟎 𝜶𝟑 +𝒋𝝎𝟐𝟑 − 𝜶𝟒 +𝒋𝝎𝟐𝟒
 𝒓𝟐 = 𝟏 𝟏 −𝟏
𝝎𝟐 𝝎𝟑 −𝝎𝟒
𝜶𝟐 +𝒋𝝎𝟐𝟐 𝜶𝟑 +𝒋𝝎𝟐𝟑 − 𝜶𝟒 +𝒋𝝎𝟐𝟒

−𝟏 𝟏 −𝟏
 𝒓𝟐 = 𝟎 𝝎𝟑 −𝝎𝟒
𝟎 𝜶𝟑 + 𝒋𝝎𝟐𝟑 − 𝜶𝟒 + 𝒋𝝎𝟐𝟒

 𝒓𝟐 = 𝝎𝟑 𝜶𝟒 + 𝒋𝝎𝟐𝟒 −𝝎𝟒 𝜶𝟑 + 𝒋𝝎𝟐𝟑

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏 −𝟏 −𝟏
𝝎𝟐 𝟎 −𝝎𝟒
𝜶𝟐 +𝒋𝝎𝟐𝟐 𝟎 − 𝜶𝟒 +𝒋𝝎𝟐𝟒
 𝒓𝟑 = 𝟏 𝟏 −𝟏
𝝎𝟐 𝝎𝟑 −𝝎𝟒
𝜶𝟐 +𝒋𝝎𝟐𝟐 𝜶𝟑 +𝒋𝝎𝟐𝟑 𝜶𝟒 +𝒋𝝎𝟐𝟒

𝟏 −𝟏 −𝟏
 𝒓𝟑 = 𝝎𝟐 𝟎 −𝝎𝟒
𝜶𝟐 + 𝒋𝝎𝟐𝟐 𝟎 − 𝜶𝟒 + 𝒋𝝎𝟐𝟒

 𝒓𝟑 = 𝝎𝟐 𝜶𝟒 + 𝒋𝝎𝟐𝟒 − 𝝎𝟒 𝜶𝟐 + 𝒋𝝎𝟐𝟐

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏 𝟏 −𝟏
𝝎𝟐 𝝎𝟑 𝟎
𝜶𝟐 +𝒋𝝎𝟐𝟐 𝜶𝟑 +𝒋𝝎𝟐𝟑 𝟎
 𝒓𝟒 = 𝟏 𝟏 −𝟏
𝝎𝟐 𝝎𝟑 −𝝎𝟒
𝜶𝟐 +𝒋𝝎𝟐𝟐 𝜶𝟑 +𝒋𝝎𝟐𝟑 − 𝜶𝟒 +𝒋𝝎𝟐𝟒

𝟏 𝟏 −𝟏
 𝒓𝟒 = 𝝎𝟐 𝝎𝟑 𝟎
𝜶𝟐 + 𝒋𝝎𝟐𝟐 𝜶𝟑 + 𝒋𝝎𝟐𝟑 𝟎

 𝒓𝟒 = 𝝎𝟑 𝜶𝟐 + 𝒋𝝎𝟐𝟐 − 𝝎𝟐 𝜶𝟑 + 𝒋𝝎𝟐𝟑

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝒓𝟐 = 𝝎𝟑 𝜶𝟒 + 𝒋𝝎𝟐𝟒 −𝝎𝟒 𝜶𝟑 + 𝒋𝝎𝟐𝟑

 As an example, consider synthesis of a four-bar linkage

to give the following angular velocities and angular
accelerations 𝝎𝟐 = 𝟏𝟓𝟎 𝒓𝒂𝒅/𝒔 , 𝝎𝟑 = 𝟗𝟎 𝒓𝒂𝒅/𝒔 , 𝝎𝟒 =
𝟏𝟐𝟎 𝒓𝒂𝒅/𝒔 , 𝜶𝟐 = 𝟔𝟎 𝒓𝒂𝒅/𝒔𝟐 , 𝜶𝟑 = −𝟏𝟎𝟎 𝒓𝒂𝒅/𝒔𝟐 & 𝜶𝟒 =
𝟏𝟔𝟎 𝒓𝒂𝒅/𝒔𝟐 .
 Substituting in the above equations
 𝒓𝟐 = 𝟗𝟎 𝟏𝟔𝟎 + 𝒋𝟏𝟐𝟎𝟐 − 𝟏𝟐𝟎 −𝟏𝟎𝟎 + 𝒋𝟗𝟎𝟐
 𝒓𝟐 = 𝟐𝟔. 𝟒 ∗ 𝟏𝟎𝟑 + 𝒋𝟑𝟐𝟒 ∗ 𝟏𝟎𝟑
 𝒓𝟐 = 𝟑𝟐𝟓. 𝟎𝟕 ∗ 𝟏𝟎𝟑 < 𝟖𝟓. 𝟑𝟒𝟎 >
 𝒓𝟐 = 𝟑. 𝟐𝟓 < 𝟖𝟓. 𝟑𝟒𝟎 >

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

𝝎𝟐 = 𝟏𝟓𝟎 𝒓𝒂𝒅/𝒔, 𝝎𝟑 = 𝟗𝟎 𝒓𝒂𝒅/𝒔, 𝝎𝟒 = 𝟏𝟐𝟎 𝒓𝒂𝒅/𝒔,
𝜶𝟐 = 𝟔𝟎 𝒓𝒂𝒅/𝒔𝟐, 𝜶𝟑 = −𝟏𝟎𝟎 𝒓𝒂𝒅/𝒔𝟐 & 𝜶𝟒 = 𝟏𝟔𝟎 𝒓𝒂𝒅/𝒔𝟐.

 𝒓𝟑 = 𝝎𝟐 𝜶𝟒 + 𝒋𝝎𝟐𝟒 − 𝝎𝟒 𝜶𝟐 + 𝒋𝝎𝟐𝟐

 𝒓𝟑 = 𝟏𝟓𝟎 −𝟏𝟔𝟎 + 𝒋𝟏𝟐𝟎𝟐 − 𝟏𝟐𝟎 𝟔𝟎 + 𝒋𝟏𝟓𝟎𝟐

 𝒓𝟑 = −𝟑𝟏. 𝟐 ∗ 𝟏𝟎𝟑 − 𝒋𝟓𝟒𝟎 ∗ 𝟏𝟎𝟑

 𝒓𝟑 = 𝟓𝟒𝟎. 𝟗 ∗ 𝟏𝟎𝟑 < 𝟖𝟔. 𝟔𝟗𝟎 >

 𝒓𝟑 = 𝟓. 𝟒𝟏 < 𝟖𝟔. 𝟔𝟗𝟎 >

 𝒓𝟑 = 𝟓. 𝟒𝟏 < 𝟖𝟔. 𝟔𝟗𝟎 > (𝟐𝟔𝟔. 𝟔𝟗)

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

𝝎𝟐 = 𝟏𝟓𝟎 𝒓𝒂𝒅/𝒔, 𝝎𝟑 = 𝟗𝟎 𝒓𝒂𝒅/𝒔, 𝝎𝟒 = 𝟏𝟐𝟎 𝒓𝒂𝒅/𝒔,
𝜶𝟐 = 𝟔𝟎 𝒓𝒂𝒅/𝒔𝟐, 𝜶𝟑 = −𝟏𝟎𝟎 𝒓𝒂𝒅/𝒔𝟐 & 𝜶𝟒 = 𝟏𝟔𝟎 𝒓𝒂𝒅/𝒔𝟐.

 𝒓𝟒 = 𝝎𝟑 𝜶𝟐 + 𝒋𝝎𝟐𝟐 − 𝝎𝟐 𝜶𝟑 + 𝒋𝝎𝟐𝟑

 𝒓𝟒 = 𝟗𝟎 𝟔𝟎 + 𝒋𝟏𝟓𝟎𝟐 − 𝟏𝟓𝟎 −𝟏𝟎𝟎 + 𝒋𝟗𝟎𝟐

 𝒓𝟒 = 𝟐𝟎. 𝟒 ∗ 𝟏𝟎𝟑 + 𝒋𝟖𝟏𝟎 ∗ 𝟏𝟎𝟑

 𝒓𝟒 = 𝟖𝟏𝟎. 𝟐𝟔 ∗ 𝟏𝟎𝟑 < 𝟖𝟖. 𝟓𝟔𝟎 >

 𝒓𝟒 = 𝟖. 𝟏𝟎 < 𝟖𝟖. 𝟓𝟔𝟎 >

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝒓𝟐 = 𝟐𝟔. 𝟒 ∗ 𝟏𝟎𝟑 + 𝒋𝟑𝟐𝟒 ∗ 𝟏𝟎𝟑

 𝒓𝟑 = −𝟑𝟏. 𝟐 ∗ 𝟏𝟎𝟑 − 𝒋𝟓𝟒𝟎 ∗ 𝟏𝟎𝟑

 𝒓𝟒 = 𝟐𝟎. 𝟒 ∗ 𝟏𝟎𝟑 + 𝒋𝟖𝟏𝟎 ∗ 𝟏𝟎𝟑

 𝒓𝟐 = 𝟐𝟔. 𝟒 + 𝒋𝟑𝟐𝟒

 𝒓𝟑 = −𝟑𝟏. 𝟐 − 𝒋𝟓𝟒𝟎

 𝒓𝟒 = 𝟐𝟎. 𝟒 + 𝒋𝟖𝟏𝟎

Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝒓𝟐 + 𝒓𝟑 − 𝒓𝟒 = −𝒓𝟏

 𝒓𝟏 = −𝒓𝟐 − 𝒓𝟑 + 𝒓𝟒
 𝒓𝟏 = −𝟐𝟔. 𝟒 − 𝒋𝟑𝟐𝟒 + 𝟑𝟏. 𝟐 + 𝒋𝟓𝟒𝟎 + 𝟐𝟎. 𝟒 + 𝒋𝟖𝟏𝟎
 𝒓𝟏 = 𝟐𝟓. 𝟐 − 𝒋𝟏𝟎𝟐𝟔
𝟎  𝒓𝟐 = 𝟐𝟔. 𝟒 + 𝒋𝟑𝟐𝟒
 𝒓𝟏 = 𝟏𝟎𝟐𝟔. 𝟑𝟏 < −𝟖𝟖. 𝟓𝟗 >
 𝒓𝟑 = −𝟑𝟏. 𝟐 − 𝒋𝟓𝟒𝟎
 Hence the four link lengths are
 𝒓𝟒 = 𝟐𝟎. 𝟒 + 𝒋𝟖𝟏𝟎
 𝒓𝟏 = 𝟏𝟎. 𝟐𝟔
 𝒓𝟐 = 𝟑. 𝟐𝟓
 𝒓𝟑 = 𝟓. 𝟒𝟏

 𝒓𝟒 = 𝟖. 𝟏𝟎
Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 The four vectors are drawn on X-Y plane.

 𝒓𝟏 = 𝟏𝟎. 𝟐𝟔

 𝒓𝟐 = 𝟑. 𝟐𝟓
𝟓. 𝟒𝟏
 𝒓𝟑 = 𝟓. 𝟒𝟏
𝟖. 𝟏𝟎
𝟑. 𝟐𝟓
 𝒓𝟒 = 𝟖. 𝟏𝟎
𝟏𝟎. 𝟐𝟔

THANK YOU
Lecture D ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus