Find the velocities of all the bodies of a slider crank mechanism, as shown in Example 3.

1, in
terms of θ 2 , the angular velocity of the crank shaft.

Solution:

There are 3 bodies in this system if the ground is ignored. The coordinates of the bodies are

T
for the crank shaft: q 2 = ⎡⎣ Rx2 Ry2 θ 2 ⎤⎦
T
for the connecting rod: q 3 = ⎡⎣ Rx3 Ry3 θ 3 ⎤⎦
T
for the slider: q 4 = ⎡⎣ Rx4 Ry4 θ 4 ⎤⎦

There are two simple ways to find the solution to this problem. One is using the methods of
multi-body dynamics, and the other is through simple geometric reasoning.

Due to the simplicity of this problem, simple geometric reasoning can produce the solution very
rapidly. Note from the diagram of the mechanism that the following relationships can be
deduced.

l 2 sin θ 2 + l 3 sin θ 3 = 0 (EQAB)

l 2 cosθ 2 + l 3 cosθ 3 = Rx4 (EQAC)

l2
Rx2 = cos θ 2 (EQAD)
2

l2
Ry2 = sin θ 2 (EQAE)
2

l3
R = l cos θ + cos θ 3
3
x
2 2
(EQAF)
2

Ry2 = Ry3 (EQAG)

These equations alone can be used to find all velocity relationships of this mechanism.

Differentiating Eq. (EQAB) and solving for δθ 3 , one gets

 l 2 cos θ 2 2
δθ 3 = − δθ (EQAH)
l 3 cos θ 3

Differentiating Eq. (EQAC) and substituting Eq. (EQAH), one gets

⎛ l 2 cos θ 2 sin θ 3 ⎞ 2
δ Rx4 = ⎜ −l 2 sin θ 2 + ⎟ δθ (EQAW)
⎝ cos θ 3 ⎠

From Eqs. (EQAD) and (EQAE), one gets

l2
δ Rx2 = − sin θ 2δθ 2 (EQAI)
2

l2
δ Ry2 = cos θ 2δθ 2 (EQAJ)
2

From Eqs. (EQAF) and (EQAH), one gets

⎛ l 2 cos θ 2 sin θ 3 ⎞ 2
δ Rx3 = ⎜ −l 2 sin θ 2 + ⎟ δθ
⎝ 2cos θ 3 ⎠

From Eqs. (EQAG) and (EQAJ), one gets

l2
δ Ry3 = cos θ 2δθ 2
2

Therefore, in matrix form, using geometric relationships leads directly to

⎡ l2 ⎤
⎢ − sin θ 2 ⎥
⎢ 2 ⎥
⎢ l2 ⎥
⎡δ Rx2 ⎤ ⎢ cos θ 2
⎥
2
⎢ 2⎥ ⎢ ⎥
⎢δ Ry ⎥ ⎢ 1 ⎥
⎢ δθ 2 ⎥ ⎢ l cos θ sin θ
2 2 3⎥
⎢ 3 ⎥ ⎢ −l 2 sin θ 2 + ⎥
⎢δ Rx ⎥ ⎢ 2 cos θ 3 ⎥
⎢δ R 3 ⎥ = ⎢ l 2 ⎥ δθ 2 (EQAV)
⎢ 3y ⎥ ⎢ cos θ 2
⎥
⎢ δθ ⎥ ⎢ 2 ⎥
⎢δ R 4 ⎥ ⎢ l cos θ
2 2 ⎥
⎢ x⎥ ⎢ − 3 ⎥
⎢δ Ry4 ⎥ ⎢ l cos θ 3 ⎥
⎢ 4⎥ ⎢ 2 l 2
cos θ 2
sin θ 3⎥
⎣ δθ ⎦ ⎢ −l sin θ 2 + ⎥
⎢ cos θ 3 ⎥
⎢ 0 ⎥
⎢ ⎥
⎣ 0 ⎦
On the other hand, the methods of multi-body dynamics can also be used to find the same
solution, though written in a different form. In this method, the Jacobian matrix of the constraint
equations is required. First, the constraint equations are presented.

The constraint equations at Point O are

R 2 + A 2uo2 = 0 (EQAK)

where

T
⎡cos θ 2 − sin θ 2 ⎤ ⎡ l2 ⎤
A =⎢
2
⎥ and u 2
o = ⎢− 0⎥
⎣ sin θ cos θ 2 ⎦
2
⎣ 2 ⎦

Expanding Eq. (EQAK) produces

⎡ l2 ⎤
⎡ Rx2 ⎤ ⎡cos θ 2 − sin θ 2 ⎤ ⎢ − ⎥ ⎡0 ⎤
⎢ 2⎥ + ⎢ ⎥ 2⎥=⎢ ⎥
⎣⎢ Ry ⎦⎥ ⎣ sin θ
2
cos θ 2 ⎦ ⎢ ⎣0 ⎦
⎣⎢ 0 ⎦⎥

which is

l2
Rx2 − cos θ 2 = 0
2 (EQAL)
l2
Ry − sin θ 2 = 0
2

The constraint equations at Point A are

R 2 + A 2u 2A − R 3 − A 3u 3A = 0 (EQAM)

T T
⎡l2 ⎤ ⎡ l3 ⎤
where u = ⎢2
A 0 ⎥ and u 3A = ⎢ − 0⎥
⎣2 ⎦ ⎣ 2 ⎦

which is

l2 l3
Rx2 + cos θ 2 − Rx3 + cos θ 3 = 0
2 2 (EQAN)
2
l l3
Ry2 + sin θ 2 − Ry3 + sin θ 3 = 0
2 2

Expanding Eq. (EQAM) produces

⎡l2 ⎤ ⎡ l3 ⎤
⎡ Rx2 ⎤ ⎡cos θ 2 − sin θ 2 ⎤ ⎢ ⎥ ⎡ Rx ⎤ ⎡cos θ 3
3
− sin θ 3 ⎤ ⎢ − ⎥ ⎡0 ⎤
⎢ 2⎥ + ⎢ ⎥ 2 − ⎢ 3⎥ − ⎢ ⎥ 2⎥=⎢ ⎥
⎢⎣ Ry ⎥⎦ ⎣ sin θ
2
cos θ 2 ⎦ ⎢ ⎥ ⎢⎣ Ry ⎥⎦ ⎣ sin θ 3 cos θ 3 ⎦ ⎢ 0
⎢⎣ 0 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎣ ⎦
The constraint equations for the revolute joint at Point B are

R 3 + A3u 3B − R 4 = 0 (EQAO)

Note that Point B is the center of mass of Body 4. Therefore, u 4B = 0

Expanding Eq. (EQAO) produces

⎡ l3 ⎤
⎡ Rx3 ⎤ ⎡cos θ 3 − sin θ 3 ⎤ ⎢ ⎥ ⎡ Rx ⎤ ⎡0 ⎤
4

⎢ 3⎥ + ⎢ ⎥ 2 − ⎢ 4⎥ = ⎢ ⎥
⎢⎣ Ry ⎥⎦ ⎣ sin θ
3
cos θ 3 ⎦ ⎢ ⎥ ⎢⎣ Ry ⎥⎦ ⎣0 ⎦
⎣⎢ 0 ⎦⎥

which is

l3
Rx3 + cos θ 3 − Rx4 = 0
2 (EQAP)
l3
Ry3 + sin θ 3 − Ry4 = 0
2

The equations for the prismatic joint for Body 4 are

Ry4 = 0 and θ 4 = 0

In order to build the Jacobian matrix of the constraints, the derivatives of the constraint equations
are required.

The virtual changes in the coordinates for the revolute joint at Point O are

l2
δ Rx2 + sin θ 2δθ 2 = 0
2 (EQAQ)
l2
δ Ry2 − cos θ 2δθ 2 = 0
2

which, when written in matrix form, produce

⎡ l2 ⎤
sin θ 2 ⎥ ⎡δ Rx ⎤ ⎡0 ⎤
2
⎢ 1 0
⎢ ⎥
⎢ 2 ⎥ ⎢δ Ry2 ⎥ = ⎢0 ⎥
⎢ ⎢ ⎥
2⎥⎢
2
l 2⎥
⎢⎣ 0 1 − cos θ ⎥⎦ ⎣ δθ ⎦ ⎢⎣0 ⎥⎦
2

The virtual changes in the coordinates for the revolute joint at Point A are

l2 l3
δ R − sin θ δθ − δ Rx − sin θ 3δθ 3 = 0
2
x
2 2 3

2 2 (EQAR)
2
l l3
δ Ry2 + cos θ 2δθ 2 − δ Ry3 + cosθ 3δθ 3 = 0
2 2

which, when written in matrix form, produce

 ⎡δ Rx2 ⎤
⎢ 2⎥
⎡ l2 l3 3⎤ ⎢
δ Ry ⎥
⎢ 1 0 − sin θ 2 −1 0 − sin θ ⎥ ⎢ 2 ⎥ ⎡0 ⎤
δθ
⎢ 2 2 ⎥ ⎢ 3 ⎥ = ⎢0⎥
⎢ l 2
l 3
⎥ δR ⎢ ⎥
⎢⎣0 1 2 cos θ
2
0 −1 cos θ 3 ⎥ ⎢ x3 ⎥ ⎢⎣0 ⎥⎦
2 ⎦ ⎢δ Ry ⎥
⎢ 3⎥
⎣⎢ δθ ⎦⎥

The virtual changes in the coordinates for the revolute joint at Point B are

l3
δ Rx3 − sin θ 3δθ 3 − δ Rx4 = 0
2 (EQAS)
l3
δ Ry3 + cos θ 3δθ 3 − δ Ry4 = 0
2

which, when written in matrix form, produce

⎡δ Rx2 ⎤
⎢ 2⎥
⎡ l3 ⎤ ⎢δ Ry ⎥ 0
⎢1 0 − 2 sin θ
3
−1 0 0 ⎥ ⎢ 2 ⎥ ⎡ ⎤
δθ
⎢ ⎥ ⎢ 3 ⎥ = ⎢0⎥
⎢ l3 ⎥ δR ⎢ ⎥
⎢⎣ 0 1 cos θ 3 0 −1 0 ⎥ ⎢ x3 ⎥ ⎢⎣0 ⎥⎦
2 ⎦ ⎢δ R y ⎥
⎢ 3⎥
⎣⎢ δθ ⎦⎥

The virtual changes in the coordinates for the prismatic joint for Body 4 are

⎡δ Ry4 ⎤ ⎡0 ⎤
⎢ 4⎥=⎢ ⎥ (EQAT)
⎣ δθ ⎦ ⎣0 ⎦

The Jacobian matrix of the constraints, Cq , can now be created.

 ⎡ l2 ⎤
⎢1 0 sin θ 2 0 0 0 0 00⎥
⎢ 2 ⎥
⎢ l2 ⎥
⎢0 1 − cos θ 2 0 0 0 0 0 0⎥
2
⎢ ⎥
⎢ l2 l3 ⎥
⎢1 0 − sin θ 2 −1 0 − sin θ 3 0 0 0⎥
2 2
⎢ 2 3
⎥
l l
Cq = ⎢ 0 1 cos θ 2 0 −1 cos θ 3 0 0 0 ⎥⎥
⎢ 2 2
⎢ ⎥
⎢0 l3
0 0 1 0 − sin θ 3 −1 0 0 ⎥
⎢ 2 ⎥
⎢ 3 ⎥
⎢0 l
0 0 0 1 cos θ 3 0 −1 0 ⎥
⎢ 2 ⎥
⎢0 0 0 0 0 0 0 1 0 ⎥⎥
⎢
⎢⎣0 0 0 0 0 0 0 0 1 ⎥⎦

Note that Cq is an 8 × 9 matrix. The Jacobian matrix of the constraints is a product of

differentiating the equations of constraint with respect to the coordinates.

Cqδ q = 0

where

⎡δ Rx2 ⎤
⎢ 2⎥
⎢δ Ry ⎥
⎢ δθ 2 ⎥
⎢ 3⎥
⎢δ Rx ⎥
δ q = ⎢δ Ry3 ⎥
⎢ 3⎥
⎢ δθ ⎥
⎢δ R 4 ⎥
⎢ x⎥
⎢δ Ry4 ⎥
⎢ 4⎥
⎣ δθ ⎦

Cqδ q = 0 can be separated into

Cqd δ q d + Cqi δ qi = 0 (EQAU)

where
 ⎡1 0 0 0 0 0 0⎤
0 ⎡ l2 ⎤
⎢0 ⎥ ⎢ sin θ 2 ⎥
⎢ 1 0 0 0 0 0 0⎥ ⎢ 22 ⎥
⎢ l3 ⎥ ⎡ δ Rx
2
⎤ ⎢ l 2⎥
⎢1 0 −1 0 − sin θ 3 0 0 0⎥ ⎢ 2⎥ ⎢ − 2 cos θ ⎥
⎢ 2 ⎥ ⎢δ Ry ⎥ ⎢ 2 ⎥
⎢ l3 ⎥ ⎢δ Rx3 ⎥ ⎢ l 2⎥
⎢0 1 0 −1 cos θ 3 0 0 0⎥ ⎢ 3⎥
δ Ry ⎥ ⎢ − 2 sin θ ⎥
Cq d =⎢
2 ⎥ , δ qd = ⎢ , Cq i = ⎢ 2 ⎥,
⎢ l3 ⎥ ⎢ δθ 3 ⎥ ⎢ l cos θ 2 ⎥
⎢0 0 1 0 − sin θ 3 −1 0 0 ⎥ ⎢ 4⎥ ⎢ 2 ⎥
⎢ 2 ⎥ ⎢δ Rx ⎥ ⎢ ⎥
⎢ l 3
⎥ ⎢δ R 4 ⎥ ⎢ 0 ⎥
⎢0 0 0 1 cos θ 3 0 −1 0 ⎥ ⎢ y⎥ ⎢ ⎥
2 0
⎣⎢ δθ ⎦⎥
4
⎢ ⎥ ⎢ ⎥
⎢0 0 0 0 0 0 1 0⎥ ⎢ 0 ⎥
⎢0 0 0 0 0 0 0 1⎦ ⎥ ⎢ 0 ⎥
⎣ ⎣ ⎦

and δ qi = ⎡⎣δθ 2 ⎤⎦

Cqd is an invertible 8 × 8 matrix. It is just Cq with the third column removed. Cqi is just the
third column of Cq .

Solving Eq. (EQAU) produces

δ q d = −Cq−1 Cq δ qi
d i

which is the same relationship as found in Eq. (EQAV). This can be verified using symbolic
mathematical manipulation software such as Maple.