MIDDLE EAST TECHNICAL UNIVERSITY

MECHANICAL ENGINEERING DEPARTMENT

ME 301 - THEORY OF MACHINES I
FALL 2019-2020 SECTIONS 1-2-5
HOMEWORK 4
Prepared by: Cem Baykal Mail: baycem@metu.edu.tr
Room: B-175 Due date:06.12.2019 – 23:59

1) Consider the mechanism shown below. Assume that the position analysis of the
mechanism is performed, so that all position variables are known.

|𝑂𝐴| = 𝑎 , |𝐴𝐷| = 𝑎 , |𝐸𝐷| = 𝑎 , |𝐵𝐶| = 𝑎 , |𝐴𝐵| = 𝑘, |𝐹𝐸| = 𝑚, |𝑂𝐹| = 𝑛, |𝑂𝐻| = 𝑝

Input is 𝜃 .
a) Write down the scalar velocity loop equations in terms of the dimensions and the position
variables of the mechanism.
b) Determine the condition(s) that yield(s) the singular position(s) of the mechanism if the
input link is 2.
c) Sketch the mechanism at the singular position(s).

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a) Disconnecting joints at D and C:
LCE1 𝑎 𝑒 +𝑎 𝑒 = 𝑛𝑖 + 𝑚 + 𝑎 𝑒 (1)
LCE2 𝑎 𝑒 + 𝑘𝑒 +𝑎 𝑒 = 𝑝 + 𝑖𝑠 (2)
Real and imaginary parts;
LCE1 𝑎 cos 𝜃 + 𝑎 cos 𝜃 = 𝑚 + 𝑎 cos 𝜃 (3)
LCE1 𝑎 sin 𝜃 + 𝑎 sin 𝜃 = 𝑛 + 𝑎 sin 𝜃 (4)
LCE2 𝑎 cos 𝜃 + 𝑘 cos 𝜃 − 𝛼 + 𝑎 cos 𝜃 = 𝑝 (5)
LCE2 𝑎 sin 𝜃 + 𝑘 sin 𝜃 − 𝛼 + 𝑎 sin 𝜃 = 𝑠 (6)
Taking derivatives with respect to time;
LCE1 𝜃 𝑎 sin 𝜃 + 𝜃 𝑎 sin 𝜃 = 𝜃 𝑎 sin 𝜃 (7)
LCE1 𝜃 𝑎 cos 𝜃 + 𝜃 𝑎 cos 𝜃 = 𝜃 𝑎 cos 𝜃 (8)
LCE2 𝜃 𝑎 sin 𝜃 + 𝜃 𝑘 sin 𝜃 − 𝛼 + 𝜃 𝑎 sin 𝜃 = 0 (9)
LCE2 𝜃 𝑎 cos 𝜃 + 𝜃 𝑘 cos 𝜃 − 𝛼 + 𝜃 𝑎 cos 𝜃 = 𝑠 (10)
b) Writing in the matrix form by considering 𝜃 is the input:
𝑎 sin 𝜃 −𝑎 sin 𝜃 0 0 ⎡𝜃 ⎤
⎡ ⎤
⎢ 𝑎 cos 𝜃 −𝑎 cos 𝜃 0 0 ⎥ ⎢𝜃 ⎥
⎢ 𝑘 sin 𝜃 − 𝛼 0 𝑎 sin 𝜃 0 ⎥ ⎢𝜃 ⎥
⎢ ⎥
⎣𝑘 cos 𝜃 − 𝛼 0 𝑎 cos 𝜃 −1⎦ ⎣ 𝑠 ⎦
(11)
−𝜃 𝑎 sin 𝜃
⎡ ⎤
⎢−𝜃 𝑎 cos 𝜃 ⎥
=⎢ ⎥
⎢ −𝜃 𝑎 sin 𝜃 ⎥
⎣−𝜃 𝑎 cos 𝜃 ⎦
Equating the determinant of the coefficient matrix gives the singular positions of the
mechanism:
𝑎 𝑎 𝑎 cos 𝜃 sin 𝜃 sin 𝜃 − 𝑎 𝑎 𝑎 cos 𝜃 sin 𝜃 sin 𝜃
(12)
= 𝑎 𝑎 𝑎 sin 𝜃 − 𝜃 sin 𝜃 = 0
c) There are four possible cases;
sin 𝜃 = 0, 𝜃 = 0 𝑜𝑟 𝜃 = 𝜋
(13)
sin 𝜃 − 𝜃 = 0, 𝜃 = 𝜃 𝑜𝑟 𝜃 = 𝜃 + 𝜋
These cases are represented in the next page:

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2) Consider the planar mechanism below. The dimensions of the mechanism are

|AB| = b2 = 40 cm |AF| = b1 = 60 cm
|BC| = b3 = 10 cm |EF| = c1 = 50 cm
|DE| = b4 = 20 cm |CG| = c3 = 10 cm
|DH| = c4 = 130 cm

Position analysis was performed in the previous homework. Please be sure that your
position analysis is correct.
a) Derive the analytical expressions for the velocity variables, 𝜃 and 𝑠 in terms of the
input angular velocity, 𝜃 , position variables, and fixed dimensions.
b) Derive the analytical expressions for the acceleration variables, 𝜃 and 𝑠 in terms of
the input angular acceleration, 𝜃 , position and velocity variables, and fixed dimensions.
c) Perform full-cycle analyses for dependent velocity and acceleration variables by taking
input as 𝜃 . Plot the variations of velocity and acceleration variables with the inputs as
𝜃 = 2𝜋 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡.

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a) Disconnecting joints at D and C:
𝑏 𝑒 +𝑠 𝑒 +𝑏 𝑒 =𝑐 +𝑏 𝑖+𝑏 𝑒 (14)
𝑏 +𝑏 𝑒 − 𝑖𝑠 𝑒 =𝑐 +𝑏 +𝑏 𝑒
Real and imaginary parts;
𝑏 + 𝑏 cos 𝜃 + 𝑠 sin 𝜃 = 𝑐 + 𝑏 cos 𝜃 (15)
𝑏 + 𝑏 sin 𝜃 − 𝑠 cos 𝜃 = 𝑏 + 𝑏 sin 𝜃 (16)
Introducing an intermediate constant 𝑏 = 𝑏 + 𝑏 , multiplying equation (15) with
cos 𝜃 , and multiplying equation (16) with sin 𝜃 will lead;
𝑏 cos 𝜃 + 𝑠 sin 𝜃 cos 𝜃 = 𝑐 + 𝑏 cos 𝜃 cos 𝜃 (17)
𝑏 sin 𝜃 − 𝑠 sin 𝜃 cos 𝜃 = 𝑏 + 𝑏 sin 𝜃 sin 𝜃 (18)
Adding equations (17) and (18) will lead;
𝑏 + 𝑏 sin 𝜃 sin 𝜃 + 𝑐 + 𝑏 cos 𝜃 cos 𝜃 = 𝑏 (19)
Phase angle method;
𝐴 = 𝑏 + 𝑏 sin 𝜃 , 𝐵 = 𝑐 + 𝑏 cos 𝜃 , 𝐶=𝑏
𝐷 = 𝐴 + 𝐵 , 𝜙 = 𝑎𝑡𝑎𝑛2 𝑥, 𝑦 = 𝑎𝑡𝑎𝑛2 𝐴, 𝐵 (20)
𝐴 = 𝐷 cos 𝜙 , 𝐵 = 𝐷 sin 𝜙
Equation (19) becomes;
𝐷 cos 𝜙 sin 𝜃 + 𝐷 sin 𝜙 cos 𝜃 = 𝐷 sin 𝜙 + 𝜃 =𝑏 (21)

𝑏 𝑏 (22)
sin 𝜙 + 𝜃 = , cos 𝜙 + 𝜃 =𝜎 1−
𝐷 𝐷
Where 𝜎 is the sign variable and it is -1.
𝑏 𝑏
𝜙+𝜃 = 𝑎𝑡𝑎𝑛2 𝑥, 𝑦 = 𝑎𝑡𝑎𝑛2 − 1 − , (23)
𝐷 𝐷

𝑏 𝑏
𝜃 = 𝑎𝑡𝑎𝑛2 − 1 − , −𝜙 (24)
𝐷 𝐷

From the mechanism, it is expected that 𝜃 will not be 0 or 180 . Therefore, using sin 𝜃
in the denominator will make sense. Otherwise, singularities will occur. Then, 𝑠 can be
calculated from equation (15);
𝑐 + 𝑏 cos 𝜃 − 𝑏 cos 𝜃
𝑠 = (25)
sin 𝜃
For velocity variables, taking derivative of the (15) and (16);
−𝜃 𝑏 sin 𝜃 + 𝑠 sin 𝜃 + 𝜃 𝑠 cos 𝜃 = −𝜃 𝑏 sin 𝜃 (26)
𝜃 𝑏 cos 𝜃 − 𝑠 cos 𝜃 + 𝜃 𝑠 sin 𝜃 = 𝜃 𝑏 cos 𝜃 (27)
Multiplying equation (26) with cos 𝜃 , and multiplying equation (27) with sin 𝜃 will
lead;
−𝜃 𝑏 sin 𝜃 cos 𝜃 + 𝑠 sin 𝜃 cos 𝜃 + 𝜃 𝑠 cos 𝜃
(28)
= −𝜃 𝑏 sin 𝜃 cos 𝜃
𝜃 𝑏 cos 𝜃 sin 𝜃 − 𝑠 cos 𝜃 sin 𝜃 + 𝜃 𝑠 sin 𝜃 (29)
= 𝜃 𝑏 cos 𝜃 sin 𝜃

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Adding them up;
𝜃 𝑠 = −𝜃 𝑏 sin 𝜃 cos 𝜃 + 𝜃 𝑏 cos 𝜃 sin 𝜃
(30)
𝜃 𝑠 = −𝜃 𝑏 sin 𝜃 − 𝜃
𝜃 𝑏 sin 𝜃 −𝜃
𝜃 = (31)
𝑠
Multiplying equation (26) with sin 𝜃 , and multiplying equation (27) with cos 𝜃 will
lead;
−𝜃 𝑏 sin 𝜃 + 𝑠 sin 𝜃 + 𝜃 𝑠 cos 𝜃 sin 𝜃
(32)
= −𝜃 𝑏 sin 𝜃 sin 𝜃
𝜃 𝑏 cos 𝜃 − 𝑠 cos 𝜃 + 𝜃 𝑠 sin 𝜃 cos 𝜃 (33)
= 𝜃 𝑏 cos 𝜃 cos 𝜃
Subtraction will lead;
𝜃 𝑏 − 𝑠 = 𝜃 𝑏 cos 𝜃 cos 𝜃 + 𝜃 𝑏 sin 𝜃 sin 𝜃 (34)

Velocity variables are;

𝑠 =𝜃 𝑏 − 𝜃 𝑏 cos 𝜃 −𝜃 (35)
b) Since we obtained velocity variables as continuous functions, acceleration variables can
be calculated directly by taking derivatives of the velocity variables.
𝜃 sin 𝜃 −𝜃 +𝜃 𝜃 −𝜃 cos 𝜃 −𝜃 𝑠
−𝑠 𝜃 sin 𝜃 −𝜃 (36)
𝜃 =𝑏
𝑠
𝑠 =𝜃 𝑏 − 𝑏 𝜃 cos 𝜃 −𝜃 −𝜃 𝜃 −𝜃 sin 𝜃 −𝜃 (37)
Where 𝜃 = 0.
c) Plots are as follows;

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3) The side view of a gear train is given in the figure below.

a) Draw the schematic representation (front view) by specifying the arm, planet, and sun
gear(s).
b) The system is designed such that link five is rotating %25 faster than link four, and it is
known that link two and link four have the same number of teeth. Determine the rotation
speeds of link five when link two is rotating at 1000 rpm clockwise when viewed from the
right.

a) It is shown in the figure.

b) Link 5 is the arm of planet gears. Velocity ratio equations are as follows:
ω −𝜔 𝑇 ω −𝜔 𝑇
=− , =− (38)
ω −𝜔 𝑇 ω −𝜔 𝑇
Multiplying these equations will lead:
ω −𝜔 ω −𝜔 𝑇 𝑇
=
ω −𝜔 ω −𝜔 𝑇 𝑇
(39)
ω −𝜔 𝑇 1000 − 𝜔
= = =1
ω −𝜔 𝑇 0.8ω − 𝜔
It results as 𝜔 = 1250 𝑟𝑝𝑚. Clockwise, when viewed from the right.

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4) For the gear train shown, determine the speed of link 4 when link two is rotating at 1000
rpm clockwise when viewed from the right.

Rotation axis of link three is not fixed. Relative angular velocity equations are;
ω −𝜔 𝑇 60
= = (40)
ω −𝜔 𝑇 18
ω −𝜔 𝑇 20
= = (41)
ω −𝜔 𝑇 60
ω −𝜔 𝑇 96
=− =− (42)
ω −𝜔 𝑇 60
When these equations are solved, following results are obtained;
𝜔 =0
𝜔 = 1000 𝑟𝑝𝑚
𝜔 = 1756.76 𝑟𝑝𝑚 (43)
𝜔 = 3918.92 𝑟𝑝𝑚
𝜔 = 675.68𝑟𝑝𝑚
Clockwise, when viewed from the right.

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5) This question is a study problem; it will not be graded.
The figure shows a planetary gear-train arrangement used in hoisting machinery. The
drum(link 9) containing three-ring gears is the output, and the motor is coupled with the
shaft of link two. Determine the angular speed and direction of the drum when link two is
rotating at 600 rpm clockwise when observed from the right.

Relative angular velocity equations are as follows;

𝑇 𝜔 −𝜔 𝜔 30
= = = (44)
𝑇 𝜔 −𝜔 𝜔 90
𝑇 𝜔 −𝜔 𝜔 30
− = = =− (45)
𝑇 𝜔 −𝜔 𝜔 60
𝑇 𝜔 −𝜔 𝜔 − −1.5𝜔 30
= = = (46)
𝑇 𝜔 −𝜔 𝜔 − −1.5𝜔 90
𝑇 𝜔 −𝜔 𝜔 − −1.5𝜔 30
− = = =− (47)
𝑇 𝜔 −𝜔 6𝜔 − −1.5𝜔 60
𝑇 𝜔 −𝜔 −600 − −5.25𝜔 30
− = = =− (48)
𝑇 𝜔 −𝜔 𝜔 − −5.25𝜔 60
𝑇 𝜔 −𝜔 𝜔 − −5.25𝜔 30
= = = (49)
𝑇 𝜔 −𝜔 1200 − 15.75𝜔 − −5.25𝜔 90
𝜔 = 41.026 𝑟𝑝𝑚 𝐶𝐶𝑊 (50)

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