Mechanism and Machine Theory 38 (2003) 265–276

www.elsevier.com/locate/mechmt

Vector method for the synthesis of mechanisms

P.A. Lebedev
Ul. Sergievskaja 22, Stary Petershoff, 198904 St. Petersburg, Russia
Received 5 January 2002

Abstract
The authorÕs vector method for the synthesis of guidance and transmission mechanisms is developed. An
algorithm of necessary operations, including a derivation of the vector equations of lines and functions to
be synthesized and also the vector equations of accepted mechanisms are developed. This method is il-
lustrated by two examples of the synthesis of a planar four-bar linkage (anti-parallelogram) for repro-
duction of the BernoulliÕs lemniscate of a given dimension and a planar crank-and-rocker mechanism.
Ó 2003 Published by Elsevier Science Ltd.

1. Introduction

One difficult problem of the mechanism and machine theory is the synthesis of linkages, which
have a small wear of the attended relatively mobile details. We pay no attention to well-known
concepts of a mechanism synthesis (see [1,2]) and mark two fundamental problems: synthesis
of path-generating mechanisms and synthesis of function-generating mechanisms. The synthesis
of path-generating mechanisms is different by a more difficulty in comparison with the synthesis of
the function-generating mechanisms, since the coupler point trajectories are reflected, as a rule, by
equations of higher degrees than equations of the transfer functions of mechanisms at the same
scheme.
Up to the present mechanism synthesis problems are based on the application of scalar
mathematics methods, generating the nonlinearities of high degrees, that give rise to difficulties
during problem solving. This paper gives an algorithm of a vector method for the synthesis of one-
mobile linkages, illustrated by kinematical synthesis of a path-generating mechanism for repro-
duction of the BernoulliÕs lemniscate of given dimension and a crank-rocker mechanism for a
reproduction of the parabolic transfer function.

E-mail address: 1xyz2001@mail.ru (P.A. Lebedev).

0094-114X/03/$ - see front matter Ó 2003 Published by Elsevier Science Ltd.

PII: S 0 0 9 4 - 1 1 4 X ( 0 2 ) 0 0 0 5 2 - 6
 266 P.A. Lebedev / Mechanism and Machine Theory 38 (2003) 265–276

2. Algorithm of a vector method for a synthesis of linkages with one degree of freedom

1. To set a task on a reproduction a line (transfer function), giving their scalar equations.
2. To derive the vector equations of lines and transfer functions, which will be subject to repro-
duction, comparatively a fixed pole in a form:
q ¼ qðu; a1 ; a2 ; . . . ; an Þ

where u is a variable coordinate and ai (i ¼ 1; 2; . . . ; n) are the fixed parameters.

3. To choose a suitable scheme of a mechanism, taking into consideration a degree of equation of
a given line (transfer function), which must guarantee a correspondence with a task as far as
possible.
4. To deduce a vector equation of a coupler curve (transfer function) of a chosen mechanism in
symbolic form without scalarization of the results on the intermediate stages of the deductions.
5. To reduce the vector equation, deduced comparatively with the items 2 and 4, to a common
pole.
6. To choose an orthogonal system of Cartesian coordinates, putting in correspondence with axes
a vector basis with an origin in a common pole.
7. To represent a vector equation of a given line (transfer function) and a coupler curve (transfer
function) of a chosen mechanism in a vector basis of a coordinate system. In addition the vector
equations will be the sums of vector projections on the coordinate axes.
8. To equate the corresponding vector projections of given and reproduced lines (transfer func-
tion) by mechanism and to receive two (for the plane mechanisms) or three (for the space mech-
anisms) interdependence equations of the parameters of given and reproduced lines (transfer
functions).
9. To introduce additional correlations and limitations, if they are necessary, for a choice of the
parameters of a mechanism to be synthesized (for example: condition of a full rotation of links;
permissible efficiency: permissible transmission ratio, etc).
10. To choose the values of fixed parameters of mechanism in a size exceeding a quantity of equa-
tions, obtained in conformity with the items 8 and 9.
11. To solve simultaneously the equations, obtained in items 8 and 9 and so to accomplish a deter-
mination of fixed mechanism parameters or to accomplish a synthesis of mechanism.

We note, that the use of the vector form of given and reproduced lines and transfer functions
gives a possibility to exclude a beginning of the equations of high degrees and ensures the explicit,
very simple solution of the synthesis problems with minimum calculations.
To illustrate the method, the author chooses a very simple example, that cannot obscure the
principal essence by cumbersome calculations.

3. Example

To synthesize a mechanism for a reproduction BernoulliÕs lemniscate with a given parameter

c ¼ 5 dimensionless units of length measurement.
 P.A. Lebedev / Mechanism and Machine Theory 38 (2003) 265–276 267

Fig. 1.

3.1. Vector equation of Bernoulli’s lemniscate

As is known, that the BernoulliÕs lemniscate is a curve, for which a product of distances of any
point K (on the curve, Fig. 1) to two fixed points F1 and F2 is a constant value. We choose a pole O
on the lemniscate self-intersection and introduce a coordinate system Oxy, drawing the axis Ox
through the foci F1 and F2 . We indicate by r1 and r2 the vector-distances between a point K and the
foci F1 and F2 , c ¼ OF1 and c ¼ OF2 , vector-distances between the foci F1 and F2 and a pole O, R-
vector––radius of a point K with an origin in pole O. In conformity with the above given defi-
nition of a lemniscate it must be true that
r1  r2 ¼ c2 ¼ const: ð1Þ
From Fig. 1 follows the equalities
r1 ¼ R  c; r2 ¼ R þ c: ð2Þ
Using equalities (2) we calculate the modulii of the vectors
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
r1 ¼ R2 þ c2  2R  c; r2 ¼ R2 þ c2 þ 2R  c: ð3Þ
Substituting a scalar product R  c ¼ Rc cos u, where u is an angle between the vector R and a line
F1 F2 , we introduce the modulii (3) in equality (1):
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
c2 ¼ R4 þ 2c2 R2  4c2 R2 cos2 u þ c4 : ð4Þ
Squaring the equality (4) we obtain the biquadratic equation for a definition of the modulus R:
R4  2R2 c2 ð2 cos2 u  1Þ ¼ 0: ð5Þ
For all p
lemniscate points, excepting a pole O, a modulus R ¼ 0. Canceling R2 out of (5) we find
ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2
R ¼ c 2ð2 cos u  1Þ and construct the vector equation of a lemniscate in basis ij:
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
R ¼ Rðicosu þ jsinuÞ ¼ c 2ð2 cos2 u  1Þðicosu þ jsinuÞ: ð6Þ
It is evident that in a pole O, a value R ¼ 0 and from this follows, that in the interval [0,2p] an
angle u takes the values u1;2 ¼ p=4 and u3;4 ¼ 3p=4, at which R reverses its direction. Thus a
vector R has next definition domain: in I quadrant––0 6 u 6 p=4; in II quadrant––3p=4 6 u 6 p; in
III quadrant––p 6 u 6 5p=4; in IV quadrant––7p=4 6 u 6 2p. We note, that at above-mentioned
sequence of passing the quadrants of a coordinate system the end of vector R circumscribes a
268 P.A. Lebedev / Mechanism and Machine Theory 38 (2003) 265–276

lemniscate at a continuous
pffiffiffi movement, indicated on Fig. 1 by the arrows, when a modulus R varies
on the interval [0,c 2].

3.2. Choice of a scheme of a mechanism for a lemniscate reproduction

It is known, that BernoulliÕs lemniscate may be circumscribed by the middle point of an axis of
the coupler of plan anti-parallelogram mechanism [3,4], the kinematical scheme of which is de-
termined by two parameters that are the length a of the rotary links and the length d of the two
elements––base link and coupler. The values of a and d must be calculated dependent only on
parameter c, that determines the dimensions and configuration of a lemniscate, and this follows
from Eq. (6). The above gives a reason to choose a scheme of anti-parallelogram mechanism.

3.3. Vector equation of a coupler curve

The vector equation of a coupler curve, reproduced by a middle point of a longitudinal coupler
axis of the anti-parallelogram mechanism, may be deduced according to Fig. 2. We shall put in
correspondence to the longitudinal link axes the arbitrary directed segments: O1 A ¼ aa0 ,
AB ¼ db0 , CB ¼ af 0 , CD ¼ dd0 . Here and in the future we shall indicate with the lower index ‘‘0’’
the unit vectors of the same name vectors. One of the rotatory links, for instance O1 A, we consider
as an input link and we indicate by w an variable angle, measured between the vectors a and d. We
compose the closing equation of a vector loop of links:
aa0 þ db0 þ dd0  af 0 ¼ 0; ð7Þ

in which there are the unit vectors b0 and f 0 to be found. The link lengths a and d will be de-
termined during a synthesis process and will be considered temporarily as known. A definition of
vectors b0 and f 0 from one equation is impossible. Therefore we multiply scalarly an Eq. (7) by a
unit vector d0 :

Fig. 2.
 P.A. Lebedev / Mechanism and Machine Theory 38 (2003) 265–276 269

af 0  d0 ¼ ðaa0  d0 þ dÞ; ð8Þ

where a0  d0 is a known value since the a0 ¼ a0 ðtÞ (t, parameter of time) and d0 ¼ constant must
be given beforehand. For definition b0  d0 ¼ cos c and f 0  d0 ¼ cos d we use a known theorem in
reference to triangle BCD (Fig. 2):
e ¼ c  d; ð9Þ
where e is an angle of the unit vectors b0 and f 0 , a cosine of which is determined by scalar quadrate
of an Eq. (7) after isolation of a sum db0 þ af 0 :
cos e ¼ b0  f 0 ¼ a0  d0 ¼  cos w: ð10Þ
To simplify the equations we introduce the notations b0  d0 ¼ x, f 0  d0 ¼ y, b0  f 0 ¼ z, with a help
of which an equality (9) is transformed to aspect:
(  pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 arccos xy þ ð1  xÞð1  yÞ ; x P y
arccos z ¼ arccos x  arcccosy ¼  pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
arccos xy þ ð1  xÞð1  yÞ ; x < y:
An anti-parallelogram mechanism is characterized by an inequality x < y since an angle c 2 ½0; p
and an angle d 2 ½0; p in all mechanism positions. Therefore we choose a value of arccos, for
which
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
z ¼ xy þ ð1  x2 Þð1  y 2 Þ: ð11Þ
Isolating a radical in (11) and solving the quadratic equation, we find
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
x ¼ yz  ð1  y 2 Þð1  z2 Þ: ð12Þ
Substituting (12) in (8) and solving a quadratic equation, after the simple transformations and
taking into consideration (10) we determine
y ¼ cos d ¼ ½2ad þ ða2 þ d 2 Þ cos w=H ; H ¼ a2 þ d 2 þ 2ad cos w: ð13Þ
Accordingly (13) we obtain:
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
sin d ¼  1  cos2 d ¼ ðd 2  a2 Þ sin w=H : ð14Þ
The angle d should not exceed a value of p, therefore sin d P 0. The denominator H > 0 at any
cos w, therefore it is necessary to choose a sign ‘‘þ’’ in (14), if 0 < w < p and a sign ‘‘’’, if
p < w < 2p.
The equalities (13) and (14) make it possible to express a unit vector f 0 through the primary
mechanism parameters (see (16)).
A value y ¼ d0  f 0 is determined and a value x ¼ b0  d0 either using (12) or using Eq. (8). We
introduce an orthogonal coordinate system Oxy with a vector basis ij and an origin O, that is a
2 1=2
center of a base link OO1 . Defining ðf 0 ; d0 ; kÞ ¼ sin d ¼ ð1  ðf 0  d0 Þ Þ we construct a unit
vector
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2 2
f 0 ¼ d0 ðf 0  d0 Þ  d0  k 1  ðf 0  d0 Þ ¼ iðf 0  d0 Þ  j 1  ðf 0  d0 Þ ; ð15Þ
where k is a unit vector perpendicular to the plane of motion of the mechanism, or
f 0 ¼ icosd  jsind ¼ H 1 fi½2ad þ ða2 þ d 2 Þ cos w  j½ðd 2  a2 Þ sin wg; ð16Þ
270 P.A. Lebedev / Mechanism and Machine Theory 38 (2003) 265–276

where it must be taken a second bracket with a sign ‘‘’’, if 0 < w < p and a sign ‘‘þ’’, if
p < w < 2p. Similarly a unit vector b0 may be determined, but it is more simply to calculate b0 on
an Eq. (7) taking in consideration (14):
b0 ¼ d 1 ðaf 0  aa0  dd0 Þ: ð17Þ
Finally last an unknown vector equation of a connecting rod curve, reproduced by a central point
of an longitudinal axis of a coupler AB, takes the form:
d
OK ¼ q ¼ a þ ðb þ dÞ=2 ¼ ðd0 þ b0 Þ þ aa0 : ð18Þ
2
Substituting a value b0 (17) in (18) we find:
aða0 þ f 0 Þ
q¼ : ð19Þ
2
After introduction in (19) the values of the unit vectors a0 ¼ icosw þ jsinw and f 0 (16) we represent
a vector equation of the central point of the coupler with respect to pole O through the primary
parameters of the mechanism:
 

2ad þ ða2 þ d 2 Þ cos w ðd 2  a2 Þ sin w

q ¼ i cos w þ 2 þ j sin w  2 ; ð20Þ
a þ d 2 þ 2ad cos w a þ d 2 þ 2ad cos w
where the upper sign ‘‘þ’’ in front of second fraction must be taken if p < w < 2p and the lower
sign ‘‘’’ if 0 < w < p. A sign in front of a difference (d 2  a2 ) must be taken in conformity with
an instruction to formula (14).

3.4. A determination of the fixed parameters of an anti-parallelogram mechanism

Having the vector equations of lemniscate and coupler curve of an anti-parallelogram for
mechanism parameter determination it is necessary to equate the vector-radii R (6) and q (20).
From this we obtain a vector equation to select the equalities of vector projections of the
vectors R and q on the coordinate axes, representing the multipliers at the unit vectors i and j.
Thus we obtain two equations of the interdependence of a lemniscate parameter c and the anti-
parallelogram parameters a and d:

pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi a 2ad þ ða2 þ d 2 Þ cos w
c 2ð2 cos2 u  1Þ cos u ¼ cos w þ 2 ; ð21Þ
2 a þ d 2 þ 2ad cos w

pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi a ðd 2  a2 Þ sin w
2
c 2ð2 cos u  1Þ sin u ¼ sin w  2 : ð22Þ
2 a þ d 2 þ 2ad cos w
A choice of an origin of coordinate system Oxy in Figs. 1 and 2 is made in a lemniscate self-
intersection point. It is known, that a point O1 (Fig. 2) coincides with a focus F1 (Fig. 1) and
hence a base link length is determined immediately: d ¼ 2c. To determine the length a it is suf-
ficient to choose one from Eqs. (21) or (22), to introduce the numerical values c ¼ 5, d ¼ 2c ¼ 10
and so to obtain an equation in respect to unknown length a. If we choose for instance an Eq.
(21), we introduce the above-mentioned numerical parameter values, also the corresponding
values u and w, for instance w ¼ u ¼ 0 and after this an Eq. (21) is reduced to an aspect:
 P.A. Lebedev / Mechanism and Machine Theory 38 (2003) 265–276 271

a3 þ 2:95a2  41a  705 ¼ 0. As is known, an equation of the third degree may be resolved ex-
plicitly (see for instance [4]). One real solution is a ¼ 7:05. Thus a solving of synthesis problem of
an anti-parallelogram mechanism for a reproduction BernoulliÕs lemniscate with a parameter
c ¼ 5 is finished.

4. Example

To synthesize the planar four-bar linkage for an approximate reproduction of the transfer
function representing the transformation of continuous rotation of an input link (crank) in os-
cillatory rotation of an output link (rocker) on parabolic dependence in interval from 20–140°.
In the solving of this task we shall do using the algorithm and keeping the order of the posi-
tions.

4.1. Scalar equation of a parabola

Let us designate angles of rotation of input and output links as u and w. The transfer function
we represent by the scalar equation of a parabola of a general view:
w ¼ Au2 þ Bu þ C: ð23Þ
Let us determine factors A, B and C on three points of a parabola ðu; wÞ ¼ ð0°; 20°Þ, (180°, 140°),
(360°, 20°), which are similarly represented in radians (0; 0.349), (p; 2.443), (2p; 0.349). Substi-
tuting these values in Eq. (23), we come to a system of equations for defining the factors A, B and
C:
0:349 ¼ C; 2:443 ¼ 9:86A þ 3:14B þ 0:349; 0:349 ¼ 39:44A þ 6:28B þ 0:349: ð24Þ
As a result of the joint solving of the second and third equations (24) we determine A ¼ 0:212;
B ¼ 1:33 and the Eq. (23) becomes:
w ¼ 0:212u2 þ 1:33u þ 0:349: ð25Þ

4.2. Vector equation of the given transfer function

The dependence (25) is presented in Fig. 3 by parabola 1. An angle w defines a position of a

rocker longitudinal axis concerning the fixed direct line. Let us designate a segment of the rocker
longitudinal axis by a vector c and we shall name C the rocker rotation centre in the plane of the
mechanism, having combined an origin of a vector c with the centre C. In such case the rotation of
a vector c is defined by his unit vector c0 . Here and in the subsequent text by the lower index ‘‘0’’
are designated the unit vectors of the same vectors. Let us choose a three-dimensional orthogonal
cartesian system of coordinates Oxyz with vector basis ijk and we combine a plane of the
mechanism with the coordinate plane Oxy. Having chosen for an origin of measuring of an angle
w an axis Ox, we shall present a unit vector c0 with obvious equality:
c0 ¼ icosw þ jsinw ¼ icosð0:349 þ 1:33u  0:212u2 Þ þ jsinð0:349 þ 1:33u  0:212u2 Þ: ð26Þ
272 P.A. Lebedev / Mechanism and Machine Theory 38 (2003) 265–276

Fig. 3.

4.3. Choice of the suitable scheme of the mechanism

According to the task a plane four-bar linkage must be as crank-and-rocker mechanism. Let us
name the lengths of the crank, rocker, coupler and frame of such mechanism a, b, c and d ac-
cordingly. From nine known variants of plane four-bar linkages [5,6] most suitable is a variant III,
distinguished by the following correlations of lengths of links: d > a, d < a þ c, d > c, which
should be determined during the decision of a task of synthesis of the mechanism. The kinematic
scheme of the chosen variant of the mechanism is submitted in a Fig. 4.

4.4. Vector transfer function of the chosen mechanism

To segments of link longitudinal axes of mechanism ABCD (Fig. 4) we put in conformity the
arbitrary directed vectors OA ¼ a, AB ¼ b, CB ¼ c, OC ¼ d. As is explained in item 4.2, the angle
w determines a position of unit vector c0 . By analogy an angle u determines a position of the unit
vector a0 relative to unit vector d0 . Hence it is possible to use the function w(u) to interpret as a
function

Fig. 4.
 P.A. Lebedev / Mechanism and Machine Theory 38 (2003) 265–276 273

c0 ¼ c0 ða0 Þ: ð27Þ
For representation of function (27) through parameters of the mechanism we shall make the
equation of a closed vector loop OABCD:
a þ b  c  d ¼ 0: ð28Þ
Let us enter relative lengths of parts: a ¼ 1, a ¼ b=a, b ¼ c=a, c ¼ d=a, for that we shall divide the
Eq. (28) into the module a and then this equation will take the form:
a0 þ ab0  bc0  cd0 ¼ 0; ð29Þ
from which follows
c0 ¼ b1 ða0 þ ab0  cd0 Þ: ð30Þ
In equality (30) a0 and d0 are the given values and the unit vector b0 can be found using other
known values which are included in (30). With this in mind we enter into consideration a variable
vector h ¼ d  a with an unit vector h0 ¼ ðd
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi  a0 Þ=d, where relative length of a vector h is des-
p0 ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ignated d ¼ h=a ¼ c2 þ 1  2cða0  d0 Þ ¼ c2 þ 1  2c cos u. Under the cosine theorem for a
triangle ABC we find the cosine of the angle, formed by vectors b0 and c0 :
b0  c0 ¼ ðb2 þ c2  h2 Þ=2bc ¼ ða2 þ b2  d2 Þ=2ab ¼ ða2 þ b2  c2  1 þ 2c cos uÞ=2ab: ð31Þ
The sine of the same angle
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ðb0 ; c0 ; kÞ ¼  1  ðb0  c0 Þ2 ¼ U =2ab; ð32Þ
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2
where U ¼ 4a2 b2  ða2 þ b2  1  c2 þ 2c cos uÞ , k is a unit vector perpendicular to the plane
of the mechanism directed towards to the reader. For the chosen scheme of the mechanism and
accepted orientation of vectors ðb0 ; c0 ; kÞ > 0, as an angle formed by vectors b and c is smaller
than p. On this basis in the further calculations it is accepted that U > 0. Let us notice also, that
the sign ‘‘þ’’ in equality (32) corresponds to the right orientation of the three vectors b0 , c0 , k, the
sign ‘‘’’ corresponds to the left orientation of a same three. From the sine theorem for a triangle
ABC the proportions follow:
d : ðb0 ; c0 ; kÞ ¼ a : ðh0 ; c0 ; kÞ ¼ b : ðh0 ; b0 ; kÞ; ð33Þ
from this we find
ðh0 ; b0 ; kÞ ¼ ðb0 ; c0 ; kÞb=d ¼ U=2ad ð34Þ
and a cosine of an angle
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
b0  h0 ¼  1  ðh0 ; b0 ; kÞ2 ¼  4a2 d2  U 2 =2ad; ð35Þ

where the sign ‘‘þ’’ corresponds to values of an angle k: 0 6 k 6 p=2, 3p=2 6 k 6 2p, the sign ‘‘’’
corresponds to values p=2 6 k 6 3p=2. The values (34) and (35) enable definitions of a unit vector
b0 depending on parameters of the mechanism:
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
b0 ¼ ðb0  h0 Þh0  ðh0 ; b0 ; kÞk  h0 ¼ ½ðcd0  a0 Þ 4a2 d2  U 2  U=2ad2 : ð36Þ
274 P.A. Lebedev / Mechanism and Machine Theory 38 (2003) 265–276

Let us substitute b0 (36) in equality (30):

pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2
c0 ¼ b1 fa0  cd0  ð2dÞ ½ðcd0  a0 Þ 4a2 d2  U 2 þ U kxðcd0  a0 Þg: ð37Þ
The equality (37) represents the transmission vector that is a function of a planar crank-and-
rocker mechanism depending on parameters of the mechanism.

4.5. Reduction of vector functions (26) and (37) to one pole

The reduction of vectors functions (26) and (37) to one pole is executed during their conclusion
(see items 4.2 and 4.4).

4.6. Choice of system of coordinates

A choice of an orthogonal system of the cartesian coordinates is mentioned in item 4.2. Now we
take this system into Fig. 4 having placed his origin in a point O on an axis of crank rotation. We
direct an axis Ox along a longitudinal axis of the frame OC. Thus obviously d0 ¼ i, an axis Oy we
shall direct perpendicularly to an axis Ox so that a unit vector j made with a unit vector i and
directed to the reader a unit vector k right a three.

4.7. Representation of vector function (37) in the chosen system of coordinates

Let us express vector function c0 (37) through the unit vectors i and j, having inserted in (37)
a0 ¼ icosu þ jsinu and d0 ¼ i, we shall open the vector product and we shall order the members of
the equality, having collected multipliers at unit vectors i and j:
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
c0 ¼ b1 ifcos u  c  ð2dÞ2 ½ðc  cos uÞ 4a2 d2  U 2  U sin ug
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
1 2
þ b jfsin u  ð2dÞ ½ 4a2 d2  U 2 sin u  U ðc  cos uÞg: ð38Þ
Let us observe, that the scalar multiplier at i in equality (38) represents length of a projection of a
vector c0 on an axis of abscissas Ox, and scalar multiplier at j-length of a projection of a vector c0
on an axis of ordinates Oy.

4.8. Composition of the calculative equations for definition of parameters of the synthesized
mechanism

We equate scalar multipliers at i and j in equalities (26) and (38) accordingly and, substituting a
value d2 ¼ c2 þ 1  2c cos u, we come to the formulas:
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
fcos u  c  ð2dÞ2 ½ðc  cos uÞ 4a2 d2  U 2  U sin ug
¼ cosð0:349 þ 1:33u  0:212u2 Þ; ð39Þ
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
b1 fsin u  ð2dÞ2 ½ 4a2 d2  U 2 sin u  U ðc  cos uÞg
¼ sinð0:349 þ 1:33u  0:212u2 Þ: ð40Þ
 P.A. Lebedev / Mechanism and Machine Theory 38 (2003) 265–276 275

4.9. Choice of additional correlations of parameters

Eqs. (39) and (40) contain three fixed parameters a, b, c to be define and the variable value u.
An existence of a crank OA is determined by a choice of lengths of links for a synthesized
mechanism (see the inequalities given in item 4.3).

4.10. Choice of fixed parameters of the mechanism in quantity exceeding quantity of the available
equations

On a condition d > a we shall choose, for example c ¼ d=a ¼ 10=5:5 ¼ 1:8181 . . ., and also let
us assume u ¼ 200°, assuming, that at this value of an angle u the values of given w and re-
produced by the synthesized mechanism approximately are identical. If such assumption will
appear erroneous with an inadmissible error, it is necessary to make a recalculation. On the
accepted value c is determined d2 ¼ c2 þ 1  2c cos 200° ¼ 7:7228485.

4.11. Decision of the Eqs. (39) and (40)

Now on the Eqs. (39) and (40) the definition of parameters a and b is possible. A value U,
included in (32), will be transformed to an aspect U 2 ¼ 2d2 ða2 þ b2 Þ  ða2  b2 Þ  d2 , and the
radical
p which ffi is included in the formulas (39) and (40), will be transformed to an aspect
ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
4a d  U ¼ a2  b2 þ d2 . After substitution of these values, and also sin u ¼ sin 200° ¼
2 2 2

0:34202014 and c  cos 200° ¼ 1:818181  ð0:939693Þ ¼ 2:757874, in the formula (39) we
come after elementary transformations to the biquadratic equation:

a4  a2 ð2b2  8:197999b þ 15:445697Þ þ b4  8:197999b3 þ 32:037995b2

 53:97162b þ 59:642389 ¼ 0; ð41Þ

which decision: a2 ¼ b2  4:09899b þ 7:7228485  0:457035b. It is necessary to substitute both

values a2 , following from last equality, in the Eq. (40) and to determine b. However, in this case
we shall obtain the equations of the fourth degree of a general view relatively b. Easier, accepting
suitable values of b, to determine a2 and by substitution of numerical meanings a and b in the Eq.
(40) to strive to transform the Eq. (40) in identity. Carrying out such a way of approximation we
arrive at a value b ¼ 1:36, to which there would correspond two values of a: 2.147 and 1.836.
Accordingly we find the coupler length 11.8 and 10.098. We accept the first value as ensuring
fluctuation of b in the given interval of an angle w (see Fig. 3, on which the curve 2 is a transfer
function of the synthesized mechanism at a ¼ 5:5; d ¼ 10; c ¼ 7:5; d ¼ 11:8). Let us observe that
the value b ¼ 11:8 corresponds to the authorÕs general theorem of crank existence [6]. It belongs to
an interval formed by the greatest value of the function b ¼ bðu; w; a; c; dÞ of two independent
variables u and w in hyperbolic points b1 ¼ d  a þ c ¼ 12 and b2 ¼ d  c þ a ¼ 8, that proves a
correct definition of the sizes of the mechanism links. The construction of a curve 2 in Fig. 3
is executed on meanings of an angle w, calculated on the left member of the formula (39), given in
the below-mentioned table to the nearest tenth of a degree.
276 P.A. Lebedev / Mechanism and Machine Theory 38 (2003) 265–276

u° 0 30 60 90 120 150 180 210 240 270 300 330

w° 21.2 29.4 53.2 77.1 99.5 118.6 132.5 139.7 140.5 134.8 119.8 84.8

The substitution of the found sizes in Eq. (40) gives a result:

 
1:361  0:342020 þ 0:342020ð2:1472  1:362 þ 7:7228485Þ
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 

þ 2:757874 15:445697ð2:1472 þ 1:362 Þ  ð2:1472  1:362 Þ2  7:72284852 15:445697

¼ sin 138:5894° ¼ 0:661450:

Having executed the ordered numerical operations, that approximates the equality of the sine of
angles w: 0:596940  0:661450 or 143:34894°  138:5894°, and the error of the approached cal-
culations makes 143:34894°  138:5894° ¼ 4:75954° or 3.4%. Thus the task of an illustration of
the developed algorithm is shown by an example of the synthesis of a linkage for the approximate
reproduction of the given transmission function. In the case it is necessary to obtain a better
solution precision it is necessary to address to known methods of the mathematical theory of
function approximation. Such a problem is beyond the scope of the present paper and deserves
special development and publication.

References

[1] H.B: KedbnC rbq. Teopbz vexaH bpM O B b M aibH (Mechanism and machine theory). MO C rB a 1990. p. 500.
[2] Hartenberg RS, Denavit J. Kinematic synthesis of linkages. New York. p. 435.
[3] B.B. ApT O ,O KeB C rbq. Teopbz M exaybpM O B lkz B O C gpO bpB el eybz gkO C rbx rpbdsX (Theory of the mechanisms
for a reproduction the planar curves). MO C rB a. 1959. p. 256.
[4] A.U. KpaqyeB . CkyoB apb-cgpaB oxybr go M exaH bpM aM (Dictionary––Reference book on the mechanisms).
MO C rB a. 1987. p. 560.
[5] G.A. Ke,eleB RbyeM aT bra gpO C T paycT B eH H sX M exaybpM O B (Kinematics of the spatial mechanisms). MO C rB a-
Keybyupal. 1966. p. 280.
[6] Lebedev PA. Description mathematique de certaines proprietes des systemes plans a quatre elements par rapport 
a
leur synthese analitique. Revue Roumaine des sciences techniques. Serie de mecanique appliquee. Tome 18, no. 1,
1973. p. 71–84.