Mech. Mach. Theory Vol. 31, No. 4, pp.

459474, 1996
Copyright © 1996 Elsevier ScienceLtd
Pergamon 0094-114X(95)00085-2 Printed in Great Britain. All rights reserved
0094-114X/96 $15.00 + 0.00

KINEMATIC SYNTHESIS OF ADJUSTABLE MOVING PIVOT

FOUR-BAR MECHANISMS FOR MULTI-PHASE
MOTION GENERATION

SHAO JIE WANG and RAJ S. SODHI

Department of Mechanical Engineering, New Jersey Institute of Technology, Newark,
NJ 07102-1982, U.S.A.

(Received 18 July 1994; in revised form 16 October 1995; received for publication 24 October 1995)

Abstraet--A four-bar linkage can satisfy up to five prescribed positions for the motion generation
problem. The adjustable four-bar linkage, on the other hand, can satisfy more than five given positions
by making some of the parameters adjustable. Limited work had been done in the area of motion
generation problems of kinematic synthesis of adjustable four-bar linkages. This paper considers for the
first time, the adjustment of a moving pivot. Equations are developed for the most complicated cases,
which are two phase adjustable moving pivot problems with three positions in each of the two phases.
Solutions are developed for two and three phase adjustable moving pivot problems. The numerical method
developed for solving adjustable fixed pivot problems are extended to solve adjustable moving pivot
problems. Synthesis examples are presented. Several Turbo Pascal programs are developed for solving the
synthesis problems. Many user-defined AutoLISP functions and commands are specially designed for this
work.

1. INTRODUCTION
There are three kinds of problems in kinematic synthesis: function generation, path generation, and
motion generation problems. Motion generation or rigid-body guidance requires that a moving
body be guided through a series of prescribed positions. The body to be guided usually is a part
of a coupler.
An ideal motion of the coupler can only be approximated by several discrete precision positions.
That is, the resulting linkage can create a motion precisely at these positions and approximately
at other positions. The more precision positions are used, the closer to the ideal motion is the actual
motion of the coupler. But the problem is more difficult to solve as the number of precision
positions is increased. Fortunately, many real world problems only need several critical positions
to be satisfied precisely. Tolerance is usually allowed at other positions.
Since a linkage has only a finite number of significant dimensions, the designer may only
prescribe a finite number of precision points. That is, for all three kinds of synthesis tasks, only
a finite number of precision points could be satisfied.
A four-bar linkage can satisfy up to five prescribed positions for the motion generation problem.
The adjustable four-bar linkage, on the other hand, can satisfy more than five given positions by
making some of the parameters adjustable.
In the area of adjustable linkages for motion generation, the published work is limited [1-9].
Ahmad and Waldron [10, 11] developed a technique for a four-bar linkage with adjustable driven
fixed pivot. They solved two phase problems with a maximum total number of five positions.
Wilhelm[12] developed synthesis techniques for two phase motion generation problems of
adjustable four-bar linkages. He solved various combinations of positions for adjustable fixed pivot
problems, adjustable crank length problems, and multiple adjustment of the two. Also, the total
number of positions of the synthesis tasks reached their maximum possible value.
Ahmad, Waldron, and Wilhelm made significant contributions, but their work did not cover the
adjustment of moving pivot and the problems of more than two phases. This paper develops
solutions for the first time to two and three phase adjustable moving pivot motion generation
synthesis problems.
459
460 Shao Jie Wang and Raj S. Sodhi

Another goal of this research is to code this work into programs, so that the user can solve their
synthesis problems on an IBM personal computer by means of Turbo Pascal, AutoCAD,
and AutoLISP. Many user-defined AutoLISP functions and commands are developed for this
research.

2. A D J U S T A B L E MOVING PIVOT 123-456

2.1. Basic equations
As shown in Fig. 1, the position of a moving body (coupler) in general plane motion could be
specified by a point (A) and an angle (0) of a line ( A X ' ) passing through it. In the figure, the moving
reference X ' A Y" is fixed to the coupler and moves along with it wherever it goes. A crank with
a center pivot S = (P, Q) and a circle pivot C = (X, Y) is also shown in the figure. The following
equations are valid for all positions of the crank if the fixed pivot and the crank length are not
made adjustable:
(X,-p)2+(Y,-Q)2=R2 i=l,...,n (1)
where Xi and Y,. are coordinates of moving pivot C with respect to the fixed frame, P and Q are
the coodinates of the fixed pivot with respect to the fixed frame, R is the crank length, and n is
the number of precision positions. Also,
Xi = ai + p cos 0i -- q sin 0~
Yi = bi "1-p sin Oi + q COSOi i = 1. . . . . n (2)
where p and q are coordinates of the moving pivot C with respect to the moving reference X ' A Y',
a~ and b~ are coordinates of the origin of the moving coordinate system with respect to the fixed
reference.
With equations (1) and (2), the prescribed positions could thus be represented by a~, b; and 0~,
where i --- 1 , . . . , n. Here, n represents the number of prescribed positions. Substitution of equations
(2) into (1) to eliminate Xi and Y~ leaves us with five unknowns: P, Q, p, q, and R. Hence, the
maximum number of prescribed positions for synthesizing a four-bar linkage is five.
The synthesis of one crank, that is one side of an adjustable four-bar linkage will be discussed
in this paper. The technique for adding another crank to complete a linkage design will be shown
in an example.
For the case of three positions in each of the two phases with no position shared, the following
equations should be satisfied:
(X 1 _ p)z + (Yi - Q)2 = R 2 (3)
(X2 - P ) : + (Y2 - Q)2 = R 2 (4)
( X 3 __ p ) 2 _4_ (Y3 - Q)2 = R 2 (5)

.g

I' 1 -- X

Fig. I. The moving and fixed references.

 Kinematic synthesis of adjustable four-bar mechanisms 461

( X 4 - - e ) 2 .~_ (Y4 - Q)2 = R 2 (6)

( X s _ e)2 + (r5 - Q)2 = R 2 (7)
(X6 - P ) 2 + (Y6 - Q ) ; --- R z (8)
where

X~ = a~ + p~ cos 01 - q~ sin 0~ (9)

)(2 = a2 + P l cos 02 - ql sin 02 (10)
X3 = a3 + p j cos 03 - ql sin 03 (11)
Yl = bl + Pt sin 01 + q~ cos 01 (12)
Y2 = b2 +Pl sin 02 + q2 cos 05 (13)
]I3 = b3 + Pl sin 03 + qmcos 03 (14)
and

2"4 = a4 +P2 cos 04 - q2 sin 04 (15)

X5 = a5 + P2 cos 0s - q2 sin 05 (16)
X6 = a6 at-P2 COS 06 -- q2 sin 06 (17)
Y4 = b4 + P2 sin 04 + qz cos 04 (18)
Y5 = b5 + P2 sin 05 + q2 cos 05 (19)
Y6 = b6 + P2 sin 06 + qz cos 06. (20)
Seven unknowns, P, Q, pl, ql, p2, q2, and R, are included in six equations. Thus, the equations
can be solved with one free choice of parameter, and have infinite solutions.

2.2. Solutions at poles

There are six rotation poles for six given positions in two phases, that is PI2, PI3, P23, P45, P46,
and P56. Generally, any one of them is a good center point which satisfies the basic equations for
the adjustable moving pivot problem 123-456.
Suppose six given positions are shown in Fig. 2, and the rotation pole P12 (point S in Fig. 2)
is picked as the center point. Invert the center point S from positions 5 and 6 into position 4 to
get points $5 and $6. Draw two right bisectors for line segments SS5 and $5S6 and intersect them
at point £:4, which is the circle point at position 4 of phase 2. E5 and E6 can be found by plotting
similar triangles.
Draw a circle passing through points E4, Es, and E6 with center S. The radius of the circle is
the crank length R. Invert center point S from positions 2 and 3 into position 1 to get points $2

Bs
.B, As
t" '~B5 A 6

-~_Ls%
SS~ _L.sss6
A1
Fig. 2. A solution at pole PI2 for adjustable moving pivot 123-456.
462 Shao Jie Wang and Raj S. Sodhi

and $3. Notice that $2 coincides with S, because S is the rotation pole for positions 1 and 2. Draw
a right bisector for line segment SS3; this bisector intercepts the circle at CI, which is the circle
point at position 1 o f phase 1.
This indicates that pole PI2 satisfies the basic equations for the adjustable moving pivot 123-456
problem and so do the remaining five rotation poles. Thus, in general, there is a solution at each
o f the six rotation poles.
In order to find the solution set for the adjustable moving pivot 123-456 problem, a numerical
m e t h o d will be used in the next section with the solutions at poles as its initial values.
2.3. Derivation o f equations
This section derives equations for the solution at pole P~2. Eliminating R from equations (3) and
(4), we have
(X2 - p)2 + (Y2 - Q)2 = (xi - p)2 + (YI - Q)2. (21)
Similarly,
(X3 - p)2 + (}'3 - Q)2 = (X 1 _ _ p)2 _}_(YI -- Q)2 (22)
(Xs - p)2 + (Y5 - Q)2 = (X4 - p)2 + (Y4 - Q)2 (23)
(X6 - p)2 + (r6 - Q)2 = ( x , - p)2 + (r4 - Q)2. (24)
Substituting equations (9), (10), (12), and (13) into equation (21), we have
a~ + b~ + p~ + q~ + p2 + Q2 _ 2Pa2- 2Oh2 + sin 02(2b2pl
- 2a2qt + 2Pqt - 2Qpl) + cos 02(2a2pl + 2b2ql - 2Ppl - 2Qql)
= at2 + b l2 + P l2 + ql2 + P 2 + Q 2 _ 2 P a l - 2Qbt +sinOl(2blpl
-- 2alql + 2Pql -- 2Qpl) + cos 01(2a~p I + 2blql - 2Ppt - 2Qql). (25)
Collecting terms in Pl and ql, we get
L12Pl + Ml2ql + N12 = 0. (26)
Similarly,
L13Pl + Mi3q1 + NI3 = 0 (27)
L45P2 + M45 q2 + N45 = 0 (28)
L46P2 + M46 q2 + N46 = 0 (29)
where
LI2 = ( - c o s 0t + cos 02)P + ( - s i n 01 + sin 02)Q
+ al cos 01 - a2 cos 02 + bl sin 01 - b2 sin 02 (30)

Mi2 = (sin O, -- sin 02)P + ( - c o s Oi + c o s 02) Q - - al sin Ot

+a2sinO2+blcosOl-b2cos02 (31)
Nt2 = ( _ a l + a2)P + ( _ b l + b2)Q + (a 2 + bl2 -- a22 -- b2)/2
2 (32)
LI3 = ( - c o s 0t + cos 03)P + ( - s i n 01 + sin O3)Q
+ a t cos 01 - a3 cos 03 + bl sin 01 - b3 sin 03 (33)
MI3 -- (sin 01 - sin 03)P + ( - c o s 01 + cos 03)0 - al sin 01
q- a 3 sin 03 + bl cos 01 -- b3 cos 03 (34)
N~3 = ( - a l + a3)P + ( - b l + b3)Q + (a21 + b~ - a 2 - b2)/2 (35)
L45 = ( - c o s 04 + cos 05)P + ( - s i n 04 + sin 05)Q
+ a 4 COS 04 - - a5 cos 05 + b4 sin 04 - b5 sin 05 (36)
 Kinematic synthesis of adjustable four-bar mechanisms 463

M45 = (sin 04 - sin 05)P + ( - - c o s 04 + cos Os)Q - a4 sin 04 + a5 sin 0s + b4 cos 04 - b5 cos 05 (37)
2 2 2
N45 (-a4+as)P +(-b4+bs)Q +(a4+b4-as-b])/2 (38)

L~ = ( - c o s 04 + cos 06)P + ( - s i n 04 + sin 06)Q

+ a4 cos 04 - a6 cos 06 + b4 sin 04 - b6 sin 06 (39)

M ~ = (sin 04 - sin 06)P + ( - c o s 04 + cos 06)Q - a4 sin 04 + a6 sin 06 + b4 cos 04 - b6 cos 06 (40)

N46 = ( - a 4 + a6)P "+ ( - b 4 -k- b6)Q .-1-(a] + b] - a~ - b~)/2. (41)

Simultaneous equations (28) and (29) can be used to solve for P2 and q2, while any of the poles
PI2, P13, and P23 is picked as the center point at which an initial solution is calculated. Similarly,
Pl and ql can also be solved by simultaneous equations (26) and (27), while an initial solution is
calculated at poles P45, P46, and P56.
In the former case,

P2 = (N46M45 - N45M46)/(L45M~ - L~ M45) (42)

q2 = (L46 N45 - L45 N46 ) / ( L45 M46 - 1,46M4~ ). (43)

Solve for crank length R with equation (6)

R = [(X 4 -- e)2 .jr_( Y 4 - Q)2]0.5 (44)

where X4 and Y4 can be solved by equations (15) and (18).
Solve Pl by equations (3), (9), (12), and (26)

p,., = [ - B + (B: - 4AC)°'5]/(2A ) (45)

Pl.2 = [ - B - (B E- 4AC)°5]/(ZA ) (46)

where P,.1 and Pl.2 are the first and second roots for Pl, and

A = G 2+ E 2 (47)

B = [2G(D - P ) + 2 E ( F - Q)] (48)

C = (D - p)2 .+. ( r -- Q): - R 2 (49)

D = al + Nl2 sin 01/MI2 (50)

E = sin 01 - Ll~ cos 01/M~2 (51)

F = bl - Ni2 cos 01/Mi2 (52)

G = cos 0t + L12 sin 0t/Mi2. (53)

Two corresponding values of ql can be solved by the following two equations:

q1,1 = (-- L12Pl: -- NI2)/M12 (54)

ql.2 = ( - LI2Pl,2 - NI2 )/M12 • (55)

Thus far, all seven unknown parameters have been determined. Note that P2 and q2 are solved
prior to solving pl and qj, because equations (26) and (27) cannot be used to solve p~ and ql while
the solution is calculated at poles PI~, P13, and P23. The geometric explanation is simple. No right
bisector can be constructed for two points which coincide with each other, and inverting a rotation
pole results in coincident points. Geometrically, each one of equations (26)-(29) represents a right
464 Shao Jie Wang and Raj S. Sodhi

bisector. Algebraically, the coefficients L~2and M~2 in equation (26) equal to zero when Pro2is picked
as the calculation point, which makes this equation meaningless. Likewise, the coefficients L~3 and
Mu are also equal to zero while solving at pole PI3-
Similarly, p~ and q~ should be solved prior to solving P2 and q2 while calculating at poles P4s,
P~, and P56"

2.4. M o r e solutions
Six solutions at six poles have been found so far. In order to find more solutions for the
adjustable moving pivot 123--456 problem, a numerical method similar to that developed by
Wilhelm [12] can be used to solve this problem.
Let functions Fi equal to the following equations derived from equations (3)-(8) and equations
(9)-(20):

Fz" = (ai d-Pl COS0 i -- ql sin 0e- p)2 + (b i + P l sin 0i + qt C O S 0 i -- Q)2 _ R 2 = 0, i = 1, 2, 3 (56)

F~=(ai+p2cosOi-q2sinOi-p)2+(b~+p2sinO~+q2cosOi-Q)2-R2=O, i=4,5,6. (57)

Seven parameters are included in the above six equations. The number of the parameters is
reduced to six after assigning a value to R. Substitute a solution at pole into above equations. All
six equations should be satisfied and equal to zero.
Suppose the value of R is increased or decreased by AR. The above six equations will no longer
be equal to zero. In order to satisfy the basic equations of this problem, the values of the remaining
six parameters should be increased or decreased properly by an increment or decrement to make
the six equations back to zero again. The modified values of the seven parameters constitute a new
solution point other than the pole point, but pretty close to it.
The new solution point is used as a new initial point, and the new values of the seven parameters
are treated as the new initial values in the next iteration of calculation to find another solution point
which is close to it.
The solution points appear starting at each rotation pole in four different directions. As shown
in Fig. 3, two groups of values of pro, q~, P2, and q2 along with increment and decrement of R result
in four branches of curves at each pole of the sample problem.
Equations (56) and (57) consist of six equations. However, these are also six functions to be
solved for solutions every time R gets an increment or decrement AR.

A4,, ~,,~ ~'' A ~'m ~,~,,,

A6 ~ ' ~

+
l S P56
" ÷~+~++,

+++++ + + - " , ~ + ~ ..........i -''+'

Fig. 3. The center points of an adjustable moving pivot 123-456 problem.

 Kinematic synthesis of adjustable four-bar mechanisms 465

The Newton-Raphson Method has been used to get the solutions numerically. The following
simultaneous equations should be solved for the numerical solutions:

OFt g3F1 0F I 0FI 0FI ~F1

dP I _ El
dP 0Q Op, c~q, ~P2 g3q2
~F: 0F: aF: aF2 ~F: ~F2
dQ
I
I -F2
8P 0Q 0pl t3ql ~p2 ~q2
0F 3 0F 3 ¢~F3 ~F 3 0F 3 OF3
dp, -F~
0P 0Q ~pl 0ql ~P2 0q2
,~F4 ~F, 0F,, ~F4 ~F4 ~F, (58)
dql -F,
0P ~Q 0pl ~ql 0p2 ~q2
dF5 0Fs ~F~ 0F5 c~F~ 0Fs
-F~
0P 0Q 0pl c~ql c~p2 0q2 I

0F6 OF6 g~F6 dF6 0F6 OF6

OP 0Q 3pl Oq, Op2 63q2 dq2 J

where

0F,
- - - -- 2(at + Pl cos Oi -- ql sin 0~-- P)
0P
~F,
~a = - 2 ( b / + P l sin Oi + ql cos O i - Q )

a±
= 2 cos O~(a~ + Pl cos 0~ - ql sin 0~ -- P ) + 2 sin O~(bi + Pl sin 0~+ ql cos 0r - Q)
@2
aF,
= - 2 sin Or(ai +p~ cos 0~ - ql sin 0~ - P ) + 2 cos O~(bg + P l sin 0t + ql cos 0r - Q)
tgq2

@l = 0

=0, i = 1,2,3 (59)

Oql

~F,
0Q = - 2(at + P2 cos 0i - q2 sin 0i - P)

0~
~Pl = - 2 ( b r +P2 sin 0, + q2 cos 0g- Q)

t3F~= 2 cos Oi(a i +P2 cos 0~- q2 sin 0~ -- P ) + 2 sin Oi(b~ +P2 sin 0i + q2 cos 0r - Q)
0ql

0p---~= - 2 sin Oi(ai +P2 cos 0r - q2 sin 0i - P ) + 2 cos Or(b~ +P2 sin 0i + q2 cos 0r - Q)

0E,
I= 0
dq2

dp=0, i=4,5,6 (60)

Program MP_3_3.PAS is designed to find center points numrically with solutions at all six poles
as the initial solutions.
466 Shao Jie Wang and Raj S. Sodhi

Figure 4 represents a good solution of a sample problem. A center point S is chosen on the center
point curve in the figure. The circle points C~ and E4 can be found by kinematic inversion. Circle
points 6"2, C3, Es, and E6 can be found by geometric similarity.
As shown in Fig. 4, circle points C and E for phases 1 and 2 are two distinct points, and their
positions C1, C2, C3, E4, Es, and E6 lie on the same circle with a unique center point S and radius
R, which satisfies the given requirement. This indicates the validity of both the method and the
program MP_3_3.PAS.
It is also found by inspection that Fig. 4 is not only a solution of the equations but also a good
solution without an order defect.

3. A D J U S T A B L E MOVING PIVOT 123-345

For the case of three positions in each of the two phases with one position shared, the following
equations should be satisfied:
(Xi - p)2 + (Yl - 0 ) 2 = R2 (61)
(Xz _ p)2 + (Y2 - Q)2 = R2 (62)
(X 3 _ p)2 .jr. (Y3 -- Q)2 = R 2 (63)
(x, - P)~ + (Y4 - Q): = R: (64)
(X 5 _ p)2 + (Y5 - Q)2 = R2 (65)
where
Xi = ai + pl c o s 0 i -- ql sin 0r

Y~= b~+ Pl sin 0r + ql COS Or, i = 1, 2, 3 (66)

and

X,- = at + P2 COS Or -- q2 sin 0i

Yi = bi + P2 sin 0r + q2 COS Oi, i = 3, 4, 5. (67)

Seven unknowns, P, Q, pi, ql, p2, q2, and R, are included in six equations. Thus, the equation
set can be solved with one free choice of parameter, and has infinite solutions.

A5

÷+÷÷ + +

\ \ •
2
+2
// /
::
'
7++++++j +.
÷-~ '
/I
+

Fig. 4. A good solution for an adjustable moving pivot 123-456 problem.

 Kinematic synthesis of adjustable four-bar mechanisms 467

5
3

\1 .°*

t" center point curve

.." MP 1 2 3 - 3 4 5
/ ~O

Fig. 5. Center points for adjustable moving pivot 123-345.

The discussion in the last section also applies for this case with a little modification. Similar to
the program MP_3_3.PAS, the Turbo Pascal program MP_3_3_ 1.PAS is designed to find good
center points which satisfy the basic equations above.
An example problem is shown in Fig. 5, in which five prescribed positions are drawn. The center
points for problem MP_3_3_ 1 are displayed by running program MP_3_3_ 1.PAS. Every point
represented by a cross sign in the figure is a good point which satisfies the basic equations.

m~ ~,°'4 "\ I ~ ./
3 i~'" \ \ \\ \\ Ii /
•l\ \\ \. \ I /
\"~--... \\"\ \ I /
\\ "'---.._..\... \ \ I /
Ix \.-\R

~\\ /.. o /

÷ ~ ~

Fig. 6. A solution for the problem of adjustable moving pivot 123-345.

MMT 31/4--H
468 Shao Jie Wang and Raj S. Sodhi

A center point S is picked along the curve in Fig. 6. The circle points C~ and E3 can be found
by kinematic inversion for phase 1 and 2 respectively. The circle points for other positions (72, C3,
E4, and E5 are found by means of geometric similarity.
As shown in the figure, circle points C and E for phases 1 and 2 are two distinct points, and
their positions C~, C2, C3, E3, E4, and E5 lie on the same circle with a unique center point S and
radius R, which satisfies the given requirement. This indicates the validity of both the method and
the program MP_3_3_ 1.PAS.
It is also found by inspection that Fig. 6 is not only a solution of the equations but also a good
solution without an order defect.

4. A D J U S T A B L E MOVING 1234-567
PIVOT
For the case of four positions in the first phase and three positions in the second phase with no
position shared, seven unknowns, P, Q, pt, ql, p2, q2, and R, are involved in seven equations. The
number of positions reaches its maximum value. Thus, the equation set has no free choice of
parameter.
Suppose seven given positions are shown in Fig. 7. Plot center points in the figure for positions
123-567 by means of Turbo Pascal program MP_3_3.PAS and center point curve for positions
1234 by using the Turbo Pascal Program CENT_PT.PAS [12]. A good center point for the problem
is found at the intersection point S of the two curves.
The solution is also shown in Fig. 7. Points C and E are distinct circle points for phases 1 and
2 respectively. The circle with a center at the unique center point S and radius R precisely passes
through seven circle points C~, (?2, Ca, Ca, Es, E6, and E7, which satisfies the given requirement.
This indicates the validity of both the method and the programs.
Also, no order defect occurs in Fig. 7 by inspection, which indicates that it is a good solution.
This problem could also be solved by intercepting two of the following three center point curves:
MP 123-567, MP 124-567, and MP 134-567.

5. A D J U S T A B L E MOVING PIVOT123-456-78
The method for solving three phase adjustable moving pivot problems is based on the method
for two phase problems in the previous sections. In other words, the method in the previous sections
could be extended for solving three phase problems of the same kind.

R
7

C~
2

Fig. 7. A solution for problem MP 1234-567.

 Kinematic synthesis of adjustable four-bar mechanisms 469

// X~ ~\
II X " \~
/ center points for ~
I MP 123-456r-------X ~- I

~ R
\ /

"~Z-~-A,,, ' C2_ ~\~ ~ A8

A5 A6
Fig. 8. Adjustablemoving pivot 123456-78.

This problem needs three positions in both phases 1 and 2, and two positions in phase 3 with
no position shared. Nine parameters, P, Q, p~, qt, p2, q2, p3, q3, and R, are involved in eight
equations. Thus, the equations could be solved with one free choice of parameter, and have infinite
solutions.
Any solution for the two phase adjustable moving pivot problem MP 123-456 solved with the
method in Section 2 is a solution for the problem 123-456-78.
Suppose eight prescribed positions and the center points for the two phase problem MP 123-456
are shown in Fig. 8. A good center point S is picked on the curve, and the circle points C~, (72,
C3, 04, 95, and D6 are found as shown.
The next goal is to find a circle point for positions 7 and 8, so that the center point S
and the crank length R remain the same as that for phases 1 and 2. That is, the circle
points E7 and Es should lie on the circle passing through circle points C~, C2, (73, D4, Ds,
and D6.
Invert center point S from position 8 into position 7 to get point $8. Plot a right bisector for
line segment SSs; this bisector intercepts the circle at point ET, which is the circle point at position
7 of phase 3. Finally, E8 can be found by geometric similarity.
The problem of adjustable moving pivot 123-345-67 with one position shared by phases 1 and
2 can be solved in a similar way.

6. ADJUSTABLE MOVING PIVOT 123-456-789

This problem needs three positions in all of the three phases with no shared position. Nine
parameters, P, Q, pl, ql, p2, q2, pJ, qJ, and R, are involved in nine equations. Thus, the equations
have no free choice of parameter.
Plot center point curves MP 123-456 and MP 123-789 as shown in Fig. 9 by means of the method
developed in Section 2. The solution, if it exists, should be at the intersection point of the center
point curves MP 123-456 and MP 123-789. A good center point is found at the intersection point
S in Fig. 9.
Invert center point S from positions 2 and 3 into position 1 to get circle points C~, (72, and (?3.
Similarly, locate circle points D4, Ds, and D6 for phase 2, and circle points E7, Es, and E 9 for
phase 3.
Notice that in the particular example shown in Fig. 9, the crank rotates counterclockwise for
positions 1-7 and then clockwise for positions 8 and 9.
470 Shao Jie Wang and Raj S. Sodhi

.. __ /I 7
• f ~.
"../ center points for ~x, /
//",. MP 125-789 ~'~ \ / A
'.....~s /~ ~4/ /\6
/ :.:. I ~ ~,\~---f
/ ~. ... ~ u6\ .... 8 - . .
, ~2~:.--. ....... '~ ~
,, \/..;.-.'__". i .

\k center points for";~:.. 5 / ~

\ MP 123-456 ':."'C':...... A N ~"
\ "..:~"%// \ \ I ~ ..
04 "-',.~1%,/ \ ~ q-
----~
- - ~ " i- - - - , ~ " Co1"~'~
~ ,.-~."..." ~ " ... "
im,~ ~ 2 " "" "
ii

Fig. 9. Adjustable moving pivot 123-456-789.

As shown in the figure, all nine circle points lie precisely on the same circle with a unique center
point S and radius R. This indicates the validity of both the method and the program.
The problem of adjustable moving pivot 123-345-678 with one position shared by phases 1 and
2 could be solved in a similar way.

f%
[]
[]
[]
[]

A2 A1
Fig. I0. The given positions and the center points.
 Kinematic synthesis of adjustable four-bar mechanisms 471

6/ £~_~S P~~
, / s Fs%£ /-

~snnaV~4 •s [] [] [] ~ " l X s []
A4 ~sD o 6_.~ DDr~ r
As
2 1

[]
Fig. 11. The image pole circles for phase 1.

7. E X A M P L E
As shown in Fig. 10, this problem needs three positions on each of the two phases with no
position shared. An adjustable four-bar linkage is considered because the total number of unique
positions is greater than five.
Let us try adjustable moving pivot for both driving and driven sides, although the driving and
the driven sides could be designed differently. The center points satisfying equations (3)-(20) are
plotted in the figure.

I
.
t '
t6
[] []
1 %
51 A6 [~] 21
I [] ,.,
I

4 IA~]
ls[]c:F::lz:P[~~, A4
[]
DDD½
A2
As .2--
1

D1
c2..., c~

Fig. 12. The Filemon construction lines for phase 1.

472 Shao Jie Wang and Raj S. Sodhi

[]
D

6/ []
II

A6 []

A2 A1
Fig. 13. The image pole circles for phase 2.

Both Waldron Image Pole Circles and Filemon Construction Lines [13-18] are drawn for
choosing circle points to avoid a branch problem. But the points in Fig. 10 are center points on
which neither of the two methods apply. However, the program MP_3_3.PAS writes to output files
not only the coordinates of center points but also that of their corresponding circle points.
Each center point for the MP_3_3 problem has two relating circle points, one for position 1
of phase 1, and the other for position 4 of phase 2. The circle points for phase 1 are shown in both
Figs 11 and 12, while that for phase 2 are plotted in both Figs 13 and 14.
Two groups of Waldron Image Pole Circles are shown in Figs 11 and 13 for two different
phases. Two groups of Waldron Circles are needed because the moving pivot varies in two phases.

6s
EW 0 0

51, [] N
A5 T []
4'1 sss
6 4 ~ FIG
s4
s []

Fig. 14. The Filemon construction lines for phase 2.

 Kinematic synthesis o f adjustable four-bar mechanisms 473

6 ,~B6
5 Bs"
~\A61/I II
I

Ast'\ \ \ F6

B4~, \ zTF5
• \X\E,,,sI
BD5~ 3 T~
\' s
\\1/\" \ Rel I

A2 1

Fig. 15. The resulting linkage at position 1.

For the same reason, two different sets of Filemon Construction Lines are plotted in Figs 12
and 14.
Two points, S and T, are chosen as the center points for the driving and the driven sides
respectively. Circle points C1 and E4 are related to center point S, while circle points D~ and F4
correspond to center point T. The circle point for the driven side, D1 is chosen outside the shaded
area of the Image Pole Circles shown in Fig. 11, while the circle point for the driving side, C~ is
chosen outside the shaded area of the Filemon Construction Lines in Fig. 12. Similarly, the driven
side circle point F4 for the second phase is chosen outside the hatched region of the Image Pole
Circles shown in Fig. 13, and the driving side circle point E4 for the second phase is chosen outside
the hatched area of the Filemon Construction Lines shown in Fig. 14.

Table 1. The given data

Position X Y 0
1 6.1500 2.0000 155.00
2 4.6500 2.3000 138.00
3 3.4500 3.6500 110.00
4 1.7000 4.5000 105.00
5 1.9000 6.3000 90.00
6 2.7000 7.4000 70.00

Table 2. The resulting data

Point X Y
S 5.6536 4.4931
CI 5.6496 1.1671
E4 2.4739 3.5175
T 5.1460 4.7435
Dl 4.7079 2.2194
F4 2.6840 4.0350
474 Shao Jie Wang and Raj S. Sodhi

The resulting four-bar linkage is shown in Fig. 15. Neither a branch defect nor an order problem
occurs in this drag-link. In fact, either side could be the driving side for this particular four-bar
linkage.
The data for this example are listed in Tables 1 and 2.

8. C O N C L U S I O N S
A numerical method with solutions at the rotation poles as the initial solutions has been
successfully developed to find more solutions for the adjustable moving pivot problems with three
positions in each of the two phases.
Usually, a center point curve for the problems has four branches at each rotation pole. Every
point on the curve is a center point which satisfies the basic equations of the problem.
The adjustable moving pivot problem of seven given positions with four positions in phase 1 and
three positions in phase 2 could be solved by intercepting two center point curves.
The method for solving two phase adjustable moving pivot problems can be extended for three
phase problems of the same kind. Any solution for the two phase problem MP 123-456 is a solution
of three phase problems MP 123-456-78, and so do the other combinations of the number of the
positions with the total of eight positions, such as MP 123-345~7 and MP 123-456-67. Three
phase adjustable moving pivot problems with the total of nine positions could be solved by
intercepting center point curves. More center points are needed in order to get a more precise
solution while intercepting two curves.
The maximum permissible number of prescribed positions for motion generation for a four-bar
linkage is five. It has been shown in this study that the maximum number of prescribed positions
for two phase adjustable moving pivot four-bar linkage is seven, and that for three phase problem
is nine. Examples with maximum permissible number of positions have found good solutions in
this study. However, to have one or two free choices of parameters for an adjustable four-bar
linkage usually gets better results than solutions without any free choice of parameters. This is
because the design of a linkage has to satisfy not only the basic equations but also some other
conditions, such as branch problem, order problem, the transmission angle and efficiency, etc.
The technique developed in this paper deals with only one side of the four-bar linkage, i.e. only
one crank is considered. The driving and driven cranks could be designed by using the same kind
of adjustment, such as in the example presented in this paper. However, they could also be designed
by using a different kind of adjustment. One of the cranks could be made not adjustable while the
total number of positions is five or less.

REFERENCES
1. D. C. Tao and L. G. Amos, J. Engng Ind. Trans. A S M E 287-290 (1965).
2. D. C. Tao and S. Krishnamoorthy, Mech. Mach. Theory 13, 585-591 (1978).
3. D. C. Tao and H. S. Yan, J. Mech. Design Trans. A S M E 495-498 (1979).
4. C. B. Beaudrot, J. Engng Ind. Trans. A S M E 172-178 (1969).
5. R. D. Bonnell and J. A. Cofer, J. Appl. Mech. Trans. A S M E 221 (1966).
6. R. D. Bonnell, Design News (1964).
7. R. J. Hoekzema, N. H. Littlejohn, G. W. Pickard and D. C. Tao, ASME Paper No. 70-Mech-30.
8. J. F. McGovern and G. N. Sandor, J. Engng Ind. Trans. A S M E 417-422 (1973).
9. J. F. McGovern and G. N. Sandor, J. Engng Ind. Trans. A S M E 423-429 (1973).
10. A. Ahmad and K. J. Waldron, Mech. Mach. Theory 14, 405-411 (1979).
11. A. Ahmad, Ph.D. Dissertation, Univ. of Houston (1979).
12. A. J. Wilhelm, Ph.D. Dissertation, The Wichita State Univ. (1989).
13. K. J. Waldron, J. Engng Ind. Trans. A S M E 591-597 (1977).
14. K. J. Waldron, J. Engng Ind. Trans. A S M E 176-182 (1976).
15. K. J. Waldron, J. Engng Ind. Trans. A S M E 1405--1406 (1975).
16. E. Filemon, Proc. of Third Worm Congress for Theory of Machines and Mechanisms, Kupari, Yugoslavia, Vol. D, 63-78
(1971).
17. K. J. Waldron, Proc. of the 4th OSU Applied Mechanisms Conf. (1975).
18. A. J. Wilhelm and R. S. Sodhi, Proc. lOth Applied Mechanisms Conf. New Orleans, LA (1987).