Dynamic analysis of four bar planar mechanism extended to six-bar planar mechanism

with variable topology

Basayya K. Belleri, and Shravankumar B. Kerur

Citation: AIP Conference Proceedings 1943, 020094 (2018); doi: 10.1063/1.5029670

View online: https://doi.org/10.1063/1.5029670
View Table of Contents: http://aip.scitation.org/toc/apc/1943/1
Published by the American Institute of Physics
 Dynamic Analysis of Four bar Planar Mechanism extended
to Six-bar Planar Mechanism with Variable Topology
Basayya K. Belleri1 and Shravankumar B. Kerur2

1
Department of Mechanical Engineering, Tontadarya College of Engineering, Gadag, Karnataka, India
2
Department of Mechanical Engineering, Basaveshwara Engineering College, Bagalkot, Karnataka, India
1)
Corresponding author: basayyakb@gmail.com
2)
shravankerur@yahoo.com

Abstract. A computer-oriented procedure for solving the dynamic force analysis problem for general planar mechanisms is
presented. This paper provides position analysis, velocity analysis, acceleration analysis and force analysis of six bar mechanism
with variable topology approach. Six bar mechanism is constructed by joining two simple four bar mechanisms. Initially the
position, velocity and acceleration analysis of first four bar mechanism are determined by using the input parameters. The outputs
(angular displacement, velocity and acceleration of rocker)of first four bar mechanism are used as input parameter for the second
four bar mechanism and the position, velocity, acceleration and forces are analyzed. With out-put parameters of second four-bar
mechanism the force analysis of first four-bar mechanism is carried out.

1. INTRODUCTION
A computer base Modeling and simulation gives better understanding regarding rigid system parameters. There
is much scope in development of an accurate mathematical model and subsequent simulations for the kinematic and
dynamic analysis of the mechanical systems for the precise application in the industry [1,2]. Dynamic analysis is one
of the very important phases in design the system. During the working of any mechanism there is force on each
member which is due to the operating force and mass of inertia of each link. To understand the effect of that force
on mechanism dynamic analysis is important. However, several methods have been adopted for dynamic analysis
such as Hamilton principle method, Lagrange multiplier method, Geometric constraint method, Partitioning method
and Newtonian solution method.
Robert L.Williams II presented a method to partially decouple the solutions to inverse dynamics of a common
planar mechanism using the matrix method leading to substantial savings in computational cost [3]. M.R.Smith et al
[4] derived general expressions and evaluated in some particular cases to determine the variation of the pin forces
and the frame forces. Prasad S Shivdas et al [5] compared the four-bar and six-bar mechanism for use in missile
launcher which has unique capability, they found the six bar mechanism was better option than four-bar mechanism
for such kind of missile launcher which has unique mechanism with the help of which the missile container is
replenished quickly and articulated for firing. The limited work is carried out on dynamic analysis of six-bar planar
mechanisms so far.
In present work the position, velocity, acceleration and force analysis of four-bar mechanism were carried out
and were extended to six-bar mechanism with variable topology approach. The procedure was based upon writing
three equations of equilibrium for each link in the mechanism from free body diagrams. Inertia forces are included
using D'Alembert's principle. A technique is shown for automatically reformulating these equations into matrix form
so the joint constraint forces and the driving input force or torque can be readily solved. This computer-oriented
technique operates directly on the equations written from body diagrams. The force analysis procedure discussed in
the proposed work has been implemented in a computer program called MATLAB, which also has a kinematic
analysis capability. Because of the ease of problem formulation and since the technique is based upon first
principles, it appears to have value as an educational tool. It is useful for the solution of practical industrial
problems.

2. DYNAMIC FORCE ANALYSIS OF A FOUR BAR MECHANISM

In the four bar mechanism shown in Fig.1, Link 1 represented by AD (with link length r1 was the ground link
which is also referred as the frame or fixed link), and was assumed to be motionless. Link 2 represented by AB (with

Advances in Mechanical Design, Materials and Manufacture

AIP Conf. Proc. 1943, 020094-1–020094-8; https://doi.org/10.1063/1.5029670
Published by AIP Publishing. 978-0-7354-1638-3/$30.00

020094-1
link length r2 and with center of gravity g2) and Link 4 represented by CD (with link length r4 , and with center of
gravity g4) each rotate relative to the ground link about fixed pivots (A and D). Link 3 represented by BC (with link
length r3 and with center of gravity g3) was called the coupler link, and was the only link that can trace paths of
arbitrary shape (because it was not rotating about a fixed pivot). Usually one of the "grounded links" (link 2 or 4)
serve as the input link, which was the link which may either be turned by hand, or perhaps driven by an electric
motor or a hydraulic or pneumatic cylinder. If link 2 was the input link, then link 4 was called the follower link,
because its rotation merely followed the motion as determined by the input and coupler link motion. If link 2 was the
input link and its possible range of motion was unlimited, it was called a crank, and the linkage was called a crank-
rocker. Crank-rockers are very useful because the input link can be rotated continuously while a point on its coupler
traces a closed complex curve.
Y

g3
C
rg3 G r3 3

g2 4
B T r4
rg2 g4 G T
r2 rg4
2 D
G
T
1 r 1

Ts T
A
X

Fig.1. A simple four bar mechanism

2.1 Position Analysis

Position of coupler (ߠଷ ) and follower (ߠସ ሻare determined as follows.
భ
ߠଷ =ʹ ‫ି݊ܽݐ כ‬ଵ ሺሺܽ ൅ ሺܽଶ ൅ ܾ ଶ െ ܿଵ ଶ ሻమ ሻȀሺܾ ൅ ܿଵ ሻሻ (1)
భ
ିଵ ଶ ଶ
ߠସ ൌ ʹ ‫ ݊ܽݐ כ‬ሺሺܽ െ ሺܽ ൅ ܾ െ ൅ ܿሻሻ ܿ ଶ ሻమ ሻȀሺܾ (2)
Where a, b. c and c1 are constants
a=‫ߠ ݊݅ݏ‬ଶ (3)
‫ݎ‬
b=ܿ‫ݏ݋‬ሺ ߠଶ ሻ െ ൫ ଵൗ‫ݎ‬ଶ ൯ (4)
c=(‫ݎ‬ଵ Τ‫ݎ‬ସ )*cos(ߠଶ )+[‫ݎ‬ଵ ଶ ൅ ‫ݎ‬ଶ ଶ ൅ ‫ݎ‬ସ ଶ െ ‫ݎ‬ଷ ଶ ሻȀሺʹ ‫ݎ כ‬ଶ ‫ݎ כ‬ସ ሻሿ (5)
‫ݎ‬
ܿଵ ൌ ൫ ଵൗ‫ݎ‬ଷ ൯ ‫•‘… כ‬ሺߠଶ ሻ ൅ ሾ ‫ݎ‬ଵ ଶ ൅ ‫ݎ‬ଶ ଶ ൅ ‫ݎ‬ଷ ଶ െ ‫ݎ‬ସ ଶ ሻȀሺʹ ‫ݎ כ‬ଶ ‫ݎ כ‬ଷ ሻ (6)
2.2 Velocity and Acceleration Analysis
The following equations were used for determining angular velocity and angular acceleration of coupler
(߱ଷ ǡ ߙଷ ሻand follower (߱ସ ǡ ߙସ ሻ;
߱ଷ ൌ െሾሺ‫ݎ‬ଶ ‫݊݅ݏ כ‬ሺ ߠଶ െ ߠସ ሻȀሺ‫ݎ‬ଷ ‫݊݅ݏ כ‬ሺ ߠଷ െ ߠସ ሻሻሿ ‫߱ כ‬ଶ (7)
߱ସ ൌ െሾሺ‫ݎ‬ଶ ‫݊݅ݏ כ‬ሺ ߠଶ െ ߠଷ ሻሻȀሺ‫ݎ‬ସ ‫݊݅ݏ כ‬ሺ ߠଷ െ ߠସ ሻሻሿ ‫߱ כ‬ଶ (8)
ఠ
ߙଷ ൌ ቀ యቁ ‫ߙ כ‬ଶ െ ሺ‫ݎ‬ଶ ‫߱ כ‬ଶ ଶ ‫ݏ݋ܿ כ‬ሺߠଶ െ ߠସ ሻ ൅ ‫ݎ‬ଷ ‫߱ כ‬ଶ ଷ ‫ݏ݋ܿ כ‬ሺߠଷ െ ߠସ ሻ ൅ ‫ݎ‬ସ ‫߱ כ‬ଶ ସ Ȁሺሺ‫ݎ‬ଷ ‫݊݅ݏ כ‬ሺߠଷ െ ߠସ ሻሻ (9)
ఠమ
ఠర
ߙସ ൌ ቀ ቁ ‫ߙ כ‬ଶ ൅ ‫ݎ‬ଶ ‫߱ כ‬ଶ ଶ ‫ݏ݋ܿ כ‬ሺߠଶ െ ߠଷ ሻ ൅ ‫ݎ‬ଷ ‫߱ כ‬ଶ ଷ ൅ ‫ݎ‬ସ ‫߱ כ‬ଶ ସ ‫ݏ݋ܿ כ‬ሺߠଷ െ ߠସ ሻ Ȁሺ‫ݎ‬ସ ‫݊݅ݏ כ‬ሺߠଷ െ ߠସ ሻሻ (10)
ఠమ
2.3 Force Analysis
The dynamic force analysis problem was solved using the matrix method by reducing it to one requiring
static analysis. For this purpose, D’Alembert’s Principle which states that the inertia forces and couples, and the
external forces and torques on the body together give statically equilibrium was considered. The inertia forces Fgi’s
and inertia moments Tgi’s [1] are given by,

‫ܨ‬௚௜ ൌ െ݉௜ ‫ܽ כ‬௚௜ (11)

020094-2
ܶ௚௜ ൌ െ‫ܫ‬௜ ‫ߙ כ‬௚௜ (12)

Where mi, is the mass of the link i, Ii is the moment of inertia about an axis passing through the centre of mass gi
and perpendicular to plane of rotation of the link i. agi and αgi are the acceleration and angular acceleration of the
centre of mass of the ith link respectively. Given position, velocity, acceleration and inertia properties such as mass
moment of inertia for each moving link of a four-bar linkage, force analysis for the linkage can be performed.

Fg2y F32y

g2 Fg2x
B
F32x
rg2 m2g
r2
F12y 2 Link 2
G
T
Ts
A
F12x

Fig. 2

Fg3y
F34y
F43y
C F34x
F23y g3 Fg3x
C Fg4y Link 4
m3g F43x 4
r4
rg3 Fg4x F14y
G r3 3 g4 G T1 T
link 3 rg4
B T m4g
D
F14x
F23x

Fig. 3 Fig. 4

From the free body diagrams shown in Fig.2, Fig.3 and Fig.4, three static equilibrium equations, in terms of
forces in X and Y directions and moment about the centre of gravity of the link, can be written for each link; by
doing so nine linear equations in terms of nine unknowns are formulated. They can be expressed in a symbolic form
A*B=C (13)

Where B = the transpose of (F12x, F12y, F23x, F23y, F34x, F34y, F14x, F14yTs) and is a vector consisting of the

020094-3
unknown forces and input torque, C= the transpose of (Fg2x, Fg2y-m2g, Tg2, Fg3x, Fg3y-m3g, Tg3, Fg4x-m4g, Tg4+T1 ) and is
a vector that contains external load plus inertia forces and inertia torques. And the matrix ‘A’ which is 9x9 matrix, is
found to be

ª 1 0 1 0 0 0 0 0 0 º
« 0 1 0 1 0 0 0 0 0 »
« »
«  R12 y R12 x  R32 y R32 x 0 0 0 0 1 »
« »
A= « 0 0 1 0 1 0 0 0 0 »
« 0 0 0 1 0 1 0 0 0 »
« 0 0 R 23 y  R 23 x  R 43 y R 43x 0 0 0 »
« »
« 0 0 0 0 1 0 1 0 0 »
« 0 0 0 0 0 1 0 1 0 »
«¬ 0 0 0 0 R34 y  R34 x  R14 y R14 x 0 »¼

ª F12 x º ª m2ag 2 x º
« F12 y » « m 2ag 2 y »
« » « »
« F 32 x » « IG 2D 2 »
« F 32 y » « m 3ag 3 x »
B= « » C= « »
« F 43 x » « m3ag 3 y »
« F 43 y » «( IG 3  IG 4)D 4»
« F14 x » « m4ag 4 x »
« » « »
« F14 y » « m 4ag 4 y »
« T 12 » « 0 »
¬ ¼ ¬ ¼

From the equation (13) the joint forces and input torque were calculated.

3. DYNAMIC FORCE ANALYSIS OF A SIX -BAR MECHANISM

Fig.5
Six-bar mechanism is shown in Fig.5, it consists of two four-bar mechanisms, one is ABCD and second is
DCEF. The joint forces and input torque required are calculated as explained in above methodology. The out puts of
first four bar mechanism are used as input parameter for the second four bar mechanism and the position, velocity,
acceleration and forces are analyzed. With out-put parameters of second four-bar mechanism the force analysis of
first four-bar mechanism is carried out. After combining the two four-bar mechanisms, the resultant joint forces are
determined at joints C and D.

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4. SHAKING FORCE AND SHAKING MOMENT
The sum of all the forces acting on the ground plane is called the shaking force. It is essential to know the
net effect of the dynamic forces as felt on the ground plane as this can set up vibrations in the structure that
supports the machine. In four-bar linkage there are only two points at which the dynamic forces can be
delivered to link 1, the ground plane. Shaking force for four-bar linkage calculated as follows.
‫ܨ‬௦ ൌ ‫ܨ‬ଶଵ ൅ ‫ܨ‬ସଵ (14)
The reaction moment felt by the ground plane is called the shaking moment.
‫ܯ‬௦ ൌ ܶଶଵ ൅ ሺܴ ‫ܨ כ‬ସଵ) (15)
Where ‘R’ is the distance of the force from the reference point.

5. RESULTS & DISCUSSION

The joint forces and input torque for the six-bar mechanisms as proposed in methodology is demonstrated
with the following numerical.

Numerical1: The crank has a mass of 0.680kg its CG is at 76.2mm at 300 from the line of centers. Its mass moment
of inertia about its CG is 0.006 kg-m2. Its kinematic data is given below:

Table. 1 (a)
θ2 deg ω2 α2
rad/s rad/sec2
ec
00-600 25 -40

Table. 1 (b)

Links Link 1 Link 2 Link 3 Link 4 Link 5 Link6

Length in mm 482.6 127 381 254 381 254
Mass in kg -- 0.680 3.493 2.631 3.493 2.631
CG from 228.6 127.0
-- 76.20 228.6 127.0
LRCS in mm
Inclination
CG from -- +300 450 00 450 00
LRCS
MI about its 0.011 0.090
-- 0.006 0.011 0.090
CG in kg-m2

020094-5
 Z
350 3
15
Z
300 4
Angular positionT(Degree)

Angular velocity,Z(Rad/sec)
10
Z
250 T 5
5
T Z
200
6
0
T
150
T -5

100 -10

50 -15

0 -20
50 100 150 200 250 300 350 50 100 150 200 250 300 350

Crank Angle (Degree) Crank Angle (Degree)

Fig.6. Plot of angular position (θ) vs. crank angle(θ2) Fig.7.Plot of angular velocity (ω) vs. crank angle (θ2)

Results of angular displacement of link3, link4, link5 and link6 for crank rotation of 00 to 3600, two sets of
results have been obtained, one set of results were shown in Fig.6.
Results of the angular velocities of links 3, 4, 5 and 6 for the crank rotation of 00 to 3600, were shown in Fig.7.
The maximum values for the links 3, 4, 5 and 6 are 10.31 rad/sec 2, 13.88 rad/sec2, 5.014 rad/sec2 and 11.59 rad/sec2
respectively.

F12x
F12y
1400 F32x
F32y
D 1200
F43x+F54x
3 1000 F43y+F54y
X and Y component of Force (N)

700
D 800 F14x+F14x
600 
Angular acceleration D (Rad/sec2)

F14y+F14y
600
500 D F65x
 400 F65y
400
200 F16x
300 D F16y
 0
200
-200
100
-400
0
-600
-100
-800
-200
-1000
-300 -1200
-400 -1400
-500 -1600
50 100 150 200 250 300 350 400
50 100 150 200 250 300 350 400
Crank Angle (Degree)
Crank angle (Degree)

Fig.8.Plot of angular acceleration (α) vs. crank angle (θ2) Fig.9 X and Y component of force (Fx & Fy) vs. crank angle(θ2)

020094-6
 The angular acceleration of link3, link4, link5 and link6 for one complete rotation of crank were plotted in Fig.8.
The angular acceleration of link 3 is maximum of 274.60rad/sec2 at crank angle of 1800, at the same time the angular
velocity of link 4 has value of -448.103 rad/sec2. The angular acceleration of link 5 is maximum (331.06 rad/sec2) at
crank angle of 1950. The angular acceleration of link 6 is maximum (638.42rad/sec 2) at crank angle of 1800.

Torque
F12
Fs
F32
Ms

Torque(Nm), Fs (N) and Ms(Nm)

1800 F43+F54
1700 800
F14+F14
1600
1500
F65
1400 F16 600
1300
1200
1100 400
1000
Force (N)

900
800 200
700
600
500 0
400
300
200 -200
100
0
-100 -400
50 100 150 200 250 300 350 50 100 150 200 250 300 350

Crank Angle (Degree) Crank Angle (Degree)

Fig.10. Plot of Force (N) vs. crank angle(θ2) Fig.11. Plot of Torque, Fs & Ms vs. crank angle (θ2)

The joint forces at joints A, B, C, D, E and F were shown in Fig.10, from the graph it is observed that at joint A
the force is minimum (72.17 N) at crank angle of 1350. At joint B the force is minimum (42.07 N) at crank angle of
1500, the force is minimum (104.47 N) at joint C at crank angle of 2700, the force is minimum (48.30 N) at joint D
at crank angle of 2850, the force is minimum (5.39N) at joint E at crank angle of 2850, the force is minimum
(9.46N) at joint F at crank angle of 2700.
The shaking force, shaking moment and torque required on driving link are plotted in Fig.11. The torque
required on crank varies from -20.181 Nm to 3.25 Nm. The shaking force is maximum (764.93 N) at crank
angle 1800 , at the same position of crank shaking moment was minimum (-321.04 Nm).

6. CONCLUSION
In the present paper we made the calculation of position, velocity, acceleration and force analysis of four-
bar mechanism which were extended to six-bar mechanism with the variable topology approach. Due to the
complicated complex equations generated during the approach, we made use of MATLAB computer program in
solving all the equations. The following results have been obtained.
I. The position analysis provided the angles of links 3, 4, 5 and 6 which were used for the analysis of angular
velocity and angular accelerations.
II. Determination of angular velocity and angular accelerations of links 3, 4, 5 and 6 were carried out, which
were essentially needed for force analysis.
III. Dynamic force analysis was carried out by using D’Alemberts principle for four- mechanism which has
been extended to six-bar mechanism.
IV. The shaking force and shaking moment and driving torque revealed that the torque required on the crank
varies from -20.18Nm to 3.25Nm. The shaking force was maximum at crank angle 180 0 at the same
position we observed the shaking moment was minimum.

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 REFERENCES
1. R.L.Norton, Kinematics and Dynamics of Machinery; Dynamic Force Analysis, Tata McGraw Hill, 2009.
2. Sandor G. N. & Erdman A. G., Mechanism Design: Analysis and Synthesis volume 1, Prentice Hall, 1988.
3. Robert L.Williams II(2009), Partial decoupling of the matrix mehthod for planar mechanisms inverse
dynamics, Proceedings of the ASME 2009 IDETC2009-87054.
4. M.R.Smith and L.Maunder(1967), Inertia forces in a four-bar linkage, Journal Mechanical Engineeering
Science Vol.9
5. Prasad S Shivdas, Arvind Bansode, A N Kulkarni, V V Parlikar, M H Ghodekar, Use of six-bar mechanism
for reduction in force and stroke requirement as against four-bar mechanism. iNaCoMM2013,IIT Roorkee,
980-986.

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