Chapter 4

POSITION AND
DISPLACEMENT
ANALYSIS
Fernandez
Flores
Real
Suyom
SOLE PURPOSE OF
ANALYSIS
 Position and
Displacement Analysis
the sole purpose of analysis is to determine the location of all links as the
driving link(s) of the mechanism is moved into another position.

4.1 Introduction
4.2 Position
Position
the location of an object

4.2 Position
Position of a Point (P)
the spatial location of a point on a mechanism

4.2.1 Position of a Point

Position of a Point (P)
defined with a position vector R, from a reference origin

4.2.1 Position of a Point

Position of a Point

4.2.1 Position of a Point

Position of a Point

4.2.1 Position of a Point

Position of a Point

4.2.1 Position of a Point

Position of a Point

4.2.1 Position of a Point

Angular Position of a Link

For consistency, angular is position is defined as:

Positive if counter clockwise;

Negative if clockwise

4.2.1 Angular Position of a Link

Position of a Mechanism
the primary purpose of analyzing a mechanism is to study its motion.

4.2.3 Position of a Mechanism

4.3 Displacement
Displacement
the end product of motion.

4.3 Displacement
Displacement
a vector that represents the distance between
the starting and ending position of a point or link

4.3 Displacement
Linear Displacement (ΔR)
the straight line distance between the starting and ending position of a point

4.3.1 Linear Displacement

Linear Displacement (ΔR)
the vectoral difference between the initial position P, and the final position P'

4.3.1 Linear Displacement

Linear Displacement

4.3.1 Linear Displacement

Angular Displacement (Δθ)
the angular distance between two configurations of a rotating link

4.3.2 Angular Displacement

 Angular Displacement (Δθ)
the difference between the starting and ending angular positions of a link

*The formula above uses an example link labeled 3 4.3.2 Angular Displacement
Angular Displacement

4.3.2 Angular Displacement

4.4 Displacement Analysis
Displacement Analysis
locating the position of all links in a mechanism as the driver link(s) are displaced

4.4 Displacement Analysis

4.5 Displacement:
Graphical Analysis
Example 1:

4.5.1 Displacement Analysis of a Single Driving Link

Example 1:

4.5.1 Displacement Analysis of a Single Driving Link

4.6 Position: Analytical
Analysis
Position: Analytical Analysis
an accurate yet numerically-intensive method of kinematic analysis

4.6 Position: Analytical Analysis

In-Line Slider-Crank
a mechanism where the path of the pin joint on the slider is in-line
with the center of rotation of the crank.

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem
Using Law of Sines:

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem
Solving for ∠ABC:

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem
Using Law of Sines:

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem
Using Law of Sines:

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem
Using Law of Sines:

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem
Solving for ∠AB'C':

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem
Using Law of Cosines:

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Example Problem

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

In-Line Slider Crank

4.6.1 Closed-Form Position Analysis Equations for an In-Line Slider-Crank

Offset Slider-Crank
a mechanism where the path of the pin joint on the slider is offset
from the center of rotation of the crank.

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem
C

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem
Solving for BD:

5"
Solving for AD:

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem
4" Solving for CE:

5"
Solving for BE using Pythagorean Theorem:

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem
1.87"

4" Solving for LC:

3.54"

5"

4.92"

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

1.87" 1.87"
Example Problem
1.87"

4" Solving for LC:

3.54"

5"

4.92"

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

1.87" 1.87"
Example Problem
Solving for B'D':

5"
Solving for AD':

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem
4" Solving for C'E':

5"
Solving for B'E' using Pythagorean Theorem:

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem
4" Solving for LC':

5"

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem
4" Solving for LC':

5"

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem
C

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem
C

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Example Problem
C

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Offset Slider-Crank

4.6.2 Closed-Form Position Analysis Equations for an Offset Slider-Crank

Four-Bar Linkage
a mechanism consisting of four joints connecting four links
which move in parallel planes.

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
C
20
B
θ θ' 15
12
60°
D
A 25

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
Solving for BD using Pythagorean Theorem:

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
Solving for ∠ABD:

27.73 Solving for ∠ADB:

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
Solving for ∠BCD using Law of Cosines:

64.4°
27.73
Solving for ∠CBD using Law of Sines:
25.6°

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
Solving for ∠BDC:
31.7° 103.9°
64.4°
27.73

25.6°

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
Solving for ∠ABC:
31.7° 103.9°
64.4°
27.73
Solving for ∠CDA:
44.4°
25.6°

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
Solving for θ:

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
Solving for B'D using Law of Cosines:

Solving for ∠AB'D using Law of Cosines:

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
Solving for ∠B'DA:

21.66
91.3° Solving for ∠B'C'D using Law of Cosines:

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
Solving for ∠C'B'D using Law of Sines:
74.9°

21.66
91.3°

28.7° Solving for ∠B'DC':

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
Solving for ∠AB'C' :
74.9°
42°
21.66
91.3°
63.1 Solving for ∠C'DA:
28.7°

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
Solving for θ':

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
C
20
B
θ θ' 15
12
60°
D
A 25

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
C
20
B
6.1° 13.3° 15
12
60°
D
A 25

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Example Problem
C
20
B
6.1° 13.3° 15
12
60°
D
A 25

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Four-Bar Linkage

4.6.3 Closed-Form Position Equations for a Four-Bar Linkage

Crank-Rocker Four-Bar Linkage
four-bar linkages with two regions of possible motion, geometrically inverted.

4.6.4 Circuits of a Four-Bar Linkage

Crank-Rocker Four-Bar Linkage

4.6.4 Circuits of a Four-Bar Linkage

4.7 Limiting Positions:
Graphical Position
Analysis
Limiting Position
a configuration of a mechanism where the crank and
coupler are collinear.

4.7 Limiting Positions: Graphical Analysis

Limiting Position

4.7 Limiting Positions: Graphical Analysis

4.8 Limiting Positions:
Analytical Position
Analysis
Example Problem

4.8 Limiting Positions: Analytical Analysis

Example Problem

4.8 Limiting Positions: Analytical Analysis

Example Problem
C'
8
D
C

12
18
C''
B'

B
4
A
B''

4.8 Limiting Positions: Analytical Analysis

Example Problem
Solving for ∠C'AD using Law of Cosines:

Solving for ∠AC'D using Law of Sines:

4.8 Limiting Positions: Analytical Analysis

Example Problem
Solving for ∠ADC' :

64.1°

23.6°

4.8 Limiting Positions: Analytical Analysis

Example Problem
Extreme positions:

64.1°
92.3°

23.6° Solving for Stroke:

4.8 Limiting Positions: Analytical Analysis

Example Problem
Solving for C''AD:

Solving for ADC'':

4.8 Limiting Positions: Analytical Analysis

Example Problem
Solving for AC''D:
32.1°

20.7°

4.8 Limiting Positions: Analytical Analysis

Example Problem
32.1°

127.2°

20.7°

4.8 Limiting Positions: Analytical Analysis

Example Problem
C'
8
D
C

12
18
C''
B'

B
4
A
B''

4.8 Limiting Positions: Analytical Analysis

Example Problem
C'
8 Extreme positions: Solving for Stroke:
D
C

12
18
C''
B'

B
4
A
B''

4.8 Limiting Positions: Analytical Analysis

4.9 Transmission Angle
Transmission Angle (γ)
a measure of quality of force transmission in the mechanism

4.9 Transmission Angle

Mechanical Advantage
the ratio of the output force (or torque) divided by the input force (or torque).

4.9 Transmission Angle

Transmission Angle

4.9 Transmission Angle

Transmission Angle

4.9 Transmission Angle

4.10 Complete Cycle:
Graphical Position
Analysis
Phase of Mechanism
the configuration of a mechanism at a particular instant.

4.10 Complete Cycle: Graphical Position Analysis

 Cycle Analysis
the study of a mechanism in motion incrementally through a series of phases.

4.10 Complete Cycle: Graphical Position Analysis

Example

4.10 Complete Cycle: Graphical Position Analysis

Example

4.10 Complete Cycle: Graphical Position Analysis

4.11 Complete Cycle:
Analytical Position
Analysis
Analytical Position Analysis

4.11 Complete Cycle: Analytical Position Analysis

Complete Cycle: APA

4.11 Complete Cycle: Analytical Position Analysis

Complete Cycle: APA

4.11 Complete Cycle: Analytical Position Analysis

Complete Cycle: APA

4.11 Complete Cycle: Analytical Position Analysis

4.12 Displacement Diagrams
Displacement Diagrams
plotting the displacement of one point relative to another point

4.12 Displacement Diagrams

Example

4.12 Displacement Diagrams

Example

4.12 Displacement Diagrams

4.13 Coupler Curves
 Coupler Curves
the trace of a point in a mechanism as it moves through its cycle

4.13 Coupler Curves

Coupler Curves

4.13 Coupler Curves

 ...---...

Machines and Mechanisms - Applied Kinematic Analysis 4th Edition by David H. Myzka