Department of Mechanical and Industrial Engineering Autumn-2022

Indian Institute of Technology, Roorkee

Computer Aided Mechanism Design [MIN – 554]

Tutorial 3

1
1. Synthesis a function generator to follow y = over the range 1≤x≤2 using three
𝑥
precision postures. Choose starting angle ϕmin=30°, total displacement Δϕ=90° for
input and ψmin=240°, Δψ=90° for output. Draw the resultant mechanism and mark
all lengths of all link on it. Take base link length as 40 mm.
Also write a MATLAB code for the same and submit.

2. Synthesis a function generator to follow over the range using three precision
postures. Choose starting angle, total displacement for input and, for output. Draw
the resultant four-bar mechanism.
ω2 = 20 rad/sec, α2 = 0
ω3 = 8 rad/sec, α3 = 100 rad/sec2
ω4 = 10 rad/sec, α4 = -150 rad/sec2

3. Synthesize a four-bar linkage for moving a point P through the following three
locations:
𝑅𝑝1 = 3.5543 + 4.7523𝑖
𝑅𝑝2 = 3.7492 + 5.9084𝑖
𝑅𝑝3 = 2.8085 + 5.8478𝑖
Choose the link rotations (in radians) to be:
θ12
2 = 1.0472 θ12
3 = −0.266 θ12
4 = −0.0752

θ13
2 = 1.7453 θ13
3 = −0.3666 θ13
4 = 0.0675

Draw a rough sketch of the mechanism and mark lengths of all links on it.

4. Solve using complex number methods for three-precision-point standard-form

motion synthesis. The graphical solution will be demonstrated first. Figure A shows a
rigid body in three desired positions. The angular orientation and precision positions
of the body in three positions are prescribed. Suppose points A and B arc chosen as
Prof. S H Upadhyay, Professor, MIED
 Department of Mechanical and Industrial Engineering Autumn-2022
Indian Institute of Technology, Roorkee

Computer Aided Mechanism Design [MIN – 554]

proposed circle-point locations. Choosing these locations constitutes making four

free choices, the X and Y coordinates of both points. These choices dictate the location
of the ground pivots A0 and B0 shown in graphical solution, found by the intersection
of the perpendicular bisectors. The resulting starting positions of the input and
output dyads, 𝑊𝐴 𝑍𝐴 and 𝑊𝐵 𝑍𝐵 and the angles of the input and output links at the three
precision positions are:
𝑊𝐴 = 0.72 − 1.06𝑖 𝑊𝐵 = −0.66 − 1.55𝑖
𝜃1 = 304.20 𝜎1 = 247.10
𝜃2 = 2.60 𝜎2 = 136.70
𝜃3 = 88.40 𝜎3 = 116.60
𝑍𝐴 = 0.656 − 0.265𝑖 𝑍𝐵 = 0.265 + 0.656𝑖
Take Input and output link rotation angles as 𝛽2 = 58.40 , 𝛽3 = 144.20 and 𝛽2′ =
249.60 , 𝛽3′ = 229.50 .

(A)

Prof. S H Upadhyay, Professor, MIED

 Department of Mechanical and Industrial Engineering Autumn-2022
Indian Institute of Technology, Roorkee

Computer Aided Mechanism Design [MIN – 554]

Graphical Solution (For reference)

5. For the walking-beam mechanism of the

figure, calculate and plot the x and y
components of the position of the coupler
point P for one complete revolution of the
crank O2A. The coordinate transformation
angle is 26.5° .
Hint: Calculate them first with respect to the
ground link O2O4 and then transform them
into the global XY-coordinate system (i.e.,
horizontal and vertical in the figure).

Prof. S H Upadhyay, Professor, MIED