Kinematics of Machinery (ME-224)

Module-3
By

Sajan Kapil
Assistant Professor
Indian Institute of Technology Guwahati
Guwahati-781039, Assam, India

Phone: 003612582652 Email: sajan.Kapil@iitg.ac.in

Lecture-6
 Function Generation
Analytical Method
𝐵
𝑟3 +
The closure condition simply expresses the
𝑌 𝐴 𝜃3 condition that a loop of a linkage closes on itself.
+ For the four-bar linkage shown in Figure the
𝑟4 closure equation will be:
𝑟2
𝑗
𝜃4 𝒓𝐵 = 𝒓2 + 𝒓3 = 𝒓1 + 𝒓4
𝐵∗
𝑟1 +
𝜃2 Or
𝐴∗ 𝜃1
+ 𝑟2 cos 𝜃2 𝑖 + sin 𝜃2 𝑗 + 𝑟3 cos 𝜃3 𝑖 + sin 𝜃3 𝑗
𝑖 𝑋 = 𝑟1 cos 𝜃1 𝑖 + sin 𝜃1 𝑗 + 𝑟4 cos 𝜃4 𝑖 + sin 𝜃4 𝑗

Rewriting above equation comparing its components

𝑟2 cos 𝜃2 + 𝑟3 cos 𝜃3 = 𝑟1 cos 𝜃1 + 𝑟4 cos 𝜃4 − −(1)

𝑟2 sin 𝜃2 + 𝑟3 sin 𝜃3 = 𝑟1 sin 𝜃1 + 𝑟4 sin 𝜃4 − −(2)

 Function Generation
Analytical Method
𝐵
𝑟3 + 𝑟3 cos 𝜃3 = 𝑟1 cos 𝜃1 + 𝑟4 cos 𝜃4 − 𝑟2 cos 𝜃2 − −(3)
𝑌 𝐴 𝜃3 𝑟3 sin 𝜃3 = 𝑟1 sin 𝜃1 + 𝑟4 sin 𝜃4 − 𝑟2 sin 𝜃2 − −(4)
+
Square and add
𝑟4
𝑟2
𝑗 𝑟32
𝜃4
𝐵∗ = 𝑟12 + 𝑟22 + 𝑟42 + 2𝑟1 𝑟4 cos 𝜃1 cos 𝜃4 + sin 𝜃1 sin 𝜃4
𝑟1 + − 2𝑟1 𝑟2 cos 𝜃1 cos 𝜃2 + sin 𝜃1 sin 𝜃2
𝜃2
𝜃1 − 2𝑟2 𝑟4 cos 𝜃2 cos 𝜃4 + sin 𝜃2 sin 𝜃4 − − 5
𝐴∗
+ 𝑖 𝑋 𝑖𝑓 𝜃1 = 0

𝑟32 = 𝑟12 + 𝑟22 + 𝑟42 + 2𝑟1 𝑟4 cos 𝜃4 − 2𝑟1 𝑟2 cos 𝜃2 − 2𝑟2 𝑟4 cos 𝜃2 cos 𝜃4 + sin 𝜃2 sin 𝜃4

𝑟32 = 𝑟12 + 𝑟22 + 𝑟42 + 2𝑟1 𝑟4 cos 𝜃4 − 2𝑟1 𝑟2 cos 𝜃2 − 2𝑟2 𝑟4 cos 𝜃2 − 𝜃4
𝑟12 + 𝑟22 − 𝑟32 + 𝑟42 𝑟1 𝑟1
cos 𝜃2 − 𝜃4 = + cos 𝜃4 − cos 𝜃2
2𝑟2 𝑟4 𝑟2 𝑟4
 Function Generation
Analytical Method
𝐵
𝑟3 + cos 𝜃2 − 𝜃4 = 𝐾1 cos 𝜃4 + 𝐾2 cos 𝜃2 + 𝐾3
𝑌 𝐴 𝜃3
+ 𝐾1 =
𝑟4
𝐾2 = −
𝑟1
𝑟2 𝑟4
𝑟4
𝑟2
𝑗 𝑟12 + 𝑟22 − 𝑟32 + 𝑟42
𝐾3 =
2𝑟2 𝑟4
𝑟1
𝜃2
𝐵∗ 𝜃4
𝐴∗ + This equation is known as freudenstain’s equation
+ 𝑖 𝑋

If there are 3 values of input angles 𝜃2 are: 𝜃21 , 𝜃22 , 𝜃23

Hence the corresponding 3 output angles 𝜃4 are: 𝜃41 , 𝜃42 , 𝜃43

 Function Generation
Analytical Method
𝐵
𝜃43 +
𝜃42 𝜃41 𝐾1 cos 𝜃41 + 𝐾2 cos 𝜃21 + 𝐾3 = cos 𝜃21 − 𝜃41
𝜃23 𝐴
𝜃22 + 𝐾1 cos 𝜃42 + 𝐾2 cos 𝜃22 + 𝐾3 = cos 𝜃22 − 𝜃42
𝑟4
𝜃21
𝐾1 cos 𝜃43 + 𝐾2 cos 𝜃23 + 𝐾3 = cos 𝜃23 − 𝜃43
𝑟2

cos 𝜃41 cos 𝜃21 1 𝐾1 cos 𝜃21 − 𝜃41

𝜃2 𝜃4
𝐵∗ cos 𝜃42 cos 𝜃22 1 𝐾2 = cos 𝜃22 − 𝜃42
𝐴∗ + 1 𝐾3
+ 𝑟1
cos 𝜃43 cos 𝜃23 cos 𝜃23 − 𝜃43

𝑟4 𝑟1 𝐴𝐾 = 𝐵
𝐾1 = 𝐾2 = −
𝑟2 𝑟4
𝐾 = 𝐴−1 𝐵
𝑟12 + 𝑟22 − 𝑟32 + 𝑟42
𝐾3 =
2𝑟2 𝑟4
 Function Generation
Analytical Method
𝐵
𝜃43 +
𝜃42 𝜃41 Knowing the value of 𝐾1 , 𝐾2 and 𝐾3 , the
𝜃23 𝐴 value of 𝑟1 , 𝑟2 , 𝑟3 , and 𝑟4 can be calculated.
𝜃22 +
𝑟4
𝜃21 𝑟4 𝑟1
𝐾1 = 𝐾2 = −
𝑟2 𝑟2 𝑟4

𝑟12 + 𝑟22 − 𝑟32 + 𝑟42

𝜃2 𝜃4 𝐾3 =
𝐵∗ 2𝑟2 𝑟4
𝐴∗ +
+ 𝑟1 However, one of the link should be considered to be
unity & the proportional link length can be obtained.
 Function Generation
Analytical Method
𝐵
𝑟3 + Rewriting the freudenstain’s equation
𝑌 𝐴 𝜃3
+ 𝑟12 + 𝑟22 − 𝑟32 + 𝑟42 𝑟1 𝑟1
cos 𝜃2 − 𝜃4 = + cos 𝜃4 − cos 𝜃2
𝑟4 2𝑟2 𝑟4 𝑟2 𝑟4
𝑟2
𝑗
In previous case the solutions were obtained for 3
𝑟1
𝜃2 unknowns (𝑟2 , 𝑟3 , 𝑟4 ) while the value of 𝑟1 , 𝜃2 , 𝜃4 were
𝐵∗ 𝜃4
𝐴∗ + assumed.
+ 𝑖 𝑋

However, the freudenstain’s equation can be solved for 5 variables

𝑟 𝑟 𝑟
𝜃2 , 𝜃4 , 2 , 3 𝑎𝑛𝑑 4 , although in such cases the system of equation will not be
𝑟1 𝑟1 𝑟1
linear

It is not possible to design the a mechanism for more than five positions of the
input and output link.
 Function Generation
Analytical Method
𝐵
𝑟3 +
𝑌 𝐴 𝜃3 One can design the linkage in such a way that it gives
+ least deviation from the specified position and provide
𝑟4 an average performance.
𝑟2
𝑗
𝑟1 There are two methods for obtaining such linkages:
𝜃2
𝐴∗
𝐵∗ 𝜃4 1. Least-square technique
+ 𝑖
+ 𝑋 2. Chebyshev technique

Let’s design a linkage in which the input and output can satisfy more then 5
positions with minimum deviation or minimum error.
 Function Generation
Least Square Method
Rewriting the freudenstain’s equation
cos 𝜃2 − 𝜃4 = 𝐾1 cos 𝜃4 + 𝐾2 cos 𝜃2 + 𝐾3

𝐾1 cos 𝜃4 + 𝐾2 cos 𝜃2 + 𝐾3 − cos 𝜃2 − 𝜃4 =0

For 𝑖 𝑡ℎ point the equation can be write as:

𝐾1 cos 𝜃4𝑖 + 𝐾2 cos 𝜃2𝑖 + 𝐾3 − cos 𝜃2𝑖 − 𝜃4𝑖

And it may not be equal to zero and it will produce some error. Error can be
negative or positive so taking square of summed up for ‘n’ values.
𝑛

𝑆 2 = ෍ 𝐾1 cos 𝜃4𝑖 + 𝐾2 cos 𝜃2𝑖 + 𝐾3 − cos 𝜃2𝑖 − 𝜃4𝑖 2

𝑖=1

So our objective will be to minimize the total error.

 Function Generation
Chebyshev’s Spacing: Analytical Method
𝑛

𝑆 2 = ෍ 𝐾1 cos 𝜃4𝑖 + 𝐾2 cos 𝜃2𝑖 + 𝐾3 − cos 𝜃2𝑖 − 𝜃4𝑖 2

𝑖=1

Condition for minimizing the error.

𝑛 𝑛 𝑛 𝑛
𝜕𝑆
=0 𝐾1 ෍ cos2 𝜃4𝑖 + 𝐾2 ෍ cos 𝜃2𝑖 cos 𝜃4𝑖 + 𝐾3 ෍ cos 𝜃4𝑖 = ෍ cos 𝜃4𝑖 cos 𝜃2𝑖 − 𝜃4𝑖
𝜕𝐾1 𝑖=1 𝑖=1 𝑖=1 𝑖=1

𝑛 𝑛 𝑛 𝑛
𝜕𝑆
=0 𝐾1 ෍ cos 𝜃2𝑖 cos 𝜃4𝑖 + 𝐾2 ෍ cos2 𝜃2𝑖 + 𝐾3 ෍ cos 𝜃2𝑖 = ෍ cos 𝜃2𝑖 cos 𝜃2𝑖 − 𝜃4𝑖
𝜕𝐾2 𝑖=1 𝑖=1 𝑖=1 𝑖=1

𝑛 𝑛 𝑛 𝑛
𝜕𝑆
=0 𝐾1 ෍ cos 𝜃4𝑖 + 𝐾2 ෍ cos 𝜃2𝑖 + 𝐾3 ෍ 1 = ෍ cos 𝜃2𝑖 − 𝜃4𝑖
𝜕𝐾3
𝑖=1 𝑖=1 𝑖=1 𝑖=1
 Function Generation
Chebyshev’s Spacing: Analytical Method

𝑛 𝑛 𝑛 𝑛

෍ cos2 𝜃4𝑖 ෍ cos 𝜃2𝑖 cos 𝜃4𝑖 ෍ cos 𝜃4𝑖 ෍ cos 𝜃4𝑖 cos 𝜃2𝑖 − 𝜃4𝑖
𝑖=1 𝑖=1 𝑖=1 𝑖=1
𝑛 𝑛 𝑛 𝐾1 𝑛

෍ cos 𝜃2𝑖 cos 𝜃4𝑖 ෍ cos 2 𝜃2𝑖 ෍ cos 𝜃2𝑖 𝐾2 = ෍ cos 𝜃2𝑖 cos 𝜃2𝑖 − 𝜃4𝑖
𝑖=1 𝑖=1 𝑖=1 𝐾3 𝑖=1
𝑛 𝑛 𝑛 𝑛

෍ cos 𝜃4𝑖 ෍ cos 𝜃2𝑖 ෍1 ෍ cos 𝜃2𝑖 − 𝜃4𝑖

𝑖=1 𝑖=1 𝑖=1 𝑖=1

There are three equations in 𝐾1 , 𝐾2 and 𝐾3 these can be solved by cramer’s

rule or using MATLAB.
 Function Generation
Chebyshev’s Spacing: Analytical Method
The amount of structural error also depends upon the choice of the accuracy
points. Thus a set of precision points may be selected for use in the synthesis
of the linkage which can minimize the structural error & a fair choice is
provided by chebychev spacing.
2𝑙 − 1
𝑥𝑙 = 𝑎 − ℎ cos 𝜋 𝑤ℎ𝑒𝑟𝑒 𝑙 = 1,2,3, . . 𝑛
2𝑛 𝐵
𝜙= 𝜃2 +
𝑥𝑓 + 𝑥𝑖 𝑥𝑓 − 𝑥𝑖 𝐴 𝜙
𝑎= ,ℎ = +
2 2 𝜃
𝑟4

𝑟2

𝐵∗
𝐴∗ +
𝑥𝑖
𝑥1 𝑥2 𝑥3 𝑥𝑓 + 𝑟1
 Function Generation
Chebyshev’s Spacing: Graphical Method

𝑥𝑓 −𝑥𝑖 𝑥𝑓 +𝑥𝑖
• Draw a circle of radius with centre
2 2
• Then divide the circle into a regular polygon with
𝑥𝑖 𝑥1 𝑥2 𝑥3 𝑥𝑓 2n sides.
• The projection of the vertices of the polygon on to
the x-axis will give the location of the precision
points.
Thank You