ANNALS OF ENGINEERING ANALYSIS 10): 1-9 (2001) | SYNTILESIS OF A FOURBAR LINKAGE WITH LIMITING | TRANSMISSION ANGLE CHARACTERISTICS, \ N.A.Raji!?and K. A, Ades | ABSIRACK The problem of branchiny and locking defects in functional four-bar mechanismshas always | iam dizer A good dvgn choice she mechani wi ini fss10n angle deviation roma right angle. This paper presents a synthesis procedure 10 determine te conbiwation of the four-bar linkayes with miinnun deviation of the transmission ai ces i | nul A computer-aided spproach is adopted to selec a suitable configuration which obeys the Grashot = condition, The configured values are presented ir mensional form to give any designer a wide range ‘of space limits fOr the mechanisi, eTRODUCTION: The four-bae tinkay fF two 6F more oF stich Kika wea esate pe of inka, he sf or pail embinaton 18 allows for the design of complex linkages for complex machine mecianis fie our bnkage consists ofan input lnk (crank) and twe dependent like called the couper and the follower. The four-bar linkage could bea plana a patial mechanism type, depending onthe wature of ie | J21n hich could be a combination of the revolute (I), eylindrical (C), spherical (S), prismatic (P) and | helical (H) joins | Ty eicarches have been concer with formulating cantons to prec the quality of given mechanism. | FHS EES how of these conditions is the Gashofs citron for dteining ta planar for bar Hokage is oF | | 2 dsuble-rank, rank-rocker, or doublerocker type /1). Also several ether wee hag bogen carried out in | Gevcloping classification schemes forthe four-bar mechani, Filerman /2/ extended the wsohsnessof Gachot | | Sk by determining the region of mobility along Burmese? canter pont curve Duffy and Gaiman 13) | | Rowrsized Giashors work to inclu revlite;joind spltical mechanisms aid spatial evlinknt ood © pairs. The study alee fins ts hase om the | The elassitication of the four-bar wi | Naot Ie a | wires am | four-bar mechanisin | IF Tnq. tay, mtn, the mechanisny is a double-rocker. IV yy: * Ina pot mechan ing characteristics ‘Vic two major problems associated with the four tinkage are de branchingand ts! locki ng vee ns, | ‘of the dependent links. Branching in the mechanism accurs when, for a given psition of Un |of the dependent links. Branching in the mech Fo (cqupler and followes) of the tere exist more than one possible set of positions of the dependent along Ue effect acess whicn te fine of action of the driving force is directed alone follower link, This branching effect is a characteristic of the mechanism. of Waldron (4 devlpot procedstes Sued cn sont raps etnias to cate he AEA branching and otiiter problems in fou and Turcie /5/ presented a Ben Gi i y Soylemez and | planar malticloop mechar Frendenstem /6/ studied the vansitission protlems ia spatial four-tink snechanishy a _Freadenston [7] devied 9 method for controlling the transmission angle in planar four-bar linkages: GP {81 developed theories for synthesizing crank type planar four-bar linkages with transmission ane o0kee, ‘lute Lee and Akbil /4/ worked ow the transinission angle problem for a spherical two-gear drive with prescribed entire motion characteristics ; 4 this paper, an algorithm is develped for determining the transmission angle range for four-bar linkages ‘with prescribed entire motion characteristics. 2_VORMULATION BACKGROUND. ‘Transmission angle characteristics are the variations of the | angle between the coupler and the follower, Applying the cosines law to triangle A,AB, and B BA we can | derive the equation of the 4R - linkage. The equation for the transmission angle is \ ws, Rot, Sandor and ~B) | where the + signs correspond to 4,.. and 4... respectively. | bbe one-dimensional ratios. Thus equation (3) results to eet5 yon as Boch © Cond Qui . “THe relanonship between the non-dimensional quantities 9.E.7 18 expressed as HOE 12NSinAmay — 1 JAD = het map] Tht potion ofthe nlp inspesed a G How (1) can thus be expressed in te shor eriterion of eqp | [yen=0 | where Ap 1s tne deviation of the timit positions of the Folower link ‘and is expressed as {he positive and weyatie signs inthe pavewtlesis are for and respectively ns Of the non-dimensional quawtities. Equation (9) must be true together with equation (5) in order to eliminate the locking effect. L -angle is 9°. A RIATION The deal value for transmission angle 90° A mechanism having the least deviation fom he right angle of he extrerie transmission 998 Mt prevents locking. oF the mechan, THe max ya le ts expressed as } ne = aw ae] oo on where Avge = AH, 15 the my ts the deviation of the ssinimn trausinission a 1m deviation ofthe transmission angle from the ightangle, 4, Josand A. [Hy 12] tthe deviation sm proportion that minimizes 4... fromthe righ fof the maxinnuns transmission it angle, The mech | Provides the optimum solutios to the transmission angle problem of uhe four-bar linkage kage for the optimum transmission angle variations t Olare Proportion ofthe four-bar tions (4) to (10). The values of (O11) at an interval of O 1e transmission angle | chart of the | ‘The determination of the I Js achieved by the combination of eq supplied to generate values of the other parameters. The limit position and extrem Position are tien obtained. The values are tested for the validity of 1. Fig. 1 shows the flow | algorithm, USSION. A FORTRAN code is developed to earry out the mechamist | synthesis and to determine the transmission angle variance with reference to the link ratio variation, The results obtained are presented in Figures 2 to 6 | Fig, 2shows thé relationship of n with A. In the analysis the value on 0< 1) < 0.41 results to indeterminate | | solutions. It could be observed that the minimum deviation of the transmission angle from right angle | | 4, and 4, falls between 0.55< 1 <0.60, which corresponds to an optimum transmission angle of range |0 Fe? Crent—-Coupteret i | | Goes if & EF a 2 Feo | * } 2? ; - 2 «4 \ i Si j g HEY HUN Beg saHo90 90 np ti Wont oa “Coy Fa Link Ra Vin gs 8 & 8: | O4 os 0O8 1 1.2) Follower--Fixed Link Ratio | Mee Min. Limit of Transmission Angle Curve | = eeA review of he transis SONG burn Inknye was developed. a was aserved nt iy angwigsion angle results 40 1 locking over a vation Troi syst angle of te ined by selecting the size oF the fixed nik based on the space snk | bbe eatisnated from the respective €) ks Could be de and Follower lusk sizes ean th & NOTALIONS, i Fraae B= Lensths of links }1= Transmission angle of the four-bar linkage © ~ Input angle lower - Frsed link ratio = Crank - Coupler link ratio. : ¥ = Coupler ~ Fixed link ratio ‘Adb = Deviation of follower link limit position: ‘A> Deviation of transmission angles from 90" \ AL of Grasshof's criterion ASME Joumal of Mechanical Destin, | iy, 1979). A Re-assessn Nol. No 3, pp S15-318 nd-rocker linkages se 22), Useful ranges of center point curves for design of crank- and-rocker linkag 2, Filerman, pieclanisivand Machine Theory. Vol 7.No. | py 47-53 . Daly and Gil M.J.(1972) ‘Typeand mokalty analysis of the spherical fourtisk mechassistn lust, Mech Engrs , €89 87/72, 1972. pp 90.97 ey ) The order probiem of Burmester linkage synthesis, ASME Journal of Engineering 4 Waldron, 4, (1975: for Industry. Vol 97, pp. 1405 - 1406 ranching. | S Kashnamerty, S, and Turcic DA (1988). A poneral method of determining, and climinating, bt et = \ De Miloop mechanisms. ASME Journal of Méchanisms, Transmission and Automat Design, Vol. 110, No. 4, pp. 414-422 denstein, F. (1982). Transmission optimization of spatial four-link mechanisms. 6 Soylemez, E. and Freud Mechanism and Machine Theory, Vol. 17, No. 4,pp. 263 + 283 . 7 Routh, B., Sander. GN. and Freudenstein. F. (1963) Saepeteat ror peers ondanionn nce, (Pumum Gansnuission characteristics. Transactions of the Seventh Conference on Mechanisms, Pur University, West Lafayette, IN Gupta, KC. (1978). A general theory for synthesizing crank type four /8 transmission angle control. ASME Joumal of Applied Mechanics, Series E. Vol. 34, pp. 415 - 421 Mechanism, Transmissions and Automation in Design, Vol. 108, No. 1,pp. 46 - 52. position generator with > and Akbil, E. (1986). Kinematic synthesis of spherical tum-gear drives with prescribed entire- [9 Lee, Tw, motion characteristics: Unlimited crank rotations and optimum transmission- 1, ASME Joumal of |S