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LectureNote6 Kinematic Analysis
LectureNote6 Kinematic Analysis
Statics
Mechanics Kinematics
Dynamics
Kinetics
Kinematics: geometry of motion
B B3
3 B4
A A
2 4
A0 B0 A0 B0
1
ME331 – Fundamental Joint
Rules on choosing a fundamental joint:
1) Avoid disconnecting a fixed joint.
2) Avoid disconnecting multi-dof joints (CP, Sc, etc.)
3) Prefer (floating) revolute joints over prismatic joints
4) For multi-loop mechanisms choose distinct fundamental joints for all
loops if possible.
ME331 – Loop Closure Equation (LCE)
Equating vector additions from an initial point to the fundamental joint
we obtain the loop closure equation (LCE):
A 0 A AB A 0B0 B0B
B B3
3 B4
A A
2 4
A0 B0 A0 B0
1
ME331 – Steps for Representing Mechanisms
1) Number the links starting from the fixed link (Link 1 is always the fixed link),
continue with the/one of the input links (link 2), continue with a link connected to
link 2 (link 3) and continue in order with the links in the loop of links 1, 2, 3.
2) Use A, B, C, ... for moving revolute joints. Do not use index. If you use index i, then
i must refer to the link number where that point is located. Use subscript 0 for the
fixed revolute joints: A0, B0, etc. If you have a point A then A0 must be the center of
the circle described by A.
3) Use ai, bi,..., ai, bi, ... for the fixed link dimensions and angles respectively. i must
refer to the link number on which that length or angle is to be measured. These
angles or lengths have positive values only
ME331 – Steps for Representing Mechanisms
4) Do not define a joint variable at the fundamental joint of a loop.
5) Use 1j for a variable angle that shows the angular position of link j with respect to
a reference frame on link 1. Link 1 is always considered as the fixed link (or the
reference link about which the motion of all the other links are to be measured).
This angle must be a directed angle and must be considered positive when
measured CCW. Use sjk for a variable distance that gives the translational position of
link k with respect to link j.
6) You can use f, y, x, ... for intermediate variable angles that you may need during
computation and s, u, t, ... for intermediate variable lengths.
7) When writing a complex number in polar form, simplify when you have an angle
which is a multiple of /2: ei( /2) iei , ei(/2) iei , ei() ei , ei(3 /2) iei
ME331 – Writing LCEs
4-bar linkage
LCE in vector form: A 0 A AB A 0B0 B0B
y C LCE in complex numbers:
a2ei12 a3ei13 a1 a4ei14
b3 3 B Scalar components of the LCE:
a3 a3 Re: a2 cos 12 a3 cos 13 a1 a4 cos 14
A 13 Im: a2 sin 12 a3 sin 13 a4 sin 14
Position of coupler point C (not a LCE):
2 a4 4 i12 i 13 a3
A 0C x C iy C a2e b3e
a2 12 14 x C a2 cos 12 b3 cos 13 a 3
A0 1 B0
a1
x y C a2 sin 12 b3 sin 13 a 3
ME331 – Writing LCEs
Slider-crank linkage
LCE in vector form: A 0 A A 0B BA
C LCE in complex numbers:
i12 i13
y a2e s14 ia1 a3e
A α3
2 θ13 Scalar components of the LCE:
4
B
Re: a2 cos 12 s14 a3 cos 13
θ12 3 a1
x Im: a2 sin 12 a1 a3 sin 13
A0 s14 Position of coupler point C (not a LCE):
i 13 a3
|A0A| = a2 , |AB| = a3 , |BC| = b3 A 0C x C iy C s14 ia1 b3e
x C s14 b3 cos 13 a 3
y C a1 b3 sin 13 a 3
ME331 – Writing LCEs
Swinging block mechanism
LCE in vector form: A 0 A A 0B0 B0 A
y LCE in complex numbers:
A s43 i12 i14
3 4 a2e a1 s 43e
14
2 12 Scalar components of the LCE:
x
A0 B0 C Re: a2 cos 12 a1 s 43 cos 14
|A0B0| = a1 , |A0A| = a2 , |AC| = a3 Im: a2 sin 12 s43 sin 14
Position of point C:
A 0C x C iy C a1 a3 s 43 ei 14
a1 a3 s 43 ei14
x C a1 a3 s43 cos 14
y C a3 s 43 sin 14
ME331 – Writing LCEs
A 6-link mechanism
s16
6 LCEs in vector form:
Q s56
|A0B0| = a1 B A 0 A A 0B0 B0 A B0B B0Q QB
5 LCEs in complex numbers:
|B0Q| = b1
|A0A| = a2
3 i12
a2e ia1 s 43e i14
a4 e i14
s16 i b1 s 56
2 A θ12
|B0B| = a4
A0 Scalar components of the LCE:
4 a2 cos 12 s 43 cos 14 a4 cos 14 s16
s43
a2 sin 12 a1 s43 sin 14 a4 sin 14 b1 s56
θ14
B0
ME331 – Writing LCEs
A single dof 6-link mechanism
|A0B0| = a1 A
|A0C0| = b1 θ15
y 3 B 5
|BA| = a3
|B0B| = a4 C
4 D
6
|AC| = a5 θ12 2 θ14 θ16
|AD| = b5 A0 x
1 B0 C0
|C0C| = a6
LCEs in vector form: A 0B A 0B0 B0B A 0 A A 0C 0 C0C CA
In complex numbers: s23e i12
a1 a4e i14
s23 a3 e b1 a6e a5e
i12 i16 i15
Scalar s23 cos 12 a1 a4 cos 14 s23 a3 cos 12 b1 a5 cos 15 a6 cos 16
components: s sin a sin
23 12 4 14 s23 a3 sin 12 a5 sin 15 a6 sin 16
ME331 – Writing LCEs
A single dof 6-link mechanism
Vector form: A 0 A AB A 0C 0 C0C CB
C0C CD DQ C0Q
Q
|CD| = b4 Complex form:
i13 i15
a2e a3e ib1 a1 a5e a4ei14
i12