DESIGN OF MACHINERY SOLUTION MANUAL 4-18g-1

PROBLEM 4-18g
Statement: Find and plot the angular displacement of link 6 versus the angle of input link 2 as it is rotated from
the position shown (+30 deg) to a vertical position (+90 deg). Find the toggle positions of this
linkage in terms of the angle of link 2.
Given: Link lengths:
Input (L
2
) a 49 := Coupler (L
3
) b 100 :=
Rocker (L
4
) c 153 := Ground link (L
1
) d 87 :=
Angle fromx axis to X axis: o 121 deg :=
121
2
O4
x
4 C
O2
5
B
3
O6
Y
30
D
6
X
y
A
Starting angle: u
21
30 deg :=
Crank rotation angle from
position shown to
vertical:
Au
2
60 deg :=
Two argument inverse tangent
atan2 x y , ( ) 0.5 t return x 0 = y 0 > . if
1.5 t return x 0 = y 0 < . if
atan
y
x
|

\
|
|
.
|

\
|
|
.
return x 0 > if
atan
y
x
|

\
|
|
.
|

\
|
|
.
t + otherwise
:=
Solution: See Figure P4-5g and Mathcad file P0418g.
1. Define one cycle of the input crank in global coord: u
2
u
21
u
21
1 deg + , u
21
Au
2
+ .. :=
2. Use equations 4.8a and 4.10 to calculate u
4
as a function of u
2
(for the crossed circuit).
K
1
d
a
:= K
2
d
c
:= K
3
a
2
b
2
c
2
+ d
2
+
2 a c
:=
K
1
1.7755 = K
2
0.5686 = K
3
1.5592 =
A u
2 ( ) cos u
2
o + ( ) K
1
K
2
cos u
2
o + ( ) K
3
+ :=
B u
2 ( ) 2 sin u
2
o + ( ) := C u
2 ( ) K
1
K
2
1 + ( ) cos u
2
o + ( ) K
3
+ :=
u
41
u
2 ( ) 2 atan2 2 A u
2 ( ) B u
2 ( ) B u
2 ( )
2
4 A u
2 ( ) C u
2 ( ) + ,
|
\
|
.
|
\
|
.
o :=
3. If the calculated value of u
4
is greater than 2t, subtract 2t from it. If it is negative, make it positive.
u
42
u
2 ( ) if u
41
u
2 ( ) 2 t > u
41
u
2 ( ) 2 t , u
41
u
2 ( ) , ( ) :=
u
4
u
2 ( ) if u
42
u
2 ( ) 0 < u
42
u
2 ( ) 2 t + , u
42
u
2 ( ) , ( ) :=
4. Plot u
4
as a function of the crank angle u
2
(measured from the X-axis) as it rotates from the position shown to the
vertical position.
DESIGN OF MACHINERY SOLUTION MANUAL 4-18g-2
30 40 50 60 70 80 90
85
90
95
100
105
110
115
Angular Displacement of Rocker Link 4
Crank angle, deg
R
o
c
k
e
r
a
n
g
l
e
,
d
e
g
u
4
u
2
( )
deg
u
2
deg
4. Check the Grashof condition of the linkage.
Condition a b , c , d , ( ) S min a b , c , d , ( )
L max a b , c , d , ( )
SL S L +
PQ a b + c + d + SL
"Grashof" return SL PQ < if
"Special Grashof" return SL PQ = if
"non-Grashof" return otherwise
:=
Condition a b , c , d , ( ) "non-Grashof" =
5. Using equations 4.33, determine the crank angles (relative to the x-axis) at which links 3 and 4 are in toggle.
arg
1
a
2
d
2
+ b
2
c
2

2 a d
b c
a d
+ := arg
1
0.840 =
arg
2
a
2
d
2
+ b
2
c
2

2 a d
b c
a d
:= arg
2
6.338 =
u
2toggle
acos arg
1 ( ) := u
2toggle
32.9deg =
The other toggle angle is the negative of this. Thus, in the global XY frame the toggle positions are:
u
2XYtoggle
u
2toggle
o := u
2XYtoggle
88.130 deg =
u
2XYtoggle
u
2toggle
o := u
2XYtoggle
153.870 deg =