MENG 372

Chapter 4
Position Analysis

All figures taken from Design of Machinery, 3rd ed. Robert Norton 2003

1
 Coordinate Systems
Cartesian (Rx, Ry)
Polar (RA, q)
Converting between the two
R A Rx 2 R y 2 Rx RA cosq
q arctan R y Rx Ry RA sin q
Position Difference, Relative position
Difference (one point, two times) Y
RBA B
relative (two points, same time) A

RBA=RB-RA RA
RB
2
X
 4.3 Translation, Rotation, and
Complex motion
Translation: keeps the same angle
Rotation: one point does not move
Complex motion: a combination of rotation
and translation

3
 Graphical Position Analysis of
Linkages
Given the length of the links (a,b,c,d), the ground
position, and q2. Find q3 and q4
b
B
c
b
A q3
c
a
q2 q4
d
O2 O4
4
 Graphical Linkage Analysis
b
Draw an arc of radius b, c
centered at A
Draw an arc of radius c,
B1
centered at O4
b
The intersections are the A q3
two possible positions for c
the linkage, open and a
crossed q2 d q4

O2 O4
B2 5
 Algebraic Position Analysis
Obtain coordinates of point A:
Ax a cos q 2
Ay a sin q 2

Obtain coordinates of point B:

b 2 Bx Ax B y Ay
2 2

c 2 B x d B y
2 2

These are 2 equations in 2 unknowns: Bx and By

See solution in textbook pages 171, 172.

6
 Complex Numbers as Vectors
We can plot complex numbers on the real-
imaginary plane
Euler identity eiq=cos q i sin q
Cartesian form: RAcos q + i RAsin q
Polar form: RAeiq Imaginary

Multiplying by eiq
corresponds to rotating
by q
Real
7
 Analytical Position Analysis
Given: link lengths a,b,c and d, q1, q2 (the motor
position)
Find: the unknown angles q3 and q4

8
 Analytical Position Analysis
Write
the vector
loop
equation:
R2 R3 R4 R1 0
(Positive from tail to tip)
Substitute with complex vectors
aeiq 2 beiq3 ceiq 4 deiq1 0

Take knowns on one side, unknowns on the other.

Call the knowns Z
iq 3 iq 4 iq 2 iq1
be ce ae de Z
Unknowns Knowns
9
 Fourbar Linkage Analysis
beiq3 ceiq 4 aeiq 2 deiq1 Z
Define: s eiq3 , t eiq4 bs ct Z
Take conjugate to get a second equation: bs ct Z
iq3 1 1
For the conjugate of s we have (only true for eiq) s e iq3
e s
So our second equation is
b c
Z
s t
1
Note: Z
Z
10
 Fourbar Linkage Analysis
b c
bs ct Z Z
s t
Use algebra to eliminate one of the unknowns
b c
bs Z ct Z
Multiplying the two gives: s t
c
b ZZ Z Z ct c 2
2

t
Multiplying by t and collecting terms gives:
0 Z ct ZZ c b t Zc
2 2 2
Quadratic equation in t

From the quadratic formula t

ZZ c b
2 2
ZZ c 2
b
2 2
4c 2 Z Z
2Z c
Z ct
s 11
b
 Fourbar Linkage Analysis
t
ZZ c
ZZ c 2 b 2 2
b2 2
4c 2 Z Z
s
Z ct
2Z c b

In MATLAB, 0 Z ct ZZ c b t Zc
2 2 2

Zc=conj(Z) B1
t=roots([Zc*c,Z*Zc+c^2-b^2,Z*c]) b
A q3
q4=angle(t), q3=angle(s) c
Two solutions relate to the a
open and crossed q2 d q4
positions O2 O 4

B2 12
 MATLAB
Change your current directory
Type in your commands here or

Use a text editor

13
>> a=2; b=3; c=4; d=5;
>> th1=0; th2=60*pi/180; >> th4=angle(t)*180/pi
>> z=-a*exp(i*th2)+d*exp(i*th1)
th4 =
z= B
4.0000 - 1.7321i 114.7975
-161.6240 b
>> zc=conj(z)
A q3
>> th3=angle(s)*180/pi
zc = c
4.0000 + 1.7321i
th3 =
>> t=roots([zc*c,z*zc+c^2-b^2,z*c])
a
39.2750
q2 q4
t= -86.1015 d
-0.4194 + 0.9078i
-0.9490 - 0.3153i O2 O4
>> s=(z+c*t)/b

s=
0.7741 + 0.6330i
0.0680 - 0.9977i

14
 Inverted Crank Slider linkage
Given: link lengths a, c and d, q1, q2 (the motor
position), and g the angle between the slider and rod
Find: the unknown angles q3 and q4 and length b

15
 Inverted Crank Slider linkage
Write the vector loop equation

R2 R3 R4 R1 0
Substitute with complex vectors
aeiq 2 beiq3 ceiq 4 deiq1 0
Geometry keeps
q3 q4 g
so
aeiq 2 bei q 4 g ceiq 4 deiq1 0

16
 Inverted Crank Slider
iq 2 i q 4 g iq 4 iq1
ae be ce de 0
Grouping knowns and unknowns
bei q 4 g ceiq 4 aeiq 2 deiq1 Z
iq 4 ig
Calling s e and t e
Gives bst cs Z s (bt c)
Taking the conjugate to get the second equation
1 1
s (bt c) Z b c
s t
Multiplying the two gives
1 2
b bc t c ZZ
2

t 17
 Inverted Crank Slider
1 2
b bc t c ZZ
2

t
The solution is a quadratic
equation in b
1
0 b c t b c ZZ
2 2

Which has a solution of t

2
c t 1 t 1 c 2 4 c 2 ZZ
t t
b
2
b=roots([1 c*(t+1/t),c^2-Z*Zc])
Z
Once b is known, s can be found using s
bt c
18
 Crank Slider Mechanism
Given: link lengths a, b and c, q1, q2 (the motor
position)
Find: the unknown angle q3 and length d

19
 4.8 Linkages of More than Four Bars
Geared fivebar linkage
vector loop equation

R2 R3 R4 R5 R1 0
Complex vectors
iq 2 iq 3 iq 4
ae be ce
iq 5
de f 0
Separate unknowns and knowns (q5=lq2f)
iq3 iq 4 iq 2 iq5 (same eqn.
be ce ae de f Z
as 4bar)
20
 Sixbar Linkages
Watts sixbar can be solved as 2 fourbar linkages
R1R2R3R4, then R5R6R7R8
R4 and R5 have a constant angle between them

21
 Sixbar Linkages
Stephensons sixbar can sometimes be solved as a
fourbar and then a fivebar linkage
R1R2R3R4, then R4R5R6R7R8
R3 and R5 have a constant angle between them
If motor is at O6 you have to solve eqns. simultaneously

22
 Position of any Point on a Linkage
Once the unknown angles have been found it is
easy to find any position on the linkage
For point S
Rs=sei(q +d )
2 2

For point P
RP=aei q +pei (q +d )
2 3 3

For point U
RU=d +uei (q +d )
4 4

23
Using MATLAB (Spring 2007)

24
 Transmission Angle
Extreme value of transmission angle when links 1
and 2 are aligned
b c d a
2 2 2

b 2
c
arccos
2
d a 2

1 arccos 2
2bc 2bc

Extended
Overlapped

25
 Toggle Position
Caused by the colinearity of links 3 and 4.
a 2
d 2
b 2
c 2
bc
q 2toggle cos
1
0 q 2toggle
2ad ad
For a non-Grashof linkage, only one of the values
between the () will be between 1 and 1
3 3

4 Overlapped
2
2 4
q2
Extended
q2
26