Analytical Methods of

Position Analysis
Freudensteins Equation
Four-bar Linkage r2 + r 3 = r 1 + r 4

r2 cos 2 r3 cos 3 r1 cos 1 r4 cos 4

r2 sin 2 r3 sin 3 r1 sin 1 r4 sin 4

r3 cos 3 r1 cos 1 r4 cos 4 r2 cos 2

r3 sin 3 r1 sin 1 r4 sin 4 r2 sin 2

Note that 1 can be set to zero without loosing any generality

 Freudenstein Equation
r3 cos3 r1 r4 cos 4 r2 cos 2
r3 sin 3 r4 sin 4 r2 sin 2
Square and add (1) and (2)
2r1r4 cos 4 2r2 r4 sin 2 sin 4 2r1r2 cos 2 2r2 r4 cos 2 cos 4 r12 r22 r44 r32 0

Note that Eq. (3) is a nonlinear equation in 4.

Define
A 2r1r4 2r2 r4 cos 2
B 2r2 r4 sin 2
C r12 r22 r42 r32 2r1r2 cos 2

A cos4 B sin 4 C 0
Freudenstein Equation
A cos4 B sin 4 C 0

Let hence,

x tan 4 B A2 B 2 C 2
2 4 2 tan
1

Equation (4) is transform ed into CA
(C A) x 2 2 Bx A C 0
B A2 B 2 C 2
x
CA
Note that there are two solutions of 4, for a given crank angle
ATAN2 Function

y
If you calculate by a calculator, the result will

tan 1 not identify the sign of x and y. For example:

y=-0.8, x=-0.7. Calculator will produce

Returns value within
x =48.814o. However, the angle actually lies in
the third quadrant. (actual value is -131.186o)

p/2 to +p/2
To resolve this, use ATAN2 function in
MATLAB or C++ program

y =ATAN2(y,x)
y+ x- y+ x+ This automatically detects the quadrant and
returns value within
x
y- x- y- x+ p to +p
ATAN2 Function: using calculator
y x

+ + y
tan 1
x

+ - p tan 1
y
x
- - p tan 1
y
x
y
- + tan 1
x
Correct way of finding numerical solution
of Freudenstein Equation

2x
sin 4 s
1 x 2

1 x 2
cos 4 c
1 x 2

4 ATAN 2( s, c)
Finding 3
r3 cos3 r1 r4 cos 4 r2 cos 2
r3 sin 3 r4 sin 4 r2 sin 2
3 ATAN2 (r4 sin 4 r2 sin 2 , r1 r4 cos 4 r2 cos 2 )
ATAN2( r4 s r2 sin 2 , r1 r4c r2 cos 2 )

Thus, one notes that for a given value of 4,

the coupler angle 3 is unique.
 F
Transmission angle
Fr
Ft=Fsin()
= |3-4| if <90o
else =p-

Mechanical advantage= sin()/sin(b)

Transmission angle is the acute angle between the coupler and the follower. A more
rigorous definition will be discussed elsewhere
 Example
r1=6 cm. , r2=2 cm., r3=7 cm., r4=9 cm. , 2=30o
Find follower and coupler angles and also the transmission angles
for both open and crossed configurations.

A 2r1r4 2r2 r4 cos 2 A=76.82, B=-18, C=51.21

B 2r2 r4 sin 2 x1=-3.0047, x2=1.6410
C r12 r22 r42 r32 2r1r2 cos 2

s1=-0.5926, c1=-0.8055 s2=0.8887, c2=-0.4584

41=-143.6596o 42=117.2861o
31=-115.21o 32=88.83o
=28.4488o =28.4488o

Crossed circuit Open circuit

Open

Crossed
Toggle Positions

Co-linearity of any two directly connected moving links -

corresponds to the extreme position on of the third link
It is a stationary configuration
May or may not exist
Extreme positions of link 4
Co -linearity of link-2 and 3

r3 cos3 r1 r4 cos 4 r2 cos 2

r3 sin 3 r4 sin 4 r2 sin 2
As for the toggle positions of the follower 2=3 or
2p3
(r3 r2 ) cos 3 r1 r4 cos 4
(r3 r2 ) sin 3 r4 sin 4
Squaring and adding :
(r2 r3 ) 2 r12 r42 2r1r4 cos 4
(r2 r3 ) 2 r12 r42
cos 4
2r1r4
 Extreme positions of link 2
Co-linearity of link-3 and 4

r3

r4
x
r2 2

r12 r22 r32 r42 r3 r4

r1 cos 2
2r1r2 r1r2
r12 r22 (r3 r4 ) 2

2r1r2
r12 r22 (r3 r4 ) 2
2 |toggle cos
1
,0 2 |toggle p
2r1r2
Grashof Crank-Rocker Example
r1=6 cm. , r2=2 cm., r3=7 cm., r4=9 cm.
Find the follower swing angle of the rocker for open configuration

(r2 r3 ) 2 r12 r42

cos 4
2r1r4

41=109.47o
42=148.41o

Verify the results graphically

 Grashof Double Rocker example

r1=r2=r4=50 mm.
r3=44 mm.
(r2 r3 ) 2 r12 r42
(1)
4 cos
1
39.90
2r1r4
(r2 r3 ) 2 r12 r42
( 2)
4 cos
1
173.120
2r1r4
r12 r22 (r3 r4 ) 2
(1)
2 cos
1
140.10
2r1r2
r12 r22 (r3 r4 ) 2
( 2)
2 cos
1
6.880
2r1r2
 Non-Grashof Triple Rocker example

r1=95 mm., r2=r4=50 mm.

r3=44 mm.

(r2 r3 ) 2 r12 r42

(1)
4 cos
1
106.44 0
2r1r4
(r2 r3 ) 2 r12 r42
( 2)
4 cos
1
NAN
2 r r
1 4
r12 r22 (r3 r4 ) 2
(1)
2 cos
1
73.550
2r1r2
r12 r22 (r3 r4 ) 2
( 2)
2 cos
1
NAN
2r1r2
Four-bar Quick-Return: crank-rocker
mechanism

Time Ratio

1 180 0
Tr
w 2 180
0

1
2
Input-angle for toggle positions
Co-linearity of link-2 and 3

1 (r2 r3 ) r1 r4
2 2 2
r2+r3
r4 2 cos
2 2r1 | (r2 r3 ) |
r1
r1=6 cm. , r2=2 cm., r3=9 cm., r4=7 cm.
Find the time ratio

(r2 r3 ) r r
2 2 2
2 cos 1

1 4

2r1 | (r2 r3 ) |
2 35.09
(1) 0

( 2)
2 64.62 0

2( 2) 2(1) 29.520
180 29.53
Tr 1.3927
180 29.53
r1=6 cm. , r2=2 cm., r3=9 cm., r4=7 cm.
Find the time ratio

180 29.53
Tr 1.3927
180 29.53
 F
Transmission angle
Fr
Ft=Fsin()
= |3-4| if <90o
else =p-

Mechanical advantage= sin()/sin(b)

Transmission angle is the acute angle between the coupler and the follower. A more
rigorous definition will be discussed elsewhere
 Max-min of transmission angle of
Grashof Crank-Rocker
r3

x r r 2r1r2 cos 2
1
2
2
2

r4
r
1 3
2
r 2
x 2

x
cos 4

r2 2
2 r r
3 4
r1

Extreme values of is thus dependent on the extreme values of x which in turn

depend on 2. Thus, the two extreme values of the transmission angle is obtained
when 2 is 0 or p
r 2
r 2
( r r ) 2

max, min cos
1 3 4 1 2

2r3r4
There are two extreme values for the transmission angle when link 1 and 2 overlap.

r3 r4 r4
r3

r2 r1 r2 r1

Extended configuration Overlapped configuration

Example
r1=6 cm. , r2=2 cm., r3=7 cm., r4=9 cm.
Find the maximum and minimum transmission angles

r r (r1 r2 )
2 2 2

max, min cos
1 3 4

2r3r4
Remember
If >90o =p-

max=58.4119o, min=25.2088o
Grashof double rocker

What is the range of transmission angle?

0-90o because the coupler can make a full revolution with

respect to the other links.
Minimum Transmission angle for a
non-Grashof triple rocker
It is zero at toggle position

r3
0

r2 r4
r1
 Quiz
For the mechanism shown below, determine
the transmission angles when
a. Link 2 is the input and link 4 is the output
b. Link 4 is the input and link 2 is the output

Solution (a)

Solution (b)

Virtual coupler
To infinity
Offset Slider-crank r2 r3 r4 r1 0
r2 e j 2 r3e j 3 r4 e j 4 r1e j1 0
r3 separting real and imaginary parts
3 r2 cos 2 r3 cos 3 r1 0
r2 sin 2 r3 sin 3 r4 0
r2 r4 r4 r2 sin 2
sin 3
4
r3
2
r1 r2 cos 2 r3 cos 3
r1

Example: r2=20 mm., r3=50 mm., r4=0 (centered slider crank), 2=30o

Answer: 3=-11.537o=348.463o, r1=66.31 mm.

 Offset Slider-crank
r2=20 mm., r3=50 mm., r4=20
Find the extreme positions of the
r3 slider. Hint: find toggle positions of
link-2 and 3
3

r2 r4

2 4

r1
 Home Assignment
90o
y r3
3

r2
r4
4 Inverted slider-crank
2

r1 x

Develop the loop closer equation and solve the equation for the unknowns.

Click for Hint