Analytic Approach to

Mechanism Design

http://www.engr.colostate.edu/me/program/courses/ME324/notes/PositionAnalysis.ppt

ME 324
Fall 2000

1 Position synthesis
 Chapter 4 -
Analytic Position Analysis
Imaginary
• A vector can be Axis
represented by a Point A
complex number
• Real part is x-axis jR sin q RA
• Imaginary part is y-
axis q
• Useful when we Real
begin to take Axis
R cos q
derivatives
2 Position synthesis
 Derivatives, Vector Rotations in the
Complex Plane
Imaginary
• Taking a derivative of
a complex number will B
RB = j R
result in multiplication
by j C A
• Each multiplication by RA
RC = j2 R = -R
j rotates a vector 90° Real
CCW in the complex
plane R = j3 R = - j R D
D

3 Position synthesis
 Labeling of Links and
Link Lengths
• Link labeling starts
with ground link
Link 3, length b
• Labeling of link B
Link 4,
Coupler length c
lengths starts with link Link 2, A
adjacent to ground length a
Link 1, length d
link
Ground Link
• Makes no sense - just Pivot 02 Pivot 04

go with it

4 Position synthesis
 Angle Measurement Convention

• All angles measured

from angle of the
ground link 3
B
q3
• Define q1 = 0° 4
q4
A
2
• One DOF, so can q2 1
describe all angles in
q1 = 0°
terms of one input,
usually q2

5 Position synthesis
 More on Complex Notation

• Polar form:
re jq
• Cartesian form:
r cosq + j r sinq
• Euler identity:
±e jq = cosq ± j sinq
• Differentiation:
jq
de jq
= je
dq
6 Position synthesis
 The Vector Loop Technique

• Vector loop equation:

R2 + R3 - R4 - R1 = 0
• Alternative notation: R3 b B
RAO2 + RBA - RBO4 - RO4O2 = 0 q3 R4
nomenclature - tip then tail a A c q4
R2 q2 d
• Complex notation:
aejq2 + bejq3 - cejq4 - dejq1 = 0 O R1 O4
2
• Substitute Euler equation:
a (cos q2+j sinq2) + b (cos q3+j sinq3)
- c (cos q4+j sinq4) - d (cos q1+j sinq1) = 0
7 Position synthesis
 Vector Loop Technique - continued

• Separate into real and imaginary parts:

Real:
a cos q2 + b cos q3 - c cos q4 - d cos q1 = 0
a cos q2 + b cos q3 - c cos q4 - d = 0,
since q1 = 0, cos q1 = 1
Imaginary:
ja sin q2 + jb sin q3 - jc sin q4 - jd sin q1 = 0
a sin q2 + b sin q3 - c sin q4 = 0,
since q1 = 0, sin q1 = 0
8 Position synthesis
 Vector Loop Technique -
continued
a cos q2 + b cos q3 - c cos q4 - d = 0
a sin q2 + b sin q3 - c sin q4 = 0
• a,b,c,d are known
• One of the three angles is given
• 2 unknown angles remain
• 2 equations given above
• Solve simultaneously for remaining angles

9 Position synthesis
 Vector Loop -
Summary
• Draw and label vector loop for mechanism
• Write vector equations
• Substitute Euler identity
• Separate into real and imaginary
• 2 equations, 2 unknown angles
• Solve for 2 unknown angles
• Note: there will be two solutions since
mechanism can be open or crossed
10 Position synthesis
 Example:
Analytic Position Analysis
• Input position q2 given
• Solve for q3 & q4

b=2.14
q 3 =?°
a=1.6
c=2.06

q 2 =51.3° d=3.5 q 4 =?°

11 Position synthesis
 Example:
Vector Loop Equation
R2 + R3 - R4 - R1 = 0
aejq2 + bejq3 - cejq4 - dejq1 = 0
1.6ej51.3Þ + 2.14ejq3 - 2.06ejq4 - 3.5ej0° =
0 R3
b=2.14
q 3 =?° R4
R2
c=2.06
a=1.6
q 2 =51.3° d=3.5 q 4 =?°
R1
12 Position synthesis
 Example:
Analytic Position Analysis
aejq2 + bejq3 - cejq4 - dejq1 = 0
a(cosq2+jsinq2) + b(cosq3+jsinq3) - c(cosq4+jsinq4)
- d(cosq1+jsinq1)=0
Real part:
a cos q2 + b cos q3 - c cos q4 - d = 0 b=2.14
1.6 cos 51.3 + 2.14 cos q3
- 2.06 cos q4 - 3.5 = 0 q 3 =?°
Imaginary part: a=1.6
c=2.06
a sin q2 + b sin q3 - c sin q4 = 0
1.6 sin 51.3 + 2.14 sin q3 q 2 =51.3° d=3.5
- 2.06 sin q4 = 0
13 Position synthesis
 Solution: Open Linkage

2 equations from real & imaginary equations

1.6 cos 51.3 + 2.14 cos q3 - 2.06 cos q4 - 3.5 = 0
1.6 sin 51.3 + 2.14 sin q3 - 2.06 sin q4 = 0
2 unknowns: q3 & q4 b=2.14
Solve simultaneously to yield
q 3=21Þ
2 solutions.
a=1.6
Open solution: c=2.06
q3 = 21Þ, q4 = 104°
q 2=51.3Þ d=3.5 q 4=104Þ

14 Position synthesis
 Review - Law of Cosines

A +B -C
2 2 2
cosq =
2AB
A
q
A2 + B2 - C 2 
q = arccos  B
 2AB 

15 Position synthesis
 Transmission Angles

• Transmission angle is the angle

between the output angle and the
coupler m2
• Absolute value of the acute angle 180- m2
• Measure of quality of force
acute
transmission m1
• Ideally, as close to 90° 180- m1
as possible

16 Position synthesis
 Extreme Transmission Angles -
Grashof Crank Rocker
• For a Grashof fourbar,
m2
extreme values occur
b c
when crank is collinear
with ground
a d
m1
For the extended position shown:
m1=arccos [ (b2+(a+d) 2 - c2)/2b (a+d) ]
m2=180° - arccos [ (b2+c2 - (a+d)2 )/2b c ]

17 Position synthesis
 Extreme Transmission Angles -
Grashof Crank Rocker
For the overlapped case shown:
m2
c
b
m1=__________________________
a m1 d
m2=__________________________

18 Position synthesis
 Extreme Transmission Angles -
Grashof Double Rocker
• Remember: coupler
makes a full revolution
with respect to
rockers
• Transmission angle
varies from 0° to 90°

19 Position synthesis
 Extreme Transmission Angles -
Non-Grashof Linkage

• Transmission angle is zero m b m =0

2 1
degrees in toggle position:
a c
output rocker & coupler
d
• Other transmission angle given
as:
m2=__________________________
• Similar analysis for other toggle
position
20 Position synthesis
 Calculation of Toggle Angles

• The input angle, q2 , for the first

toggle position given as: b

a c
q2 d
q2=__________________________
• Similar analysis for the other toggle
position

21 Position synthesis