Adapted From theory of machine and mechanisms

J.E Shigley
4. Position Analysis

Qassim University
Unayzah College of Engineering
Mechanical Engineering Dept.
Translation, Rotation, and Complex motion
Translation: keeps the same angle
Rotation: one point does not move
Complex motion: a combination of rotation and
translation
Graphical Position Analysis of Linkages
Given the length of the links (a,b,c,d), the ground position,
and 2. Find 3 and 4
b
B
c
b
A 3
c
a
2 4
d
O2 O4
Graphical Linkage Analysis
b
Draw an arc of radius b,
c
centered at A
Draw an arc of radius c,
centered at O4 B1
The intersections are the two
b
possible positions for the
A 3
linkage, open and crossed
c
a
2 d 4

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

Obtain coordinates of point B:

b 2   B x  Ax    B y  Ay 
2 2

c 2   Bx  d   B y
2 2