ME-313

Mechanics of Machines
Lecture 5
Displacement Analysis – Part B
By Adnan Munir

mom.me313.me07@gmail.com +92-323-4439474 Office 210-G

 Contents
1
Vector Loop Equation for Four-Bar Linkage
2
Vector Loop Equation for Crank-Slider Linkage
3
Vector Loop Equation for Slider-Crank Linkage
4
Vector Loop Equation for Inverted Crank-Slider Linkage
5
Vector Loop Equation for Geared Five-Bar Linkage
6
Vector Loop Equation for Watt’s Six-Bar Linkage
7
Vector Loop Equation for Stephenson’s Six-Bar Linkage
8
Position of any point on a Linkage
9
• Transmission Angles
10
• Toggle Positions
 Vector Loop Equation for Four-bar Linkage

Position Analysis of a Four-bar Linkage with the vector Loop

Method

Problem
Given a four-bar linkage with the link lengths L 1 = d = 100 mm,
L2 =a= 40 mm, L3 = b = 120 mm,L4 = c = 80 mm. For θ2 = 40°,
find all possible values of θ3,θ3’ and θ4, and θ4’
 Vector Loop Equation for Four-bar Linkage

•  Solution

1. Using equation 4.8a, calculate the link ratios K1, K2 and K3

K1 = = = 2.5
K2 = = = 1.25
K3 = = = 0.562
 Vector Loop Equation for Four-bar Linkage

Solution

2. Use these link ratios to find the intermediate parameters A, B,

and C from equation 4.10a
A = cos θ2 – K1 – K2cos θ2 + K3
= cos 40° – 2.5 – 1.25 cos 40° + 0.562
= -2.219
B = -2sin 40° = -1.289
Vector Loop Equation for Four-bar Linkage

Solution

C = K1 – (K2 + 1) cos θ2 + K3
= 2.5 – (1.25 + 1) cos 40° + 0.562
= 1.339
 Vector Loop Equation for Four-bar Linkage

•  Solution

3. Use equation 4.10b to find θ4 for both the open and

crossed configurations
θ4 = 2tan-1
= 2tan-1
= 57.33°
 Vector Loop Equation for Four-bar Linkage

•  Solution

θ 4’ = 2tan-1
= 2tan-1
= -98.01°
 Vector Loop Equation for Four-bar Linkage

•  Solution

4. Use equation 4.11b to find the ratios K4 and K5

K4 = = = 0.833

K5 = = = -2.042
 Vector Loop Equation for Four-bar Linkage

Solution
5. Use equation 4.12 to find the intermediate parameters D,
E, and F
D = cos θ2 – K1 + K4cos θ2 + K5
= cos 40° – 2.5 + 0.833 cos 40° - 2.042
= -3.137
E = -2sin θ2 = -2 sin 40° = -1.286
F = K1 + (K4 - 1) cos θ2 + K5
= 2.5 + (0.833 – 1) cos 40° - 2.042 = 0.331
 Vector Loop Equation for Four-bar Linkage

•  Solution

6. Use equation 4.13 to find θ3 for both the open and crossed
configurations
θ3 = 2tan-1
θ3 = 2tan-1
= 20.30°
 Vector Loop Equation for Four-bar Linkage

•  Solution

θ3’ = 2tan-1
= -60.98°
Vector Loop Equation for Four-bar Linkage
Vector Loop Equation for Crank-Slider Linkage
 Vector Loop Equation for Crank-Slider Linkage
•  R2 - R3 – R4 – R1 = 0 ---------------------- (4.14a)
a - b - c - d = 0 ---------------------- (4.14b)
• Substitute the Euler equivalents:
a(cosθ2+ j sinθ2) - b(cosθ3 + j sinθ3) - c(cosθ4 + j sinθ4)
- d(cosθ1 + j sinθ1) = 0 ---------------------- (4.14c)
• Real part (x component):
a cosθ2 - b cosθ3 – c cosθ4 - d cosθ1 = 0
(4.15a)
since θ1 = 0
a cosθ2 - b cosθ3 – c cosθ4 - d = 0 ---------------------- (4.15a)
 Vector Loop Equation for Crank-Slider Linkage
•  Imaginary part (y component):
ja sinθ2 - jb sinθ3 – jc sinθ4 - jd sinθ1 = 0
(4.15b)
since θ1 = 0 & divide both sides by j
a sinθ2 - b sinθ3 – c sinθ4 = 0 ---------------------- (4.15b)

Put θ4 = 90, solve 4.15b for θ3 and substitute θ3 in 4.15a

θ3 = sin-1 ---------------------- (4.16a)

d = a cosθ2 – b cosθ31 ---------------------- (4.16b)
 Vector Loop Equation for Crank-Slider Linkage
• 

θ3’ = sin-1 + π ---------------------- (4.17a)

d’ = a cosθ2 – b cosθ3 ---------------------- (4.17b)

2
Vector Loop Equation for Slider-Crank Linkage
 Vector Loop Equation for Slider-Crank Linkage
•  R2 - R3 – R4 – R1 = 0 ---------------------- (4.14a)
a - b - c - d = 0 ---------------------- (4.14b)
• Substitute the Euler equivalents:
a(cosθ2+ j sinθ2) - b(cosθ3 + j sinθ3) - c(cosθ4 + j sinθ4)
- d(cosθ1 + j sinθ1) = 0 ---------------------- (4.14c)
• Real part (x component):
a cosθ2 - b cosθ3 – c cosθ4 - d cosθ1 = 0
(4.15a)
since θ1 = 0
a cosθ2 - b cosθ3 – c cosθ4 - d = 0 ---------------------- (4.15a)
 Vector Loop Equation for Slider-Crank Linkage
• Imaginary part (y component):
ja sinθ2 - jb sinθ3 – jc sinθ4 - jd sinθ1 = 0
(4.15b)
since θ1 = 0 & divide both sides by j
a sinθ2 - b sinθ3 – c sinθ4 = 0 ---------------------- (4.15b)
Since, θ4 = 90, therefore, sin θ4 = 1, cosθ4 = 0,
a cosθ2 - b cosθ3 - d = 0 ---------------------- (4.18a)
a sinθ2 - b sinθ3 – c = 0 ---------------------- (4.18b)
• Isolate θ3 terms on one side, square both equations, and add them to eliminate
θ3
b cosθ3 = a cosθ2 - d
 Vector Loop Equation for Slider-Crank Linkage
•  A + B + C= 0

θ2 = 2tan-1 ---------------------- (4.21)

1,2

A = (K1 – K3)
B = 2K2
C = (K1 + K3)
K1 = a2 - b2 + c2 + d2
K2 = 2 ac
K3 = 2 ad
 Vector Loop Equation for Slider-Crank Linkage
• Once
  θ2 is known for a given value of d, θ3 can be found from either equation 4.16a or
4.17a
θ3 = sin-1 ---------------------- (4.16a)
θ3’ = sin-1 + π ---------------------- (4.17a)
• Calculate θ3 with both 4.16a or 4.17a for one value of θ2
• Use 4.16b with θ3 values to determine which of two equations matches given value of
d
d = a cosθ2 – b cosθ31 ---------------------- (4.16b)
• Use that equation with each θ2 value to get correct values of θ3
Vector Loop Equation for Inverted Crank-Slider Linkage
Vector Loop Equation for Inverted Crank-Slider Linkage
Vector Loop Equation for Inverted Crank-Slider Linkage

• GCS with its origin at input crank pivot O2 and positive X axis
along link 1
• LCS placed at point B to define θ3
• Fixed angle γ with in link 4 which defines the slot angle with
respect to that link
• 4.14 and 4.15 applies to Inverted Crank-Slider Linkage as well
• All slider linkages have one link whose effective length between
joints vary as linkage moves
Vector Loop Equation for Inverted Crank-Slider Linkage

• Length of link 3 (b) change as it passes through slider block on

link 4
• b - unknown
• θ4 - angle of link 4 - unknown
• θ3 – unknown
• Fixed relationship between θ3 and θ4
θ3 = θ4 + γ ---------------------- (4.21)
Vector Loop Equation for Inverted Crank-Slider Linkage

•  b = ---------------------- (4.24a)
θ4 = 2 tan-1
1,2

P = a sinθ2 sinγ + (a cosθ2 - d) cosγ

Q = -a sinθ2 cosγ + (a cosθ2 - d) sinγ
R = -c sinγ
S=R–Q
T = 2P
U = (Q + R)
Vector Loop Equation for Geared Five-Bar Linkage
 Vector Loop Equation for Geared Five-Bar Linkage

•  Vector loop equation of geared five-bar linkage

R2 + R3 – R4 – R5 – R1 = 0 ---------------------- (4.27a)
a + b - c - d - f = 0 (4.27b)
• 3 unknowns - θ3, θ4 and θ5
θ5 = λθ2 + Φ ---------------------- (4.27c)
where,
λ - gear ratio - ratio of diameters of gears (dia2 / dia5)
Φ - phase angle - initial angle of link 5 with respect to link 2
Vector Loop Equation for Geared Five-Bar Linkage

a(cosθ2+ j sinθ2) + b(cosθ3 + j sinθ3) - c(cosθ4 + j sinθ4)

- d[cos(λθ2 + Φ) + j sin (λθ2 + Φ)] - f(cosθ1 + j sinθ1) = 0
(4.28b)

Separate the real and imaginary parts

a cosθ2 + b cosθ3 – c cosθ4 – d cos(λθ2 + Φ) - f cosθ1 = 0
(4.28c)
a sinθ2 + b sinθ3 – c sinθ4 – d sin(λθ2 + Φ) - f sinθ1 = 0
(4.28d)
Vector Loop Equation for Geared Five-Bar Linkage

Rearrange to isolate one unknown (either θ3 or θ4)

b cosθ3 = - a cosθ2 + c cosθ4 + d cos(λθ2 + Φ) + f
(4.28e)
b sinθ3 = a sinθ2 + c sinθ4 – d sin(λθ2 + Φ)
(4.28f)
 Vector Loop Equation for Geared Five-Bar Linkage

•  θ4 = 2tan-1 ---------------------- (4.28h)

1,2

A = 2c[d cos(λθ2 + Φ) - a cosθ2 + f]

B = 2c[d sin(λθ2 + Φ) - a sinθ2]
C = a2 - b2 + c2 + d2 + f2 – 2af cosθ2 – 2d (a cosθ2 – f) cos(λθ2 + Φ) –
2ad sinθ2 sin(λθ2 + Φ)
D=C–A
E = 2B
 Vector Loop Equation for Geared Five-Bar Linkage

•  θ3 = 2tan-1 ---------------------- (4.28i)

1,2

G = 2b[a cosθ2 - d cos(λθ2 + Φ) - f]

H = 2b[a sinθ2 - d sin(λθ2 + Φ)]
K = a2 + b2 - c2 + d2 + f2 – 2af cosθ2 – 2d (a cosθ2 – f) cos(λθ2 + Φ) –
2ad sinθ2 sin(λθ2 + Φ)
L=K–G
M = 2H
 Vector Loop Equation for Watt’s Six-Bar Linkage

• Watt’s Six-Bar Linkage - 2 x four-bar linkages

• Two vector loops
• Solve two vector loops
• Output of first loop applied as input to second loop
• Constant angular relationship between vectors R4 and R5 within
link 4
Vector Loop Equation for Watt’s Six-Bar Linkage
Vector Loop Equation for Watt’s Six-Bar Linkage
 Vector Loop Equation for Watt’s Six-Bar Linkage

• Apply 4.10 and 4.13 twice

• Inversions of Watt’s linkage
• 2 x four-bar links
• 1 x four-bar link and 1 x five-bar link
 Vector Loop Equation for Watt’s Six-Bar Linkage

•  θ4 = 2tan-1 ---------------------- (4.10b)

Where,
A = cos θ2 – K1 – K2cos θ2 + K3
B = -2sin θ2
C = K1 – (K2 + 1) cos θ2 + K3

K1 = ---------------------- (4.8a)
K2 = ---------------------- (4.8a)
K3 = ---------------------- (4.8a)
 Vector Loop Equation for Watt’s Six-Bar Linkage

•  θ3 = 2tan-1 ---------------------- (4.13)

Where,
D = cos θ2 – K1 + K4cos θ2 + K5
E = -2sin θ2
F = K1 + (K4 - 1) cos θ2 + K5

K1 = ---------------------- (4.11b)
K4 = ---------------------- (4.11b)
K5 = ---------------------- (4.11b)
Vector Loop Equation for Stephenson’s Six-Bar Linkage
Vector Loop Equation for Stephenson’s Six-Bar Linkage
Position of any point on a Linkage
3
 Position of any point on a Linkage

RSO = RS = s ej(θ2 + δ2) = s[cos (θ2 + δ2) + j sin (θ2 + δ2)]

2
(4.29)
RUO = u ej(θ4 + δ4) = u[cos (θ4 + δ4) + j sin (θ4 + δ4)]
4
(4.30)
RPA = p ej(θ3 + δ3) = p[cos (θ3 + δ3) + j sin (θ3 + δ3)]
(4.31a)
RP = RA + RPA ---------------------- (4.31b)
 Transmission Angles

• Transmission angle
• Angle between output link and coupler (or any two links)
• Absolute value of acute angle of pair of angles at the intersection of two
links
• Varies continuously from minimum to maximum value as linkage moves
• Measure of quality of force transmission at joint
θtrans = |θ3 - θ4|
If θtrans > π/2 µ = π – θtrans
If θtrans < π/2 µ = θtrans
(4.32)
Transmission Angles
 Transmission Angles

•  Grashof crank-rocker four-bar linkage

• Minimum transmission - crank is colinear with the ground
• Values of transmission angles – calculate using law of cosines
• Sides of triangles - link 3, link 4 and either sum or difference of links 1
and 2
• For overlapping case
µ1 = γ1 = cos-1 ---------------------- (4.33a)
• For extended case
µ2 = π – γ2 = π – cos-1 ---------------------- (4.33b)
Transmission Angles
 Transmission Angles

• Grashof double-rocker linkage

• Transmission angle vary from 0 to 90
• Coupler make full revolution with respect to other links

• Non-Grashof triple-rocker linkage

• Transmission angle = 0 at toggle positions
I. When output rocker c and coupler b are colinear
II. When input rocker a and coupler b are colinear
Transmission Angles
 Transmission Angles

•  When v = 0

µ = cos-1 ---------------------- (4.34)

 Toggle Positions

• Input link angles corresponding to toggle positions of non-

Grashof triple-rocker mechanism

• Construction line h has been drawn between points A and

O4

• Quadrilateral loop divided into two triangles, O2AO4 and

ABO4
Toggle Positions
 Toggle Positions

••  Using cosine law

h2 = a2 + d2 – 2ad cos θ2
Also
h2 = b2 + c2 – 2bc cos µ
So
a2 + d2 – 2ad cos θ2 = b2 + c2 – 2bc cos µ

cos µ = + cos θ2 ---------------------- (4.35)

 Toggle Positions

•  = = 0 ---------------------- (4.36)
• The link lengths a, b, c, d are never zero, so this expression
can only be zero when sin µ is zero
• This will be true when angle µ in Figure 4-20 is either zero
or 180°
 Toggle Positions

•  cos θ2 = ± ---------------------- (4.37)

And
θ2 = cos-1 ---------------------- (4.37)
toggle

0 <= θ2 <= π
toggle

• One of these ± cases will produce an argument for the

arccosine function which lies between ±1
 Toggle Positions

••  This is consistent with the definition of toggle given in

Section 3.3
• If µ is zero or 180° then cos µ will be ±1
• Substituting these two values for cos µ into equation 4.35
will give a solution for the value of θ2 between zero and
180° which corresponds to the toggle position of a triple-
rocker linkage when driven from one rocker
cos µ = + cos θ2 = ±1---------------------- (4.37)
 Toggle Positions

• The toggle angle which is in the first or second quadrant

can be found from this value
• The other toggle angle will then be the negative of the one
found, due to the mirror symmetry of the two toggle
positions about the ground link as shown in Figure 4-16
• Program LINKAGES computes the values of these toggle
angles for any non-Grashof linkage