ME-313

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

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

 Contents
1
Position Analysis - Introduction
2
Why Position Analysis
3
Methods of Kinematic Analysis
4
Coordinate Systems
5
• Translation, Rotation and Complex Motion
6
Graphical Position Analysis of Grashof Four-Bar Linkage
7
Construction of graphical position solution
8
Algebraic Position Analysis of Linkages
9
• Vector Loop Representation of Linkages
10
• Vector Loop Equation for Four-Bar Linkage
Position Analysis - Introduction
• Number of links and joints
• Preferred mechanism
Kinematic
Synthesis
• Input motion

• Position analysis
• Velocity analysis
Kinematic
Analysis
• Acceleration analysis

• Forces
• Moments
Kinetic
Analysis
• Balancing
 Why Position Analysis?

Position Velocity Acceleration Dynamic

Stresses
Analysis Analysis Analysis Analysis
• Angular • Time derivate • Time derivate • Force • Information of
displacement of of velocities proportional static and
of links displacements • Angular to dynamic
• Linear • Angular acceleration acceleration forces
displacement velocity of of links • Moments • Below than
of links links • Linear • Moment of allowable
• Each • Linear velocity acceleration inertia level
increment of of links of links • Balancing • Elastic/plastic
input link deformation
• Yield strength
calculation
 Methods of Kinematic Analysis

Graphical Method
• Position, velocity and acceleration analysis for each degree increment of input link
• Draw linkage to scale
• Measure link angles with protractor
• Counter-clockwise angles, velocities and accelerations – positive
• Clockwise angles, velocities and accelerations - negative

Analytical Method
• Derive displacement/position equations
• Differentiate displacement/position equations for deriving velocity equations
• Differentiate velocity equations for deriving acceleration equations
• Solve equations for each degree increment of input link
• Computer software - Linkages, MSC Adams, 3D-modelling softwares
 Coordinate Systems
Global or Absolute Coordinate System

• Denoted by GCS
• X-axis referred as “X”
• Y-axis referred as “Y”
• Attached to ground

Local or Relative Coordinate System

• Denoted by LCS
• Define position of LCS by GCS
• Attach LCS to link at point of interest - pin joint, center of gravity
• Types
• Local non-rotating coordinate system
• Local rotating coordinate system
 Coordinate Systems
Local Non-Rotating Coordinate System
• Denoted by LNCS
• LNCS always parallel to GCS
• X-axis referred as “x”
• Y-axis referred as “y”

Local Rotating Coordinate System

• Denoted by LRCS
• LRCS both move and rotate with link in GCS
• X-axis referred as x’
• Y-axis referred as y’
Translation, Rotation and Complex Motion

φ
θ
Translation, Rotation and Complex Motion
Translation, Rotation and Complex Motion
Translation, Rotation and Complex Motion
 Translation, Rotation and Complex Motion

Euler’s Theorem - applies to pure rotation

• General displacement of rigid body with one point fixed is

rotation about some axis

Chasle’s theorem – applies to complex motion

• Any displacement of rigid body is equivalent to sum of

translation of any one point on that body and rotation of body
about axis through that point
Graphical Position Analysis of Grashof Four-Bar Linkage

Knowns of Unknowns of Knowns from

Kinematic Kinematic Kinematic
Analysis Analysis Synthesis
• Angle of input • Angle of coupler • Length of input
link - θ2 – θ3 link - a
• Angle of input • Length of
rocker – θ4 coupler - b
• Length of rocker
-c
• Length of
ground - d
Graphical Position Analysis of Grashof Four-Bar Linkage
 Construction of graphical position solution
Given
• Given
• Four link lengths - a, b, c, d
• Angle of input link - θ2

Step 1
• Draw ground link and input link to convenient scale such that they intersect at origin O 2 of GCS with link 2
placed at input angle θ2
• Draw link 1 along X-axis for convenience
Step 2
• Open compass equal to link length b, place compass at point A and draw arc

Step 3
• Open compass equal to link length c, place compass at point B and draw arc

Step 4
• Two arcs intersects at B and B’. Draw coupler (join point A and point B) and rocker (join O 4 to B)
Step 5
• Measure θ3 and θ4 with protractor
Construction of graphical position solution
 Algebraic Position Analysis of Linkages

• Coordinates of point A:
Ax = a cosθ2 ---------------------- (4.2a)
Ay = a sinθ2 ---------------------- (4.2a)

• Coordinates of point B
b2 = (Bx – Ax)2 + (By – Ay)2 ---------------------- (4.2b)
c2 = (Bx - d)2 + By2 ---------------------- (4.2c)
 Algebraic Position Analysis of Linkages

•  Subtracting equation 4.2c from 4.2b

Bx = ---------------------- (4.2d)
Bx = S ---------------------- (4.2d)

• Substituting equation 4.2d into 4.2c gives a quadratic equation in By which

has two solutions
By2 + (S - d)2 – c2 = 0 ---------------------- (4.2e)
 Algebraic Position Analysis of Linkages

•  Roots of quadratic equation

By = = 0 ---------------------- (4.2f)
Where,
P=
Q=
R = (d - S)2 – c2
S=
 Algebraic Position Analysis of Linkages

•  Solution of 4.2f - real or imaginary values

• Imaginary solution - links cannot connect at given input angle or at all
• Once two values of By found (if real) – substitute into equation 4.2d to find
corresponding Bx
• Link angles for this position can then be found from
θ3 = tan-1 ---------------------- (4.2g)

θ4 = tan-1
 Algebraic Position Analysis of Linkages

• Two-argument tan-1 function must be used to solve 4.2g since angles can be
in any quadrant
• Encode 4.2 in any computer language or equation solver, increment angle of
θ2 and fine all corresponding angles (θ3 and θ4) of other two link angles
Vector Loop Representation of Linkages
 Vector Loop Representation of Linkages

• Links are represented as position vectors – Figure 4-6

• Sum of vectors equal to zero
• Lengths of the vectors = Link lengths
• Representation of position vectors
Polar Form Cartesian Form
R@<θ R cos θ i + R sin θ j ---------------------- (4.3a)
R ejθ R cos θ + j R sin θ ---------------------- (4.3b)
Vector Loop Representation of Linkages
Vector Loop Representation of Linkages
 Vector Loop Equation for Four-bar Linkage

•  R2 + R3 – R4 – R1 = 0 ---------------------- (4.5a)
RA + RBA – RBO4 – RO4 = 0 ---------------------- (4.5b)
a + b - c - d = 0 ---------------------- (4.5c)

Knowns of Kinematic Unknowns of Kinematic Knowns from Kinematic

Analysis Analysis Synthesis

• Angle of input link - θ2 • Angle of coupler – θ3 • Length of input link - a

• Angle of input rocker – • Length of coupler - b
θ4 • Length of rocker - c
• Length of ground - d
 Vector Loop Equation for Four-bar Linkage

θ3 = f(a, b, c, d, θ2) ---------------------- (4.5d)

θ4 = g(a, b, c, d, θ2) ---------------------- (4.5d)
a(cosθ2+ j sinθ2) + b(cosθ3 + j sinθ3) - c(cosθ4 + j sinθ4) - d(cosθ1 + j sinθ1) = 0
(4.5e)
• Separate real and imaginary parts
Real part
a cosθ2 + b cosθ3 – c cosθ4 - d cosθ1 = 0 ---------------------- (4.6a)
since θ1 = 0
a cosθ2 + b cosθ3 – c cosθ4 - d = 0 ---------------------- (4.6a)
 Vector Loop Equation for Four-bar Linkage

Imaginary part
ja sinθ2 + jb sinθ3 – jc sinθ4 - jd sinθ1 = 0 ---------------------- (4.6b)
since θ1 = 0 & divide both sides by j
a sinθ2 + b sinθ3 – c sinθ4 = 0 ---------------------- (4.6b)
• Solve 4.6a and 4.6b to get θ3 and θ4 after some substitution of trigonometric
identities
 Vector Loop Equation for Four-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 Four-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)