THEORY OF

MACHINES
Lecture 4

Position Analysis

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POSITION ANALYSIS
 Introduction
 Coordinate Systems
 Position and Displacement
 Translation, Rotation, and Complex Motion
 Graphical Position Analysis of Linkages
 Algebraic Position Analysis of Linkages
 Vector Loop Representation of Linkages
 Complex Numbers as Vectors

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POSITION ANALYSIS

3
POSITION ANALYSIS

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INTRODUCTION
 A principal goal of kinematic analysis is to
determine the accelerations of all the moving parts
in the assembly

Design

Stresses

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COORDINATE SYSTEMS
 Global or absolute coordinate system
 Local coordinate systems

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POSITION AND DISPLACEMENT
 Position
The Position of a point in
the plane can be defined
by the use of a Position
vector.
The attributes of the
position vector can be
expressed in either Polar
or Cartesian coordinates.
Each form is directly
convertible into the other
by:The Pythagorean
theorem: And the
trigonometry:

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POSITION AND DISPLACEMENT
 Displacement

Displacement is defined as “the

straight line distance between
the initial and final position of a
point which has moved in the
reference Frame.”

Position difference equation:

RBA = RB - RA

This expression is read: The

position of B with respect to A is
equal to the (absolute) position
of B minus the (absolute)
position of A, where absolute
means with respect to the origin
of the global reference frame.

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POSITION AND DISPLACEMENT
 CASE 1: One body in two successive positions =>position difference

 CASE 2: Two bodies simultaneously in separate positions => relative

position

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TRANSLATION, ROTATION, AND COMPLEX
MOTION
 Translation
“All points on the body have the same displacement.”
 Curvilinear Translation
 Rectilinear Translation

RA′A = RB′B.

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 TRANSLATION, ROTATION, AND COMPLEX
MOTION
 Rotation
 “Different points in the body undergo different displacements
and thus there is a displacement difference between any two
points chosen”.
 The link now changes its angular orientation in the reference
frame, and all points have different displacements.

RB′B = RB′A - RBA

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 TRANSLATION, ROTATION, AND COMPLEX
MOTION
 Complex Motion
 The total complex displacement of point B is defined by the
following expression:
Total displacement = translation component + rotation component
RB′′B = RB′B + RB′′B′
The new absolute position of point B referred to the origin at A is:

RB′′A = RA′A + RB′′A′

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 TRANSLATION, ROTATION, AND COMPLEX
MOTION
 Euler's theorem:
“The general displacement of a rigid body with one
point fixed is a rotation about some axes.”

 Chasles' theorem:
“Any displacement of a rigid body is equivalent to
the sum of a translation of any one point on that
body and a rotation of the body about an axis
through that point.

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GRAPHICAL POSITION ANALYSIS OF
LINKAGES

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GRAPHICAL POSITION ANALYSIS OF
LINKAGES

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ALGEBRAIC POSITION ANALYSIS OF
LINKAGES

The coordinates of point A are:

The coordinates of point B are found using the

equations of circles about A and 04.

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ALGEBRAIC POSITION ANALYSIS OF
LINKAGES

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VECTOR LOOP REPRESENTATION OF
LINKAGES
 An alternate approach to linkage position analysis
creates a vector loop (or loops) around the linkage.
 This loop closes on itself making the sum of the
vectors around the loop zero.

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COMPLEX NUMBERS AS VECTORS
 There are many ways to represent vectors. They may
be defined in Polar coordinates, by their magnitude
and angle, or in Cartesian coordinates as x and y
components.
 We can represent vectors by unit vectors or by
complex number notation.

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COMPLEX NUMBERS AS VECTORS

Euler identity:

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COMPLEX NUMBERS AS VECTORS

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COMPLEX NUMBERS AS VECTORS

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 Example
ωAB AB= 150mm
2 B
BC=300mm
CD=225mm
300
CE=500mm
1 stroke of
A
3 the piston 6
300mm

100mm 4 C
5 6
D

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 129.9, 75 AB= 150mm
B
BC=300mm
CD=225mm
300
CE=500mm
0,0 A
300mm

100mm Cx, Cy C
D

-100, -300 Ex, -300

E

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 AB= 150mm
BC=300mm
Bx =0.150 cos30=0.1299 CD=225mm
By =0.150 sin 30=0.075 CE=500mm
2
CB (B x  C x )2 (B y  C y )2

0.32 = (0.1299 – Cx)2 + ( 0.075 – Cy)2 (1)

2
CD (C x
 D x )2 (C y
 D y )2

0.2252 = (Cx-(-0.1)) 2+ (Cy – ( - 0.3))2 (2)

By solving (1) and (2) get the following:

Cx = - 0.2542 – 1.6311 Cy (3)

Sub. 3 in 2

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Will get the following equation:
3.6605 Cy 2 +1.103 Cy +0.063135=0.0 (4)
Then:
Cy = -0.224497  b  b 2  4ac
Cy 
From (3): 2a
Cx =0.11198

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 129.9, 75 AB= 150mm
B
BC=300mm
CD=225mm
A 300
CE=500mm
0,0
-225. 300mm
Ex =111+494=605

111.
100mm Cx, Cy C
D 300-225=75

-100, -300 5002  752  494 Ex ,-300

E

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 150 mm
B AB= 150mm
BC=300mm
CD=225mm
CE=500mm
0,0 A 150 mm

300mm
, C y
C
Cx
100mm
D

-100, -300 Ex , -300

E

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 For the position shown:
0.15  C C 1
2 2 2
x y

0.225  (C  0.1) 2(C  0.3)

2
x
2
y
2

Solve 1&2 get the following equation.

Cx  0.3594  33C y
Sub. 3 in 1 get:
10C y  2.156C y 41.067  0.0
2

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 A
0,0
300mm
B

100mm
D Cx , C
y C
-100, -300 Ex , -300
E

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Solve equation 4
Cy = -0.1386
Cx =0.05654
Ex= 0.05654+ 0.473=0.5296
The maximum position of Ex to the right
Ex =0.5+0.225-0.1= 0.625
The stroke= 0.625-0.5296=0.0954m

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 150 mm
B AB= 150mm
BC=300mm
CD=225mm
CE=500mm
0,0 A 150 mm
138 mm
300mm
, C y
C
Cx
100mm
162 mm
D
473 mm
-100, -300 Ex , -300
E

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 0,0 A
300mm
B

100mm
D Cx , C
y C
-100, -300 Ex , -300
E

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 A
0,0
300mm

B
100mm
D

-100, -300 C
x ,C Ex , -300
y C E

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