Two Position Coordinated Graphical Synthesis :

using RRRR
Synthesis is done using the idea of Absolute Poles. To
understand the principles consider the method to find absolute
poles between the frame and the coupler which can be seen from
the last slide on absolute poles. The synthesis method is simple
and almost self explanatory.

212

Input

412
Output
 Two Position Coordinated Graphical Synthesis :
using RRRR
B i sec
of tor of
r angle
e cto O 2A 1 B2 O B
s
Bi e A 2
gl
B1 4 1

an B2

212/2 412/2

212/2
A2
412
A1

O2 O4

212

Input
Construct
equal angles

412
Output P12

AO2O4B is the required mechanism

 Brief Theoretical Background
Finding Absolute Poles for RRRR Mechanism

Bisector of
angle A2O2A1 Bisector of
N1
angle B2O4B1
B2 N2
Position 2
B1
A2 Position 1
A1

O4 Consider A1P12 B1 and A2 P12 B2

A1B1  A2 B2 , A1P12  A2 P12 , B1P12  B2 P12
O2
 A2 P12 B2  A1P12 B1
 A2 P12 B2  A1P12 B1
 A2 P12 A1  A1P12 B2  A1P12 B2  B2 P12 B1
 A2 P12 A1  B2 P12 B1   3
12

12
Hence A2 P12 B2  A2 P12 A1  A1P12 B2  A1P12 B2  θ3
and
12
A1P12 B1  A1P12 B2  B2 P12 B1  A1P12 B2  θ3

Now
Pole
P12 ΔA1 P12 A2 and ΔB1 P12 B2 are isoceles with P12 N1 and P12 N 2
being the perpendicular bisectors of their respective bases
 A1P12 N1  A2 P12 N1 and B1P12 N 2  B2 P12 N 2
 312
 A1P12 N1  A2 P12 N1  B1P12 N 2  B2 P12 N 2 
2
12
Hence A1P12 N1  A1P12 B2  B2 P12 N2  A1P12 B2  θ3
12
 N1P12 N2  O1P12O2  A1P12 B2  θ3

Frame and coupler subtend equal angles at the pole P12