MECH103 Mechanisms and Dynamics of Machinery

Chapter 9 INTRODUCTION TO MECHANISMS POSITION ANALYSIS

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Textbook: Chap 1, 2, 4

Engineering Design
Definition: The process of applying the various techniques and scientific principles for the purpose of defining a device, a process or a system in sufficient detail to permit its realization

Engineering Design Process

1. Identification of need: boss, market research 2. Background research: patent literature, etc 3. Goal statement 4. Performance specifications 5. Ideation and invention 6. Analysis 7. Selection 8. Detailed design 9. Prototyping and testing 10. Production
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Performance Specifications

1. Device to have self-contained power supply 2. Device to be corrosion resistant 3. Device to cost less than $100.00 4. Device to emit < 80 dB sound intensity at 10 m. 5. Device to shorten acre of grass per hour 6. Etc.

The Creative Process

1. Idea generation: brainstorming= 6~15 people, fear of ridicule analogies, inversion, synonym mind-mapping (Tony Buzan), etc. 2. Frustration: leave it alone 3. Incubation: sub-conscious mind 4. Eureka! Idea comes to your mind, unexpected
Mind Mapping: [Link] [Link]
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Kinematics terminologies
Degree of Freedom (DOF)=mobility (M) : Number of independent parameters that are needed to uniquely define its position in space at any instance of time (No. of I/P needed to be provided to create a predictable O/P) Link: binary, ternary, quaternary Joints: (kinematic pairs): Revolute (1), prismatic (1), helical (1), cylindric (2), spherical (3), planar (3)

Kinematics terminologies
Kinematic chain : Assemblage of links and joints, interconnected in a way to provide a controlled output motion in response to a supplied input motion Mechanism: a kinematic chain in which at least one link has been ground, or attached, to the frame of reference Machine: a combination of resistant bodies arranged to compel the mechanical forces of nature to do work accompanied by determinate motions
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Kinematics terminologies
Crank : a link that makes a complete revolution and is pivoted to ground (full rotation, no limit) Rocker: a link that has oscillatory rotation and is pivoted to ground (not full rotation) Coupler: a link that has complex motion and is not pivoted to ground Ground: any link or links that are fixed with respect to the reference frame Inversions: a derivative of a kinematic chain created by grounding a different link
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Example of Different Linkages

Statically Determinate Structure:A structure whose internal load distributions may be fully determined using the six equations of three-dimensional statics without using deflection and stiffness criteria

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Helical gears

Cam-and-follower mechanism

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Geneva wheel mechanism

[Link]

[Link]

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Mobility
Kutzbacks modification of Grueblers eqn. for 2D mechanisms

M = 3( N 1) 2 J1 J 2
where M is the mobility N is the total # of links, including ground J1 is the number of 1 DOF joints J2 is the number of 2 DOF joints 1DOF joints: revolute (pin), prismatic

Textbook: (2.1c)

2DOF joints: cam pair, gear pair, slotted pin joint (all having rolling & sliding)
3D mechanisms M = 6( L 1) 5 J 1 4 J 2 3 J 3 2 J 4 J 5
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For ref only

Mobility example
M 1: a mechanism with M degrees of freedom M = 0: statically determine structure M 0: statically indeterminate structure M = 3*(4-1)-2*(4) = 1

Note: a joint connecting k links at a single point : counted as k-1 joints

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Mobility example: special case due to geometry

M = 3*(5-1)-2*(6) = 0 The Grublers equation does not apply for this speical mechanism: Several links of a mechanism are parallel Grublers equation

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Four-bar linkage example

Using Working model coupler link input link (driver) output link

Ground link

4-bar linkage = Simplest one-DOF linkage

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1. Input link 2 (driver) : a) rotate completely - no linkage locking b) oscillate

Ground Link = Link1, Input link = Link 2 Coupler link = Link 3, Output Link = Link 4

- transform rotary motion into oscillatory motion

- the mechanism multiplier oscillatory motion - may have dead points (toggle points), need flywheel to pass through these points 2. Transmission angle : the angle between the coupler link 3 and the output link 4 - measure of mechanical advantage of mechanism; 90 deg = ideal, 180 deg = zero transmission (measure of quality of force & vel. transmission at the joint) - Rule of thumb : 40 < < 140
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Textbook: p.91

Four-bar linkage example

Using Working model

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Grashoffs law for four-bar linkage

Identify longest, shortest, intermediate 2 links: L, S, P, Q I: If L + S < P + Q, then we call this a Grashof Mechanism G.1 = crank-rocker if S is the crank and either of the adjacent link is the fixed link G.2 = double-crank if S is the fixed link G.3 = double-rocker if the link opposite S is the fixed link II: If L + S > P + Q, then we call it non-Grashof mechanism only double-rocker: no link is capable of making a complete revolution III: If L + S = P + Q, it can have G.1~G.3 and parallelogram form (colinear)
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Grashof Mechanisms

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Non-Grashof Mechanisms

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III: If L + S = P + Q, it can have G.1~G.3 and parallelogram form (colinear)

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Grashoffs law example

demonstrate the 3 possibilities

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Position Analysis
Vector Loop Representation of Linkage The links are represented as position vectors.

Fig. 4-6 Position vector loop for a four-bar linkage

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Textbook: Chap 4

Vector Loop Equation for a Four-bar Linkage

R 2 + R 3 R 4 R1 = 0

(4.5a) (4.5b)

or

R A + R B / A R B / O4 R O4 / O2 = 0

x component a cos 2 + b cos 3 c cos 4 d cos 1 = 0 Since 1 = 0,

a cos 2 + b cos 3 c cos 4 d = 0

(4.6a)

y component a sin 2 + b sin 3 c sin 4 d sin 1 = 0

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a sin 2 + b sin 3 c sin 4 = 0

(4.6b)

Four-bar linkage Position Analysis

2 = input, 4 = output
Eliminate 3 and solve for 4
b cos 3 = a cos 2 + c cos 4 + d
(4.6c) (4.6d)

b sin 3 = a sin 2 + c sin 4

Squares both sides of equations and add them:

b 2 = ( a sin 2 + c sin 4 ) 2 + ( a cos 2 + c cos 4 + d ) 2
(4.7b)

Simplify this expression defined

d K1 = a d K2 = c a2 b2 + c2 + d 2 K3 = 2 ac
(4.8a)

Then
K 1 cos 4 K 2 cos 2 + K 3 = cos 2 cos 4 + sin 2 sin 4
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(4.8b)

Substitute the identity cos( 2 4 ) = cos 2 cos 4 + sin 2 sin 4 into the earlier equation, we get Freudensteins equation
K 1 cos 4 K 2 cos 2 + K 3 = cos( 2 4 )
(4.8c)

4 = f ( 2 )
Output

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And projection on the y-axis (y-component) gives

a sin + b sin c sin( 180) = 0
2 3 4

or

a sin + b sin + c sin = 0

Since we are looking for a relationship between the input and the output , we need to eliminate from the above equations. Rewriting these equations leads to
b cos = d ( a cos + c cos )
From (4.6c)

b sin = ( a sin + c sin )

where
cos 2 + sin 2 = 1
cos( ) = cos cos + sin sin

=180 =

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=180

Squaring and adding yields

b 2 = a 2 + c 2 + d 2 + 2ac cos( ) 2ad cos 2cd cos

or

b 2 (a 2 + c 2 + d 2 ) d d + cos + cos = cos( ) c a 2ac

This equation may be written more simply as K 1 cos + K 2 cos K 3 = cos( )

2 4+180o

Freudensteins equation
where
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2 - 4 - 180o
a2 b2 + c2 + d 2 K3 = 2ac

d K1 = c

d K2 = a

This equation may be written more simply as K 1 cos + K 2 cos K 3 = cos( ) This equation depends on , the position of the output for a given position of the input . We can derive an expression for by rewriting
2 4+180o 2 - 4 - 180o

K 1 cos + K 2 cos K 3 = cos ( )

Then where

A sin + B cos = C

A = sin B = cos K 2 C = K 1 cos K 3

=

=180

= f ( )
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A sin + B cos = C
Using the identity
2 tan( / 2 ) sin = 1 + tan 2 ( / 2 )

1 tan 2 ( / 2 ) cos = 1 + tan 2 ( / 2 )

We have
( B + C ) tan 2 ( / 2 ) 2 A tan( / 2 ) + (C B ) = 0

which is quadratic in tan(/2) whose solution is

A = 2 arctan A2 + B 2 C 2 B+C

where

A = sin ,

B = cos K 2 ,

C = K 1 cos K 3

= f ( )
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Thus the output can take on two positions corresponding to the two roots 1 and 2. The following figure illustrates these positions. Position BCD is a mirror image of BCD about the line BD. In practice, only one of the positions is the required one.
C

You now can obtain

and

1 2
D

C
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Trigonometry Equations
cos
1 + tan 2 ( / 2 )
tan( / 2 )

=
=

1 1 + tan 2 ( / 2 )
tan( / 2 ) 1 + tan 2 ( / 2 )

/2 1

sin

sin = sin(

) = 2 sin

cos

2 tan( / 2 ) 1 + tan 2 ( / 2 )

cos = cos 2 ( / 2 ) sin 2 ( / 2 ) = cos( 2 + 2 ) tan 2 ( / 2 ) 1 tan 2 ( / 2 ) = = 2 2 1 + tan ( / 2 ) 1 + tan ( / 2 ) 1 + tan 2 ( / 2 ) 1

sin( A + B ) = sin A cos B + sin B cos A

cos( A + B ) = cos A cos B sin A sin B

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The half angle identities

2 tan 2 sin = 1 + tan 2 2
1 tan 2 2 cos = 1 + tan 2 2

(4.9)

This result is in the following simplified form, in terms of link lengths and input value 2 where:
A tan 2 4 + B tan 4 + C = 0 2 2 A = cos 2 K 1 K 2 cos 2 + K 3

(4.10a)

C = K 1 ( K 2 + 1) cos 2 + K 3

B = 2 sin 2

The solution is

2 4 B B 4 AC tan = 2A 2

(4.10b)
Nortons textbook: p. 176

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The solution for angle 3 is essentially similar to that for 4

c cos 4 = a cos 2 + b cos 3 d
(4.6e) (4.6f)

c sin 4 = a sin 2 + b sin 3

The resulting equation

K 1 cos 3 + K 4 cos 2 + K 5 = cos 2 cos 3 + sin 2 sin 3
(4.11a)

where

d K4 = ; b

c2 d 2 a2 b2 K5 = 2ab

(4.11b)

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This also reduces to a quadratic form:

3 3 D tan + E tan + F = 0 2 2
2

(4.12)

where:

D = cos 2 K 1 + K 4 cos 2 + K 5

E = 2 sin 2
F = K 1 + ( K 4 1) cos 2 + K 5

and the solution is:

3
1, 2

E E 2 4 DF = 2 arctan 2D

(4.13)

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Transmission Angles of Four Bars

The angle between output link and the coupler
b 2 + c 2 (d a) 2 1 = 1 = cos 2bc
1

2 = 2 = cos 1

b 2 + c 2 (d + a) 2 2bc

overlapped

extended

an acute angle:

trans = 3 4

trans = 3 4 then if 3 4 > / 2 Extreme Values of the Transmission Angle For a Grashof crank-rocker four-bar linkage the extreme values of the transmission angle will occur when the crank (O2A) is collinear with the ground link as shown
Textbook: p.187
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FOUR-BAR SLIDER-CRANK POSITION SOLUTION

Application:
- Internal combustion engine: explosion drives piston (input), output is the rotation of drive shaft -Air compressor: electric motor drives crank (input), piston (output) compressed air Check: working model demo

O2

Figure 4-9 Position vector loop for a four-bar slider-crank linkage Offset slider-crank (c)= the slider axis not pass through the crank pivot O2
[Link]
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FOUR-BAR SLIDER-CRANK POSITION SOLUTION

Vector loop equation R2 - R3 - R4 - R1 = 0

(4.14a)

x component a cos 2 b cos 3 c cos 4 d cos 1 = 0 y component a sin 2 b sin 3 c sin 4 d sin 1 = 0 Since 1 = 0, 4 = 90o

(4.15a)

a cos 2 b cos 3 d = 0
a sin 2 b sin 3 c = 0

(4.15b)

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FOUR-BAR SLIDER-CRANK POSITION SOLUTION a cos 2 b cos 3 d = 0 The solution is

3 = arcsin
a sin 2 c 1 b d = a cos 2 b cos 3
a sin 2 b sin 3 c = 0

(4.16a) (4.16b)

The arcsine function is multi-valued

3 = arcsin
2

a sin 2 c + b

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4.7 AN INVERTED SLIDER-CRANK POSITION SOLUTION

FIGURE 4-10
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Inversion #3 of the slider-crank four-bar linkage

The vector loop equation

a sin 2 b sin 3 c sin 4 = 0

R2 - R3 - R4 - R1 = 0

a cos 2 b cos 3 c cos 4 d = 0

where:

= 4 3

P sin 4 + Q cos 4 + R = 0

The Equation above reduces to

R = c sin

P = a sin 2 sin + ( a cos 2 d ) cos

Q = a sin 2 cos + ( a cos 2 d ) sin

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This will result in a quadratic equation in tan(4/2)

{2 P tan 4 + Q[1 tan 2 4 ]} 1 + tan 2 4 + R = 0 2 2 2
1

(4.22a)

This reduces to: let: then:

S tan 2 4 2

( R Q) tan 2 4 + 2 P tan 4 + (Q + R) = 0 2 2
+ T tan 4 2 +U = 0
1,2

S = R Q; T = 2P; U = Q + R
(4.22b)

and the solution is

4 = 2 arctan (T T 2 4SU ) / 2S

(4.22c)
R = c sin

= 4 3

P = a sin 2 sin + ( a cos 2 d ) cos

Q = a sin 2 cos + ( a cos 2 d ) sin

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Example: Four-bar linkage Position Analysis

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Example: Four-bar linkage Position Analysis

= transmission angle
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Example: Four-bar linkage Position Analysis

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Complete range analysis for four-bar linkage

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Complete range analysis for four-bar linkage: coupler pivot

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Four-bar linkage analysis by Graphical method

B 3 A 2 2 4 3

Needs only: Ruler & compass Popular before the age of 4 digital computer

O2

O4

1. Draw the known ground link (Points O2 & O4) 2. Draw the given input link 2 length at the given angle (Point A) 3. Draw a circle of radius r3, centered at Point A 4. Draw a circle of radius r4, centered at Point O4 5. These circles intersect the slider line in general in two places 6. Connect the two branches and measure the unknown values
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Four-bar linkage analysis by Graphical method

3

B 3 b A 2 a 2 3 d O2 B
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open 4 c 4 4

4 crossed

O4

Practical example of four-bar linkage

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Four-bar linkage analysis by Numerical method (Newton Raphson Method)

Textbook: Sec 4.13

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Four-bar linkage analysis by Numerical method (Newton Raphson Method)

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Four-bar linkage analysis by Numerical method (Newton Raphson Method)

f(x)

f(xi)

[x f (x )]
i, i

f(xi-1) xi+2 xi+1 xi X

f(xi ) xi +1 = xi f (xi )
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Example: four-bar slider-crank

3 = arcsin
1

a sin 2 c b

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Example: four-bar slider-crank

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Example: four-bar slider-crank

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Example: four-bar slider-crank

Complete range analysis

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Four-bar slider-crank by Graphical Method

1. Place the grounded revolute for the crank at the origin O2 2. Draw the line of the slider, offset vertically from the origin by h 3. Draw the given input link 2 length at the given angle (Point A) 4. Draw a circle of radius r3, centered at Point A 5. This circle intersects the slider line in general in two places
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6. Connect the two branches and measure the unknown values

Four-bar linkage analysis by Mathematica

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Check Whats new for the program

Four-bar linkage analysis by Mathematica

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Four-bar linkage analysis by Mathematica

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Four-bar linkage analysis by Mathematica

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Tractor Loader Backhoe

Backhoe: an excavator whose shovel bucket is attached to a hinged boom and is drawn backward to move earth
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Geneva Mechanism Application

[Link]

"intermittant sprocket" in a motion picture projector. The intermittent sprocket allows for frame-by-frame advancement of the movie frames as it moves past the projection lens. This intermittent motion is synchronized with a lens shutter to produce flicker-free motion of the projected movie.
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MEMS based micro gear and gear trains

Textbook: Section 2.16

Introduction to ME [Link]

[Link]
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Analysis for Engineering Design Decision matrix

Textbook: Fig. 1-2

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Transmission angle in 4-bar linkage

Linkage transmission angle

Static forces at a linkage joint

To let Torque T2 effectively transmit to T4, only tangential force F34 is useful via F34sin()
Textbook: p.92
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Revolute (1)

PRS on 10 Nov 05

M = 3( N 1) 2 J1 J 2

prismatic (1)

N = 4, J1 = 3 revolute joints + 1 prismatic joints M = 3(4-1)-2(4)=9-8=1

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Four-bar slider-crank application

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Four-bar linkage example Given: a=20 inches, b=8 in., c=16 in., d=16 in. 2 = 45 Find: 3 4

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Solution 1: Graphical solution

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Solution 2: Analytical solution I

d K1 = c d K2 = a a2 b2 + c2 + d 2 K3 = 2ac

K1 = 1, K2 = 0.8, K3 = 1.325

A = sin B = cos K 2 C = K 1 cos K 3

= 45=0.7854 rad A = sin ()=0.707 B = -0.093 C = 1*cos() 1.325 = -0.618

A = 2 arctan
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A2 + B 2 C 2 B+C

= 2 arctan(1.14), 2 arctan(-2.77) = 97.5, -140.3 Slide 32

Solution 2: Analytical solution

D = cos 2 K 1 + K 4 cos 2 + K 5

E = 2 sin 2
F = K 1 + ( K 4 1) cos 2 + K 5

1, 2

E E 2 4 DF = 2 arctan 2D

3 =39.67, -80.72

Slide 32
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Parallelogram Mechanisms in Bicycles

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Four bar door damper linkage

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Four-bar linkage in cars suspension system

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Position analysis of 4-bar linkage : Graphical solution

B1

A
45

3 4

O2

O4

B2
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Mobility of a mechanism with one special joint

M = 3( N 1) 2 J1 J 2
N = 4, J1 = 5, J2=0 M = 3(4-1)-2*5 = 3*3-10=-1

Note that we had to count the pin A twice once for joining Link 2 and Link 3, and once for joining Link 3 and Link 4!

M=-1 statically indertminate structure

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