Position Analysis

Once a tentative mechanism design has been synthesized, it must then be analyzed. A principal goal of kinematic analysis
is to determine the accelerations of all the moving parts in the assembly. Dynamic forces are proportional to
acceleration, from Newton’s second law. We need to know the dynamic forces in order to calculate the stresses in the
components. The design engineer must ensure that the proposed mechanism or machine will not fail under its operating
conditions. Thus the stresses in the materials must be kept well below allowable levels. To calculate the stresses, we
need to know the static and dynamic forces on the parts. To calculate the dynamic forces, we need to know the ac
celerations. In order to calculate the accelerations, we must first find the positions of all the links or elements in the
mechanism for each increment of input motion, and then differentiate the position equations versus time to find
velocities, and then differentiate again to obtain the expressions for acceleration. For example, in a simple Grashof four
bar linkage, we would probably want to calculate the positions, velocities, and accelerations of the output links (coupler
and rocker) for perhaps every two degrees (180 positions) of input crank position for one revolution of the crank.
This can be done by any of several methods. We could use a graphical approach to determine the position, velocity, and
acceleration of the output links for all 180 positions of interest, or we could derive the general equations of motion for
any position, differentiate for velocity and acceleration, and then solve these analytical expressions for our 180 ( or
more) crank locations. A computer will make this latter task much more palatable. If we choose to use the graphical
approach to analysis, we will have to do an independent graphical solution for each of the positions of interest. None of
the information obtained graphically for the first position will be applicable to the second position or to any others. In
contrast, once the analytical solution is derived for a particular mechanism, it can be quickly solved (with a computer) for
all positions. If you want information for more than 180 positions, it only means you will have to wait longer for the
computer to generate those data. The derived equations are the same. So, have another cup of coffee while the
computer crunches the numbers! In this chapter, we will present and derive analytical solutions to the position analysis
problem for various planar mechanisms. We will also discuss graphical solutions which are useful for checking your
analytical results.
It is interesting to note that graphical position analysis of linkages is a truly trivial exercise, while the algebraic approach
to position analysis is much more complicated. If you can draw the linkage to scale, you have then solved the position
analysis problem graphically. It only remains to measure the link angles on the scale drawing to protractor accuracy. But,
the converse is true for velocity and especially for acceleration analysis. Analytical solutions for these are less
complicated to derive than is the analytical position solution. However, graphical velocity and acceleration analysis
becomes quite complex and difficult. Moreover, the graphical vector diagrams must be redone de nova(meaning literally
from new) for each of the linkage positions of interest. This is a very tedious exercise and was the only practical method
available in the days B.C. (Before Computer), not so long ago. The proliferation of inexpensive microcomputers in recent
years has truly revolutionized the practice of engineering. As a graduate engineer, you will never be far from a computer
of sufficient power to solve this type of problenh and may even have one in your pocket. Thus, in this text we will
emphasize analytical solutions which are easily solved with a microcomputer. The computer programs provided with this
text use the same analytical techniques as derived in the text.
 POSITION AND DISPLACEMENT
The position of a point in the plane can be defined by the use of a position vector as shown in Figure. The choice of
reference axes is arbitrary and is selected to suit the observer. Figure (a) shows a point in the plane defined in a global
coordinate system and Figure (b) shows the same point defined in a local coordinate system with its origin coincident
with the global system. A two-dimensional vector has two attributes, which can be expressed in either polar or cartesian
coordinates. The polar form provides the magnitude and the angle of the vector. The cartesian form provides the X and
Y components of the vector. Each form is directly convertible into the other by:
POSITION AND DISPLACEMENT
Displacement of a point is the change in its
position and can be defined as the straight line
distance between the initial and final position
of a point which has moved in the reference
frame. Note that displacement is not
necessarily the same as the path length which
the point may have traveled to get from its
initial to final position. Figure 4-2a shows a
point in two positions, A and B. The curved
line depicts the path along which the point
traveled. The position vector RBA defines the
displacement of the point B with respect to
point A. Figure 4-2b defines this situation
more rigorously and with respect to a
reference frame XY. The notation R will be
used to denote a position vector. The vectors
RA and RB define, respectively, the absolute
positions of points A and B with respect to this
global XY reference frame. The vector RBA
denotes the difference in position, or the
displacement, between A and B.
The vector RBA denotes the difference in
position, or the displacement, between A and
B. This can be expressed as the position
difference equation:

This expression is read: The position of B with

with the second subscript O denoting the