[Link].

22

2. Kinematic Analysis 2. Kinematic Analysis

Representation of Plane Vectors by Complex Numbers Kinematics of Rigid Body in Plane Motion
Review of Complex Numbers
• Motion of a rigid body in plane can be described
• -1 is an operator that rotates a vector 180o.
• The unit imaginary number i (𝑖 2 ≡ −1) is an operator that rotates a
fully by the motion of two points on the plane.
vector 90o counter clockwise. • Rigidity condition ensures that the velocity
• Please note that twice 90o counter clockwise rotation which is 180o is 𝑖 2 = −1!
• −𝑖 =
1
rotates a vector 90o clockwise.
components of the two selected points along the line
connecting the two points should be equal.
𝑖
• The complex plane (also called Gauss-Argand plane) is analogous to the
two dimensional Cartesian coordinates (x → Re, y → Im)
• 𝑟Ԧ = 𝑥 𝑖Ƹ + 𝑦𝑗Ƹ → 𝑧 = 𝑥 + 𝑖𝑦
• It is sufficient to represent a rigid body (which may
• Complex numbers can be represented in polar form as well: be considered as an infinite plane) by the two
• 𝑧 = 𝑥 + 𝑖𝑦 = 𝑟 𝑐𝑜𝑠𝜃 + 𝑖𝑠𝑖𝑛𝜃 , 𝑟 = 𝑥 2 + 𝑦 2 , 𝜃 = 𝑃𝑜𝑙 𝑥, 𝑦 ≠ 𝑡𝑎𝑛−1
𝑦
,ቊ
𝑃𝑜𝑙 𝑥, 𝑦 = 𝑟, 𝜃 representative points and the line connecting them.
𝑥 𝑅𝑒𝑐 𝑟, 𝜃 = 𝑥, 𝑦
• Euler’s identity 𝑒 𝑖𝜃 = 𝑐𝑜𝑠𝜃 + 𝑖𝑠𝑖𝑛𝜃 so 𝑧 = 𝑟𝑒 𝑖𝜃
• Multiplication of a real number, r, with 𝑒 𝑖𝜃 rotates the real number  counter clockwise.
• Vector addition and addition of two complex numbers are analogous.
• In complex numbers we do not need cross product or out of plane
angular vectors like 𝜔 and 𝛼!
Ԧ
ME 301 Theory of Machines I ME 301 Theory of Machines I

2. Kinematic Analysis 2. Kinematic Analysis

Coincident Points Vector Loops of Mechanisms (Constraint Equations!)
Permanently Coincident Points: Two points on two The three moving bodies are each represented by two B
different rigid bodies are coincident for all possible points on them: A 3

positions of the mechanism. Link 2: A0A

Typically the points on the axis of a revolute joint which 2 4
Link 3: AB
connects two rigid bodies are permanently coincident.
Instantly Coincident Points: Two points on two different Link 4: B0B A B 0 0

rigid bodies are coincident only for the current position Rather than searching for tedious geometric relations
of the mechanism. as we did in ME 208 Dynamics we will assume one of
Typically the instant center of zero velocity of a link does not the permanently coincident points to be non-coincident
have a fixed location with respect to another link including and the constraint equation we will write is going to
the fixed link (and also it does not have a fixed location force these two points to be coincident. This will be a
relative to its own body). vector loop equation and the constraint equation for
the mechanism.
ME 301 Theory of Machines I ME 301 Theory of Machines I

2. Kinematic Analysis 2. Kinematic Analysis

Vector Loops of Mechanisms (Constraint Equations!) Vector Loops of Mechanisms (Constraint Equations!)
B 3

Suppose we select point B: 3

B
B3
A 4
3
𝐴0 𝐴 + 𝐴𝐵3 = 𝐴0 𝐵0 + 𝐵0 𝐵4 𝐴0 𝐴 + 𝐴𝐵3 = 𝐴0 𝐵0 + 𝐵0 𝐵4 A a3 B4
13

This vector equation forces 2 4

a4
B3 and B4 be a permanently This vector equation can be written a2
2 4
14
A B 12
0 0
using complex numbers as:
coincident point, the revolute joint between links 3 and A 0 a1 B0

4, B. It is called loop closure equation and is the

constraint equation of the four-bar mechanism. 𝑎2 𝑒 𝑖𝜃12 + 𝑎3 𝑒 𝑖𝜃13 = 𝑎1 + 𝑎4 𝑒 𝑖𝜃14

This is a complex equation in three real unknowns,

𝜃12, 𝜃13 and 𝜃14. If one of those variables (recall F =1
for a four-bar) is known the other two can be
determined (as we will see later!).
ME 301 Theory of Machines I ME 301 Theory of Machines I

1
 [Link].22

2. Kinematic Analysis 2. Kinematic Analysis

Vector Loops of Mechanisms (Constraint Equations!) Vector Loops of Mechanisms (Constraint Equations!)
Suppose we select point A this time: A
3 a
B
3
3

A2 3 a3
A3 13’
𝐴0 𝐴2 = 𝐴0 𝐵0 + 𝐵0 𝐵 + 𝐵𝐴3 𝐴0 𝐴2 = 𝐴0 𝐵0 + 𝐵0 𝐵 + 𝐵𝐴3 A2 13
B
a2 a4
4
This vector equation forces 2
This vector equation can be written a4
a2 4
2
A2 and A3 be a permanently A a B 0 1
0 using complex numbers as: 12
14

coincident point, the revolute joint between links 2 and 𝑎2 𝑒 𝑖𝜃12 = 𝑎1 + 𝑎4 𝑒 𝑖𝜃14 + 𝑎3 𝑒 𝑖𝜃13
′ A0 a1 B0

3, A. It looks different from the previous equation

𝜃13′ = 𝜃13 + 𝜋
where we disconnected revolute joint B and force it to
be permanently coincident. 𝑎2 𝑒 𝑖𝜃12 = 𝑎1 + 𝑎4 𝑒 𝑖𝜃14 + 𝑎3 𝑒 𝑖 𝜃13 +𝜋

𝐴0 𝐴 + 𝐴𝐵3 = 𝐴0 𝐵0 + 𝐵0 𝐵4 𝑒𝑖 𝜃13 +𝜋 = 𝑒 𝑖𝜃13 𝑒 𝑖𝜋 = −𝑒 𝑖𝜃13

𝑎2 𝑒 𝑖𝜃12 = 𝑎1 + 𝑎4 𝑒 𝑖𝜃14 − 𝑎3 𝑒 𝑖𝜃13
Identical equation with when B is disconnected!
ME 301 Theory of Machines I ME 301 Theory of Machines I

2. Kinematic Analysis 2. Kinematic Analysis

Slider-Crank 13 Inverted Slider-Crank
A
3 B3 4
𝐴0 𝐴 + 𝐴𝐵3 = 𝐴0 𝐵4 a3 𝐴0 𝐴2 = 𝐴0 𝐵0 + 𝐵0 𝐴3 A
Q B4 4 3
This vector equation forces a2 2 This vector equation forces A2 and A3 a2
a1 2 a4

B3 and B4 be a permanently A 0
12
be a permanently coincident point, 
B
 12 14
A 0
0

coincident point, the revolute s 14 the revolute joint between links 2 a 1

joint between links 3 and 4, B. This vector equation and 3, A. This vector equation can be written using
can be written using complex numbers as: complex numbers as:
𝑎2 𝑒 𝑖𝜃12 + 𝑎3 𝑒 𝑖𝜃13 = 𝑖𝑎1 + 𝑠14 𝑎2 𝑒 𝑖𝜃12 = 𝑎1 + 𝑎4 𝑒 𝑖𝜃14 + 𝑠43 𝑒 𝑖 𝜃14 +𝛽4
This is a complex equation in three real unknowns, This is a complex equation in three real unknowns,
𝜃12, 𝜃13 and 𝑠14. If one of those variables (recall F =1 for 𝜃12, 𝜃14 and 𝑠43. If one of those variables (recall F =1 for
a slider-crank) is known the other two can be an inverted slider-crank) is known the other two can be
determined. determined.
ME 301 Theory of Machines I ME 301 Theory of Machines I

2. Kinematic Analysis 2. Kinematic Analysis

Vectors Allowed in a Loop Closure Equation Slider-Crank
1. Body Vectors: They are the vectors that connect the 𝐴01 𝐴02 + 𝐴0 𝐴2 + 𝐴2 𝐴3 + 𝐴3 𝐵3 = 𝐴0 𝑄1 + 𝑄1 𝐵4
two points on the same link. These vectors have a
constant magnitude but the orientation may change. 0 + 𝑎2 𝑒 𝑖𝜃12 + 0 + 𝑎3 𝑒 𝑖𝜃13 = 𝑖𝑎1 + 𝑠14
13
2. Translational Joint Variable Vectors: They are the A
3 B3
vectors between two links which are connected by a Q1
a3
B4 4
prismatic or cylinder in slot joint. These vectors are a2
2
parallel to the relative sliding axis and have a variable Body Vectors a1
12
magnitude. Direction may be variable as well. A0
s14
3. Zero Vectors: They are the vectors connecting two
Zero Vectors Translational Joint Variable Vector (s4/1)
permanently coincident points on two different links.
They are not written!
This definition is due to Reşit Soylu, Department of Mechanical Engineering, Middle East Technical University.

ME 301 Theory of Machines I ME 301 Theory of Machines I

2
 [Link].22

2. Kinematic Analysis 2. Kinematic Analysis

Inverted Slider-Crank Multiloop Mechanisms
a6
𝐴01 𝐴02 + 𝐴02 𝐴2 = 𝐴01 𝐵01 + 𝐵01 𝐵04 + 𝐵04 𝑄4 + 𝑄4 𝐴3 There are many loops like: B
6 D
C
0 + 𝑎2 𝑒 𝑖𝜃12 = 𝑎1 + 0 + 𝑎4 𝑒 𝑖𝜃14 + 𝑠43 𝑒 𝑖 𝜃14+𝛽4 𝐴0 𝐴 + 𝐴𝐵 + 𝐵𝐷6 = 𝐴0 𝐷0 + 𝐷0 𝐷5 b3
3
4
 3 a3 a4
𝐴0 𝐴 + 𝐴𝐶 + 𝐶𝐸4 = 𝐴0 𝐷0 + 𝐷0 𝐸5
4
E
A A
3
𝐶𝐸 + 𝐸𝐷5 = 𝐶𝐵 + 𝐵𝐷6 b5
5
Zero Vectors Q4
a2 a2
Body Vectors 2 a4 𝐴𝐵 + 𝐵𝐶 + 𝐶𝐴 = 0 2 5 a5
12 14
B0
A0
a1 𝐷0 𝐷 + 𝐷𝐸 + 𝐸𝐷0 = 0 A0
a1 D0

Translational Joint Variable Vector (s4/3) The question is which of these equations are
independent (i.e. contain new information)?

ME 301 Theory of Machines I

ME 301 Theory of Machines I

2. Kinematic Analysis 2. Kinematic Analysis

Multiloop Mechanisms Multiloop Mechanisms
a6 a6
Euler’s polyhedron formula tells the B
6 D 𝐴0 𝐴 + 𝐴𝐵 + 𝐵𝐷6 = 𝐴0 𝐷0 + 𝐷0 𝐷5 1
B
6 D

number of independent loops as: 3

C
𝐴0 𝐴 + 𝐴𝐶 + 𝐶𝐸4 = 𝐴0 𝐷0 + 𝐷0 𝐸5 2 3
C
b3 4 b3 4
𝐿 = 𝑗−ℓ+1 = 7−6+1 = 2  3 a3 a4  3 a3 a4
𝐶𝐸 + 𝐸𝐷5 = 𝐶𝐵 + 𝐵𝐷6 3
Next question is which of the following A
5
E
A
5
E
b5 𝐴𝐵 + 𝐵𝐶 + 𝐶𝐴 = 0 4 b5
five equations are independent? a2 a2
2 5 a5 2 5 a5
𝐷0 𝐷 + 𝐷𝐸 + 𝐸𝐷0 = 0 5
𝐴0 𝐴 + 𝐴𝐵 + 𝐵𝐷6 = 𝐴0 𝐷0 + 𝐷0 𝐷5 1
A0
a1 D0
Equations 4 & 5 are identities. A
a D
0
1
𝐴0 𝐴 + 𝐴𝐶 + 𝐶𝐸4 = 𝐴0 𝐷0 + 𝐷0 𝐸5 2 0

Equations 1, 2 and 3 are valid loop closure equations.

𝐶𝐸 + 𝐸𝐷5 = 𝐶𝐵 + 𝐵𝐷6 3 However they are not all independent.
𝐴𝐵 + 𝐵𝐶 + 𝐶𝐴 = 0 4 Is there a way to find out independent loop closure
equations?
𝐷0 𝐷 + 𝐷𝐸 + 𝐸𝐷0 = 0 5
ME 301 Theory of Machines I ME 301 Theory of Machines I

2. Kinematic Analysis 2. Kinematic Analysis

Multiloop Mechanisms
Multiloop Mechanisms 1. Disconnect gear pairs (if any) and write the gear a6
D6
relations.
Is there a way to find out independent loop closure No gears!
B 6
D5
equations? 2. Disconnect as many revolute joints as necessary to
eliminate all loops. (However no link should be totally 3
C
b3 4
disconnected!)
Yes, there is! Let’s disconnect D and E (selection is totally arbitrary,  3 a3
a4
E4
you could as well select (B and C) or (B and E) or (D and
1. Disconnect gear pair(s) (if any) and write the gear C) or (A and C) or (A and E) etc. however in all cases the A
number of joints to be disconnected is 2 as predicted by 5
relation(s). Euler’s polyhedron formula: 𝐿 = 𝑗 − ℓ + 1 = 7 − 6 + 1 = 𝟐) b5 E5

Please note that disconnecting B and D is not allowed a2

2. Disconnect as many revolute joints as necessary since link 6 becomes totally disconnected. Similarly
disconnecting C and E will make link 4 totally
2 5 a5

to eliminate all loops. (However no link should be disconnected therefore not allowed! A0
3. By reconnecting only one joint at a time (all others a1 D0
totally disconnected!) should be disconnected during this process) write the loop
formed by connecting this joint.
3. By connecting only one joint at a time (all others Reconnect D (E is disconnected!)
should be disconnected during this process) write the 𝐴0 𝐴 + 𝐴𝐵 + 𝐵𝐷6 = 𝐴0 𝐷0 + 𝐷0 𝐷5
loop formed by connecting this joint. Reconnect E (D is disconnected!)
𝐴0 𝐴 + 𝐴𝐶 + 𝐶𝐸4 = 𝐴0 𝐷0 + 𝐷0 𝐸5
ME 301 Theory of Machines I Two possible independent loop closure equations. ME 301 Theory of Machines I

3
 [Link].22

2. Kinematic Analysis 2. Kinematic Analysis

Multiloop Mechanisms Multiloop Mechanisms C0 5
𝑗 a5 C

𝐴0 𝐴 + 𝐴𝐵 + 𝐵𝐷6 = 𝐴0 𝐷0 + 𝐷0 𝐷5 𝐹 = 𝜆 ℓ − 𝑗 − 1 + ෍ 𝑓𝑖 6
𝑖=1 a6
D
𝑎2 𝑒 𝑖𝜃12 + 𝑏3 𝑒 𝑖 𝜃13 +𝛽3 + 𝑎6 𝑒 𝑖𝜃16 = 𝑎1 + 𝑏5 𝑒 𝑖 𝜃15 +𝛽5 ℓ=7
9
4
a4
𝑗 = 9 𝟖𝑹 + 𝐺𝑃 ∗ , ෍ 𝑓𝑖 = 10
7
𝐴0 𝐴 + 𝐴𝐶 + 𝐶𝐸4 = 𝐴0 𝐷0 + 𝐷0 𝐸5 𝑖=1 a7
𝐹 = 3 7 − 9 − 1 + 10 = 1
A
𝑎2 𝑒 𝑖𝜃12 + 𝑎3 𝑒 𝑖𝜃13 + 𝑎4 𝑒 𝑖𝜃14 = 𝑎1 + 𝑎5 𝑒 𝑖𝜃15 16 a6 1. Disconnect gear pair(s) and write the gear relation(s). B a3 A0 a2
D6 B
B 6 𝑟3 𝜃13 = −𝑟2 𝜃12 − 𝛽2 3 0 a1
Variables: 𝜃12 , 𝜃13 , 𝜃14 , 𝜃15 and 𝜃16 (5) 3 14
D5
2. Disconnect as many revolute joints as necessary to 2
eliminate all loops.
Constraints: Two complex equations C
4
b3
a4 Let’s disconnect C. The number of joints to be
(i.e. four scalar equations)  3 a3
E4
disconnected is 3 as predicted by Euler’s polyhedron
13 formula: 𝐿 = 𝑗 − ℓ + 1 = 9 − 7 + 1 = 3
𝑗
A GP* is one of the joints the other two are C46 and C56
5 E5
𝐹 = 𝜆 ℓ − 𝑗 − 1 + ෍ 𝑓𝑖 = 3 6 − 7 − 1 + 7 = 1 b5 (please note that joint C45 is dependent on other two!)
𝑖=1 a2 3. By connecting only one joint at a time (all others
2 5 a5 should be disconnected during this process) write the
𝑉 = 2𝐿 + 𝐹 12 15 loop formed by connecting this joint.
A0 ME 301 Theory of Machines I
ME 301 Theory of Machines I a1 D0

2. Kinematic Analysis 2. Kinematic Analysis

15 15
Multiloop Mechanisms C0 5 C5 Multiloop Mechanisms C0 5 C5
a5 C6 a5 C6
1. Disconnect gear pair(s) and write the 𝑟3 𝜃13 = −𝑟2 𝜃12 − 𝛽2
C4 6 16 C4 6 16
gear relation(s).
a6 𝐴0 𝐴 + 𝐴𝐷 + 𝐷𝐶6 = 𝐴0 𝐵0 + 𝐵0 𝐵 + 𝐵𝐶4 a6
𝑟3 𝜃13 = −𝑟2 𝜃12 − 𝛽2 D D
4 𝑎2 𝑒 𝑖𝜃12 + 𝑎7 𝑒 𝑖𝜃17 + 𝑎6 𝑒 𝑖𝜃16 = −𝑎1 + 𝑎3 𝑒 𝑖𝜃13 + 𝑎4 𝑒 𝑖𝜃14 4
2. Disconnect as many revolute joints as necessary a4 a4
to eliminate all loops. 𝐴0 𝐴 + 𝐴𝐷 + 𝐷𝐶6 = 𝐴0 𝐶0 + 𝐶0 𝐶5
7 𝑎2 𝑒 𝑖𝜃12 + 𝑎7 𝑒 𝑖𝜃17 + 𝑎6 𝑒 𝑖𝜃16 = − 𝑎1 + 𝑏1 + 𝑖𝑐1 + 𝑎5 𝑒 𝑖𝜃15 7
Let’s disconnect C. The number of joints to be 14 a7 14 a7
disconnected is 3 as predicted by Euler’s 17 V: 𝜃12 , 𝜃13 , 𝜃14 , 𝜃15 , 𝜃16 and 𝜃17 (6) 17
B A c1 B A
polyhedron formula: 𝐿 = 𝑗 − ℓ + 1 = 9 − 7 + 1 = 3) a3 13 a2 Equations: 5 (2 Complex LCE + Gear Relation) a3 13 a2
B0 A0 12 B0 A0 12
GP* is one of the joints the other two are C46 and 3 a1 F=1 b1 3 a1
C56 (please note that joint C45 is dependent on 2 2
𝑉 ≠ 2𝐿 + 𝐹
other two!)
3. By connecting only one joint at a time (all others
should be disconnected during this process) write
the loop formed by connecting this joint.
Reconnect C46 (C56 and GP*23 are disconnected)
𝐴0 𝐴 + 𝐴𝐷 + 𝐷𝐶6 = 𝐴0 𝐵0 + 𝐵0 𝐵 + 𝐵𝐶4
Reconnect C56 (C46 and GP*23 are disconnected)
𝐴0 𝐴 + 𝐴𝐷 + 𝐷𝐶6 = 𝐴0 𝐶0 + 𝐶0 𝐶5
ME 301 Theory of Machines I ME 301 Theory of Machines I