I.3.

Problems
I.3.1 Find the analytical expression of any point P of the elipsograph mechanism in Figure I.2.53. I.3.2 The following data are given for the four-bar mechanism shown in Figure I.3.16: AB = CD = 0.04 m and AD = BC = 0.09 m. Find the trajectory of the point M located on the link BC for the case (a) BM = MC and (b) MC = 2 BM .
B

M A 0

D 0

C
FIGURE I.3.16 Four-bar mechanism for Problem I.3.2.

I.3.3 The planar four-bar mechanism depicted in Figure I.3.17 has dimensions AB = 0.03 m, BC = 0.065 m, CD = 0.05 m, BM = 0.09 m, and CM = 0.12 m. Find the trajectory described by the point M .
M

C B
FIGURE I.3.17 Four-bar mechanism for Problem I.3.3.

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KINEMATIC CHAINS AND MACHINE COMPONENTS DESIGN

I.3.4 The mechanism shown in Figure I.3.18 has dimensions AB = 0.03 m, BC = 0.12 m, CD = 0.12 m, DE = 0.07 m, CF = 0.17 m, R1 = 0.04 m, R4 = 0.08 m, La = 0.025 m, and Lb = 0.105 m. Find the trajectory of the joint C .
5 F 6 C

3 2

Lb

D R R La E 0 A 0 B

FIGURE I.3.18 Mechanism for Problem I.3.4.

I.3.5 The planar R-RRR-RRT mechanism considered is depicted in Figure I.3.19. The driver link is the rigid link 1 (the element AB). The following data are given: AB = 0.150 m, BC = 0.400 m, CD = 0.370 m, CE = 0.230 m, EF = CE , La = 0.300 m, Lb = 0.450 m, and Lc = CD. The angle of driver link 1 with the horizontal axis is = 1 = 45 . Find the positions of the joints and the angles of the links. I.3.6 The R-RRR-RTT mechanism is shown in Figure I.3.20. The following data are given: AB = 0.080 m, BC = 0.350 m, CD = 0.150 m, CE = 0.200 m, La = 0.200 m, Lb = 0.350 m, Lc = 0.040 m. The angle of the driver element (link AB) with the horizontal axis is = 135 . Determine the positions of the joints and the angles of the links. I.3.7 The mechanism shown in Figure I.3.21 has the following dimensions: AB = 40 mm, AD = 150 mm, BC = 100 mm, CE = 30 mm, EF = 120 mm, and a = 90 mm.

Position Analysis

129

0 3 0 E 4 F 2 5 1 n A 0 Lc La B x Lb C D

FIGURE I.3.19 R-RRR-RRT mechanism for Problem I.3.5.

0 E y La 3

Lb 2

B 1 A 0 0
FIGURE I.3.20 R-RRR-RTT mechanism for Problem I.3.6.

4 x Lc F 0 D 5

130

KINEMATIC CHAINS AND MACHINE COMPONENTS DESIGN

The angle of driver link 1 with the horizontal axis is = 1 = 30 . Find the positions of the joints and the angles of the links.
B 1 y n A 0 a 4 F 5 0
FIGURE I.3.21 Mechanism for Problem I.3.7.

2 C 90 3 D 0

x E

I.3.8 The dimensions for the mechanism shown in Figure I.3.22 are: AB = 250 mm, BD = 670 mm, DE = 420 mm, AE = 640 mm, BC = 240 mm, CD = 660 mm, CF = 850 mm, and b = 170 mm. The angle of driver link 1 with the horizontal axis is = 1 = 30 . Find the positions of the joints and the angles of the links.
B 1 y 2
n F 5

C
4

x 0
D 3

A 0 b

FIGURE I.3.22 Mechanism for Problem I.3.8.

I.3.9 The mechanism in Figure I.3.23 has the dimensions: AB = 120 mm, AC = 60 mm, BD = 240 mm, DE = 330 mm, EF = 190 mm, La = 300 mm, and Lb = 70 mm.

Position Analysis

131

The angle of driver link 1 with the horizontal axis is = 1 = 150 . Find the positions of the joints and the angles of the links.
0
F

B 1 y 2
n

Lb x

C 3

A 0

5 D
4 E

La
FIGURE I.3.23 Mechanism for Problem I.3.9.

I.3.10 The dimensions for the mechanism shown in Figure I.3.24 are: AB = 100 mm, BC = 260 mm, AD = 240 mm, CD = 140 mm, DE = 80 mm, EF = 250 mm, and
2 B 1 y n A 0 x 0 La 5 F 0 3 D C

4 E
FIGURE I.3.24 Mechanism for Problem I.3.10.

132

KINEMATIC CHAINS AND MACHINE COMPONENTS DESIGN

La = 20 mm. The angle of driver link 1 with the horizontal axis is = 1 = 45 . Find the positions of the joints and the angles of the links. I.3.11 The mechanism in Figure I.3.25 has the dimensions: AB = 150 mm, AC = 450 mm, BD = 700 mm, La = 100 mm, and Lb = 200 mm. The angle of driver link 1 with the horizontal axis is = 1 = 120 . Find the positions of the joints and the angles of the links.

La

Lb 2 3 B 1 y A x

4 C D 0 0

FIGURE I.3.25 Mechanism for Problem I.3.11.

I.3.12 Figure I.3.26 shows a mechanism with the following dimensions: AB = 180 mm, BD = 700 mm, and La = 210 mm. The angle of the driver link 1 with the horizontal axis is = 1 = 135 . Find the positions of the joints and the angles of the links. I.3.13 The mechanism in Figure I.3.27 has the dimensions: AB = 100 mm, AC = 240 mm, BD = 400 mm, DE = 250 mm, EF = 135 mm, La = 35 mm, and Lb = 170 mm. The angle of driver link 1 with the horizontal axis is = 1 = 150 . Find the positions of the joints and the angles of the links. I.3.14 Figure I.3.28 shows a mechanism with the following dimensions: AB = 120 mm, BC = 450 mm, CD = DE = 180 mm, EF = 300 mm, La = 450 mm, Lb = 150 mm, and Lc = 140 mm. The angle of driver link 1 with the horizontal axis is = 1 = 120 . Find the positions of the joints and the angles of the links. I.3.15 Figure I.3.29 shows a mechanism with the following dimensions: AB = 140 mm, BC = 650 mm, CE = 250 mm, CD = 400 mm, EF = 350 mm, La = 370 mm, Lb = 550 mm, and Lc = 700 mm. The angle of driver link 1 with the horizontal axis is = 1 = 150 . Find the positions of the joints and the angles of the links. I.3.16 Figure I.3.30 shows a mechanism with the following dimensions: AB = 60 mm, BC = 160 mm, CF = 150 mm, CD = 60 mm, DE = 180 mm, La = 210 mm,

Position Analysis

133

2
3 C

B 1 y
n

5 D

A 0 La

FIGURE I.3.26 Mechanism for Problem I.3.12.

0 F 5 E La Lb 4 2 3 C D 0 n 0 B 1 y A x

FIGURE I.3.27 Mechanism for Problem I.3.13.

Lb = 120 mm, and Lc = 65 mm. The angle of driver link 1 with the horizontal axis is = 1 = 30 . Find the positions of the joints and the angles of the links. I.3.17 Figure I.3.31 shows a mechanism with the following dimensions: AB = 20 mm, BC = 50 mm, AD = 25 mm, and BE = 60 mm. The angle of driver link 1 with the horizontal axis is = 1 = 60 . Find the positions of the joints and the angles of the links.

134

KINEMATIC CHAINS AND MACHINE COMPONENTS DESIGN

E 4 5 F

3
D

Lc

0 2

B 1 y
n

Lb

A 0 C La

FIGURE I.3.28 Mechanism for Problem I.3.14.

5 F

C Lc B 1 y n A 0
FIGURE I.3.29 Mechanism for Problem I.3.15.

3 D La Lb

Position Analysis

135

La

F 3 B 1 y n A 0 x 2 Lc 4 D E 0 5 C Lb

FIGURE I.3.30 Mechanism for Problem I.3.16.

B 1 y
n

A 0
4

5 D 0

C 3

0
FIGURE I.3.31 Mechanism for Problem I.3.17.

I.3.18 The dimensions of the mechanism shown in Figure I.3.32 are: AB = 150 mm, BC = 300 mm, BE = 600 mm, CE = 850 mm, CD = 330 mm, EF = 1200 mm, La = 350 mm, Lb = 200 mm, and Lc = 100 mm. The angle of driver link 1 with the horizontal axis is = 1 = 120 . Find the positions of the joints and the angles of the links.
C 3 D 2 B Lc E 1 n A 0 4 F 0
FIGURE I.3.32 Mechanism for Problem I.3.18.

La

y x

Lb

I.3.19 The dimensions of the mechanism shown in Figure I.3.33 are: AB = 150 mm, AC = 220 mm, CD = 280 mm, DE = 200 mm, and La = 230 mm. The angle of driver link 1 with the horizontal axis is = 1 = 60 . Find the positions of the joints and the angles of the links.

2 La 5 E 4 0 D C 0 n A 0 3 y x 1 B

FIGURE I.3.33 Mechanism for Problem I.3.19.

Position Analysis

137

I.3.20 The dimensions of the mechanism shown in Figure I.3.34 are: AB = 200 mm, AC = 60 mm, CD = 200 mm, and DE = 500 mm. The angle of driver link 1 with the horizontal axis is = 1 = 45 . Find the positions of the joints and the angles of the links.

B 1 y n A 0 x

2 D 3 90 C 0 4 5 E 0

FIGURE I.3.34 Mechanism for Problem I.3.20.

I.3.21 The dimensions of the mechanism shown in Figure I.3.35 are: AB = 120 mm, AC = 200 mm, CD = 380 mm, and b = 450 mm. The angle of driver link 1 with
F G E

5
D 4

y
n

1 x

A 0

0
FIGURE I.3.35 Mechanism for Problem I.3.21.

138

KINEMATIC CHAINS AND MACHINE COMPONENTS DESIGN

the horizontal axis is = 1 = 30 . Find the positions of the joints and the angles of the links. I.3.22 The dimensions of the mechanism shown in Figure I.3.36 are: AB = 160 mm, AC = 90 mm, and CD = 160 mm. The angle of driver link 1 with the horizontal axis is = 1 = 30 . Find the positions of the joints and the angles of the links.
2 B

3 0

1
n 4 5

y A 0 x

FIGURE I.3.36 Mechanism for Problem I.3.22.

I.3.23 The dimensions of the mechanism shown in Figure I.3.37 are: AB = 100 mm, AC = 280 mm, BD = La = 470 mm, and DE = 220 mm. The angle of driver link 1 with the horizontal axis is = 1 = 30 . Find the positions of the joints and the angles of the links.

La

B 2 1 y n A 0 x 0 D
FIGURE I.3.37 Mechanism for Problem I.3.23.

E 5 C 3 0 4

Position Analysis

139

I.3.24 The dimensions of the mechanism shown in Figure I.3.38 are: AB = 250 mm, AD = 700 mm, BC = 300 mm, and a = 650 mm. The angle of driver link 1 with the horizontal axis is = 1 = 145 . Find the positions of the joints and the angles of the links.

0 4 C

G B 5 y E 0 0 a
FIGURE I.3.38 Mechanism for Problem I.3.24.

2 D x 0 3

1 n

140

KINEMATIC CHAINS AND MACHINE COMPONENTS DESIGN