GRD Journals- Global Research and Development Journal for Engineering | Volume 1 | Issue 12 | November 2016

ISSN: 2455-5703

Synthesis of Planer Eight Bar Mechanism for

Function and Path Generation
Ramanagouda C. Biradar
Assistant Professor
Department of Mechanical Engineering
WIT, Solapur
Deepak M. Kalai
Assistant Professor
Department of Mechanical Engineering
DKTE, Ichalakaranji

Kashinath I. Swami
Assistant Professor
Department of Mechanical Engineering
WIT, Solapur

Rahul B. Patil
Assistant Professor
Department of Mechanical Engineering
WIT, Solapur

Mallesh Jakanur
Assistant Professor
Department of Mechanical Engineering
WIT, Solapur

Abstract
Linkages have an advantage of easily modifying their output by suitable adjustments compared to cams and geared mechanisms.
But at the same time it is usually difficult to change the dimensions of mechanisms every time to do different tasks. Also we
cannot synthesize exactly the necessary mechanism because of limitation of maximum precision points. This problem is
addressed by using adjustable Crank-Rocker linkages that are capable of generating multiple paths with a simple adjustment of
the length of the rocker guider. Little work has been done in the area of synthesis of adjustable four-bar and six bar linkages for
function and continuous path generation, especially of adjustable crank-rocker linkages. The present work is an attempt to
synthesize adjustable eight bar mechanism to overcome this difficulty. The link lengths are computed using Cheybychevs
spacing and Fruedensteins equations. A procedure is developed to compute the values of design variable which satisfies the
input output relationship. Analytical and programmable method is developed in Matlab to generate desired function and path.
Keywords- Planar eight bar mechanism, Adjustable link, Fruedensteins method, Chebychiv spacing

I. INTRODUCTION
The important and complementary area called kinematics synthesis, where mechanism is created to meet certain motion
specification is touched upon only by a consideration of the simple aspect of planar linkage synthesis. Linkages include garage
door mechanisms, car wiper mechanisms, gear shift mechanisms. They are a very important part of mechanical engineering
which is given very little attention. Maximum application of mechanisms is found in mechanical systems.
Although there are many phases in the design process which can be approached in a well ordered, scientific manner, the
overall process is by its very nature as much an art as a science. It calls for imagination, intuition, creativity, judgment, and
experience.
Types of Synthesis Problems. Function Generation It is defined as the correlation of an input motion with an output
motion in a mechanism. A function generator is conceptually a black box that delivers some predictable output in response to a
known input. Example~ of function generation includes the automobile accelerator, the control stick in an aircraft, and the piston
in an engine mechanism.
Path Generation defined as the control of a point in the plane such that it follows some prescribed path. This is typically
achieved with at least four bars, wherein a point in the coupler traces the desired path. No attempt is made in path generation to
control the orientation of the link that contains the point of interest. However, it is common for the timing of the arrival of the
point at particular locations along the path to be defined. This case is called path generation with prescribed timing and is
analogous to function generation in that a particular output function is specified.
Motion Generation (Rigid-body Guidance) defines locations through which the tracer point passes and the
corresponding orientation of the coupler link at those rocations. Examples of motion generation include the power lift, gate on a
truck, the lift mechanism on a dumpster truck, and the windshield wipers on an automobile.[1]
Most engineering design practice involves a combination of synthesis and analysis. However, one cannot analyze
anything until it is synthesized into existence.[3] The optimal synthesis model is set based on the positional structural error of the

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Synthesis of Planer Eight Bar Mechanism for Function and Path Generation
(GRDJE/ Volume 1 / Issue 12 / 011)

slider guider introduced, which can effectively reflect overall difference between the desired and generated paths avoid the
difficulty of selecting corresponding comparison points on the two paths and can be calculated conveniently.[4]
A. Crank Rocker Mechanism

Fig. 1: The crank and rocker four bar mechanism.

The four bar linkage illustrate in fig1 is called crank-and-rocker mechanism. Thus, link2, which is the crank, can rotate through a
full circle, but the rocker, link4, can oscillate. In general, we shall follow the commonly accepted practice of designated the
frame or fixed link as a link1.Link3 in fig1.13 is called the coupler or the connecting rod .With the four-bar linkage, the position
problem generally consists of finding the directions of the coupler link and the output link. Or rocker, when the link dimensions
and the input crank position are known.

II. SYNTHESIS OF ADJUSTABLE MECHANISM

Fig. 2: Adjustable Mechanism

Adjustable mechanisms allow design of machines which can perform several duties without costly alterations. The adjustments
are performed by changing the distance between two adjacent joints. Although adjustable mechanisms find many applications,
studies to develop synthesis procedures for these mechanisms are not as numerous as those on other devices.
Although adjustable linkage mechanisms are multidegree freedom systems, the application of theories of multidegree
freedom systems to adjustable mechanisms is sparse. A technique to synthesize a four bar adjustable function generator operating
in three phases to produce two specified functions is presented here and is based on eight bar linkage theory. A maximum of
three precision points for each function have been selected in the illustrative example. The adjustment is attained by changing
one link length of the four bar mechanism in first phase.

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Synthesis of Planer Eight Bar Mechanism for Function and Path Generation
(GRDJE/ Volume 1 / Issue 12 / 011)

III. METHODOLOGY
The synthesis of 8-Bar mechanism involves different methodology and different equations. This work started with Chebychev
spacing method which gives precision points. Using Precision points in Fruedensteins equations link lengths are determined.
Here 8-bar mechanism is divided into three phases of four bar mechanism, phase-1 is four bar mechanism (L1 L2 L3 L4), phase2 one more four bar linkage (L1 L4 L5 L6) and phase-3 is crank-rocker mechanism (L1 L6 L7 L8).

Fig. 3: Eight bar mechanism with rocker as output

IV. RESULTS AND DISCUSSION

A. Function Generation
Considering a function y sin(x),

0 0 x 900 , 0 y 1 , and then derive b

response to this function. Using Cheybychevs spacing method select three

positions of the mechanism by using input/output angles and their ranges to decide one value of the three design variables. Using
first position values input/output angles are calculated which are necessary to find the value of design variation variable in b
fallowing ranges.
Initial angle 0

500 , 0 300 , Final angle f =1100, f =1200 and

Range, 60 , 90
The link lengths are determined by using Fruedensteins equation which is as follows.
0

In the third phase of the four bar linkage the input angle swings with 90 0. Hence response of Design variation variable (
b) with input angle ( ) for phase-3 is as fallows.
The design variation variable

b b
Where,

b
2

is given by

2acK 3 c 2 d 2

B 2 sin 6

K1 (1 K 2 ) cos 6
K1 1 K 2 cos 6

(1)
(2)
(3)
(4)

8

B tan 8
2
2

1 tan 2 8
2

tan 2
K3

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Synthesis of Planer Eight Bar Mechanism for Function and Path Generation
(GRDJE/ Volume 1 / Issue 12 / 011)

Table 1: Sample readings of design variation variable ( B) corresponding to input angle (

SL.NO. INPUT ANGLE ( ) DESIGN VARIABLE( B)
01

57.5

-0.0042

02

58.696

0.0137

03

60.123

0.0172

04

61.696

0.0154

05

63.357

0.0082

06

65.040

-0.0033

07

66.691

-0.0093

08

68.269

-0.0142

09

69.736

-0.0156

10

71.064

-0.0135

11

72.223

-0.0087

12

73.195

-0.0039

13

73.966

0.0067

Fig. 4: the B response corresponding to input angle (16)

B. Calculation of Precision Points

According to Cheybychevs spacing,
Xj=

(5)

Where, n = 3 for three position

Ss = starting displacement of slider
Sf = final displacement of slider
For j=1,2,3 in equation (5) three precision points are calculated then using these precision point corresponding angles 1,2,3
are determined using fallowing equation.
(6)
Since it is given that the entire problem is divided into three segments, each represented by unique function.
For
the problem fallows the equation
For 120

(
the problem fallows the equation

For 240

the problem fallows the equation

(7)
(8)

The three positions of slider

(
)
corresponding to three positions of input angles

(9)
are calculated.

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Synthesis of Planer Eight Bar Mechanism for Function and Path Generation
(GRDJE/ Volume 1 / Issue 12 / 011)

Table 2: Input and output angles for phase-III of four bar mechanism
SL.NO. INPUT ANGLE
OUTPUT ANGLE
01
57.50
37.972
02
58.696
38.740
03
60.123
39.660
04
61.696
40.672
05
63.357
41.737
06
65.040
42.814
07
66.691
43.866
08
68.269
44.868
09
69.736
45.796
10
71.064
46.633
11
72.223
47.361
12
73.195
47.970
13
73.966
48.452
14
74.526
48.800

C. Path Generation
The path or coupler curve of the eight bar mechanism is calculated by analytical equations and plotted using MATLAB software.
The coupler curves are plotted for the important cases considering exact length, max length and min length of the coupler.
The equations are as follows.
In four bar mechanism, the phase-1 variables are
r1= (L1) = (d) and r2= (L2) = (a) and r3= (L3) = (b) and r4= (L4) = (c).

Fig. 5: Four-bar mechanism for path generation

From above figure , , f, are given by

For finding ,
=++
Where = 0, 60, 120, 180.. 360

For finding ,
1/ 2

f=(

{
{

For finding , from figure.

{
{

}
}
{

(10)

Co-ordination of coupler point D is given by

Xc = r2 cos + e cos
Yc = r2 sin + e sin
Where Xc and Yc are the co-ordinations of coupler point

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Synthesis of Planer Eight Bar Mechanism for Function and Path Generation
(GRDJE/ Volume 1 / Issue 12 / 011)

Fig. 6: Coupler curve for different angles

Fig. 7: Coupler curve with EXACT length 855.6 mm

Fig. 8: Coupler curve with MAX length 857.6 mm

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Synthesis of Planer Eight Bar Mechanism for Function and Path Generation
(GRDJE/ Volume 1 / Issue 12 / 011)

Fig. 9: Coupler curve with MIN length 853.6 mm

D. Motion Generation
The motion or coupler curve of the eight bar mechanism is calculated by analytical equations and plotted using MATLAB
software. The coupler curves are plotted for the important cases considering exact length, max length and min length of the
coupler.

Fig. 10: Four bar linkage for motion

Fig. 4. Shows four bar linkage in one general position with a coupler point located at its first precision P 1. Let r1, r2, r3,
and r4 are the ground, crank, coupler, and follower links respectively. The positions P2 and P3 are precision positions of coupler
curve. These positions are achieved by rotating the crank and input rocker link, through 2 and 3 which by using the synthesis
procedure.
Consider a global co-ordinate system X and Y at the first precision point P 1. Let, define the other two desired positions
P2 and P3 with respect to global co-ordinate system. The position difference vectors P 21=P1-P2, P31=P1-P3 and P41=P1-P4 have an
angles 2, 3 and 4 respectively. The above four position difference vectors define the displacements of the output motion point
P from P1 to P2, P1 to P3 and P1 to P4 respectively as shown in figure.
In the first case consider left half dyad for 3 positions to solve for r 21 and Z1. And the same is extended for four and five
positions to solve r21 and Z1.
First vector loop equation for motion from P 1 and P2 is given by,
r22 + Z2 P21 Z1 r21 = 0,
(11)
Second loop for motion from P1 to P3 is given by,
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Synthesis of Planer Eight Bar Mechanism for Function and Path Generation
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r23+Z3P31Z1r21=0,
(12)
Substituting complex number equivalents for vectors then
r2e j(2 + 2) + ze j( + 2) P21e j2 ze j r2e j2 = 0
(13)
r2e j(2 + 3) + ze j( + 3) P31e j3 ze j r2e j2 = 0
(14)
After expanding and simplifying
r2ej2(ej21)+zej(ej21)=P21ej2
(15)
r2e j2 (ej3 1) + ze j(e j3 1) = P21e j3
(16)
Resultant r2 of vectors r2, r22 and r23 is the same in all three positions, since it represents rigid link. The same can be said for
the resultant z of vectors Z1, Z2 and Z3.
Equations (15) and (16) are vector equations \each contain two scalar equations. By considering Eulers identity separate real and
imaginary terms.
Real part:
r2cos 2 (cos2 1) r2sin2 sin2 + z cos(cos2 1) z sin sin2 = P21 cos2
(17)
r2cos 2 (cos3 1) r2sin2 sin3 + z cos(cos3 1) z sin sin3 = P21 cos3
(18)
Imaginary part:
r2sin 2 (cos2 1) r2cos2 sin2 + z sin(cos2 1) z cos sin2 = P21sin2
(19)
r2sin 2 (cos3 1) r2cos2 sin3 + z sin(cos3 1) z cos sin3 = P21sin3
(20)
For simplification purpose X and Y components of two unknowns r2 and Z are substituted in Equation (17) and (18).
X and Y components of r2 and Z are
r21x = r2 cos2; r21y = r2sin2; Z1x = Zcos; Z1y = Zsin;
r21x (cos2 1) r21y sin2 + Z1x (cos2 1) Z1y sin2 = P21 cos2,
(21)
A=cos2-1
G = cos3 1
M=cos5 1
C1= cos21
I1= os4 1
O1=cos5 1
P6=P21sin2,

B=sin2
H= sin3
N= sin4
D1=sin2
J1=sin4
R1=sin5
P7=P31sin3

C=cos2 1
I = cos4 1
O = cos2 1
E1=cos3 1
K1=cos4 1
P2=P21 cos2
P8=P41sin4

D=sin2
J = sin4
R = sin5
F1= sin3
L1=sin4,
P3=31cos3
P9=P51sin5

E=cos3 1
K= cos4 1
A1= cos2 1
G1=cos31
M1=cos5 1
P4=P41cos4
P5=P51cos5

F=sin3
L= sin4
B1=sin2
H1=sin3
N1=sin5

r21x (cos2 1) r21y sin3 + Z1x (cos3 1) Z1y sin3 = P31 cos3,
(22)
r21y (cos2 1) + r21x sin2 + Z1y (cos2 1) + Z1x sin2 = P21 cos2,
(23)
r21y (cos3 1) + r21x sin3 + Z1y (cos3 1) + Z1x sin3 = P31 cos2,
(24)
The equations (21) and (24) are solved for r21x, r21y, Z1x and Z1y.By using appropriate assumed values of 2 and 3 (angular
rotations of link 2), for the left dyad.
The same steps are to be used the right dyad r4S. For which the vector loop equations are,
r42 + S2 P21 S1 r41 = 0,
r43 +0 S3 P31 S1 r31 = 0,
Next solving the procedure for real part and imaginary part is same. Here we should consider the r 4 and S for right dyad
By setting co-efficient of all equations which contain the assumed and defined terms equal to some constants.
For three coupler positions:
The following matrix is to be solved to determine L21x, L21y, Z1x, and Z1y.

For left Dyad

For right Dyad
The above matrix is to be solved to determine L41x, L41y, S1x, and S1y.
( r , ) variables, so it could finish any planar synthesis by controlling the variable r .

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Synthesis of Planer Eight Bar Mechanism for Function and Path Generation
(GRDJE/ Volume 1 / Issue 12 / 011)

Fig. 11: Motion generation with Exact length 855.6 mm

Fig. 12: Motion generation with MAX length853. 6 mm

Fig. 13: Motion generation with MIN length 853.6 mm

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Synthesis of Planer Eight Bar Mechanism for Function and Path Generation
(GRDJE/ Volume 1 / Issue 12 / 011)

V. CONCLUSION
Here the output of the eight bar mechanism is taken as rocker link. The function, motion and path for phase-I and phase-2 are
generated by considering four bar and six bar mechanism separately then by considering eight bar mechanism function and path
are generated to satisfy input and output relations.
In the present work, an analytical and programmed method is developed in MATLAB to synthesize planar eight bar
linkage mechanism for function and path generation by adjusting the link length.
From the results, it is clear that the rate of variation of adjustable link is reasonable and is a function of link length and
inputoutput relationship. This can be controlled well by changing link length and inputoutput relationship. It provides the
engineer wider design space to choose design variables with precise time.

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Uicker, JR., Theory of machines and mechanisms, second edition, McGraw-Hill, New York, (1995)
Robert L. Norton, Design of Machinery, An Introduction to the Synthesis and Analysis of Mechanisms and Machines, third edition, Tata McGraw-Hill
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H.Zhou, Edmund H.M.Cheung, Analysis and optimal synthesis of adjustable linkages for path generation Mechatronics 12 (2002) 949961.
Qiong Shen, Yahia M. Al-Smadi, Peter J. Martin, Kevin Russell, Raj S. Sodhi, An extension of mechanism design optimization for motion generation
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