P3 3 Ze 2 2
α2
i P1
Ze 3
α3 Z
i W
We 2
i β3
We 3
β2
Analytical Synthesis: 3PP Motion Generation
At the end of this video, you should be able to:
• Develop standard form dyad equations for three precision positions
• Analytically synthesize a dyad pair for 3PP motion generation
• Describe the trade‐offs between the number of precision positions
and free choices
3PP Vector Loop Equations
P2
P3 Z'
3 2
P1
Z '' α2
Z
α3
W
W'
β3
W ''
β2
3PP Vector Loop Equations
i P2
P3
3 Ze 2
α2 2
i P1
Ze 3
α3 Z
i W
We 2
Prescribed:
2 2.56 0.41i ft 3
3 (3.52 3.09i) ft
2 47
α3
3 151
Free Choices:
2 55
3 120
3PP Motion Generation
W e 1 Z e 1
i2 i 2
2
How to Solve?
W e 1 Z e 1
i 3 i3
3
Matrix Format:
3PP Motion Generation Solution
W e 1 Z e 1
i2 i 2
α 2 2
W e 1 Z e 1
2
i 3 i3
3
Prescribed:
2 2.56 0.41i ft
3
3 (3.52 3.09i) ft
2 47
3 151 α3
Free Choices:
2 55
3 120
Solution:
W 1.09 2.73i ft, Z 0.23 0.09i ft
Pj
Motion Synthesis i j
Ze
j
P1
Trade‐offs αj
Z
i j i j
i j
W e 1 Z e 1 j We W
βj
β3
β2
A0
Analytical Synthesis: 3PP Path w/ Timing
At the end of this video, you should be able to:
• Analytically synthesis a path generation with prescribed timing
fourbar through three precision positions
3PP Path with Prescribed Timing
Pj
i j
P2 Ze i j
Z *e j
2 P1 P1
αj Z
3 Z*
P3
i
We j W i
W *e j
βj
W*
γj
β3
β2
A0
3PP Path with Prescribed Timing
Pj
i j
Std Form Equation (P1 to P2): i j
i i Ze
W e 1 Z e 1 2
Z *e j
2 2 P1
αj Z
Std Form Equation (P1 to P3): Z*
i i
W e 1 Z e 1 3
3 3
i
We j W i
W *e j
βj
Pick 2 and 3, W*
Solve for and γj
What about ∗ and ∗?
i j
Ze
αj
Z
i
We j W i
W *e j
βj
W*
γj
Analytical Synthesis: 3PP Function Generation
At the end of this video, you should be able to:
• Develop a vector loop triad for a fourbar func
• Analytically synthesis a function generation fourbar through three
precision positions
• Explain how a function generator can be rotated and scaled
i j
Function Generation Ze
Z
αj
Z*
Z
i j
We
Vector Loop Triad: W i j
W *e
i j i j * i j *
We Ze W e W Z W 0 βj
W*
i j i j i
W e 1 Z e 1 W * e j 1 0 γj
i j
Function Generation Ze
αj
Z
i j
We
Vector Loop Triad: W i j
W *e
i j i j * i j *
We Ze W e W Z W 0 βj
W*
i j i j i
W e 1 Z e 1 W * e j 1 0 γj
αj
Z
i j
We
Vector Loop Triad: W i j
W *e
i j i j * i j *
We Ze W e W Z W 0 βj
W*
i j i j i
W e 1 Z e 1 W * e j 1 0 γj
Pick magnitude and angle of output link ( ∗ ):
i j i j * i j
W e 1 Z e 1 j W e 1
For 3PP, Pick ’s, Solve for and
Free Choice Implications
Pick magnitude and angle of output link ( ∗ ):
i j i j * i j
W e 1 Z e 1 j W e 1
For 3PP, Pick ’s, Solve for and
What is the Impact of Free Choices of Output Link?
Z
W W
W*
W* Z
Function Generators are
Rotatable and Scalable!