Class 3
Position Analysis
TYPES OF MECHANISM ANALYSESE
Position Analysis
Position Analysis
Given θ12 find θ23, θ34
θ34 and θ14 θ23
θ41
Find maximum and θ12
minimum values of
θ14 .
Find the location of
each point on the
mechanism for a
given value of θ12
and the curve traced
by the a point during
motion.
Velocity Analysis
Position Analysis
θ 34, ω34
Given θ12 and ω12
find ω23, ω34 and ω14 θ 23, ω23
Find the speed of a θ 41, ω41
θ 12, ω12
point in the
mechanism
Acceleration Analysis
Position Analysis
θ 34, ω34 , α34
Given θ12 , ω12 and
α12 find α23, α34 and θ 23, ω23 , α23
α14 θ 41, ω41 ,
θ12, ω12, α12 α41
Find the acceleration
of a point in the
mechanism
Question
Why is acceleration
analysis important? θ 34, ω34 , α34
Use vector
loop closure
equation to
solve
position
analysis
problems
rP r2 r3 r1 r4
Planar Four Bar Loop Closure Equation
rP r2 r3 r1 r4
Planar Four Bar Loop Closure Equation
r2 r3 r1 r4
r2u2 r3u 3 r1u1 r4u4
r2 cos 2i sin 2 j r3 cos 3i sin 3 j r1 cos 1i sin 1 j r4 cos 4i sin 4 j
Planar Four Bar Loop Closure Equation
Acos4 B sin 4 C 0
where
C At 2 2 Bt ( A C ) 0
where
t tan 4 2
Analytical Solution when θ2 is known
2 B 4 B 2 4C AC A
t
2C A
or
B A2 B 2 C 2
t
AC
and
4 2 tan 1 t
Analytical Solution when θ2 is known
Note that –π/2 ≤ tan-1 (t) ≤ –π/2. Therefore, θ4 will have the range –π ≤ θ4 ≤ –π.
Unless the linkage is a Grashof type II linkage in one of the extreme positions of
its motion range, there are two valid solutions for θ4. These correspond to two
assembly modes or branches for the linkage.
rQ r2 r2 cos 2i sin 2 j
rp r2 r3 r2 cos 2i sin 2 j r3 cos 3i sin 3 j
rp r1 r4 r1 cos 1i sin 1 j r4 cos 4i sin 4 j
rp r1 r1 cos 1i sin 1 j
Analytical Solution when θ3 is known
rB y rAy
5 tan
1
rB rA
x x
POSITION ANALYSIS FOR A SLIDER-CRANK
MECHANISM
HW#2
(Prob. 4-6 and 4-7, with data in row (a)
Table P4-1).
(4-10, 4-12, 4-18(f))
Position Analysis for a Slider-Crank
Mechanism
r1 cos 1i sin 1 j r4 cos 4i sin 4 j
where
4 1 2
Two scalar equations are
r2 cos 2 r3 cos 3 r1 cos 1 r4 cos 4
produced. The equations can
be solved for two unknowns. r2 sin 2 r3 sin 3 r1 sin 1 r4 sin 4
Position Analysis for a Slider-Crank
Mechanism
Unlike the four-bar linkage loop
closure equations where all link r2 cos 2 r3 cos 3 r1 cos 1 r4 cos 4
lengths are known, the piston r2 sin 2 r3 sin 3 r1 sin 1 r4 sin 4
displacement r1 is an unknown in the
slider-crank equation. The constraint
resulting from a known r1 is replaced
by the constraint θ4 = θ1 + π/2.
r3
The following problem statements
r4
are possible
rp
Crank angle θ2 given , find θ3 r2
and r1 r1
Once all of the angular quantities are A r2 cos 1 cos 2 sin 1 sin 2
known, it is relatively straightforward B r22 r42 r32
to compute the coordinates of any 2 r2 r4 cos 2 cos 4 sin 2 sin 4
point on the vector loops used in the
closure equations.
In particular, the coordinates of Q A A2 4 B
r1
and P are given by 2
rQ r2 r2 cos 2i sin 2 j
r3
rp r2 r3 r2 cos 2i sin 2 j r3 cos 3i sin 3 j r4
rp
r2
r1
Analytical Solution when r1 is known
r2 r3 r1 r4
Position Analysis for an Inverted Slider-
Crank Mechanism
Writing the loop closure
equation in terms of the vector
angles, we obtain
r2 r3 r1 r4
r2u2 r3u 3 r1u1 r4u4 r3
r2 cos 2i sin 2 j r3 cos 3i sin 3 j r4
r2
r1 cos 1i sin 1 j r4 cos 4i sin 4 j r1
where
4 3 2
Two scalar equations are
r2 cos 2 r3 cos 3 r1 cos 1 r4 cos 4
produced. The equations can
be solved for two unknowns. r2 sin 2 r3 sin 3 r1 sin 1 r4 sin 4
Position Analysis for an Inverted Slider-
Crank Mechanism
The piston displacement r3 is an
unknown in the equation. The cos 4 sin 3 cos 1 1
constraint resulting from a known r3 sin 4 cos 3 sin 1 0
is replaced by the constraint θ4 = θ3
+ π/2.
The following problem statements
are possible r3
r4
Crank angle θ2 given , find θ4 r2
and r3 r1
r3
Squaring both sides of both equations
and using the identity sin 2 cos2 1 r4
r2 r1
we obtain
r42 r32 r12 r22 2r1r2 cos 2
Analytical Solution when θ2 is known
r4
r2 r1
TRANSMISSION ANGLES
Analytical Solution when θ3 is known