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Synthesis of Four Bar Linkages: Input-Output Relationship: Freudenstein's Equation

This document discusses the synthesis of four bar linkages. It describes three types of linkage synthesis: function generation, path generation, and motion generation. The synthesis procedure involves three stages: type synthesis, number synthesis, and dimensional synthesis. Freudenstein's equation is presented for relating the input and output angles of a four bar linkage. Two examples are then provided to illustrate designing a four bar linkage to coordinate shaft rotations based on given input and output angle specifications. Chebyshev spacing is discussed to minimize errors when using three precision points with Freudenstein's equation. The concept of cognates, which are linkages that generate the same coupler curve, is introduced. Finally, the use of CAD programs for complex analysis and synthesis of link

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Muthoka Vincent
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387 views5 pages

Synthesis of Four Bar Linkages: Input-Output Relationship: Freudenstein's Equation

This document discusses the synthesis of four bar linkages. It describes three types of linkage synthesis: function generation, path generation, and motion generation. The synthesis procedure involves three stages: type synthesis, number synthesis, and dimensional synthesis. Freudenstein's equation is presented for relating the input and output angles of a four bar linkage. Two examples are then provided to illustrate designing a four bar linkage to coordinate shaft rotations based on given input and output angle specifications. Chebyshev spacing is discussed to minimize errors when using three precision points with Freudenstein's equation. The concept of cognates, which are linkages that generate the same coupler curve, is introduced. Finally, the use of CAD programs for complex analysis and synthesis of link

Uploaded by

Muthoka Vincent
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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SYNTHESIS OF FOUR BAR LINKAGES

Introduction
By synthesis, we refer to the design problem that requires the creation of a linkage with particular
characteristics. Linkage synthesis may be classified into;

 Function generation – the output motion is to be a specified function of the input motion.
 Path generation – the output motion requires a point on the mechanism to trace a particular
path.
 Motion generation – an object is required to execute a specified motion.

For each of these types of synthesis, there are three stages of the synthesis procedure;

 Type synthesis – definition of proper type of mechanism best suited for the problem at hand.
 Number synthesis – choice of the number of elements.
 Dimensional synthesis – determination of the lengths of the links to accomplish the desired
motions.

Input-Output Relationship: Freudenstein’s Equation

1
Example 1
Design a four-bar linkage to coordinate the rotation of two shafts whose input and output angles are given
below.

2
Chebyschev Spacings
When we use 3 points and Freudenstein’s equation to find the dimensions of the linkage, such a
linkage will only be accurate at the chosen points. Deviations (structural errors) will occur
elsewhere. The precision points chosen must be in such a way as to minimize these errors. The
best spacing is called the Chebyschev spacing.

Chebyschev spacing is based on the equation

 
xj 
1
x0  x p   1 x p  x0  cos  2 j  1
2 2 2n

j=1, 2, …., n

xo to xp is the range of the input and n is the number of precision points

Three precision points to be used for the a case; x0 = 300, xp = 600 and n = 3.

x1 
1
30  60  1 60  30 cos 
2 2 6

x1 = 320

Similarly;
x2 = 450
x3 = 580

3
Example 2

4
Cognates of a Linkage
A cognate is a linkage of different geometry which generates the same coupler curve as an already
designed linkage. It sometimes happens that a good solution to a linkage synthesis problem will be
found that satisfies path generation constraints but which has the fixed pivots in inappropriate
locations for attachment of available ground or frame. Or the designed linkage may be non-
Grashof when a Grachof one is desired. In such a case the use of a cognate to the linkage may be
helpful.

Use of CAD in Linkage Design


The use of CAD resource such as FOURBAR programs for complex analysis of positions,
velocity and acceleration, as well as synthesis of linkages is highly recommended. Even in simple
mechanisms where knowledge of velocity and acceleration analysis is required, the graphical
approach is only suitable for finding out the velocity and acceleration of the links of a mechanism
in one or two positions of the crank. If it is required to find these values at various configurations
of the mechanism or to find the maximum values of velocity or acceleration, it is not convenient
to draw velocity and acceleration diagrams again and again.

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