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KOM Lect6

The document discusses different methods for performing position analysis of mechanisms including graphical and algebraic approaches. It provides examples of using these methods to analyze the position of a slider-crank and 4R linkage, determining unknown link angles and positions given input values. The key steps involve setting up equations relating link positions using geometry, trigonometry, and complex exponential notation to solve for unknown variables.

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33 views15 pages

KOM Lect6

The document discusses different methods for performing position analysis of mechanisms including graphical and algebraic approaches. It provides examples of using these methods to analyze the position of a slider-crank and 4R linkage, determining unknown link angles and positions given input values. The key steps involve setting up equations relating link positions using geometry, trigonometry, and complex exponential notation to solve for unknown variables.

Uploaded by

Pranav C P
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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ME2012D Kinematics of Mechanisms

Lecture-6 Position Analysis of


Mechanisms
Date: 12.01.2023
Dr. Ashesh Saha
Assistant Professor
Email: ashesh@nitc.ac.in
Department of Mechanical Engineering
National Institute of Technology Calicut
Graphical Position Analysis
 The problem of position analysis is to determine the values of all position
variables (positions of all points and joints), given:
1)The dimensions of each link, and
2)The value(s) of independent variable(s) which are chosen to represent the
degree(s) of freedom of the mechanism

 For planar mechanisms, the solution is usually straightforward when


approached graphically
Graphical Position Analysis of Slider-Crank Mechanism

 Position analysis of the slider-crank linkage using


graphical method is shown
 Replacing link centre lines with vectors,
R B  R A  R BA

 If the position of the slider 4 is given, the


unknowns are the directions of RA and RBA

 Two solutions are found from which the suitable


one is chosen
Algebraic Position Analysis of Slider-Crank Mechanism

 Given the input crank angle θ2, find the connecting rod angle θ3 and the
position xB.

 Define the position of point A


by the equations

 From second equation


Algebraic Position Analysis of Slider-Crank Mechanism

 From the geometry, we see that

 From trigonometric identity

 The negative sign


corresponds to an obtuse
angle for θ3 when measured
around point B

 Finally
Algebraic Position Analysis of 4R Linkage
Algebraic Position Analysis of 4R Linkage

 Considering the closed loop O2O4BAO2

 Using complex exponential


notation

 Equating the real and imaginary parts


Algebraic Position Analysis of 4R Linkage

 The two unknown 𝜃3 and 𝜃4 can be solved

 Rearranging

 Squaring and Adding


Algebraic Position Analysis of 4R Linkage
 The previous eqn. can be written as
where

 To solve for 𝜃4 , substitute

To yield
Algebraic Position Analysis of 4R Linkage
 The previous eqn. can be written as
where

 To solve for 𝜃4 , substitute

To yield
Algebraic Position Analysis of 4R Linkage
 Solving this quadratic equation

 For a given position of the input link, two different values of 𝜃4 are obtained
Position Analysis
 Consider a sliding-block linkage in the posture illustrated in Fig.. Perform
the position analysis to find θ4 and distance RAO4 .
Position Analysis
Position Analysis
Position Analysis

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