MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.

1051/matecconf/201825104028
IPICSE-2018

Dynamic force analysis of a six-link planar

mechanism
Yertugan Umbetkulov1, Yerlan Yeleukulov1, Alfiya Atalykova1, Gulbarshyn Smailova2,
Gulmira Iskakova1, Algazy Zhauyt1, * and Gulama-Garip Alisher Ibrayev3
1
Almaty University of Power Engineering and Telecommunication, Almaty 050013, Kazakhstan
2
Kazakh National Agrarian University, Almaty 050010, Kazakhstan
3
Al-Farabi Kazakh National University, Almaty 050040, Kazakhstan

Abstract. In this paper is studied a vibratory conveyor that is placed on an

elastic base. Using the closed contours method it was determined the
system that needs to be solved to obtain graphical representation for the
generalized coordinates determining the position of the mechanical system
elements. The shaking conveyor represents the chase hanged or supported
to the fixed section. The chase commits oscillating motions hereupon the
cargo which is in the chase, migrates concerning to the chase. The nature
of the flow and its parameters are determined by the nature of the
oscillating committed by the chase. Installation causes fluctuations fixed
tray. Uniformly distributed load on the tray acts in each element of the
mechanism. A proper dynamic model has been developed within MSC
ADAMS and Maple 18. Simulation tests have been carried out and results
are discussed to validate the proposed design solution.

1 Introduction
The big application in various fields of the industry was received by the shaking conveyors
applied to transportation of hot, poisonous, chemical aggressive cargoes by the supplement
of complete tightness of their relocation [1], and also for transportation of the metallic
cuttings damped with emulsion and oil, hot earth which has been beaten out from casting
forms, small casting, foundry fusion mixture, etc. The shaking conveyor represents the
chase hanged or supported to the fixed section. The chase commits oscillating motions
hereupon the cargo which is in the chase, migrates concerning to the chase [2]. The nature
of the flow and its parameters are determined by the nature of the oscillating committed by
the chase. Shaking conveyors on the conditions of the chase flow and nature of cargo
movement are subdivided on inertial (with variable and constant stress of cargo to the chase)
in which [3] cargo under the influence of inertia force glides on the chase, and on vibrating
in which cargo tears off the chase and migrates along the chase. The vibrating conveyors [4]
are widely applied owing to a number of advantages in these latter days. The questions of
the kinematic and dynamic study of the vibrating feeder intended for dosing of the fusion
mixture loading of the melting furnaces of foundry production are considered in the
presented work [5]. The principle of operation of the vibrating conveyor is described, and it

*
Corresponding author: ali84jauit@mail.ru

© The Authors, published by EDP Sciences. This is an open access article distributed under the terms of the Creative Commons
Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0/).
MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.1051/matecconf/201825104028
IPICSE-2018

is devoted the kinematic analysis of the action. The differential equation of the link move of
the reduction of the vibrating conveyor is considered in the difference method (the
approximate method) a solution of the equation of move of the vibrating conveyor is
resulted [6]. It is devoted to the analysis of the equations solutions of conveyor move. Here
tables of the results and relocation drawing and velocity of the leading link depending on
time are resulted [7].

2 Kinematic analysis of six-bar linkage

The equations for kinematic analysis are written and solved considering a Cartesian
coordinate system, with origin the joint O. The mechanism has two independent closed
contours OABCEFO and OABCDGO. The vector equation corresponding to each above
independent closed loop is (see Figure 1):
Table 1. The parameters of six-bar linkage.
Dimensions lOA l AB lBC  lK lCD lCE l DG l EF a  OM
mm 60 430 75 1140 560 440 440 50

For closed contour OABCEFO: l1  l 2  l k  l3  l7  l 4 (1)

and for closed contour OABCDGO: l1  l 2  l k  l6  l5  l3 (2)

The vector equations (1) and (2) are projected on the Cartesian reference system. It is
obtained:

Fig. 1. Kinematic model of six-bar mechanism.

l1 cos 1  l 2 cos  2  l3 cos 3  l7 cos  7  l 4 cos  4 (3)

l1 sin 1  l2 sin  2  lk  l3 sin 3  l7 sin  7  l4 sin  4 (4)

l1 cos 1  l 2 cos  2  l6 cos  6  l5 cos 5  l3 cos 3 (5)

l1 sin 1  l 2 sin  2  l k  l6 sin  6  l5 sin 5  l3 sin 3 (6)

ED since the joints are constantly moving horizontally  3  180 the angle remains
unchanged. By agreement l 4  l5 , So  4   5 ,  k  90 , So, let's make it a little
easier:

l 2 cos  2  l 4 cos  4  l7 cos  7  l1 cos 1  l3 (7)

2
MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.1051/matecconf/201825104028
IPICSE-2018

l 2 sin  2  l 4 sin  4  l7 sin  7  l1 sin 1  l k (8)

l 2 cos  2  l 4 cos  4  l6 cos  6  l1 cos 1  l3 (9)

l 2 sin  2  l 4 sin  4  l6 sin  6  l1 sin 1  l k (10)

Eq. (7-8) and Eq. (9-10) If we compare equations, this equations left sides equal to each
other. Let's prove the equilibrium:

l7 cos  7  l1 cos 1  l3  l6 cos  6  l1 cos 1  l3 (11)

l7 sin  7  l1 sin 1  l k  l6 sin  6  l1 sin 1  l k (12)

l1 sin 1 , l k , and l1 cos 1 after deduction, we get the following:

l7 cos  7  l3  l6 cos  6  l3 (13)

l7 sin  7  l6 sin  6 (14)

 6  354 and 7  181 40 , l7  1325,6 , l6  377,1 , l3  560 , l3  1140 .
Solution of equations Eq. (13-14) 1 relative to the angle  2 and  4 determine the angles.
For this Eq. (13-14) we introduce the notations A and B on the right-hand side of the
system of equations. We know the values of A and B:

A  l7 cos  7  l1 cos 1  l3 (15)

B  l7 sin  7  l1 sin 1  l k (16)

Here are two equations with two unknowns:

l 2 cos  2  l 4 cos  4  A (17)

l 2 sin  2  l 4 sin  4  B (18)
2 2 2
l B A l
C 
2
  4 (19)
2A 2A 2 2A

Let's introduce some values:

B2 C
) , N  2 Bl 4 (1  ) , P  B  C  l 2
2 2 2
M  l 42 (1  2
(20)
A A
The resulting values represent Eq. (19) equation, we obtain the following:

M sin 2  4  N sin  4  P  0 (21)

From 4 we define:

N N 2  4MP
sin  4   W , W  W (1 ) ;  4  arcsin W  2n ,
2M
 4  f (1 ) (22)

3
MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.1051/matecconf/201825104028
IPICSE-2018

From this equation 2 we define:

( B  l 4  W ) , W  W ( ) ; ( B l 4 W )
sin  2  1  2  arcsin[  2n] ,
l2 l2
 2  f (1 ) (23)

The results of displacement analysis are used for velocity analysis. Differentiating
equations (3) and (4) with respect to time and after rearranging terms it is obtained a set of
two linear equations in the unknown angular velocities  2 , 3 ,  4 and 5 . By solving
this system the unknown velocities are determined as:

2 d 2 d 2 d1
 u 21 ,  2     u 21  1 (24)
1 dt d1 dt
3 d d d
 u 31 , 3  3  3  1  u31  1 (25)
1 dt d1 dt
4 d d d
 u 41, 4  4  4  1  u41  1 (26)
1 dt d1 dt
5 d d d
 u 51 , 5  5  5  1  u51  1 (27)
1 dt d1 dt
The results of kinematic analysis are furthermore used to calculate the accelerations of the
link mass centers needed to perform the kinetostatic analysis of the mechanism.

3 Dynamic force analysis of six-bar mechanism

When the inertia forces are considered in the analysis of the mechanism, the analysis is
known as dynamic force analysis. Now applying D’Alembert principle one may reduce a
dynamic system into an equivalent static system and use the techniques used in static force
analysis to study the system. In the six-bar mechanism shown in Figure 1, Link 1 is the
ground link (sometimes called the frame or fixed link), and is assumed to be motionless.
Links 4 and 5 each rotate relative to the ground link about fixed pivots (F and G). Link 3 is
called the coupler link, and is the only link that can trace paths of arbitrary shape (because
it is not rotating about a fixed pivot). Usually one of the "grounded links" (link 1) serves as
the input link, which is the link which may either be turned by hand, or perhaps driven by
an electric motor or a hydraulic or pneumatic cylinder. For this purpose, D’Alembert’s
Principle which states that the inertia forces and couples, and the external forces and
torques on the body together give statically equilibrium, was considered. The inertia forces
Pij and inertia moments M ij are given by. From the free body diagrams (see Figure 2)
three static equilibrium equations, in terms of forces in the X and Y directions and moment
about the center of gravity of the link, can be written for each link. For link 1, we get:

P01, X  P12, X  m1  aG1, X (28)

P01,Y  P12,Y  m1  aG1,Y (29)

4
MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.1051/matecconf/201825104028
IPICSE-2018

 P12, X  d1  sin 1  P12,Y  d1  cos 1  P01, X  f1  sin 1  P01,Y  f1  cos 1  M mot  m1  k12  1 (30)

Fig. 2. The free-body diagrams of link 1 (input link).

At this particular instant the angles made are 1 the lengths of the links are known, the
G1 we also give the dimensions for this part that
location of the respective center of mass is
is, from O to G1 as d1 , G1 to A as f1 , and the input moment M mot . Let the acceleration
components of the mass center be aG1, X , aG1,Y and where k1 is the radius and 1 is the
angular acceleration (see Figure 2).

P23, X  P21, X  m2  aG 2, X (31)

P23,Y  P21,Y  m2  aG 2,Y (32)
2
 P23, X  d 2  sin  2  P23,Y  d 2  cos  2  P21, X  f 2  sin  2  P21,Y  f 2  cos  2  M 2  m2  k 2   2 (33)

Fig. 3. The free-body diagrams of link 2.

 P35, X  P32, X  P34, X  m3  aG3, X (34)

 P35,Y  P34,Y  P32,Y  m3  aG 3,Y (35)

P35,Y d3  P32, X BC  P32,Y CG3  P34,Y f 3  M 3  m k  3 2

3 3 (36)

Fig. 4. The free-body diagrams of link 3.

5
MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.1051/matecconf/201825104028
IPICSE-2018

The angles made are equal 4  5 , the lengths of the links are known, We have already
mentioned that since the kinematics is completely solved we all know the acceleration
components and the angular accelerations. For the last link, exactly in the same procedure,
we will get total equation in the X direction as plus P43, X and P04, X this must be equal to
m4 aG 4, X ; in the Y direction, we will have plus P43,Y and P04,Y this is equal to m4 aG 4,Y .

Fig. 5. The free-body diagrams of link 4. Fig. 6. The free-body diagrams of link 5.

P43, X  P04, X  m4  aG 4, X (37)

P43,Y  P04,Y  m4  aG 4,Y (38)
 P43, X  d 4  sin 4  P43,Y  d 4  cos 4  P04, X  f 4  sin 4  P04,Y  f 4  cos 4  M 4  m4  k42   4 (39)
P53, X  P05, X  m5  aG5, X (40)
P53,Y  P05,Y  m5  aG 5,Y (41)
 P53, X  d5  sin 5  P53,Y  d5  cos 5  P05, X  f 5  sin 5  P05,Y  f5  cos 5  M 5  m5  k52  5 (42)

There are fifteen unknowns present in Eqs. (28-42), and P01, X , P01,Y , P12, X , P12,Y , P23, X ,
P23,Y , P35, X , P35,Y , P34, X , P34,Y , P04, X , P04,Y , P05, X , P05,Y , M mot . These fifteen
equations are represented in matrix form as (Eq. 43):

D g  b (43)

where

6
MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.1051/matecconf/201825104028
IPICSE-2018

 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0  P01, X   m1  aG1, X 
 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0  P01,Y   m1  aG1,Y 
    
 P01, X  P01,Y  P12, X P01,Y 0 0 0 0 0 0 0 0 0 0 1  P12, X   m2  aG 2, X 
     
 0 0  1 0 1 0 0 0 0 0 0 0 0 0 0  P12,Y   m2  aG 2,Y 
 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0  P23, X   m2  aG 2, X 
     
 0 0  P21, X  P21,Y  P23, X  P21,Y 0 0 0 0 0 0 0 0 0  P23,Y   m2  aG 2,Y 
 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0  P35, X   m3  aG 3, X 
     
 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0   P35,Y    m3  aG 3,Y 
 0 0 0 0  P32, X P32,Y 0 P35,Y 0  P34,Y 0 0 0 0 0  P34, X   m3  aG 3, X 
     
 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0  P34,Y   m3  aG 3,Y 
     
 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0  P04, X   m4  aG 4, X 
 0 0 0 0 0 0 0 0  P43, X P43,Y P04, X  P04,Y 0 0 0  P04,Y   m4  aG 4,Y 
     
 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0  P05, X   m5  aG 5, X 
 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0  P05,Y   m5  aG 5,Y 
     
 0 0 0 0 0 0  P53, X P53,Y 0 0 0 0 P05, X  P05,Y 0 M mot  m1  k12  1 

The Eq. (43) then can be solved for the above mentioned unknowns.
This kinematic analysis is useful to find the velocity and acceleration of the mechanisms at
the different position of the links. Moreover, this kinematic analysis is prerequisite for the
dynamic analysis to find the joint forces and torque required for the various positions of
manipulators.

4 Numerical application
The above equations have been implemented in a computer program using MSC ADAMS
to generate the simulation presented throughout the paper. The main dimensions of the six-
bar linkage (see Figure 7) used for kinematic analysis are inserted in Table 1. These
dimensions have been chosen in order to assure an approximately constant and small
velocity and, accordingly, a quick return suitable for deep drawing. The driver link 1 rotates
with a constant angular velocity of 1  6.283185 rad/s.

Fig. 7. Six-bar linkage motion simulation in MSC ADAMS.

The links positions for a complete rotation of the driver link 1 (the step of the angle is 151)
are given in Figure 7. Some results for the dynamic simulation are shown in Figures 8 and
14. Figure 8-14 illustrates the x, y components of the joint reaction forces P 01,xy, P12,xy, P23,xy,
P34,xy, P35,xy, P04,xy and P05,xy respectively versus crank angle with and without friction. In
Figure 8 and Figure 14 is given the input torque versus crank angle with and without
friction. In order to validate the simulation results obtained with the Maple 18 program, the

7
MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.1051/matecconf/201825104028
IPICSE-2018

values of the input torque without friction (Figures 8-14) are compared with the ones
obtained from the conservation of energy law. It is remarked a very good agreement of the
results.

Fig. 8. Computed plot of the joint reaction forces P01xy.

Fig. 9. Computed plot of the joint reaction forces P12xy.

8
MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.1051/matecconf/201825104028
IPICSE-2018

Fig. 10. Computed plot of the joint reaction forces P23xy.

Fig. 11. Computed plot of the joint reaction forces P34xy.

9
MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.1051/matecconf/201825104028
IPICSE-2018

Fig. 12. Computed plot of the joint reaction forces P35xy.

Fig. 13. Computed plot of the joint reaction forces P04xy.

10
MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.1051/matecconf/201825104028
IPICSE-2018

Fig. 14. Computed plot of the joint reaction forces P05xy.

The analysis of obtained results are shown in the table:
Table 2. The analysis of obtained coordinates.
φ1 φ1 [rad] XA[m] YA[m] XВ[m] YВ[m] XС[m] YС[m]
[deg]
135 2.355197551 -0.042384089 0.04246868233 -0.346742979 -0.261283957 -0.346742 -0.186283
225 3.924797551 -0.042519357 -0.0423332525 0.2608689526 -0.347055312 0.2547769 -0.272055
φ1 XD[m] YD[m] XE[m] YE[m] XF[m] YG =YF[m] XG[m]
[deg]
135 0.0629833455 0.2614370037 -0.906742979 -0.1862839574 -1.3246 -0.05 0.3738
225 0.0619913809 -0.360443851 -0.299131047 -0.2720553120 -1.3246 -0.05 0.3738

5 Conclusions
In the current study, the kinematic and kinetostatic analysis of a six-link planar mechanism
for deep drawing has been investigated developing a Maple 18 program. An analytical
method has been used for the determination of the displacement, velocity and acceleration
of the links and the simulation of mechanism motion. The force analysis considering the
joint friction is performed with an iterative procedure, applying the D’Alembert principle. It
is observed that due to the low values of the friction forces and moments, the solution
converges after one iteration step. The developed program can be useful for the
optimization of the mechanism design considering different constraints.

References
1. Nguyen Phong Dien and Nguyen Van Khang, Dynamic force analysis of a six-link
planar mechanism under consideration of friction at the joints, Vietnam Journal of
Mechanics, 26, 2, pp. 65-75 (2004)

11
MATEC Web of Conferences 251, 04028 (2018) https://doi.org/10.1051/matecconf/201825104028
IPICSE-2018

2. S. Mitsi, I. Tsiafis, K. D. Bouzakis, Force analysis of six-bar linkage for mechanical

presses considering joint frictions, Journal of the Balkan Tribological Association, 21,
pp. 281-295 (2015)
3. Zhauyt Algazy, The substantiating of the dynamic parameters of the shaking conveyor
mechanism, Vibroengineering Procedia, 5, pp. 15-20 (2015)
4. Lauw B. T. and Kinzel G. L., Computer-aided kinematic and force analyses for planar
mechanisms, Proc., Computers in Engineering, ASME, pp 535-544 (1988)
5. A. Zhauyt, G. Mamatova, G. Abdugalieva, K. Alipov, A. Sakenova, A. Alimbetov, The
kinematic analysis of flat leverage mechanism of the third class, IOP Conference Series:
Materials Science and Engineering, 250 (2017), pp. 1-6 (2017)
6. B. Tultayev, G. Balbayev, A. Zhauyt, A kinematic analysis of flat leverage mechanism
of the fourth class for manipulators, IOP Conference Series: Materials Science and
Engineering, 230 (2017), pp. 1-7 (2017)
7. An Tzu Yang and ZhiShang Sun, Dynamic force and torque analysis of spherical four
link mechanisms, journal of mechanisms, transmissions and automation in design, 105,
3, pp. 492-497 (1983)

12