Mechanics of Machines

Position Analysis
TYPES OF MECHANISM ANALYSESE
 Position Analysis

 Position Analysis

 Given θ
12
find θ , θ and θ
23 34 14
θ
34
θ
 Find maximum and minimum values 23
θ
of θ . θ 41
14 12

 Find the location of each point on

the mechanism for a given value of

θ and the curve traced by the a

12
point during motion.
 Velocity Analysis

 Position Analysis
θ ,ω
34 34
 Given θ
12
and ω
12
find ω
23
,ω
34
and ω
14 θ ,ω
23 23
θ ,ω
 Find the speed of a point in the
41 41
θ ,ω
mechanism 12 12
 Acceleration Analysis

 Position Analysis
θ ,ω ,α
34 34 34
 Given θ
12
,ω
12
and α
12
find α
23
,

α and α
34 14 θ ,ω ,α
23 23 23 θ ,ω ,α
 Find the acceleration of a point in the 41 41 41
θ ,ω ,α
mechanism 12 12 12
 Question

 Why is acceleration analysis important?

θ ,ω ,α
34 34 34

θ ,ω ,α
23 23 23 θ ,ω ,α
41 41 41
θ ,ω ,α
12 12 12
GRAPHICAL POSITION ANALYSIS
 Graphical Position Analysis

 Use graphical methods, (pen, ruler,

compass and protractors to solve

θ
position analysis problems. 34
θ
23
 CAD drafting methods may also be used
θ
θ
41
as a convenient alternative. 12
VECTOR POSITION ANALYSIS
 Vector Position Analysis

 Use vector loop closure equation to

solve position analysis problems

 Loop Closure Equation

 Use vector loop

closure equation to

solve position analysis

problems
 Planar Four Bar Loop Closure Equation

 How many scalar equations can be

written from the vector loop-closure

equation?

 How many unknowns can be solved for

 Planar Four Bar Loop Closure Equation

 How many scalar equations can be written

from the vector loop-closure equation?: Two

scalar equations could be written from a

vector equation

 How many unknowns can be solved for: Two

unknowns: In a standard problem, θ and θ

1 2
are given. θ and θ are to be solved for.
3 4

 We will focus on planar mechanisms in this

course
 Planar Four Bar Loop Closure Equation

 The closure condition expresses the condition

that a loop of a linkage closes on itself.

 For the four-bar linkage shown the closure

equation is
 Planar Four Bar Loop Closure Equation

 The closure condition expresses the condition that a

loop of a linkage closes on itself.

 For the four-bar linkage shown the closure equation is

 The following two scalar equations are produced

 Analytical Solution when θ2 is known

 The above two equations could be solved for two unknowns. One approach is to

eliminate one of the unknown angles by isolating the trigonometric function involving

the angle on the left-hand side of the equation.

 Squaring both sides of both equations and using the identity we

obtain
 Analytical Solution when θ2 is known

 To obtain an explicit expression for θ in terms of θ and the constant angle θ ,

4 2 1
we combine the coefficients of cos θ and sin θ in the equation above as
4 4
follows:

 where
 Analytical Solution when θ2 is known

 The above equation can be solved for θ by using the following half angle
4
identities

 After substitution and simplification, we get

where
 Analytical Solution when θ2 is known

 Solving for t we obtain

 Analytical Solution when θ2 is known

Given the values of θ and θ for a four bar mechanism of known r ,

1 2 1
r , r and r the output angle θ is calculated as:
2 3 4 4

The ± sign identifies the two possible assembly modes of the linkage
 Analytical Solution when θ2 is known

Given the values of θ and θ for a four bar mechanism of known r ,

1 2 1
r , r and r the output angle θ is calculated as:
2 3 4 4

The ± sign identifies the two possible assembly modes of the linkage
 Analytical Solution when θ2 is known

 Note that –π/2 ≤ tan-1 (t) ≤ –π/2. Therefore, θ will have the range –π ≤ θ ≤ –π.
4 4

 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 θ .
4
These correspond to two assembly modes or branches for the linkage.
 Analytical Solution when θ2 is known

 Because of the square root in the expression for t, it can be

complex if (A2 + B2) < C2. In this case, the mechanism is a

Grashof type II linkage in one of the extreme positions of its

motion range and it cannot be assembled in specified values of

θ and θ .
1 2

 The assembly configurations would then appear as shown

below
 Analytical Solution when θ2 is known

 After θ is known, an expression for θ can be obtained by

4 3
solving the loop closure equation to obtain:

 Note that it is essential that the sign of the numerator and

denominator be maintained to determine the quadrant in

which the angle θ lies. This can be done by using the ATAN2
3
function. The form of this function is:

ATAN2 (sin θ , cos θ )

3 3
 Analytical Solution when θ2 is known

 Once all of the angular quantities are known, it is

relatively straightforward to compute the coordinates

of any point on the mechanism.

 In particular, the coordinates of Q,P, and R are given by

 Analytical Solution when θ3 is known

 If the coupler angle θ is given, and θ and θ are to be determined,

3 2 3
graphical solution will require an iterative trial and error solution.

 The analytical procedure, in contrast, follows exactly the same

procedure as when θ is given. It starts by writing the loop closure

2
equations with θ replacing θ as the variable to be
2 3
eliminated.

 The equations set are of exactly the same form except that the indices

2 and 3 are interchanged. Therefore, we can use directly the position

solution derived for the case of known θ while interchanging the

2
indices 2 and 3.
 Analytical Solution when θ3 is known

 When the coupler angle θ is given, there is an assembly-mode

3
ambiguity similar to that occurine when θ is given.
2

 It is necessary to know the appropriate mode of the linkage

before the analysis is begun;. The mode is determined by the +

or – sign used for the square root term when calculating t.

 Once the assembly mode is determined, it remains the same for

any position of the input link unless the linkage is a class III

linkage, and passes through a singular (indeterminate) position .

 Example:
Position Analysis of a Four Bar Linkage
 A four bar linkage with r = 1, r = 2, r = 3.5, r = 4, and θ = 0, find θ and θ for each of the solution branches when the
1 2 3 4 1 3 4
driving crank is in the positions θ = 0, π/2, π,and - -π/2.
2
 Example:
Position Analysis of a Four Bar Linkage
 A four bar linkage with r = 1, r = 2, r = 3.5, r = 4, and θ = 0, find θ and θ for each of the solution branches when the driving
1 2 3 4 1 3 4
crank is in the positions θ = 0, π/2, π,and - -π/2.
2
POSITION ANALYSIS FOR A RIGID BODY WHEN
TWO POINTS ARE KNOWN
 Position Analysis for a Rigid Body When
Two Points are Knows
 Given the kinematic properties of one point on a rigid body and the

angular position, angular velocity, and angular acceleration of the

body, we can compute the position, velocity, and acceleration of any

defined point on the rigid body.

 For the rigid body shown. Assume that A and B are two points

attached to an arbitrary link, say link 5, and a third point is defined

relative to the line between points A and B by the angle β and the

distance r , which is represented as r . Then the position of point

C/A 6
C can be computed directly if r and θ are known.
A 5
 Position Analysis for a Rigid Body When
Two Points are Knows
 The position of point C is given as:

 If θ If is known, the equation above can be used to calculate the location of point
5
C directly.

 We often know the position vectors of two points A and B on the rigid body. The

value of θ can be calculated from the from the x and y components of the position
5
vectors for A and B using
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

 Next to the four-bar linkage,

the slider-crank is probably

the most commonly used

mechanism.

 It appears in all internal

combustion engines and in

numerous industrial and

household devices.
 Position Analysis for a Slider-Crank
Mechanism
 To develop the closure equations, locate vectors

r and r as was done in the regular four-bar

2 3
linkage.
Offset

 One of the other two vectors is taken in the

direction of the slider velocity and the other is

taken perpendicular to the velocity direction.

The loop closure equation is

r
3

r
4
r
p
r
2
r
1
 Position Analysis for a Slider-Crank
Mechanism
 Writing the loop closure equation in terms of the

vector angles, we obtain

r
3

r
4
r
p
r
2
r
1

 Two scalar equations are produced. The equations

can be solved for two unknowns.

 Position Analysis for a Slider-Crank
Mechanism
 Unlike the four-bar linkage loop closure equations where all link

lengths are known, the piston displacement r is an unknown in

1
the slider-crank equation. The constraint resulting from a

known r is replaced by the constraint θ = θ + π/2.

1 4 1

 The following problem statements are possible

 Crank angle θ given , find θ and r

2 3 1 r
3
 Piston displacement r given, find θ and θ
1 2 3
r
4
 Coupler angle θ given, find θ and r .
3 2 1 r
p
r
2
r
1
 Analytical Solution when θ2 is known

 The analytical solution procedure follows the same major steps as

in the four-bar linkage case. To eliminate θ , first isolate it in the

3
loop closure equations as follows:

r
3

 Squaring both sides of both equations and using the identity r

4
we obtain r
p
r
2
r
1
 Analytical Solution when θ2 is known

 The expression gives r in a quadratic expression

1
involving θ and the other known variables. To
2
obtain a solution, collect together the r
3
coefficients of the different powers of r as
1 r
4
follows
r
p
r
2
r
1
 Analytical Solution when θ2 is known

 The expression for A could be simplified by

noting that

r
3

r
4
r
p
r
2
r
1
Analytical Solution when θ2 is known
 Solving for r gives
1

 The ± sign indicates two possible assembly

modes for the same θ .

2
 Analytical Solution when θ2 is known

 Because of the square root in the

expression for r , it becomes complex

1
when A2 < 4B.

 If this happens, the mechanism cannot be

assembled in the position specified.

 Analytical Solution when θ2 is known

 Once a value for r is determined, the closure equations can be

1
solved for θ to give
3

 As in the case of the four-bar linkage, it is essential that the signs

of the numerator and denominator in the above expression be

r
maintained to determine the quadrant in which the angle θ 3
3 r
lies. 4
r
p
r
2
r
1
 Analytical Solution when θ2 is known

 Once all of the angular quantities are known, it is relatively

straightforward to compute the coordinates of any point on the

vector loops used in the closure equations.

 In particular, the coordinates of Q and P are given by

r
3
r
4
r
r p
2
r
1
 Analytical Solution when r1 is known

 The analytical solution procedure follows the same major steps as in

the previous case.

 After eliminating θ from the loop closure equation, we simplify the

3
resulting equation as follows

 where r
3
r
4
r
r p
2
r
1
 Analytical Solution when r1 is known

 The trigonometric half-angle identities can be used to solve the

equation above for θ . Using these identities and simplifying gives

2

 Solving for t gives

r
3
r
4
r
r p
2
r
1
 Analytical Solution when r1 is known

 The ± sign indicates two possible assembly modes.

Typically, there are two valid solutions for θ .

2

 Because tan-1 has a valid range of π/2 ≤ tan-1 (t) ≤ –π/2,

θ will have the range –π ≤ θ ≤ –π.

2 2
 Analytical Solution when r1 is known

 Because of the square root in the equation for the

variable t , it becomes complex when (A2 + B2) <

C2

 If this happens, the mechanism cannot be

assembled for the specified value of r .

1
 Analytical Solution when r1 is known

 Knowing θ , the closure equations can be

2
solved for θ . As in the previous cases, it is
3
essential that the signs of the numerator and

denominator be maintained to determine the

quadrant in which the angle θ lies.

3
 Analytical Solution when θ3 is known

 When the coupler angle θ is the input link, the analytical procedure for solving
3
the position equations follows the same major steps as when θ is the input.
2

 we can assume that θ , θ , θ are known and that θ and r are to be found.
1 3 3 2 1
The link lengths r and r and the angles θ , and θ are constants.
2 2 1 4

 For the position analysis, again begin with the loop closure equations and

isolate the terms with θ The resulting equations of the same form obtained
2
when θ is the input except that the indices 2 and 3 are interchanged.
2
Therefore, we can use directly the position solution derived for the case when

θ is the input and interchange the indices 2 and 3.

2
POSITION ANALYSIS FOR AN INVERTED
SLIDER-CRANK MECHANISM
 Position Analysis for an Inverted Slider-
Crank Mechanism

 An inversion of the fourbar slider-crank linkage

in which the sliding joint is between links 3

and 4 is shown. The slider block has pure

rotation about point O .

4

 Note that the angle between link 3 and link 4

is fixed and is equal to π/2, and that link 1 is

assumed to be aligned with the x-axis of the

reference coordinate, θ = 0.
1

r
3

r
r 4
2 r
1
 Position Analysis for an Inverted Slider-
Crank Mechanism
 To develop the closure equations, locate vectors r and r
2 3
as was done in the original slider-crank linkage. The

magnitude of r is variable depending on the location of

3
the slider.

 Vectors r is taken in the direction of the ground link, and

1
vector r is taken perpendicular to r . The loop closure r
4 3 3
equation is
r
r 4
2 r
1
 Position Analysis for an Inverted Slider-
Crank Mechanism
 Writing the loop closure equation in terms of the

vector angles, we obtain

r
3

r
r 4
2 r
1

 Two scalar equations are produced. The equations

can be solved for two unknowns.

 Position Analysis for an Inverted Slider-
Crank Mechanism
 The piston displacement r is an unknown in the equation. The
3
constraint resulting from a known r is replaced by the
3
constraint θ = θ + π/2.
4 3

 The following problem statements are possible

 Crank angle θ given , find θ and r

2 4 3
r
 Piston displacement r given, find θ and θ
3 2 4 3

r
 Output angle θ given, find θ and r .
4 2 3 r
4
2 r
1
 Analytical Solution when θ2 is known

 The analytical solution procedure follows the same major steps as

in the non-inverted slider crank. To eliminate θ , first isolate it in

4
the loop closure equations as follows:

 Squaring both sides of both equations and using the identity

we obtain
r
3

r
r 4
2 r
1
 Analytical Solution when θ2 is known

 The equation can be solved for r , which is the one

3
unknown.

 Substituting the resulting r value in the first closure

3
equation, we obtain an expression with only θ
3
unknown

 The above expression can be solve using the previous

half angle identities

r
3

r
r 4
2 r
1
 Trigonometric Solution when θ2 is known

 The problem could be solved using

trignonometry by solving first for the

length of link O A from the triangle

4
O AO , of which two sides and an angle
2 4
are known. r
3

 Using length of link O A and the

4
r
triangle ABO the length r and θ r 4
4 3 4 2 r
1
could be found.
 Analytical Solution when θ2 is known

 The expression can be seen to be the same as that obtained for a

non-inverted slider-crank when r is known with interchanging the

1
indices 1 and 2 and the indices 3 and 4.

r
3

r
r 4
2 r
1
TRANSMISSION ANGLES
 Analytical Solution when θ3 is known

 The transmission angle μ is defined as the angle between the

output link and the coupler of a four-bar mechanism. It is

usually taken as the absolute value of the acute angle of the

pair of angles at the intersection of the two links and varies

continuously as the linkage goes through its range of motion.

 The transmission angle is considered a measure of the quality

of force transmission at the joint. A transmission angle value

close to π/2 is desired, and a value of 0 or is avoided.