Chapter 4

Vector Loop Analysis

Slaboch 2018, Ledoux 2019-20 1

 IV.) Vector Loop Method
• A.) Introduction
– Definition:
• The vector loop method is the basis for many
kinematic analysis and synthesis techniques
• Used for planar, closed loop mechanisms
• We will start with the fourbar linkage, but the vector
loop method applies to all planar, closed loop
mechanisms

Slaboch 2018 2
 IV.) Vector Loop Method
1. Assign vectors to links
2. Choose fixed XY coordinate system
3. Write vector loop equations (VLEs)
4. Assign link angle to each vector
5. Decompose each VLE into scalar
components

…continue…
Ledoux 2019 3
 IV.) Vector Loop Method
6. Identify knowns
7. Identify unknowns
8. Identify constraints
9. Identify number of inputs
10.Solve for unknowns

Ledoux 2019 4
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) Procedure
• Step 1: Assign vectors capturing the motion of the
links and joints in the mechanism
– The direction of the arrow does not matter
– The numbering does not technically matter, but the
typical convention is shown below

𝐶
𝑟Ԧ3
𝑟Ԧ4
𝐵
𝑟Ԧ2

Slaboch 2018 𝐴 𝑟Ԧ1 𝐷 5

//////// ////////
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) EX
• Shown below is an equally valid vector loop

𝐶
𝑟Ԧ3
𝑟Ԧ4
𝐵
𝑟Ԧ2

𝐴 𝑟Ԧ1 𝐷
//////// ////////

Slaboch 2018 6
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) Procedure
• Step 2: Choose a fixed 𝑋 − 𝑌 coordinate system
whose origin is at a fixed point in the vector loop
– Typically you align one axis with the ground link (but you
don’t have to)
– Note that the 𝑋 − 𝑌 axis are capital letters to denote a
fixed coordinate system
𝐶
𝑟Ԧ3
𝑟Ԧ4

𝑌 𝐵
𝑟Ԧ2

Slaboch 2018 𝐴 𝑟Ԧ1 𝐷 7

𝑋 ////////
////////
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) EX
• Equally valid coordinate system

𝐶
𝑟Ԧ3
𝑟Ԧ4
𝐵
𝑟Ԧ2

𝐴 𝑟Ԧ1 𝐷
//////// ////////

Slaboch 2018 8
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) EX
• This is invalid because it is attached to a moving
point 𝐶
𝑟Ԧ3
𝑟Ԧ4
𝐵
𝑟Ԧ2

𝐴 𝑟Ԧ1 𝐷
//////// ////////

Slaboch 2018 9
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) Procedure
• Step 3: Write the vector loop equation(s)
– Write the loop equation for each independent loop
– The sum of the vectors must equal zero
– Note the zero vector, 0

𝑟Ԧ2 + 𝑟Ԧ3 − 𝑟Ԧ4 − 𝑟Ԧ1 = 0 𝐶

𝑟Ԧ3
𝑟Ԧ4

𝑌 𝐵
𝑟Ԧ2

Slaboch 2018 𝐴 𝑟Ԧ1 𝐷 10

𝑋 ////////
////////
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) EX
𝐶 𝐶
𝑟Ԧ3 𝑟Ԧ3
𝑟Ԧ4 𝑟Ԧ4

𝑌 𝐵 𝑌 𝐵
𝑟Ԧ2 𝑟Ԧ2

𝐴 𝑟Ԧ1 𝐷 𝐴 𝑟Ԧ1 𝐷
𝑋 //////// 𝑋 ////////
//////// ////////

𝑟Ԧ2 + 𝑟Ԧ3 − 𝑟Ԧ4 − 𝑟Ԧ1 = 0 𝑟Ԧ2 − 𝑟Ԧ1 − 𝑟Ԧ4 − 𝑟Ԧ3 = 0

Slaboch 2018 11
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) Procedure
• Step 4: Assign 𝜃𝑖 values for each vector, where 𝑖
should correspond to the vector number
– Each 𝜃𝑖 is referenced as positive counterclockwise from
the 𝑋 −axis.

𝑟Ԧ2 + 𝑟Ԧ3 − 𝑟Ԧ4 − 𝑟Ԧ1 = 0

𝐶
𝑟Ԧ3
𝑟Ԧ4
𝜃3
𝑌 𝐵
𝑟Ԧ2
𝜃4
𝜃2
Slaboch 2018 𝐴 𝑟Ԧ1 𝐷 12
𝑋 ////////
////////
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) EX.
• For the given links and coordinate system, what is
𝜃𝑖 ? (approximately)

𝑌 𝑟Ԧ𝑖
𝑟Ԧ𝑖 𝑟Ԧ𝑖

Slaboch 2018 13
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) EX.
• For the given links and coordinate system, what is
𝜃𝑖 ? (approximately)

𝑌 𝑟Ԧ𝑖
𝑟Ԧ𝑖 𝑟Ԧ𝑖

𝜃𝑖 = 45∘ 𝜃𝑖 = 0∘ 𝜃𝑖 = 135∘

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 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) Procedure
• Step 5: Decompose the vector loop equations into
its scalar components (one vector equation and
two scalar equations).
𝑟Ԧ2 + 𝑟Ԧ3 − 𝑟Ԧ4 − 𝑟Ԧ1 = 0
𝑖:Ƹ 𝑟2 cos 𝜃2 + 𝑟3 cos 𝜃3 − 𝑟4 cos 𝜃4 − 𝑟1 cos 𝜃1 = 0
𝑗:Ƹ 𝑟2 sin 𝜃2 + 𝑟3 sin 𝜃3 − 𝑟4 sin 𝜃4 − 𝑟1 sin 𝜃1 = 0
𝐶
𝑟Ԧ3
𝑟Ԧ4
𝜃3
𝑌 𝐵
𝑟Ԧ2
𝜃4
𝜃2
Slaboch 2018 𝐴 𝑟Ԧ1 𝐷 15
𝑋 ////////
////////
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) Procedure
• Step 6: Identify all known values.
– These are joint variables that remain constant over time.
– Knowns: 𝑟1 , 𝑟2 , 𝑟3 , 𝑟4 , 𝜃1

𝐶
𝑟Ԧ3
𝑟Ԧ4
𝜃3
𝑌 𝐵
𝑟Ԧ2
𝜃4
𝜃2
Slaboch 2018 𝐴 𝑟Ԧ1 𝐷 16
𝑋 ////////
////////
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) Procedure
• Step 7: Identify all unknown values.
– These are joint variables that change over time
– Knowns: 𝑟1 , 𝑟2 , 𝑟3 , 𝑟4 , 𝜃1
– Unknowns: 𝜃2 , 𝜃3 , 𝜃4

𝐶
𝑟Ԧ3
𝑟Ԧ4
𝜃3
𝑌 𝐵
𝑟Ԧ2
𝜃4
𝜃2
Slaboch 2018 𝐴 𝑟Ԧ1 𝐷 17
𝑋 ////////
////////
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) Procedure
• Step 8: Identify any geometric constraint
equations.
– There are none for this mechanism
– We will come back to this for the general procedure

𝐶
𝑟Ԧ3
𝑟Ԧ4
𝜃3
𝑌 𝐵
𝑟Ԧ2
𝜃4
𝜃2
Slaboch 2018 𝐴 𝑟Ԧ1 𝐷 18
𝑋 ////////
////////
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) Procedure
• Step 9: Determine the number of inputs
– Compare the number of unknowns to the number of
constraint equations + scalar vector loop equations
– The fourbar has two scalar equations with three
unknowns. Therefore, there is one input.
– Knowns: 𝑟1 , 𝑟2 , 𝑟3 , 𝑟4 , 𝜃1
𝐶
– Unknowns: 𝜃3 , 𝜃4 𝑟Ԧ3
Note that 𝜃2 – Inputs: 𝜃2 𝜃
𝑟Ԧ4
3
changed from 𝐵
𝑌
an unknown to 𝑟Ԧ2
an input 𝜃4
𝜃2
Slaboch 2018 𝐴 𝑟Ԧ1 𝐷 19
𝑋 ////////
////////
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) Procedure
• Step 10: Solve for the unknowns
– The vector loop equations for a fourbar are nonlinear
equations.
– Can be solved algebraically or numerically
– Most mechanisms require a numerical solution

𝐶
𝑟Ԧ3
𝑟Ԧ4
𝜃3
𝑌 𝐵
𝑟Ԧ2
𝜃4
𝜃2
Slaboch 2018 𝐴 𝑟Ԧ1 𝐷 20
𝑋 ////////
////////
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– i.) Solve two equations in two unknowns
𝒓𝟐 cos 𝜽𝟐 + 𝒓𝟑 cos 𝜽𝟑 − 𝒓𝟒 cos 𝜽𝟒 − 𝒓𝟏 cos 𝜽𝟏 = 0
𝒓𝟐 sin 𝜽𝟐 + 𝒓𝟑 sin 𝜽𝟑 − 𝒓𝟒 sin 𝜽𝟒 − 𝒓𝟏 sin 𝜽𝟏 = 0

Knowns: 𝒓𝟏 , 𝒓𝟐 , 𝒓𝟑 , 𝒓𝟒 , 𝜽𝟏 (these are fixed values)

Inputs: 𝜽𝟐 (known, but changing over time)
Unknowns: 𝜽𝟑 , 𝜽𝟒 (we need to solve for these)
𝐶
𝑟Ԧ3
𝑟Ԧ4
𝜃3
𝑌 𝐵
𝑟Ԧ2
𝜃4
𝜃2
Slaboch 2018 𝐴 𝑟Ԧ1 𝐷 21
𝑋 ////////
////////
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– ii.) Algebraic Solution
• we will start with the vector loop equations
• WARNING: THIS SOLUTION IS ONLY VALID
FOR THE SETUP IN THE PREVIOUS SLIDE
𝑟2 cos 𝜃2 + 𝑟3 cos 𝜃3 − 𝑟4 cos 𝜃4 − 𝑟1 cos 𝜃1 = 0
𝑟2 sin 𝜃2 + 𝑟3 sin 𝜃3 − 𝑟4 sin 𝜃4 − 𝑟1 sin 𝜃1 = 0

• Substituting in for 𝜃1 = 0∘ , we get: (1)

𝑟2 cos 𝜃2 + 𝑟3 cos 𝜃3 − 𝑟4 cos 𝜃4 − 𝑟1 = 0 (2)

𝑟2 sin 𝜃2 + 𝑟3 sin 𝜃3 − 𝑟4 sin 𝜃4 = 0

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 IV.) Vector Loop Method
• B.) Fourbar Linkage
– ii.) Algebraic Solution
• Solving for 𝑟3 cos 𝜃3 and 𝑟3 sin 𝜃3 from (1) and (2)
gives:
𝑟3 cos 𝜃3 = −𝑟2 cos 𝜃2 + 𝑟4 cos 𝜃4 + 𝑟1 (3)
𝑟3 sin 𝜃3 = −𝑟2 sin 𝜃2 + 𝑟4 sin 𝜃4 (4)

• Squaring both sides of (3) and (4) and adding

gives:
𝑟32 = 𝑟22 + 𝑟42 + 𝑟12 − 2𝑟2 𝑟4 cos𝜃2 cos𝜃4 + 2𝑟1 𝑟4 cos𝜃4 − 2𝑟2 𝑟1 cos𝜃2 − 2𝑟2 𝑟4 sin𝜃2 sin𝜃4 (5)

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 IV.) Vector Loop Method
• B.) Fourbar Linkage
– ii.) Algebraic Solution
• Rearranging (5) into a new form given in (6)

𝑟32 = 𝑟22 + 𝑟42 + 𝑟12 − 2𝑟2 𝑟4 cos𝜃2 cos𝜃4 + 2𝑟1 𝑟4 cos𝜃4 − 2𝑟2 𝑟1 cos𝜃2 − 2𝑟2 𝑟4 sin𝜃2 sin𝜃4 (5)

𝐴 cos 𝜃4 + 𝐵 sin 𝜃4 = 𝐶 (6)

where,

𝐴 = 2𝑟4 𝑟1 − 𝑟2 cos𝜃2
𝐵 = −2𝑟2 𝑟4 sin𝜃2
𝐶 = 𝑟32 − 𝑟22 − 𝑟42 − 𝑟12 + 2𝑟2 𝑟1 cos𝜃2

Slaboch 2018 24
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– ii.) Algebraic Solution
• Using the half angle identities, we can say that:
𝑢4 = tan 𝜃24
and
1−𝑢42
cos𝜃4 = 1+𝑢2
4
2𝑢4
sin𝜃4 = 1+𝑢42
• Substituting into (6) gives:
𝐶 + 𝐴 𝑢42 − 2𝐵𝑢4 + 𝐶 − 𝐴 = 0 (7)

Slaboch 2018 25
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– ii.) Algebraic Solution
• Solving for 𝑢4 from (7) gives:
1
𝐵± 𝐴2 +𝐵2 −𝐶 2 2
𝑢4 = 𝐶+𝐴
• from our definition of 𝑢4 , we can say that 𝜃4 is:

𝜃4 = 2 tan−1 𝑢4

Slaboch 2018 26
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– ii.) Algebraic Solution
• Solving for 𝜃3 from the vector loop equations gives:

cos𝜃3 = −𝑟2cos𝜃2 +𝑟
𝑟
4 cos𝜃4 +𝑟1
3
−𝑟2 sin𝜃2 +𝑟4 sin𝜃4
sin𝜃3 = 𝑟3

𝜃3 = atan2(sin𝜃3 , cos𝜃3 )

Slaboch 2018 27
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– ii.) Algebraic Solution
• In summary
𝐴 = 2𝒓𝟒 𝒓𝟏 − 𝒓𝟐 cos𝜽𝟐
𝐵 = −2𝒓𝟐 𝒓𝟒 sin𝜽𝟐
𝐶 = 𝒓2𝟑 − 𝒓2𝟐 − 𝒓2𝟒 − 𝒓12 + 2𝒓𝟐 𝒓𝟏 cos𝜽𝟐
1
𝐵± 𝐴2 +𝐵2 −𝐶 2 2 Notice the ± in this equation. The " + " equation
𝑢4 = ⇒
𝐶+𝐴 corresponds to the open fourbar, and the “−”
𝜽𝟒 = 2 tan−1 𝑢4 corresponds to the crossed fourbar linkage
𝑐3 = −𝒓𝟐 cos𝜽𝟐+𝒓
𝒓
𝟒 cos𝜽𝟒 +𝒓𝟏
𝟑
−𝒓𝟐 sin𝜽𝟐 +𝒓𝟒 sin𝜽𝟒
𝑠3 = 𝒓𝟑
𝜽𝟑 = tan−1 (𝑠3 /𝑐3 ) In Matlab:
atan2(s3,c3)

Slaboch 2018, Ledoux 2020 28

 IV.) Vector Loop Method
• B.) Fourbar Linkage
– ii.) Algebraic Solution
• EX.
𝜋
If 𝑟1 = 10, 𝑟2 = 6, 𝑟3 = 8, 𝑟4 = 10 and 𝜃2 = ,
4
Solve for both solutions of 𝜃3 and 𝜃4 . Prove your
solution is correct using graphical techniques.

Slaboch 2018 29
 IV.) Vector Loop Method

𝐶
𝑟Ԧ3
𝑟Ԧ4
𝜃3
𝑌 𝐵
𝑟Ԧ2
𝜃4
𝜃2
𝐴 𝑟Ԧ1 𝐷
𝑋 ////////
////////

𝜋
𝑟1 = 10, 𝑟2 = 6, 𝑟3 = 8, 𝑟4 = 10 and 𝜃2 = 4

Slaboch 2018 30
 IV.) Vector Loop Method

𝜃3
𝐵
𝑌
𝑟Ԧ2 𝑟Ԧ3 𝜃4
𝜃2 𝑟Ԧ1
𝐴 𝐷
𝑋 ////////
//////// 𝑟Ԧ4
𝐶
𝜋
𝑟1 = 10, 𝑟2 = 6, 𝑟3 = 8, 𝑟4 = 10 and 𝜃2 = 4

Slaboch 2018, Ledoux 2019 31

 IV.) Vector Loop Method
• B.) Fourbar Linkage
– ii.) Solution
𝐴 = 2𝒓𝟒 𝒓𝟏 − 𝒓𝟐 cos𝜽𝟐
𝐵 = −2𝒓𝟐 𝒓𝟒 sin𝜽𝟐
𝐶 = 𝒓2𝟑 − 𝒓2𝟐 − 𝒓2𝟒 − 𝒓12 + 2𝒓𝟐 𝒓𝟏 cos𝜽𝟐
1
2 2 2
𝐵± 𝐴 +𝐵 −𝐶 2
𝑢4 = 𝐶+𝐴

𝜽𝟒 = 2 tan−1 𝑢4

𝑐3 = −𝒓𝟐cos𝜽𝟐+𝒓
𝒓
𝟒 cos𝜽𝟒 +𝒓𝟏
𝟑
−𝒓𝟐 sin𝜽𝟐 +𝒓𝟒 sin𝜽𝟒
𝑠3 = 𝒓𝟑

𝜽𝟑 = atan2(𝑠3 , 𝑐3 )

Slaboch 2018 32
 IV.) Vector Loop Method
• B.) Fourbar Linkage
– ii.) Solution
𝐴 = 2𝒓𝟒 𝒓𝟏 − 𝒓𝟐 cos𝜽𝟐 115.1472
𝐵 = −2𝒓𝟐 𝒓𝟒 sin𝜽𝟐 -84.8528
𝐶 = 𝒓2𝟑 − 𝒓2𝟐 − 𝒓2𝟒 − 𝒓12 + 2𝒓𝟐 𝒓𝟏 cos𝜽𝟐 -87.1472
1
2 2 2
𝐵± 𝐴 +𝐵 −𝐶 2
𝑢4 = 𝐶+𝐴
1.0203, -7.0812
𝜽𝟒 = 2 tan−1 𝑢4 1.5909, -2.8610
(91.1502∘ , −163.9238∘ )
𝑐3 = −𝒓𝟐cos𝜽𝟐+𝒓
𝒓
𝟒 cos𝜽𝟒 +𝒓𝟏 (open, crossed)
𝟑
𝑠3 = −𝒓𝟐 sin𝜽𝒓𝟐 +𝒓𝟒 sin𝜽𝟒
𝟑

𝜽𝟑 = atan2(𝑠3 , 𝑐3 ) 0.803, -2.0731

(46.0065∘ , −118.78∘ )
Slaboch 2018 (open, crossed) 33
 𝑟1 = 10
//////// ////////

Slaboch 2018 34
 𝑟2 = 6

𝜃2 = 45∘

𝑟1 = 10
//////// ////////

Slaboch 2018 35
 𝑟2 = 6

𝜃2 = 45∘

𝑟1 = 10 𝐷
//////// ////////

Circle of radius 10, centered at 𝐷

𝑟4 = 10

Slaboch 2018 36
 Circle of radius 8, centered at 𝐵
𝑟3 = 8

𝑟2 = 6 𝐵

𝜃2 = 45∘

𝑟4 = 10 𝐷
//////// ////////

Circle of radius 10, centered at 𝐷

𝑟4 = 10

Slaboch 2018 37
 Circle of radius 8, centered at 𝐵
𝑟3 = 8

𝑟2 = 6

𝜃2 = 45∘

𝑟4 = 10 𝐷
//////// ////////

Circle of radius 10, centered at 𝐷

𝑟4 = 10

Slaboch 2018 38
 𝜃3 = 46.0065∘

𝜃3
𝑟2 = 6
𝜃4 = 91.1502∘
𝑌 𝜃2 = 45∘

𝑟4 = 10 𝐷
//////// 𝑋 ////////

Slaboch 2018 39
 Circle of radius 8, centered at 𝐵
𝑟3 = 8

𝑟2 = 6 𝐵

𝜃2 = 45∘

𝑟4 = 10 𝐷
//////// ////////

Circle of radius 10, centered at 𝐷

𝑟4 = 10

Slaboch 2018 40
 Circle of radius 8, centered at 𝐵
𝑟3 = 8

𝑟2 = 6

𝜃2 = 45∘

𝑟4 = 10 𝐷
//////// ////////

Circle of radius 10, centered at 𝐷

𝑟4 = 10

Slaboch 2018 41
 𝜃3 = 241.22∘ or −118.78∘
𝜃3
𝑟2 = 6
𝑌 𝜃2 = 45∘ 𝜃4 = 196.0762∘ or −163.9238∘

𝑋 𝑟4 = 10 𝐷
//////// ////////

Slaboch 2018 42
 IV.) Vector Loop Method
1. Assign vectors to links
2. Choose fixed XY coordinate system
3. Write vector loop equations (VLEs)
4. Assign link angle to each vector
5. Decompose each VLE into scalar
components

…continue…
Ledoux 2019 43
 IV.) Vector Loop Method
6. Identify knowns
7. Identify unknowns
8. Identify constraints
9. Identify number of inputs
10.Solve for unknowns

Ledoux 2019 44
 IV.) Vector Loop Method
• Example: Dump Truck

Ledoux 2020 45
 IV.) Vector Loop Method
• Example: Dump Truck

Ledoux 2020 46
 IV.) Vector Loop Method
• Example: Dump Truck

𝑙 = 4, 𝑗 = 4

𝐿 =𝑗−𝑙+1
=4−4+1=1
𝑀 = 3 𝑙 − 1 − 2𝑗
=3 3 −2 4 =1

Ledoux 2020 47
 IV.) Vector Loop Method
• Example: Dump Truck

𝑌
𝒓𝟐
𝒓𝟑

𝜽𝟐 𝜽𝟑 𝑋
𝒓𝟏

Ledoux 2020 48
 IV.) Vector Loop Method
• Example: Dump Truck

𝑟1 − 𝑟2 + 𝑟3 = 0
𝑌
𝒓𝟐
𝒓𝟑
X: 𝑟1 − 𝑟2 𝑐2 + 𝑟3 𝑐3 = 0
Y: −𝑟2 𝑠2 + 𝑟3 𝑠3 = 0 𝜽𝟐 𝜽𝟑 𝑋
𝒓𝟏

Ledoux 2020 49
 IV.) Vector Loop Method
• Example: Dump Truck
𝑌
𝒓𝟐
𝒓𝟑

𝜽𝟐 𝜽𝟑 𝑋
𝑟1 − 𝑟2 + 𝑟3 = 0
𝒓𝟏

Known: 𝑟1 , 𝑟3 , 𝜃1
X: 𝑟1 − 𝑟2 𝑐2 + 𝑟3 𝑐3 = 0 Unknown: 𝜃2 , 𝜃3
Y: −𝑟2 𝑠2 + 𝑟3 𝑠3 = 0
Input: 𝑟2

Ledoux 2020 50
 IV.) Vector Loop Method
• C.) Multiple Loops
– i.) Multiple Loops
• The vector loop method can be easily extended to
multiple loop parallel mechanisms.
• The number of independent loops can be
calculated by:
𝐿 =𝑗−𝑙+1
𝑗 is the total joint order
𝑙 is the total number of links
– Note: This equation has the same limitations as
Gruebeler’s equation

Slaboch 2018 51
 IV.) Vector Loop Method
• C.) Multiple Loops
– ii.) Key Rules
• All vectors in the vector loop should correspond to
a joint variable in the mechanisms or a fixed
dimension (angle or length) of the linkage
• Vectors that do not provide any useful information
should be avoided
• All loops should be independent from one another

Slaboch 2018 52
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Constraints
• The most common constraints are angle
constraints.
• General form for most angle constraints:
𝜃𝑖 = 𝜃𝑗 + 𝛼

changing changing fixed

• Angles that are fixed for all time do not need a

constraint equation

Slaboch 2018 53
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Constraints
• There are also position constraints
• General form for most position constraints:
𝑟𝑖 = 𝑟𝑗 + 𝑙

changing changing fixed

• Lengths that are fixed for all time do not need a

constraint equation
• There are other possible constraints, but they are
less common
Slaboch 2018 54
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– Garbage Truck

////////////
Slaboch 2018, //////////// 55
Ledoux 2020
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– Garbage Truck

////////////
Slaboch 2018, //////////// 56
Ledoux 2019
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– Garbage Truck

𝐿 =𝑗−𝑙+1
𝐿 =8−7+1
𝐿=2

////////////
Slaboch 2018, //////////// 57
Ledoux 2019
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples 𝒓𝟒
– Garbage Truck 𝒓𝟔

𝒓𝟓

𝒓𝟐 𝒓𝟑

𝒓𝟏
////////////
Slaboch 2018, //////////// 58
Ledoux 2019
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– Garbage Truck 𝒓𝟒 VLE
𝑟Ԧ1 + 𝑟Ԧ3 − 𝑟Ԧ2 = 0
𝛾 𝒓𝟔 𝑟Ԧ4 + 𝑟Ԧ5 + 𝑟Ԧ6 = 0
𝒓𝟓
Scalar Components
X: 𝑟1 cos 𝜃1 + 𝑟3 cos 𝜃3 − 𝑟2 cos 𝜃2 = 0
Y: 𝑟1 sin 𝜃1 + 𝑟3 sin 𝜃3 − 𝑟2 sin 𝜃2 = 0
𝑟Ԧ3 X: 𝑟4 cos 𝜃4 + 𝑟5 cos 𝜃5 + 𝑟6 cos 𝜃6 = 0
𝒓𝟐 𝜃3 Y: 𝑟4 sin 𝜃4 + 𝑟5 sin 𝜃5 + 𝑟6 sin 𝜃6 = 0
Constraints
𝒓𝟏 ///////// 𝜃6 = 𝜃3 + 𝛾
/////////
Slaboch 2018, 59
Ledoux 2019
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– Garbage Truck 𝒓𝟒 Scalar Knowns:
𝑟1 , 𝑟3 , 𝑟5 , 𝑟6 , 𝜃1
𝛾 𝒓𝟔
𝒓𝟓 Scalar Unknowns:
𝜃2 , 𝜃3 , 𝜃4 , 𝜃5 , 𝜃6

Inputs:
𝑟2 , 𝑟4
𝑟Ԧ3
𝒓𝟐 𝜃3 There are five unknowns
and five equations which
we can solve given the
𝒓𝟏 ///////// inputs.
/////////
Slaboch 2018, 60
Ledoux 2019
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– Garbage Truck 𝒓𝟒 𝑟Ԧ2 + 𝑟Ԧ7 + 𝑟Ԧ4 + 𝑟Ԧ5 − 𝑟Ԧ8 − 𝑟Ԧ1 = 0

𝛾 𝒓𝟔
Note: The vector loop shown
𝒓𝟕 𝒓𝟓
above is a valid vector loop,
but it is not independent of the
other two loops in the
𝒓𝟖 mechanism.
𝑟Ԧ3
𝒓𝟐 𝜃3

𝒓𝟏 /////////
/////////
Slaboch 2018, 61
Ledoux 2019
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) EX: Prosthetic Knee

Ledoux 2020 62
https://slideplayer.com/slide/7652102/ https://www.cascade-usa.com/nabtesco-symphony-knee-8186.html
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) EX: Prosthetic Knee

Ledoux 2020 63
https://slideplayer.com/slide/7652102/ https://www.cascade-usa.com/nabtesco-symphony-knee-8186.html
 IV.) Vector Loop Method
• C.) Multiple Loops
𝜽𝟒
– iii.) EX: Prosthetic Knee 𝒓𝟒

𝒓𝟓 𝒓𝟑
𝑙 = 6, 𝑗 = 7 𝒓𝟔
𝒓𝟕
𝑀 = 3 𝑙 − 1 − 2𝑗 = 1 𝒓𝟐

𝐿 =𝑗−𝑙+1=2
𝜽𝟕

𝒓𝟏

Ledoux 2020 64
 IV.) Vector Loop Method
• C.) Multiple Loops
𝜽𝟒
– iii.) EX: Prosthetic Knee 𝒓𝟒

𝒓𝟓 𝒓𝟑
VLE:
𝒓𝟔
𝑟1 + 𝑟2 + 𝑟3 + 𝑟4 − 𝑟7 = 0
𝒓𝟕
𝑟1 + 𝑟2 + 𝑟6 + 𝑟5 − 𝑟7 = 0 𝒓𝟐

Position Scalars:
𝜽𝟕
𝑖1Ƹ : 𝑟1 + 𝑟2 𝑐2 + 𝑟3 𝑐3 + 𝑟4 𝑐4 − 𝑟7 𝑐7 = 0
𝑗1Ƹ : 𝑟2 𝑠2 + 𝑟3 𝑠3 + 𝑟4 𝑠4 − 𝑟7 𝑠7 = 0 𝒓𝟏
𝑖2Ƹ : 𝑟1 + 𝑟2 𝑐2 + 𝑟6 𝑐6 + 𝑟5 𝑐5 − 𝑟7 𝑐7 = 0
𝑗2Ƹ : 𝑟2 𝑠2 + 𝑟6 𝑠6 + 𝑟5 𝑠5 − 𝑟7 𝑠7 = 0

Ledoux 2020 65
 IV.) Vector Loop Method
• C.) Multiple Loops
𝜽𝟒
– iii.) EX: Prosthetic Knee 𝒓𝟒

Known: 𝒓𝟓 𝒓𝟑
𝑟1 , 𝑟2 , 𝑟3 , 𝑟4 , 𝑟5 , 𝑟6 , 𝑟7 , 𝜃1 𝒓𝟔
𝒓𝟕
𝒓𝟐
Unknown:
𝜃2 , 𝜃3 , 𝜃4 , 𝜃5 , 𝜃6 ,
𝜽𝟕
Input: Constraint:
𝒓𝟏
𝜃7 𝜃2 = 𝜃3

Ledoux 2020 66
 IV.) Vector Loop Method
• C.) Multiple Loops
𝜽𝟒
– iii.) EX: Prosthetic Knee 𝒓𝟒
Constraint:
𝒓𝟓 𝒓𝟑
𝜃2 = 𝜃3
𝒓𝟔
Position Scalars: 𝒓𝟕
𝒓𝟐
𝑖1Ƹ : 𝑟1 + 𝑟2 𝑐2 + 𝑟3 𝑐2 + 𝑟4 𝑐4 − 𝑟7 𝑐7 = 0
𝑗1Ƹ : 𝑟2 𝑠2 + 𝑟3 𝑠2 + 𝑟4 𝑠4 − 𝑟7 𝑠7 = 0
𝑖Ƹ2 : 𝑟1 + 𝑟2 𝑐2 + 𝑟6 𝑐6 + 𝑟5 𝑐5 − 𝑟7 𝑐7 = 0 𝜽𝟕
𝑗2Ƹ : 𝑟2 𝑠2 + 𝑟6 𝑠6 + 𝑟5 𝑠5 − 𝑟7 𝑠7 = 0
𝒓𝟏
You can substitute the constraint
back into the position equations to
make solving for unknowns easier.
Ledoux 2020 67
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

////////

///////////////////////////////

Slaboch 2018 68
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

𝐿 =𝑗−𝑙+1 ////////

///////////////////////////////
𝐿 =7−6+1
𝐿=2

Slaboch 2018 69
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.
𝑌
𝑟Ԧ3
𝑟Ԧ2 𝑟Ԧ6
𝑋
𝑟Ԧ4 ////////
𝑟Ԧ1

///////////////////////////////
𝑟Ԧ7
𝑟Ԧ5

𝑟Ԧ8

Slaboch 2018 70
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX. VLE
𝑌 𝑟Ԧ1 − 𝑟Ԧ2 − 𝑟Ԧ3 − 𝑟Ԧ4 = 0
𝑟Ԧ3
𝑟Ԧ5 − 𝑟Ԧ6 − 𝑟Ԧ7 − 𝑟Ԧ8 = 0
𝑟Ԧ2 𝑟Ԧ6 Scalar Components
𝑋 X: 𝑟1 cos 𝜃1 − 𝑟2 cos 𝜃2 − 𝑟3 cos 𝜃3 − 𝑟4 cos 𝜃4 = 0
𝑟Ԧ4 ////////
Y: 𝑟5 sin 𝜃1 − 𝑟2 sin 𝜃4 − 𝑟3 sin 𝜃3 − 𝑟4 sin 𝜃4 = 0
𝑟Ԧ1
///////////////////////////////

𝑟Ԧ7 X: 𝑟5 cos 𝜃5 − 𝑟6 cos 𝜃6 − 𝑟7 cos 𝜃7 − 𝑟8 cos 𝜃8 = 0

𝑟Ԧ5 Y: 𝑟5 sin 𝜃5 − 𝑟6 sin 𝜃6 − 𝑟7 sin 𝜃7 − 𝑟8 sin 𝜃8 = 0

Constraints
𝜃6 = 𝜃3
𝑟Ԧ8

Slaboch 2018 71
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
Scalar Knowns:
– EX. 𝑟2 , 𝑟3 , 𝑟4 , 𝑟6 , 𝑟7 , 𝑟8 , 𝜃1 , 𝜃4 , 𝜃5 , 𝜃8
𝑌
𝑟Ԧ3 Scalar Unknowns:
𝜃2 , 𝜃6 , 𝜃7 , 𝑟1 , 𝑟5
𝑟Ԧ2 𝑟Ԧ6
Inputs:
𝑋 𝜃3
𝑟Ԧ4 ////////
𝑟Ԧ1 There are five unknowns and
///////////////////////////////

𝑟Ԧ7
five equations which we can
𝑟Ԧ5 solve given the input angle.

𝑟Ԧ8

Slaboch 2018 72
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) EX: Digger

////////
////////
Slaboch 2018 73
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) EX: Digger

𝐿 =𝑗−𝑙+1
7
𝐿 = 15 − 12 + 1
𝐿=4

////////
////////
Slaboch 2018 74
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) EX: Digger
𝑟Ԧ4
𝑟Ԧ5

𝑟Ԧ6

𝑟Ԧ3
7𝑟Ԧ8
𝑟Ԧ2 𝑟Ԧ7

𝑟Ԧ1 𝑟Ԧ9
𝑟Ԧ10
////////
𝑟Ԧ12
//////// 𝑟Ԧ11
Slaboch 2018 75
 IV.) Vector Loop Method
VLE
• C.) Multiple Loops 𝑟Ԧ2 − 𝑟Ԧ3 − 𝑟Ԧ1 = 0
– iii.) EX: Digger 𝑟Ԧ4 − 𝑟Ԧ5 − 𝑟Ԧ6 = 0
𝑟Ԧ7 + 𝑟Ԧ9 − 𝑟Ԧ8 = 0
𝑟Ԧ4 𝑟Ԧ9 − 𝑟Ԧ10 − 𝑟Ԧ11 − 𝑟Ԧ12 = 0
𝛾 𝑟Ԧ5
𝛽 Scalar Components
𝑟Ԧ6
𝛼 X: 𝑟2 cos 𝜃2 − 𝑟3 cos 𝜃3 − 𝑟1 cos 𝜃1 = 0
Y: 𝑟2 sin 𝜃2 − 𝑟3 sin 𝜃3 − 𝑟1 sin 𝜃1 = 0
𝑟Ԧ3
7
𝑟Ԧ2 𝑟Ԧ8 𝑟Ԧ7 X: 𝑟4 cos 𝜃4 − 𝑟5 cos 𝜃5 − 𝑟6 cos 𝜃6 = 0
Y: 𝑟4 sin 𝜃4 − 𝑟5 sin 𝜃5 − 𝑟6 sin 𝜃6 = 0
𝑟Ԧ1 𝑟Ԧ9
𝑟Ԧ10 X: 𝑟7 cos 𝜃7 + 𝑟9 cos 𝜃9 − 𝑟8 cos 𝜃8 = 0
////////
𝑟Ԧ12 Y: 𝑟7 sin 𝜃7 + 𝑟9 sin 𝜃9 − 𝑟8 sin 𝜃8 = 0
//////// 𝑟Ԧ11
X: 𝑟9 cos 𝜃9 − 𝑟10 cos 𝜃10 − 𝑟11 cos 𝜃11 − 𝑟 cos 𝜃12 = 0
Slaboch 2018, Y: 𝑟9 sin 𝜃9 − 𝑟10 sin 𝜃10 − 𝑟11 sin 𝜃11 − 𝑟 sin 𝜃12 = 0 76
Ledoux 2020
 IV.) Vector Loop Method
VLE
• C.) Multiple Loops 𝑟Ԧ2 − 𝑟Ԧ3 − 𝑟Ԧ1 = 0
– iii.) EX: Digger 𝑟Ԧ4 − 𝑟Ԧ5 − 𝑟Ԧ6 = 0
𝑟Ԧ7 + 𝑟Ԧ9 − 𝑟Ԧ8 = 0
𝑟Ԧ4 𝑟Ԧ9 − 𝑟Ԧ10 − 𝑟Ԧ11 − 𝑟Ԧ12 = 0
𝛾 𝑟Ԧ5
𝛽 Scalar Components
𝑟Ԧ6
𝛼 X: 𝑟2 cos 𝜃2 − 𝑟3 cos 𝜃3 − 𝑟1 cos 𝜃1 = 0
Y: 𝑟2 sin 𝜃2 − 𝑟3 sin 𝜃3 − 𝑟1 sin 𝜃1 = 0
𝑟Ԧ3
7
𝑟Ԧ2 𝑟Ԧ8 𝑟Ԧ7 X: 𝑟4 cos 𝜃4 − 𝑟5 cos 𝜃5 − 𝑟6 cos 𝜃6 = 0
Constraints Y: 𝑟4 sin 𝜃4 − 𝑟5 sin 𝜃5 − 𝑟6 sin 𝜃6 = 0
𝑟Ԧ1 𝜃2 = 𝜃6 + 𝛾 𝑟Ԧ9
𝜃8 = 𝜃5 + 𝛼 𝑟Ԧ10 X: 𝑟7 cos 𝜃7 + 𝑟9 cos 𝜃9 − 𝑟8 cos 𝜃8 = 0
////////
𝑟Ԧ12 Y: 𝑟7 sin 𝜃7 + 𝑟9 sin 𝜃9 − 𝑟8 sin 𝜃8 = 0
//////// 𝜃8 = 𝜃10 + 𝛽 𝑟Ԧ11
X: 𝑟9 cos 𝜃9 − 𝑟10 cos 𝜃10 − 𝑟11 cos 𝜃11 − 𝑟 cos 𝜃12 = 0
Slaboch 2018 Y: 𝑟9 sin 𝜃9 − 𝑟10 sin 𝜃10 − 𝑟11 sin 𝜃11 − 𝑟 sin 𝜃12 = 0 77
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) EX: Digger
Scalar Knowns:
𝑟Ԧ4 𝑟1 , 𝑟2 , 𝑟5 , 𝑟6 , 𝑟8 , 𝑟9 , 𝑟10 , 𝑟11 , 𝑟12 , 𝜃1
𝛾 𝑟Ԧ5
𝛽
𝑟Ԧ6 Scalar Unknowns:
𝛼 𝜃2 , 𝜃3 , 𝜃4 , 𝜃5 , 𝜃6 , 𝜃7 , 𝜃8 , 𝜃9 , 𝜃10 , 𝜃11 , 𝜃12

𝑟Ԧ3
7 Inputs:
𝑟Ԧ2 𝑟Ԧ8 𝑟Ԧ7 𝑟3 , 𝑟4 , 𝑟7

There are eleven unknowns

𝑟Ԧ1 𝑟Ԧ9 and eleven equations which
//////// 𝑟Ԧ10
𝑟Ԧ12 we can solve given the inputs.
//////// 𝑟Ԧ11

Slaboch 2018 78
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

Slaboch 2018 79
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

𝐿 =𝑗−𝑙+1
𝐿 =9−8+1
𝐿=2

Slaboch 2018 80
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.
𝑟Ԧ4

𝑟Ԧ1 𝑟Ԧ3 𝑟Ԧ7 𝑟Ԧ5

𝑌

𝑟Ԧ2 𝑟Ԧ6

𝑋
Slaboch 2018 81
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX. VLE
𝑟Ԧ1 + 𝑟Ԧ4 − 𝑟Ԧ3 − 𝑟Ԧ2 = 0
𝑟Ԧ4 − 𝑟Ԧ5 + 𝑟Ԧ6 + 𝑟Ԧ7 = 0

𝑟Ԧ4 Scalar Components

X: 𝑟1 cos 𝜃1 + 𝑟4 cos 𝜃4 − 𝑟3 cos 𝜃3 − 𝑟2 cos 𝜃2 = 0
𝑟Ԧ1 Y: 𝑟1 sin 𝜃1 + 𝑟4 sin 𝜃4 − 𝑟3 sin 𝜃3 − 𝑟2 sin 𝜃2 = 0
𝑟Ԧ3 𝛼 𝑟Ԧ7
𝑌 X: 𝑟1 cos 𝜃1 − 𝑟5 cos 𝜃5 + 𝑟6 cos 𝜃6 + 𝑟7 cos 𝜃7 = 0
𝑟Ԧ5
Y: 𝑟1 sin 𝜃1 − 𝑟5 sin 𝜃5 + 𝑟6 sin 𝜃6 + 𝑟7 sin 𝜃7 = 0

𝑟Ԧ2 Constraints
𝑟Ԧ6
𝜃3 + 𝛼 = 𝜃7
𝑋
Slaboch 2018 82
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
Scalar Knowns
– EX. 𝑟1 , 𝑟3 , 𝑟7 , 𝜃1 , 𝜃5

Scalar Unknowns
𝜃2 , 𝜃3 𝜃4 , 𝜃6 , 𝜃7
𝑟Ԧ4
Inputs
𝑟Ԧ1 𝑟2 , 𝑟4 , 𝑟6
𝑟Ԧ3 𝛼 𝑟Ԧ7
𝑌 𝑟Ԧ5 There are five unknowns and
five equations, which we can
solve given the inputs.
𝑟Ԧ2
𝑟Ԧ6
𝑋
Slaboch 2018 83
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

Slaboch 2018 84
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

𝐿 =𝑗−𝑙+1
𝐿 =7−6+1
𝐿=2

Slaboch 2018 85
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

Slaboch 2018 86
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX. VLE
𝑟Ԧ2 + 𝑟Ԧ3 − 𝑟Ԧ4 − 𝑟Ԧ1 = 0
𝑟Ԧ5 + 𝑟Ԧ6 − 𝑟Ԧ7 − 𝑟Ԧ8 = 0
Scalar Components
X: 𝑟2 cos 𝜃2 + 𝑟3 cos 𝜃3 − 𝑟4 cos 𝜃4 − 𝑟1 cos 𝜃1 = 0
𝛾 Y: 𝑟2 sin 𝜃2 + 𝑟3 sin 𝜃3 − 𝑟4 sin 𝜃4 − 𝑟1 sin 𝜃1 = 0
𝜃5 X: 𝑟5 cos 𝜃5 + 𝑟6 cos 𝜃6 − 𝑟7 cos 𝜃7 − 𝑟8 cos 𝜃8 = 0
Y: 𝑟5 sin 𝜃5 + 𝑟6 sin 𝜃6 − 𝑟7 sin 𝜃7 − 𝑟8 sin 𝜃8 = 0

Constraints
𝜃4 = 𝜃5 + 𝛾

Slaboch 2018 87
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX. Scalar Knowns:
𝑟1 , 𝑟2 , 𝑟3 , 𝑟4 , 𝑟5 , 𝑟6 , 𝑟7 , 𝑟8 , 𝜃1 , 𝜃8 , 𝛾

Scalar Unknowns:
𝜃3 , 𝜃4 , 𝜃5 , 𝜃6 , 𝜃7

Inputs:
𝛾
𝜃5 𝜃2

There are five unknowns

and five equations which
we can solve given the
input angle.
Slaboch 2018 88
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

Slaboch 2018 89
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

𝐿 =𝑗−𝑙+1
𝐿 =7−6+1
𝐿=2

Slaboch 2018 90
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.
𝑟Ԧ3

𝑟Ԧ4 𝑟Ԧ5
𝑟Ԧ7
𝑌
𝑟Ԧ6

𝑋
𝑟Ԧ2
𝑟Ԧ1

Slaboch 2018, 91
Ledoux 2019
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX. VLE
𝑟Ԧ1 + 𝑟Ԧ4 − 𝑟Ԧ3 − 𝑟Ԧ2 = 0
𝑟Ԧ3 𝑟Ԧ6 + 𝑟Ԧ5 − 𝑟Ԧ7 = 0
𝑟Ԧ4
Scalar Components
𝑌
𝑟Ԧ5 X: 𝑟1 cos 𝜃1 + 𝑟4 cos 𝜃4 − 𝑟3 cos 𝜃3 − 𝑟2 cos 𝜃2 = 0
𝑟Ԧ7 Y: 𝑟1 sin 𝜃1 + 𝑟4 sin 𝜃4 − 𝑟3 sin 𝜃3 − 𝑟2 sin 𝜃2 = 0
X: 𝑟6 cos 𝜃6 + 𝑟5 cos 𝜃5 − 𝑟7 cos 𝜃7 = 0
𝑟Ԧ2 𝑟Ԧ6 𝑋 Y: 𝑟6 sin 𝜃6 + 𝑟5 sin 𝜃5 − 𝑟7 sin 𝜃7 = 0
𝑟Ԧ1
Constraints
𝜃5 = 𝜃4

Slaboch 2018 92
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
Scalar Knowns
– EX. 𝑟1 , 𝑟2 , 𝑟3 , 𝑟4 , 𝑟6 , 𝑟7 , 𝜃1 , 𝜃7

𝑟Ԧ3 Scalar Unknowns

𝑟Ԧ4 𝑟5 , 𝜃3 , 𝜃4 , 𝜃5 , 𝜃6
𝑌 Inputs
𝑟Ԧ5
𝑟Ԧ7
There are five unknowns and
𝑟Ԧ2 five equations which we can
𝑟Ԧ1 𝑟Ԧ6 𝑋
solve given the input angle.

Slaboch 2018, Ledoux 93

2019
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

Slaboch 2018 94
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

𝐿 = 10 − 8 + 1
𝐿=3

Slaboch 2018 95
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

𝐿 = 10 − 8 + 1
𝐿=3

Slaboch 2018 96
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples
– EX.

𝑟Ԧ6
𝑟Ԧ9 𝑟Ԧ10
𝐿 = 10 − 8 + 1
𝑟Ԧ11
𝐿=3 𝑟Ԧ8
𝑟Ԧ5
𝑟Ԧ7
𝑟Ԧ3 𝑟Ԧ4
𝑟Ԧ2
𝑟Ԧ1
Slaboch 2018 97
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples VLE
– EX. 𝑟Ԧ2 + 𝑟Ԧ3 − 𝑟Ԧ4 − 𝑟Ԧ1 = 0
𝑟Ԧ2 + 𝑟Ԧ3 + 𝑟Ԧ11 − 𝑟Ԧ10 + 𝑟Ԧ9 − 𝑟Ԧ8 = 0
𝑟Ԧ4 + 𝑟Ԧ5 + 𝑟Ԧ6 − 𝑟Ԧ7 = 0
Scalar Components
𝑟Ԧ6 X: 𝑟2 cos 𝜃2 + 𝑟3 cos 𝜃3 − 𝑟4 cos 𝜃4 − 𝑟1 cos 𝜃1 = 0
𝑟Ԧ9 𝑟Ԧ10 Y: 𝑟2 sin 𝜃2 + 𝑟3 sin 𝜃3 − 𝑟4 sin 𝜃4 − 𝑟1 sin 𝜃1 = 0
𝑟Ԧ11
𝑟Ԧ8 X: 𝑟2 cos 𝜃2 + 𝑟3 cos 𝜃3 + 𝑟11 cos 𝜃11 −
𝑟Ԧ5
𝑟Ԧ7 𝑟10 cos 𝜃10 + 𝑟9 cos 𝜃9 − 𝑟8 cos 𝜃8 = 0
Y:𝑟2 sin 𝜃2 + 𝑟3 sin 𝜃3 + 𝑟11 sin 𝜃11 − 𝑟10 sin 𝜃10 +
𝑟Ԧ3 𝑟Ԧ4
𝑟9 sin 𝜃9 − 𝑟8 sin 𝜃8 = 0
𝑟Ԧ2
X: 𝑟4 cos 𝜃4 + 𝑟5 cos 𝜃5 + 𝑟6 cos 𝜃6 − 𝑟7 cos 𝜃7 = 0
Slaboch 2018
𝑟Ԧ1 Y:𝑟4 sin 𝜃4 + 𝑟5 sin 𝜃5 + 𝑟6 sin 𝜃6 − 𝑟7 sin 𝜃7 = 0 98
 IV.) Vector Loop Method
• C.) Multiple Loops
– iii.) Examples VLE
𝑟Ԧ2 + 𝑟Ԧ3 − 𝑟Ԧ4 − 𝑟Ԧ1 = 0
– EX. 𝑟Ԧ2 + 𝑟Ԧ3 + 𝑟Ԧ11 − 𝑟Ԧ10 + 𝑟Ԧ9 − 𝑟Ԧ8 = 0
𝑟Ԧ4 + 𝑟Ԧ5 + 𝑟Ԧ6 − 𝑟Ԧ7 = 0

Scalar Components
𝑟Ԧ6 Scalar Knowns:
𝑟Ԧ9 𝑟Ԧ10 𝑟1 , 𝑟2 , 𝑟3 , 𝑟4 , 𝑟5 , 𝑟6 , 𝑟7 , 𝑟8 , 𝑟10 , 𝑟11 , 𝜃1 , 𝜃7 , 𝜃8 , 𝜃9
𝑟Ԧ11 𝛼
𝑟Ԧ8 Scalar Unknowns:
𝑟Ԧ5 𝑟9 , 𝜃3 , 𝜃4 , 𝜃5 , 𝜃6 , 𝜃10 , 𝜃11
𝑟Ԧ7
𝑟Ԧ3 𝑟Ԧ4 Constraints
𝜃5 + 𝛼 = 𝜃11
𝑟Ԧ2
Inputs:
𝑟Ԧ1
Slaboch 2018 𝜃2 99
 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– i.) Matrix: A matrix is a 2-dimensional array of
numbers
• Elements are given by row and then column
• The (i,j) element is row i, column j
• The (2,1) element of 𝐴 is 3

1 −2
𝐴=
3 4

Slaboch 2018, Ledoux 2019 100

 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– ii.) Special Matrices
• a.) Square Matrix: matrix with the same number of
rows and columns
• b.) Diagonal: All elements EXCEPT those on the
main diagonal are zero
1 0 0 0
0 2 0 0
0 0 3 0
0 0 0 4

Slaboch 2018 101

 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
• c.) Identity Matrix: A type of diagonal matrix, it has
all 1’s on the main diagonal.
– EX.,
1 0 0
0 1 0
0 0 1

Question: Must an identity matrix always be a square

matrix?

Slaboch 2018 102

 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– iii.) Matrix Operations
• b.) Multiplication
– 1.) Scalar
EX.,
1 −2 2 −4
2 =
3 4 6 8

– 2.) Matrix-Matrix Multiplication: A matrix can be multiplied

by another matrix if the inner dimensions agree (i.e., the
number of columns of the prematrix must match the rows
of the post matrix)

Slaboch 2018 103

 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– EX.,
1 −2 2 4 2 + 14 4 − 10 16 −6
= =
3 4 −7 5 6 − 28 12 + 20 −22 32

In class example:

1 −2 5 1 0
3 4 2 −1 3

Slaboch 2018, Ledoux 2019 104

 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
In class example:
1 −2 5 1 0
3 4 2 −1 3
5−4 1+2 0−6
=
15 + 8 3 − 4 12
1 3 −6
=
23 −1 12

Slaboch 2018, Ledoux 2019 105

 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– iv.) Determinant: A value that can be
computed for a square matrix
• EX., for a 2x2 matrix, we have:
𝑎 𝑏
If 𝐴 = then det 𝐴 = 𝑎𝑑 − 𝑏𝑐
𝑐 𝑑

In-class example:
1 3
If 𝐴 = find det 𝐴
2 4

Slaboch 2018, Ledoux 2019 106

 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– iv.) Determinant: A value that can be
computed for a square matrix

In-class example:
1 3
If 𝐴 = then
2 4
det 𝐴 = 1 ∗ 4 − 3 ∗ 2 = −2

Slaboch 2018, Ledoux 2020 107

 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– iii.) Matrix Operations
• c.) Inverse
– A matrix, 𝐴, such that: 𝐴𝐴−1 = 𝐼
𝐴−1 𝐴 = 𝐼
– For a 2x2 matrix ,
−1 1
𝑎 𝑏 𝑑 −𝑏
=
𝑐 𝑑 𝑎𝑑 − 𝑏𝑐 −𝑐 𝑎
−1
– In class example, 2 3
Slaboch 2018, Ledoux 2019 4 5 108
 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– iii.) Matrix Operations
• c.) Inverse
– In class example,
−1
2 3
4 5
1 5 −3
=
2(5) − 3(4) −4 2
5 3
= −2 2
Slaboch 2018, Ledoux 2019
2 −1 109
 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– v.) Jacobian: A multidimensional form of the
derivative
For an equation of the form:
𝑓𝑖 (𝑥1 , 𝑥2 , 𝑥3 , … , 𝑥𝑗 )
The Jacobian can be calculated as:
𝜕𝑓1 𝜕𝑓1
⋯
𝜕𝑥1 𝜕𝑥𝑛
𝐽= ⋮ ⋱ ⋮
𝜕𝑓𝑚 𝜕𝑓𝑚
⋯
𝜕𝑥1 𝜕𝑥𝑛
Slaboch 2018 110
 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
Relating Jacobian to vector loops:
– Rows represent position scalars (x, y …)
– Columns represent position variables (𝜃, 𝑟)
(not constants, so only the unknowns)
– Example: 𝑟Ԧ
𝐶
3
𝑟Ԧ4
𝜃3
𝜕𝑥 𝜕𝑥 𝑌 𝐵
𝑟Ԧ2
𝜕𝜃3 𝜕𝜃4 𝜃4
𝐽= 𝜃2
𝜕𝑦 𝜕𝑦 𝐷
𝐴 𝑋 𝑟Ԧ1
𝜕𝜃3 𝜕𝜃4 //////// ////////
Ledoux 2020 111
 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– EX.
• Determine the position of point 𝑃 in terms of the
system geometry.
𝑷
𝑃𝑥 =?
𝑙2
𝑃𝑦 =?

𝑙1

Slaboch 2018, Ledoux 2020 112

////////
 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– EX.
• Determine the position of point 𝑃 in terms of the
system geometry.
𝑷

𝑃𝑥 = 𝑙1 cos 𝜃1 + 𝑙2 cos(𝜃1 + 𝜃2 ) 𝑙2
𝑃𝑦 = 𝑙1 sin 𝜃1 + 𝑙2 sin(𝜃1 + 𝜃2 )

𝑙1

Slaboch 2018, Ledoux 2020 113

////////
 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– EX.
• Determine the velocity of point 𝑃 in terms of the
system geometry.
𝑷

𝑃𝑥ሶ =?
𝑙2
𝑃𝑦ሶ =?

𝑃ሶ = 𝐽𝜃ሶ 𝑙1

Slaboch 2018, Ledoux 2020 114

////////
 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– EX.
• Determine the velocity of point 𝑃 in terms of the
system geometry.
𝑷
𝑃𝑥ሶ = −𝑙1 sin 𝜃1 𝜃ሶ1 − 𝑙2 sin(𝜃1 + 𝜃2 )(𝜃ሶ1 + 𝜃ሶ2 )
𝑃𝑦ሶ = 𝑙1 cos 𝜃1 𝜃ሶ1 + 𝑙2 cos(𝜃1 + 𝜃2 )(𝜃ሶ1 + 𝜃ሶ2 )
𝑙2
• Put in matrix form

𝑋ሶ = 𝐽 ∗ 𝜃ሶ 𝑙1

Slaboch 2018, Ledoux 2019 115

////////
 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– EX.
• Determine the velocity of point 𝑃 in terms of the
system geometry.
𝑷
𝑃𝑥ሶ = −𝑙1 sin 𝜃1 𝜃ሶ1 − 𝑙2 sin(𝜃1 + 𝜃2 )(𝜃ሶ1 + 𝜃ሶ2 )
𝑃𝑦ሶ = 𝑙1 cos 𝜃1 𝜃ሶ1 + 𝑙2 cos(𝜃1 + 𝜃2 )(𝜃ሶ1 + 𝜃ሶ2 )
𝑙2
𝑃𝑥ሶ −𝑙1 sin 𝜃1 −𝑙2 sin 𝜃1 + 𝜃2 −𝑙2 sin 𝜃1 + 𝜃2 𝜃ሶ1
=
𝑃𝑦ሶ 𝑙1 cos 𝜃1 + 𝑙2 cos 𝜃1 + 𝜃2 𝑙2 cos 𝜃1 + 𝜃2 𝜃ሶ2
𝑙1
𝑋ሶ 𝐽 𝜃ሶ
Slaboch 2018, Ledoux 2020 116
////////
 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– EX.

𝑓1 : 𝑙1 cos 𝜃1 + 𝑙2 cos(𝜃1 + 𝜃2 ) − 𝑃𝑥 = 0
𝑓2 : 𝑙1 sin 𝜃1 + 𝑙2 sin(𝜃1 + 𝜃2 ) − 𝑃𝑦 = 0

The Jacobian can be calculated as:

𝜕𝑓1 𝜕𝑓1
𝜕𝜃1 𝜕𝜃2 −𝑙1 sin 𝜃1 − 𝑙2 sin 𝜃1 + 𝜃2 −𝑙2 sin 𝜃1 + 𝜃2
𝐽= =
𝜕𝑓2 𝜕𝑓2 𝑙1 cos 𝜃1 + 𝑙2 cos 𝜃1 + 𝜃2 𝑙2 cos 𝜃1 + 𝜃2
𝜕𝜃1 𝜕𝜃2
𝐽
Slaboch 2018 117
 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– vi.) Inverse Jacobian
– Used to calculate the velocities needed at the joints of
the robot for a desired end-effector velocity

𝜃ሶ = 𝐽−1 𝜃 𝑋ሶ

– The inverse of the Jacobian

1 𝑙1 cos(𝜃1 + 𝜃2 ) 𝑙2 sin(𝜃1 + 𝜃2 )
𝐽−1 (𝜃) = 𝑙1 𝑙2 sin 𝜃2 −𝑙1 cos 𝜃1 − 𝑙2 cos(𝜃1 + 𝜃2 ) −𝑙1 sin 𝜃1 − 𝑙2 sin(𝜃1 + 𝜃2 )

Slaboch 2018 118

 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
– vii.) Singularity: Occurs when the determinant
of the Jacobian is zero
• For this robot,

det 𝐽 = 𝑙1 𝑙2 sin 𝜃2 = 0

• This means that 𝜃2 = 0∘ or 𝜃2 = 180∘

• These values have a physical meaning

Slaboch 2018 119

 IV.) Vector Loop Method
• D.) Linear Algebra Introduction
- Single solution to robot’s IK

𝐴 𝐴

𝜃2 = 180∘ 𝜃2 = 0∘

Slaboch 2018 120

 IV.) Vector Loop Method
• D.) 3D robot singularities
- Occur when
joint axes align
- ꝏ solutions to
robot’s IK

Ledoux 2018 Watch https://www.youtube.com/watch?v=zlGCurgsqg8 121

 IV.) Vector Loop Method
• E.) Newton’s Method
– i.) Taylor Series
• A way to predict a function value at one point in
terms of the function and derivatives at another
point
1 1 ′′′ 1
𝑓 𝑥 = 𝑓 𝑎 + 𝑓 ′ 𝑎 𝑥 − 𝑎 + 𝑓 ′′ 𝑎 𝑥 − 𝑎 2
+ 𝑓 𝑎 𝑥−𝑎 3
+ ⋯+ 𝑓 𝑛
𝑎 𝑥−𝑎 𝑛
+⋯
2 3! 𝑛!
∞
1
= ෍ 𝑓 𝑘 𝑎 𝑥−𝑎 𝑘
𝑘!
𝑘=0

Slaboch 2018 122

 IV.) Vector Loop Method
• E.) Newton’s Method
– ii.) Taylor Polynomial
• A way to approximate a function by a nth order
polynomial using n terms of the Taylor Series

1 1 ′′′ 1
𝑝𝑛 𝑥 = 𝑓 𝑎 + 𝑓 ′ 𝑎 𝑥 − 𝑎 + 𝑓 ′′ 𝑎 𝑥 − 𝑎 2
+ 𝑓 𝑎 𝑥−𝑎 3
+ ⋯+ 𝑓 𝑛
𝑎 𝑥−𝑎 𝑛
2 3! 𝑛!
𝑛
1
= ෍ 𝑓 𝑘 𝑎 𝑥−𝑎 𝑘
𝑘!
𝑘=0

Slaboch 2018 123

 IV.) Vector Loop Method
• E.) Newton’s Method
– ii.) Taylor Polynomial
• 0th order: approximates a function by a constant
• 1st order: approximates a function by a line
• 2nd order: approximates a function by a parabola
• 3rd order: approximates a function by a cubic
• ...
• Highly dependent upon the number of terms and
proximity to the point in question.

Slaboch 2018 124

 IV.) Vector Loop Method
• E.) Newton’s Method
– EX.
• Find the 1st , 2nd, 3rd, and 4th order Taylor
polynomial for 𝑒 𝑥 expanded around the point 𝑎 = 1
and plot in Matlab
1 1 1
𝑝𝑛 𝑥 = 𝑓 𝑎 + 𝑓 ′ 𝑎 𝑥 − 𝑎 + 𝑓 ′′ 𝑎 𝑥 − 𝑎 2 + 𝑓 ′′′ 𝑎 𝑥 − 𝑎 3 + ⋯ + 𝑓 𝑛
𝑎 𝑥−𝑎 𝑛
2 3! 𝑛!
1 1
𝑝1 𝑥 = 𝑒 + 𝑒 (𝑥 − 1)
1
𝑝2 𝑥 = 𝑒 1 + 𝑒 1 𝑥 − 1 + 𝑒 1 𝑥 − 1 2
2
1 1
𝑝3 𝑥 = 𝑒 1 + 𝑒1 𝑥 − 1 + 𝑒1 𝑥 − 1 2 + 𝑒1 𝑥 − 1 3
2 6
1 1 1 1
𝑝4 𝑥 = 𝑒 1 + 𝑒 1 𝑥 − 1 + 𝑒 1 𝑥 − 1 2 + 𝑒 1 𝑥 − 1 3 + 𝑒 𝑥−1 4
2 6 24

Slaboch 2018 125

 IV.) Vector Loop Method
• E.) Newton’s Method
% Program to plot Taylor polynomials for exp(x) around x=1
clear all
x = [-4:0.01:4];
y = exp(x);
p1 = exp(1) + exp(1)*(x-1);
p2 = exp(1) + exp(1)*(x-1) + (1/2)*exp(1)*(x-1).^2;
p3 = exp(1) + exp(1)*(x-1) + (1/2)*exp(1)*(x-1).^2 + (1/6)*exp(1)*(x-1).^3;
p4 = exp(1) + exp(1)*(x-1) + (1/2)*exp(1)*(x-1).^2 + (1/6)*exp(1)*(x-1).^3 + (1/24)*exp(1)*(x-1).^4;

figure(1)
clf
plot(x,y,x,p1,'r-',x,p2,'g--',x,p3,'b:',x,p4,'k-.')
xlabel('x')
ylabel('exp(x)')
legend('True value','p_1','p_2','p_3','p_4')
grid on
axis([-4 4 -10 10])
Slaboch 2018 126
 IV.) Vector Loop Method
• E.) Newton’s Method
– iii.) Newton’s Method Assumptions
– 𝑓(𝑥) is differentiable
– A good initial guess can be important

Slaboch 2018 127

 IV.) Vector Loop Method
• E.) Newton’s Method
– iv.) Derivation
• Start with Taylor’s series:
𝑓 𝑥 = 𝑓 𝑎 + 𝑓′ 𝑎 𝑥 − 𝑎 + ⋯
• Get rid of second order terms and above
𝑓 𝑥 ≈ 𝑓 𝑎 + 𝑓′(𝑎)(𝑥 − 𝑎)
• We want a zero, so set the left hand side to zero
0 ≈ 𝑓 𝑎 + 𝑓′(𝑎)(𝑥 − 𝑎)
• Solve for x
𝑓 𝑎
𝑥≈𝑎−
𝑓′(𝑎)
𝑓 𝑥𝑛
𝑥𝑛+1 = 𝑥𝑛 −
𝑓′(𝑥𝑛 )
• Repeat
Slaboch 2018 128
 IV.) Vector Loop Method
• E.) Newton’s Method
– v.) Procedure
• Put equation in standard form: 𝑓 𝑥 = 0
• Calculate the derivative
• Give an initial guess
• Estimate the root
𝑓 𝑥𝑛
𝑥𝑛+1 ≈ 𝑥𝑛 −
𝑓′(𝑥𝑛 )
• Check to see if root has been found
» If so, stop
» If not, repeat process by using your root as your new
guess.
Slaboch 2018 129
 IV.) Vector Loop Method
• E.) Newton’s Method
– EX. Find the positive root of 𝑥 2 = 5
• Put in form: 𝑓 𝑥 = 𝑥2 − 5
• Find the derivative: 𝑓 ′ 𝑥 = 2𝑥
• Initial guess: 𝑥0 = 2
𝑓 𝑥0 −1
• Estimate root: 𝑥1 = 𝑥0 − ′ =2− = 2.25
𝑓 𝑥0 4
• Root found? 𝑓 𝑥1 = 𝑓 2.25 = 0.0625
• Estimate root: 𝑥2 = 𝑥1 − 𝑓𝑓′ 𝑥𝑥1 = 2.25 − 0.0625
4.5
= 2.23611
1

• Root found?

Slaboch 2018 130

 IV.) Vector Loop Method
• E.) Newton’s Method
– EX. Find the positive root of 𝑥 2 = 5
Iteration 𝒙 𝒇(𝒙) 𝒇′(𝒙)
0 2 -1 4
1 2.25 0.0625 4.5
2 2.236111111 0.000192901 4.472222222
3 2.236067978 1.86047E-09 4.472135956
4 2.236067977 0 4.472135955
5 2.236067977 0 4.472135955
6 2.236067977 0 4.472135955

Slaboch 2018 131

 IV.) Vector Loop Method
• E.) Newton’s Method
– vi.) Systems of Nonlinear Equations
• Let’s look at using Newton’s Method to solve the
following vector loop equations:

𝑟2 cos𝜃2 + 𝑟3 cos𝜃3 − 𝑟4 cos𝜃4 − 𝑟1 = 0

𝑟2 sin𝜃2 + 𝑟3 sin𝜃3 − 𝑟4 sin𝜃4 = 0

Slaboch 2018 132

 IV.) Vector Loop Method
• E.) Newton’s Method
– vi.) Systems of Nonlinear Equations
• It is assumed that the link lengths are known, and
𝜃2 is our input angle

𝑟2 cos𝜃2 + 𝑟3 cos𝜃3 − 𝑟4 cos𝜃4 − 𝑟1 = 0

𝑟2 sin𝜃2 + 𝑟3 sin𝜃3 − 𝑟4 sin𝜃4 = 0

• Therefore, our unknown angles are 𝜃3 and 𝜃4

Slaboch 2018 133

 IV.) Vector Loop Method
• E.) Newton’s Method
– vi.) Systems of Nonlinear Equations
• We can write the two previous equations succinctly
as:

𝑓Ԧ 𝜓 = 0
where,

𝜓 = 𝜃3 𝜃4 ⊺

Slaboch 2018 134

 IV.) Vector Loop Method
• E.) Newton’s Method
– vi.) Systems of Nonlinear Equations

𝑓1 : 𝑟2 cos𝜃2 + 𝑟3 cos𝜃3 − 𝑟4 cos𝜃4 − 𝑟1 = 0

𝑓2 : 𝑟2 sin𝜃2 + 𝑟3 sin𝜃3 − 𝑟4 sin𝜃4 = 0

• The nonlinear equations can be approximated in

linear form based on a first-order Taylor series
approximation

Slaboch 2018 135

 IV.) Vector Loop Method
• E.) Newton’s Method
– vi.) Systems of Nonlinear Equations
• This is given by:

𝑓Ԧ 𝜓 ≈ 𝑓Ԧ 𝜓 ቚ + 𝐽 𝜓 − 𝜓0 = 0
𝜓=𝜓0
where,

𝜃3 𝜃30
𝜓= 𝜓0 =
𝜃4 𝜃40

is the initial guess, and 𝐽 is the Jacobian

Slaboch 2018, Ledoux 2020 136
 IV.) Vector Loop Method
• E.) Newton’s Method
– vi.) Systems of Nonlinear Equations

𝑓Ԧ 𝜓 ≈ 𝑓Ԧ 𝜓 ቚ + 𝐽 𝜓 − 𝜓0 = 0
𝜓=𝜓0

What it represents:
𝑓1 𝑥 𝑟2 cos𝜃2 + 𝑟3 cos𝜃3 − 𝑟4 cos𝜃4 − 𝑟1
Ԧ
𝑓 𝜓 = = 𝑦 =
𝑓2 𝑟2 sin𝜃2 + 𝑟3 sin𝜃3 − 𝑟4 sin𝜃4
𝜃3 𝜃30
𝜓= 𝜓0 =
𝜃4 𝜃40
Can solve for unknowns by rearranging
Ledoux 2020 137
 IV.) Vector Loop Method
• E.) Newton’s Method
– vi.) Systems of Nonlinear Equations
• The constraint Jacobian, 𝐽, can be calculated as:

𝜕𝑓1 𝜕𝑓1
𝜕𝜃3 𝜕𝜃4
𝐽=
𝜕𝑓2 𝜕𝑓2
𝜕𝜃3 𝜕𝜃4
• Solving our initial constraint equation for 𝜓 gives:

𝜓 = −𝐽−1 𝑓Ԧ 𝜓 ቚ + 𝜓0
𝜓=𝜓0
Slaboch 2018 138
 IV.) Vector Loop Method
• E.) Newton’s Method
– vi.) Systems of Nonlinear Equations
• Solving our initial constraint equation for 𝜓 gives:

𝜓 = −𝐽−1 𝑓Ԧ 𝜓 ቚ + 𝜓0
𝜓=𝜓0
• Represents:
𝜃3 −1 𝑓1 𝜃30 , 𝜃40 𝜃30
= −𝐽 +
𝜃4 𝑓2 𝜃30 , 𝜃40 𝜃40
• But you can use it with any set of unknowns 𝜓 and
functions 𝑓Ԧ 𝜓 by starting with initial guess 𝜓0
Ledoux 2020 139
 IV.) Vector Loop Method
• E.) Newton’s Method
– vi.) Systems of Nonlinear Equations
• The solution from the first-order approximation is
not exact.
• However, the solution is a better guess than the
original.
• You must repeat the process until the changes in
the solution are minimized to be within a certain
tolerance value.

Slaboch 2018 140