I.

Algebraic Position Analysis of Four-bar Linkages

The coordinates of point A from Figure 3.1 are:

………………………… (3.2a)

Figure 3.1 Position for a four-bar linkage

The coordinates of point B are found using the equations of circles about A and O4,

……………… (3.2b & c)

which provides a pair of simultaneous equations in Bx and By,

Subtracting eqn. 3.2c from 3.2b gives an expression for Bx:

… (3.2d)
Substituting eqn. 3.2d into 3.2c gives a quadratic equation in By which has two solutions
corresponding to those in figure 3.11.

………………………… (3.2e)

This can be solved with the familiar expression for the roots of a quadratic equation,

…………………………………… (3.2f)

Note that the solutions to this equation set can be real or imaginary. If the latter, it
indicates that the links cannot connect at the given input angle or at all. Once the two
values of By are found (if real), they can be substituted into eqn. 3.2d to find their
corresponding x components. The link angles for this position can then be found from:

……… (3.2g)

A two-argument arctangent function must be used to solve equations 3.2g since the
angles can be in any quadrant. Equations 3.2 can be encoded in any computer language
or equation solver, and the value of θ2 varied over the linkage's usable range to find all
corresponding values of the other two link angles.
 II. Vector Loop Representation of linkages
An alternate approach to linkage position analysis creates a vector loop (or loops) around
the linkage. The links are represented as position vectors. Figure 3.2 shows the same
four-bar linkage as in figure 3.1, but the links are now drawn as position vectors which
form a vector loop. This loop closes on itself making the sum of the vectors around the
loop zero. The lengths of the vectors are the link lengths which are known. The current
linkage position is defined by the input angle as it is a one – DOF mechanism. We want
to solve for the unknown angles θ3 and θ4. To do so a convenient notation to represent
the position vectors is to use complex number notation.

Figure 3.2 Position vector loop for a four-bar linkage

The directions of the position vectors in figure 3.2 are chosen so as to define their angles
where we desire them to be measured. By definition, the angle of a vector is always
measured at the root, not at its head. We would like angle θ4 to be measured at the fixed
pivot O4, so vector R4 is arranged to have its root at that point. We would like to measure
angle θ3 at the point where links 2 and 3 join, so vector R3 is rooted there. A similar logic
dictates the arrangement of vectors R1 and R2. Note that the X (real) axis is taken for
convenience along link 1 and the origin of the global coordinate system is taken at point
O2, the root of the input link vector, R2. These choices of vector directions and senses, as
indicated by their arrow heads, lead to this vector loop equation:

………………………… (3.3a)
Next, we substitute the complex number notation for each position vector. To simplify the
notation and minimize the use of subscripts, we will denote the scalar lengths of the four
links as a, b, c, and d. Using Euler’s identity,

………………………… (3.3b)
the equation becomes:

………… (3.3c)
These are two forms of the same vector equation, and as such can be solved for two
unknowns. There are four variables in this equation, namely the four link angles. The link
lengths are all constant in this particular linkage. Also, the value of the angle of link 1 is
fixed (at zero) since this is the ground link. The independent variable is θ2 which we will
control with a motor or other driver device. That leaves the angles of link 3 and 4 to be
found. We need algebraic expressions which define θ3 and θ4 as functions only of the
constant link lengths and the one input angle, θ2. The expression is of the form:

………………………… (3.3d)
To solve eqn. 3.3c, we must substitute the Euler equivalents (eqn. 3.3b) for the ejθ terms,
and then separate the resulting Cartesian form vector equation into two scalar equations
which can be solved simultaneously for θ3 and θ4. Substituting eqn. 3.3b into eqn. 3.3c:

3.3e
The equation can now be separated into real and imaginary parts and each set to zero.

Real part (x component):

…………… (3.4a)
Imaginary part (y component):

…… (3.4b)
The equations 3.4a and 3.4b can now be solved simultaneously for θ3 and θ4. To solve
this set of two simultaneous trigonometric equations is straightforward but tedious. Some
substitution of trigonometric identities will simplify the expressions.

The first step is to rewrite eqns. 3.4a and 3.4b so as to isolate one of the two unknowns
on the left side. We will isolate θ3 and solve for θ4 in this example.

…………………………… (3.4c & d)

Now squaring both sides of eqns. 3.4c and 3.4d and add them:

(3.5a)
Note that the quantity in parentheses on the left side is equal to 1, eliminating θ3 from the
equation, leaving only θ4 which can now be solved for:

…… (3.5b)
In order to reduce eqn. 3.5b to a more solvable form, it will be useful to substitute the half
angle identities which will convert the sin θ4 and cos θ4 terms to tan θ4 terms:

……..… (3.5c)
Closed Form Position Analysis Equation for Four-bar Linkage Mechanism

Figure 3.3 illustrates a general four-bar linkage.

Figure 3.3 the general four-bar mechanism

A typical analysis involves determining the interior joint angles (θ3, θ4, and γ) for known
links (L1, L2, L3, and L4) at a certain crank angle θ2. Specifically, the interior joint angles
(θ3, θ4, and γ) must be determined.

These equations can be used to determine the position of the links in any mechanism
configuration. The equations are applicable to any four-bar mechanism assembled as
shown in Figure 3.13.

Circuits of a Four-Bar Linkage

For four-bar mechanisms classified as crank-rockers, there are two regions of possible
motion corresponding with the two geometric inversions. These regions are termed
assembly circuits. A mechanism is unable to move between assembly circuits without
being disassembled. The mechanism shown in Figure 3.13 operates in the first circuit
(Figure 3.14a).
By physically disconnecting joint C, the links can be reoriented and reassembled into the
configuration shown in Figure 3.14b. As this mechanism is operated, it exhibits motion in
the second circuit. Although the motion of the mechanism appears to be different,
depending on the circuit of operation, the relative motion between the links does not
change. However, the circuit in which the mechanism is assembled must be specified to
understand the absolute motion and operation of the mechanism.

Figure 3.14 Circuits of a four-bar mechanism

For four-bar mechanisms operating in the second circuit, the above equations must be
slightly altered as follows:

Closed Form Position Analysis Equation for an In – line Slider Crank Mechanism

Figure 3.15 illustrates the basic configuration of an in-line slider-crank linkage.

Figure 3.15 In – line slider – crank mechanism

A typical analysis involves locating the position of the links, given their lengths (L2 and L3)
and the crank angle (θ2). Specifically, the position of the slider (L4) and the interior joint
angles (θ3 and θ) must be determined.
The equations used in terms of L2, L3, and θ2 are:

These equations can be used to determine the position of the links in any configuration
of an in – line slider – crank mechanism.

Closed Form Position Analysis Equation for an Offset Slider Crank Mechanism

Figure 3.16 illustrates the basic configuration of an offset slider-crank linkage.

Figure 3.16 Offset slider crank mechanism

A typical analysis involves locating the position of the links, given their lengths (L1, L2 and
L3) and the crank angle (θ2). Specifically, the position of the slider (L4) and the interior
joint angles (θ3 and θ) must be determined.
The generalized equations are given as:

These equations can be used to determine the position of the links in any configuration
of an offset slider – crank mechanism. The equations also apply when the offset distance
is in the opposite direction of figure 3.16. For that case, L1 in the equation should be
substituted as a negative value.