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Lesson 2

The document discusses vector operations in analytical and graphical methods for machine analysis. It covers displacement, velocity, and acceleration as elements of motion. Graphical displacement analysis of a four-bar mechanism is demonstrated by constructing different positions of the linkage. Analytical displacement analysis expresses the problem variables using vector equations to determine dependent parameters like joint angles and path tracer position in terms of the independent input variable. Example problems are provided to analyze four-bar linkages and determine their type, range of motion, and extreme positions based on given dimensions.

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40 views7 pages

Lesson 2

The document discusses vector operations in analytical and graphical methods for machine analysis. It covers displacement, velocity, and acceleration as elements of motion. Graphical displacement analysis of a four-bar mechanism is demonstrated by constructing different positions of the linkage. Analytical displacement analysis expresses the problem variables using vector equations to determine dependent parameters like joint angles and path tracer position in terms of the independent input variable. Example problems are provided to analyze four-bar linkages and determine their type, range of motion, and extreme positions based on given dimensions.

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zyx xyz
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Lesson 2

Vector Operation in Analytical and

 Graphical method

Machine Analysis

Machine analysis is created to produce work accompanied with certain definite


motions.
Motion consists of the three elements:
1. Displacement
2. Velocity
3. Acceleration

Displacement
Displacement of a machine part or a point on the part may be according to some
definite path as the crank circle traveled by the crankpin and may be expressed in
equation form. Often the displacement is not easily defined. In those cases, graphical
means are useful. A line diagram of the essential elements of the machine is drawn in
various positions, the desired points are located at each position, and a graph is drawn
to show the displacement. In some cases, only the extreme positions are needed.

Displacement Analysis: Useful indices for position analysis of linkages

One of the simplest and most useful mechanisms is the four-bar linkage. Most of the
development in this concentrates on the four-bar, but the procedures are also
applicable to more complex linkages.
The four-bar may take the form of a so-called crank-rocker, double rocker or a
double-crank (drag-link) linkage, depending on the range of motion of the two links
connected to the ground link. In figs. 1.1 to 1.4 four different possibilities are
illustrated. The input crank of the crank-rocker type (fig. 1.1) can rotate continuously
through 360° while the output link just “rocks”(or oscillates). Both the input and
output links of the double-crank or drag link (fig. 1.2) make complete revolutions,
while the double-rocker has limited rotations of both the input and output links (fig.
1.3). In the parallelogram linkage(fig. 1.4), where the length of the input link equals
the output link and the lengths of the coupler and ground link are also the same, both
the input and output link may rotate entirely around or switch into a crossed
configuration called antiparallelogram linkage.
Fig. 1.1 Crank and Rocker Fig. 1.2 Drag-link or double crank

Fig. 1.3 Double rocker Fig. 1.4 Parallelogram linkage

Displacement Analysis: Graphical Method

A single-degree-of-freedom mechanism such as the four-bar can be analyzed graphically


for relative displacements without great effort. Although the accuracy depends on
one’s care in construction and the scale of the drawing, acceptable precision can
usually be obtained. The only required drawing instruments are a scale (straightedge),
compass, and one overlay (drafting paper).

Example:
Graphical Displacement Analysis of the four-bar Mechanism. As shown in
Figure1.5, we wish to construct the jth position of the four-bar path-generator
mechanism Ao ABo BP. The first or starting position is marked with the subscript 1. To
construct the jth position, proceed as follos.
1. Draw arcs about Ao with radius Ao A1 and about Bo with radius Bo B1 . These are
the paths of joints A and B, respectively.
2. Draw the jth position of the input link Ao A j.
3. With radius A1 B1 draw an arc about A j to intersect the path of B. This is B j .
4. Construct the point Pj by intersecting the arc of radius B1 P1 centered B j with
the arc of radius A1 P1 centered at A j.

Fig. 1.5 Graphical displacement analysis of the four-bar mechanism

This completes the construction. Also note that, if the four-bar linkage is used
as a function generator, in which case point P of the coupler would be of no
concern, then the construction would be complete after step 3 above.

Displacement Analysis: Analytical Method


In Figure 1.6, let the independent variable parameter be the 2 of the input link
(link r₂) with respect to a fixed x axis. Since we are analyzing this linkage, the lengths
of the links, r₁, r₂, r₃, r₄, r₅ and r₆, plus the angular position of the ground link ( 1 ) and
the angle  (which represents the fixed angle between the two sides of the coupler
triangle, r₃ and r₅) are the known constant parameters. Unknown, however, are the
dependent variable parameters, angles 3 and 4 , as well as the x and y coordinates of
the path tracer point, P. The following simple procedure will determine these
dependent parameters in terms of the independent variable. Steps 1 through (and
including) 3 will be performed only once for the initial position of the four-bar
mechanism to determine the proper geometric inversion. When analyzing the same
mechanism for other positions of the input crank (r₂), we assumed that the linkage does
not move through its dead center position to another geometric inversion. Thus, we
must know the coordinates of the four-bar pivots in the initial position of the
mechanism.
1. Expressing the angle of vectors representing links uniformly in the range -180°<  ≤
180°is convenient. Therefore, if in an arithmetic calculation with vectors in polar form
the resulting argument is greater than 180°, subtract 360°; if it is smaller than or equal
to -180°, add 360°. In other words, apply eq. 1.1
If  i >180°, then  i   i -360°
If  i ≤180°, then  i   i + 360° (1.1)
To determine the angle of vectors expressed in Cartesian form, one can simply subtract
the coordinates of the tail end of the link vector from its arrow end coordinates. For
example, the Cartesian complex form of the link vector between points A and B would
be
r3  x B  x A   i y B  y A  (1.2)

Figure 1.6 Position variables of a four-bar mechanism


The argument of r₃ with respect to the x’ (real) axis (which axis moves with point
A but remains parallel to the fixed x axis throughout the mechanism movement) is θ₃ =
ATAN2  y B  y A , x B  x A  (1.3)
This FORTRAN arctangent function yields angles expressed in the interval
   i    . Note that angles measured counterclockwise from the positive x axis are

positive. The remaining steps assume all angles are converted to degrees.

2. Determine the geometric inversions by finding the value of the transmission angle,
 , in figure 1.6a between vectors r₃ to r₄. Note that this angle is measured from r₃ to
r₄. This can visualized by placing the vectors r₃ and r₄ tail-to-tail as in fig. 1.6b if the
trigonometric sine of the angle  , is positive we have the configuration in fig. 1.6a, if
it is negative, the four bar is in its other possible geometric inversion. Point B would be
reflected about the line D in this configuration. This determination is implemented by;
  Arg r4  Arg r3 (1.4)
Here Eq. (1.1) may have to be applied to express  , in the180 to 180 interval.
3. Find the coupler angle  , measured from r₃ to r₅, as follows.

 = Arg r5  Arg r3 (1.5)


Here again Eq. (1.1) may have to be applied
4.The geometric inversion and coupler triangle orientation are now fixed by way of the
algebraic signs of the angles  , and  respectively (the sense and magnitude of  , and
 are now known). For any position of r₂ find the new vector D by Eq. (1.6)
D = r₁ - r₂ (1.6)
5.Calculate the new value of the angle , which is measured from D to r₃, see fig. 1.6a.
This angle has the same sense and the same algebraic sign (signum) as  ,

 
, = (signum  , ) cos1 r3  D 2  r 2 3 / 2r4 D
2
 (1.7)
6.Calculate the new value of the angle  , which is measured from vector r₄ to vector
(-D), and has therefore the same sense and the same algebraic sign (signum) as  ,
 
  signum  Cos 1 r4 2  D 2  r3 2 /2r3 D (1.8)
With the new values of the angles  and  known Figure 1.6a shows that now
 3  Arg D  , and  4  Arg D  180    (1.9)
Again Eq. (1.1) may need to be applied in order to express  3 and  4 in the -180° to
180° interval.
Next, calculate the new value of the vector r₅ as follows:
r5  r5 expi 3  (1.10)

The new position vector of the path tracer point is


P = r₂ + r₅ (1.11)
Where, for the two vectors on the right side, their new values are to be used.
PROBLEMS
Note: When needed dimensions are not given in the problem
statement, choose one link to be of unit length and scale the
drawing.
1.A four-bar linkage has the following dimensions: A₀B₀ = 2 inches, A₀A = 2½ inches, AB
= 1½ inch. B₀B = 2¾.
a) Determine the type of four-bar by the Grashof criterion.
b) Determine the range of motion of this linkage if link 2 is the input.
c) Determine the range of motion of this linkage if link 4 is the input.

Figure 1.1

2.A four-bar linkage has the following dimensions: A₀B₀ 2 inches, A₀A = 2½ inches, AB
= 1½ inch., B₀B = 3¼ inches.
a) Determine the type of four-bar by the Grashof criterion.
b) Determine the range of motion of this linkage if link 2 is the input.
c) Determine the range of motion of this linkage if link 4 is the input.

Figure 1.2
3.Axes Q₂ and Q₄ are fixed. Q₂A = 1½ in.,AB = 3 inches, Q₄B = 2 inches, and Q₂Q₄ = 3
inches. Crank 2 is the driver turning counterclockwise. The proportions are such that,
while 2 makes a complete revolution, 4 oscillates through a certain angle. Find the
two extreme positions of the center line Q₄B of crank 4.

Figure.

4.Axes Q₂ and Q₄ are fixed. Q₂A = 1½ in., Q₄B = 2 inches, and Q₂Q₄ = 3 inches. AB is of
such a length that when the driving crank 2 is 30° above Q₂Q₄, the driven crank 4 is
60° below Q₂Q₄ as shown. Find the length of AB and the two extreme position of the
center line Q₄B of crank 4.

Figure.

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