MECHANISMS

Necla KARA TOĞUN

 POSITION ANALYSIS OF MECHANISMS
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Mechanism

CHP.2 POSITION ANALYSIS

 Introduction
 Position and displacement
 Translation, rotation and complex motion
 Complex numbers as vectors
 Graphical position analysis
 Numerical position analysis
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Mechanism

INTRODUCTION

 Once a tentative mechanism design has been synthesized, it must then be analyzed.

 A principal goal of kinematic analysis is to determine the accelerations of all the

moving parts in the assembly.

 Dynamic forces are proportional to acceleration, from Newton's second law.

 We need to know the dynamic forces in order to calculate the stresses in the
components.
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Mechanism

INTRODUCTION

 The design engineer must ensure that the proposed mechanism or machine will
not fail under its operating conditions.

 Thus the stresses in the materials must be kept well below allowable levels.

 To calculate the stresses, we need to know the static and dynamic forces on
the parts.

 To calculate the dynamic forces, we need to know the accelerations.

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Mechanism

INTRODUCTION

 In order to calculate the accelerations we must first find the positions of

all the links or elements in the mechanism for each increment of input
motion, and then differentiate the position equations versus time to find
velocities, and then differentiate again to obtain the expressions for
acceleration
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Mechanism

INTRODUCTION

 Acceleration analysis can be done by different methods.

 We could use a graphical approach to determine the position, velocity, and

acceleration of the output link for all positions of interest.

 We could derive the general equations of motion for any position, differentiate for
velocity and acceleration, and then solve these analytical expressions for our crank
locations.

 A computer will make this latter task much more valuable.

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Mechanism

INTRODUCTION

 If we choose to use the graphical approach to analysis, we will have to do an

independent graphical solution for each of the positions of interest.

 None of the information obtained graphically for the first position will be applicable
to the second position or to any others.

 In contrast, once the analytical solution is derived for a particular mechanism, it

can be quickly solved (with a computer) for all positions.
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Mechanism
Basic Concepts

 Position; The position of a point in the plane can  Path; Locus of successive positions of
be defined by the use of a position vector as a particle (point) on a rigid body (link).
shown in the figure

Y
Polar form
A RA and q
RY
Cartesian form
RA RX , Ry A
yA
q
X X
O RX O
xA
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Mechanism

POSITION AND DISPLACEMENT

 The choice of reference axes is arbitrary and is selected to suit the observer.
 A two-dimensional vector has two attributes, which can be expressed in either polar
or Cartesian coordinates.
 The polar form provides the magnitude and the angle of the vector.
 The Cartesian form provides the X and Y components of the vector.
 Each form is directly convertible into the other by:

𝑅𝑦
𝜃 = 𝐴𝑟𝑐𝑡𝑎𝑛 𝑅𝐴 = 𝑅𝑥2 + 𝑅𝑦2
𝑅𝑥
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Mechanism

POSITION AND DISPLACEMENT

Displacement:

 Displacement of a point is the change in its position and can be defined as

the straight-line distance between the initial and final position of a point
which has moved in the reference frame. Note that displacement is not
necessarily the same as the path length which the point may have
travelled to get from its initial to final position.
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Mechanism

POSITION AND DISPLACEMENT

Displacement:

 Figure shows a point in two positions, A and B. The curved line shows the
path along which the point travelled. The position vector RAB defines the
displacement of the point B with respect to point A.
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Mechanism POSITION AND DISPLACEMENT

Displacement:

 Figure defines this situation more sharply and with respect to a reference frame XY. The
notation R will be used to denote a position vector. The vectors RA and RB define,
respectively, the absolute positions of points A and B with respect to this global XY
reference frame. The vector RBA denotes the difference in position, or the displacement,
between A and B. This can be expressed as the position difference equation.

RBA =RB - R A
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Mechanism POSITION AND DISPLACEMENT

Displacement:

RBA =RB – R A

 This expression is read: The position of B with respect to A is equal to the (absolute) position
of B minus the (absolute) position of A, where absolute means with respect to the origin of
the global reference frame.
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Mechanism POSITION AND DISPLACEMENT

Displacement:

 Note that this expression could also be written as:

RBA =RBO-RAO
 with the second subscript ‘’O’’ denoting the origin of the XY reference frame. When a
position vector is rooted at the origin of the reference frame, it is customary to omit the
second subscript. It is understood, in its absence, to be the origin. Also, a vector referred
to the origin, such as RA, is often called an absolute vector. This means that it is taken with
respect to a reference frame which is assumed to be stationary e.g. the ground. It is
important to realize, however, that the ground is usually all in motion in some larger frame
of reference.
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Mechanism POSITION AND DISPLACEMENT

Displacement:

 It is important to realize, however, that the ground is usually all in motion in some larger frame of
reference. Figure shows a graphical solution to the equation.

RBA =RB - RA
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Mechanism TRANSLATION, ROTATION AND COMPLEX MOTION

 So far we have been dealing with a particle, or point, in plane motion. It is more interesting to
consider the motion of a rigid body, or link. Figure ‘’a’’ shows a link AB denoted by a position
vector RBA. An axis system has been set up at the root of the vector, at point A, for convenience.

Y
B

X
A
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Mechanism TRANSLATION, ROTATION AND COMPLEX MOTION

Translation:

 Figure shows link AB moved to a new position A'B' by translation through the displacement AA' or
BB' which are equal, i.e., RA'A = RB'B.

 A definition of translation is: all points on the body have the same displacement.

B’
B
Y RB’B

RB’A’
RBA
RA’A A’
X
A
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Mechanism TRANSLATION, ROTATION AND COMPLEX MOTION

Translation:

 As a result the link retains its angular orientation. Note that the translation need not be along a
straight path. The curved lines from A to A' and B to B' are the curvilinear translation path of
the link. There is no rotation of the link if these paths are parallel. If the path happens to be
straight, then it will be the special case of rectilinear translation, and the path and the
displacement will be the same.
B’
B
Y RB’B

RB’A’
RBA
RA’A A’
X
A
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Mechanism TRANSLATION, ROTATION AND COMPLEX MOTION

Rotation:

 Figure shows the same link AB moved from its original position at the origin by rotation through an
angle. Point A remains at the origin, but B moves through the position difference vector

RB'B = RB'A -RBA

Y

RBA
RB’B’
X
A

RB’A
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Mechanism TRANSLATION, ROTATION AND COMPLEX MOTION

Rotation:

 A definition of rotation is: different point in the body undergo different displacements and thus
there is a displacement difference between any two points chosen.

 The link now changes its angular orientation in the reference frame, and all points have different
displacements. Y

RBA
RB’B’
X
A

RB’A
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Mechanism TRANSLATION, ROTATION AND COMPLEX MOTION

Complex Motion:

 The general case of complex motion is the sum of the translation and rotation components. Figure
shows the same link moved through both the translation and the rotation applied below. Note that
the order in which these two components are added is not important.
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Mechanism TRANSLATION, ROTATION AND COMPLEX MOTION

Complex Motion:

 The resulting complex displacement will be the same whether you first rotate and then translate or
vice versa. This is because the two factors are independent. The total complex displacement of
point B is defined by the following expression:

 Total Displacement = Translation Component + Rotation Component

RB''B =RB'B+RB''B'

RB’’B
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Mechanism TRANSLATION, ROTATION AND COMPLEX MOTION

Complex Motion:

 The new absolute position of point B referred to the origin at A is:

RB''A =RA'A+RB''A'

Note that the above two formulas are merely applications of the position difference equation.
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Mechanism TRANSLATION, ROTATION AND COMPLEX MOTION

Complex Motion:
Theorems

 Euler’s theorem:

the general displacement of a rigid body with one point fixed is a rotation about some axis.
This applies to pure rotation as defined above.

 Chasles’s theorem:

any displacement of a rigid body is equivalent to the sum of a translation of any one point on that
body and a rotation of the body about an axis through that point.
This describes complex motion as defined above.
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Mechanism MOTION ANALYSIS OF MECHANISMS

 There are many ways to represent vectors. They may be defined in polar coordinates, by their
magnitude and angle, or in Cartesian coordinates as x and y components. These forms are of
course easily convertible from one to the other.
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Mechanism KINEMATICS OF A PARTICLE

COMPLEX NUMBER AS VECTOR

 The position vectors in the following figure can be represented as any of these expressions:

𝑅𝐴 = 𝑅∠𝜃

𝑅𝐴 = 𝑥i+yj
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Mechanism KINEMATICS OF A PARTICLE

CARTESIAN AND POLAR COORDINATES

 The position vectors in the following figure can be represented as any of these expressions:

Transformation between the x,y ve r,θ

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Mechanism KINEMATICS OF A PARTICLE

COMPLEX NUMBER AS VECTOR

 For the determination of the position of a particle, we can also make use of complex algebra:

Complex number, z, can be written as:

Using Euler’s equation:

The exponential form of the complex number representing the position vector:
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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis

 For any one degree of freedom linkage, such as a four-bar, only one parameter is needed to
completely define the positions of all the links.

The parameter usually chosen is the

angle of the input link. This is shown
as q2 in the figure.

θ2
X
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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis

 We want to find q3 and q4. The link lengths are known. Note that we will consistently number the
ground link as 1 and the driver link as 2 in these examples

B
Y
3
y

θ3
4
A x
θ4
2
θ2
1
X
O2 O4
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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis

 The graphical analysis of this problem is trivial. If we draw the linkage carefully to scale in a
particular position (given q2), then it is only necessary to measure the angles of links 3 and 4
with a protractor.
B
Y
3
y

θ3
4
A x
θ4
2
θ2
1
X
O2 O4
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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis

 Note that all link angles are measured from a positive X axis A local xy axis system, parallel to the
global XY system, has been created at point A to measure q3. The accuracy of this graphical
solution will be limited by our care and drafting ability and by the crudity of the protractor used.
B
Y
3
y

θ3
4
A x
θ4
2
θ2
1
X
O2 O4
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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis

 Nevertheless, a very rapid approximate solution can be found. But, this solution is only valid for the
particular position (value of q2) chosen. For each additional position analysis we must completely
redraw the linkage. This can become burdensome if we need a complete analysis at every 1 or 20
increment of q2. In that case we will be better off to derive an analytical solution for q3 and q4 which
can be solved by computer. To do so we will represent the links as position vectors.
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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis

 Example: Graphical position analysis of a slider crank mechanism

 Position analysis of a slider crank mechanism has been done for several points as shown in the
figure below. Here, the displacements of the slider S(q) are measured with respect to the given
crank angles. The result is shown on the displacement diagram.
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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis Step 1

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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis Step 2

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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis Step 3

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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis Step 4

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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis Step 5

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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis Step 6

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Mechanism POSITION ANALYSIS OF LINKAGES

Graphical Analysis Step 7

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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 The following figure shows a four-bar linkage mechanism, but the links are now drawn as position
vectors which form a vector loop. Note that this loop closes on itself.
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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 Thus, the sum of the vectors in the loop must be zero. The lengths of the vectors are the link
lengths and thus are known. The particular linkage position shown is defined by one input
angle q2 because it is a one DOF mechanism. We want to solve for the unknown angles q3 and q4.
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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 Note that the directions of the position vectors are chosen so as to define their angles where we
desire them to be measured.
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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 By definition, the angle of a vector is always measured at its 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 q3 at the point where links 2 and 3 join, so vector R3 is rooted
there.
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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 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.
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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 These choices of vector directions and senses, as indicated by their arrowheads, lead to this
vector loop equation:

R2 + R3 - R4 - R1 =0
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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 An alternate notation for these position vectors is to use the labels of the points at the vector tips
and roots (in that order) as subscripts. The second subscript is conventionally omitted if it is the
origin of the global coordinate system (point O2):

RAO2 +RBA -RBO4 -RO4O2 =0

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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 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. These are so labeled in the following figure.
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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 The equation then becomes

ae jq2  be jq3 ce jq4 de jq1 0

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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 These are the 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.

ae jq2  be jq3 ce jq4 de jq1 0

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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 θ2 is the independent variable which we will control with a motor or other driver device. That leaves
the angles of links θ3 and θ4 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 These expressions will be of
the form:

q3 =f{a, b, c, d, q2}
q4 =g{a, b, c, d, q2}
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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 To solve the polar form, the above vector equation, we must substitute the Euler equivalents
(ejθ =cosq+jsinq) for the ejq terms, and then separate the resulting Cartesian form vector equation into
two scalar equations which can be solved simultaneously for q3 and q4.

 Substitute Euler equivalents:

a(cos q 2  jsinq2 )  b(cos q3  jsinq3 ) -c(cos q 4  jsinq4 )-d(cos q1  jsinq1 )  0

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Mechanism POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 This equation can now be seperated into its real and imaginary parts and each set to zero.

Real part (x component):

acos q2  bcos q 3 - ccos q4 - dcos q1  0

but: q1 =0, so:

acos q 2  bcos q 3 - ccos q 4 - d  0

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Mechanism
POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 Imaginary part (y component)

jasinq 2  jb sin q 3 - jcsinq 4 - jdsinq1  0

 but: q1 = 0, and j's divide out so;

asinq 2  bsin q 3 - csinq 4 0

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Mechanism
POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

 These two equations can now be solved simultaneously for q3 and q4. 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 equations so as to isolate one of the two unknowns on the left side. We will
isolate q3 and solve for q4 in this example.

bcosq3  a cosq 2  ccosq 4  d

bsinq3  a sin q 2  csinq 4
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Mechanism
POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

Now square both sides of equations and add them:

b 2  (-asinq2  csinq4 ) 2  (-acosq2  ccosq4  d)2

The right side of this expression must now be expanded and terms collected

b 2  a 2  c2  d 2 - 2ad cosq2  2cd cosq4 - 2ac (sinq2 sinq4  cosq2 cosq4 )

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Mechanism
POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

In order to reduce the above equation to a more tractable form for solution, it will be useful
to substitute the half angle identities which will convert the sinq4 and cosq4 terms to tanq4
terms:
𝑑 𝑑 𝑎2 − 𝑏 2 + 𝑐 2 + 𝑑 2
𝐾1 = 𝐾2 = 𝐾3 =
𝑎 𝑐 2𝑎𝑐

𝐾1 𝑐𝑜𝑠𝜃4 -𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾3 = 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃4 + 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃4

 This equation is called ‘Freudenstein’s Equation’ which can be used for the synthesis
of four bar mechanisms.
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Mechanism
POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

In order to reduce the above equation to a more tractable form for solution, it will be useful
to substitute the half angle identities which will convert the sinq4 and cosq4 terms to tanq4
terms:

𝜃 𝜃
2tan( 4 ) 1−𝑡𝑎𝑛2 ( 24 )
2
sin𝜃4 = 𝜃 cos𝜃4 = 𝜃
1+𝑡𝑎𝑛2 ( 24 ) 1+𝑡𝑎𝑛2 ( 4 )
2
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Mechanism
POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

𝐾1 𝑐𝑜𝑠𝜃4 -𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾3 = 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃4 + 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃4

𝜃 𝜃 𝜃
1−𝑡𝑎𝑛2 ( 24 ) 1−𝑡𝑎𝑛2 ( 24 ) 2tan( 24 )
𝐾1 𝜃 -𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾3 = 𝑐𝑜𝑠𝜃2 𝜃 + 𝑠𝑖𝑛𝜃2 𝜃
1+𝑡𝑎𝑛2 ( 4 ) 1+𝑡𝑎𝑛2 ( 4 ) 1+𝑡𝑎𝑛2 ( 4 )
2 2 2

𝜃 𝜃
2tan( 24 ) 1−𝑡𝑎𝑛2 ( 24 )
sin𝜃4 = 𝜃 cos𝜃4 = 𝜃
1+𝑡𝑎𝑛2 ( 24 ) 1+𝑡𝑎𝑛2 ( 24 )
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Mechanism
POSITION ANALYSIS OF LINKAGES

Numerical Position Analysis

 The Vector Loop Equation for a Four-bar Linkage

𝜃 𝜃 𝜃
𝐾1 1 − 𝑡𝑎𝑛2 ( 24 ) -𝐾2 𝑐𝑜𝑠𝜃2 1 + 𝑡𝑎𝑛2 ( 24 ) + 𝐾3 1 + 𝑡𝑎𝑛2 ( 24 )
2
𝜃4 𝜃4
= 𝑐𝑜𝑠𝜃2 1 − 𝑡𝑎𝑛 ( ) + 𝑠𝑖𝑛𝜃2 2tan( )
2 2

𝜃 𝜃 𝜃
𝐾1 − 𝐾1 𝑡𝑎𝑛2 ( 24 ) - 𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾2 𝑐𝑜𝑠𝜃2 𝑡𝑎𝑛2 ( 24 ) + 𝐾3 + 𝐾3 𝑡𝑎𝑛2 ( 24 )
2
𝜃4 𝜃4
= 𝑐𝑜𝑠𝜃2 − 𝑐𝑜𝑠𝜃2 𝑡𝑎𝑛 ( ) + 𝑠𝑖𝑛𝜃2 2tan( )
2 2
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Mechanism
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𝜃 𝜃 𝜃 𝜃 𝜃4
𝐾3 𝑡𝑎𝑛2 ( 24 )+𝑐𝑜𝑠𝜃2 𝑡𝑎𝑛2 ( 24 )-𝐾1 𝑡𝑎𝑛2 ( 24 )-𝐾2 𝑐𝑜𝑠𝜃2 𝑡𝑎𝑛2 ( 24 )- 𝑠𝑖𝑛𝜃2 2 tan 2

+𝐾3 +𝐾1 - 𝐾2 + 1 𝑐𝑜𝑠𝜃2 =0

This results in the following simplified form, where the link lengths and known input value (θ2)
terms have been collected as constants A, B, and C.
𝜃 𝜃
𝐴𝑡𝑎𝑛2 ( 24 )+ 𝐵𝑡𝑎𝑛 24 + 𝐶 = 0

Where
𝐴 = 𝐾3 + 𝑐𝑜𝑠𝜃2 − 𝐾1 − 𝐾2 𝑐𝑜𝑠𝜃2
𝐵 = −2𝑠𝑖𝑛𝜃2
𝐶 = 𝐾3 + 𝐾1 − (𝐾2 + 1)𝑐𝑜𝑠𝜃2
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 The Vector Loop Equation for a Four-bar Linkage

Note that equation is quadratic in form, and the solution is:

𝜃4 −𝐵 ∓ 𝐵2 − 4𝐴𝐶
tan =−
2 2𝐴

−𝐵 ∓ 𝐵2 − 4𝐴𝐶
𝜃4 = 2𝑡𝑎𝑛−1
2𝐴
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The Four Bar Slider-Crank Position Solution

 The Vector Loop Equation for a Slider-Crank Mechanism

The same vector loop approach as used above can be applied to a linkage containing sliders. The
following figure shows an offset four-bar slider-crank linkage. The term offset means that the slider
axis extended does not pass through the crank pivot.
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The Four Bar Slider-Crank Position Solution

 The Vector Loop Equation for a Slider-Crank Mechanism

This is the general case. This linkage could be represented by only three position vectors, R2, R3, and
Rs, but one of them (Rs) will be a vector of varying magnitude and angle. It will be easier to use four
vectors, R1, R2, R3, and R4 with R1 arranged parallel to the axis of sliding and R4 perpendicular.
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The Four Bar Slider-Crank Position Solution

 The Vector Loop Equation for a Slider-Crank Mechanism

This particular arrangement of position vectors leads to a vector loop equation similar to the pin-
jointed four-bar example:
R2 - R3 - R4 - R1 = 0
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The Four Bar Slider-Crank Position Solution

 The Vector Loop Equation for a Slider-Crank Mechanism

The angle q3 must always be measured at the root of vector R3, and in this example it will be convenient to
have that angle q3 at the joint labelled B. Once these arbitrary choices are made it is crucial that the resulting
algebraic signs be carefully observed in the equations.
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The Four Bar Slider-Crank Position Solution

 The Vector Loop Equation for a Slider-Crank Mechanism

Letting the vector magnitudes (link lengths) be represented by a, b, c, d as shown, we can substitute
the complex number equivalents for the position vectors.

ae jq2  be jq3 ce jq4 de jq1 0

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The Four Bar Slider-Crank Position Solution

 The Vector Loop Equation for a Slider-Crank Mechanism

Substitute the Euler equivalents:

a(cos q 2  jsinq2 )  b(cos q3  jsinq3 ) -c(cos q 4  jsinq4 ) -d(cos q1  jsinq1 )  0

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The Four Bar Slider-Crank Position Solution

 The Vector Loop Equation for a Slider-Crank Mechanism

separate into real and imaginary parts.

real part (x component):

acos q 2  bcos q 3 - ccos q 4 - dcos q1  0

but: q1 =0, so:

acosq 2  bcos q3 - ccosq 4 - d  0

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The Four Bar Slider-Crank Position Solution

 The Vector Loop Equation for a Slider-Crank Mechanism

Imaginary part (y component)

jasinq 2  jb sin q3 - jcsinq 4 - jdsinq1  0

but: q1 = 0, and j's divide out so;

acosq 2  bcos q3 - ccosq 4 - d  0

asinq 2  b sin q3 - csinq 4  0
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The Four Bar Slider-Crank Position Solution

 The Vector Loop Equation for a Slider-Crank Mechanism

We want to solve the above equations simultaneously for the two unknowns, link length d
and link angle q3. The independent variable is crank angle q2. Link lengths a and b, the
offset c and angle q4 are known. But note that since we set up the coordinate system to be
parallel and perpendicular to the axis of the slider block, the angle q1 is zero and q4 is 900.
The solution is:

𝑎𝑠𝑖𝑛𝜃2 − 𝑐
𝜃3 = 𝑎𝑟𝑐𝑠𝑖𝑛
𝑏

d= 𝑎𝑐𝑜𝑠𝜃2 − 𝑏𝑐𝑜𝑠𝜃3
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Example:
A six bar mechanism is given below. Calculate the distance s by graphical and numerical method.
Where
AoA =25 mm
AoD =55 mm
AB = 38 mm
BC = 15 mm
CE = 40 mm
θ2 =130⁰
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Example problem:

Find x and s positions of the mechanism given in the previous example in terms of link lengths and
given crank angle (θ2=60o) by means of analytical method.
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