STRUCTURAL ANALYSIS OF PLANAR MECHANISMS USING

GRAPH THEORY

A DISSERTATION

SUBMnTED IN THE PARTIAL FULFILLMENT OF THE REQUIREMENT FOR THE

A WARD OF THE DEGREE OF

MASTER OF TECHNOLOGY

IN

MECHANICAL ENGINEERING (MACHINE DESIGN)

OF
N.I.T. KURUKSHETRA

By
Gaurav Grover
(Roll No. 211394)
(Session 2011-2013)

UNDER THE GUE)ANCE OF

Prof. V.P.Singh

DEPARTMENT OF MECHANICAL ENGINEERING

NATIONAL INSTITUTE OF TECHNOLOGY
KURUKSHETRA -136119, HARYANA
.<.v^
 CANDIDATE'S DECLARATION

I Gaurav Grover, a student of M.Tech (Machine Design) of IVlechanical

engineering department at National Institute of Technology, kurukshetra,

declare that I owe full responsibility for the information, results, conclusion,

etc. provided in this dissertation entitled "Structural Analysis of Planar

Mechanisms Using Graph Theory" is being submitted to National Institute of

Technology, Kurukshetra, Haryana for the award of M. Tech (Machine Design)

degree. I have completely taken care in acknowledging the contribution of

others in this academic work. I further declare that in case of my violation of

intellectual property rights or copyrights found at any stage, I, as the candidate

will be solely responsible for the same.

Date: ^^ ) ^ 1'; Gaurav Grover

Place: Kurukshetra Roll NO.-211394

M.Tech (Machine Design)

 CERTIFICATE

This is to certify that this dissertation report entitled "Structural Analysis of

Planar Mechanisms Using Graph Theory" is being submitted by Mr. Gaurav
Grover in partial fulfillment of the requirement for the award of the degree of
Master of Technology in Machine Design to National Institute of Technology,
Kurukshetra, Haryana, India, is a record of student's own work carried out
under my supervision and guidance.

To the best of my knowledge, this dissertation report has not been submitted
in part or full elsewhere in any other University or Institution for the award of
any degree. It is further understood that by this certificate the undersigned do
not endorse or approve any statement made, opinion expressed or conclusion
drawn therein but approve the dissertation report only for the purpose for
which it is submitted.

(Prof. V.P.Singh) ~^
Associate Professor
Department of Mechanical Engineering
National Institute of Technology,
Kurukshetra, Haryana -136119
 ACKNOWLEDGEMENT

I have great pleasure in recording my profound gratitude to Prof. V.P. SINGH

Associate Professor, Mechanical Engineering Department. National Institute
Of Technology, kurukshetra, for his invaluable guidance, constant
encouragement and immense help given each and every stage of pursuing this
work, which reveal's his vast knowledge in the field of machine design his
incisive comments, fruitful discussions and valuable suggestions always edified
me with jest to carry out my work firmly. His guidance and support throughout
the duration of my study made this work possible and gave direction to my
work.

I would like to acknowledge the support provided by the Department Non-

Teaching Staff. I received great support from my friends and colleagues,
including Ritu Sharma, Neerav and Aditya Gupta. I am extremely grateful for
their words of encouragement and support. Finally, I am indebted to my
parents and my brother and sister for their love and support. I owe my success
and progress to them.

Place: Kurukshetra Gaurav Grover

DATE: Roll No: 211394

III
 CONTENTS:

CANDIDATE'S DECLARATION
CERTIFICATE
ACKNOWLEDGEMENT II

CONTENTS: V

CHAPTER: 1 INTRODUCTION
1.1 INTRODUCTION 1
1.2 OBJECTIVE OF PRESENT WORK 3
1.3 LITERATURE REVIEW 3

CHAPTER: 2 STRUCTURAL ANALYSIS OF AUT

AND CARBURETOR FEED MECHANISM

2.1 INTRODUCTION 10
2.2 MATRIX REPRESENTATION 13
2.3 COMPUTATION OF CHARACTERISTIC POLYNOMIAL 13
2.4 MATRIX NOTATION FOR AUTOMOBILE WINDOW GUIDANCE 18
2.5 TEST FOR ISOMORPHISM 22
2.6 DEGREE OF FREEDOM 29
2.6.1 TEST FOR FRACTIONATED DEGREE OF FREEDOM 29
2.6.2 TEST FOR PARTIAL FREEDOM 31

CHAPTER: 3 STRUCTURAL ANALYSIS OF WALSCAERT'S RADIAL VALVE GEAR

MECHANISM

3.1 INTRODUCTION 33
3.2 MATRIX REPRESENTATION 35
3.3 MATRIX NOTATION FOR WALSCAERT'S MECHANISM 43
3.4 DEGREE OF FREEDOM 50
3.4.1 TEST FOR FRACTIONATED FREEDOM 50
3.4.2 TEST FOR PARTIAL FREEDOM 52

CHAPTER:4 STRUCTURAL ANALYSIS OF PEAUCILLER MECHANISM

4.1 INTRODUCTION 53

IV
 4.2 MATRIX REPRESENTATION 55
4.3 MATRIX NOTATION FOR PEAUCELLIER MECHANISM 60
4.3 DEGREE OF FREEDOM 65
4.3.1 TEST FOR FRACTIONATED FREEDOM 65
4.3.2 TEST FOR PARTIAL FREEDOM 66

CHAPTER: 5 RESULTS AND CONCLUSION 67

APPENDIX-1 69
APPENDIX-2 71
REFFERENCES 72
 CHAPTER - 1

INTRODUCTION

1.1 INTRODUCTION

The process of mechanical design involves institution, experience, analysis

and synthesis. In recent times efforts have been made to develop an increasingly
rational approach to engineering design. One of these involves the introduction of
concepts of graph theory in the structural analysis of mechanical systems. In this
sense, mechanisms and mechanical systems may be regarded as circuit \N\th
topological and network properties just as electrical and other systems. Because
of inherent simplicity, graph theory has a very wide range of applications in
engineering, in physical, social and biological science, in linguistics and in
numerous other areas. A graph can be used to represent almost any physical
situation involving discrete objects and a relationship among them.

The analysis of structure is intimately connected with type synthesis that is

to say, with the determination of the type mechanism which is to synthesize the
design requirement.

The type synthesize of plane linkages may be formulated as systematic

process of finding 'equivalent' mechanisms without consideration of component
geometry. The structural components (designated as links) and the pair wise
connection between two links (designated as pairs) of a plane linkage may be
conveniently expressed In terms of graphs.

The structure of a kinematics chain is completely defined by its kinematic

graph, which In turn Is defined by its vertex edge matrix. Two vertex-edge
matrices are equivalent, if they differ only by a permutation of rows and columns
in such cases the vertices and edges of one of the matrices can be relabeled so as
to render the matrices identical. Two graphs are called isomorphic, if their vertex
edge matrices are equivalent. Hence basic kinematic chains are structurally
identical if and only if their vertex edge matrices are equivalent, or in other
words a structural comparison between kinematic chains is reduced to the
examination of the equivalence of their vertex edges matrices.

The steps involved in the study of structural aspects of kinematic chain

and mechanisms are:-

1. Determination of all possible structurally distinct kinematic chain with a

given number of links and given degree of freedom.
2. In the case of multi-degree of freedom chains determining whether the
given chain has total, partial or fractionated degree of freedom.
3. Determination of all possible structurally distinct mechanism that can be
derived from a given kinematic chain.
4. For a given mechanism determining all possible locations for supplying
input motion and for a set of such locations determining whether the
mechanism has total, partial or fractionated mobility.

In the spite of the comparatively, large number of studies in this area,

development of a fully reliable computer aided design program to solve these
steps, has not been achieved. In the studies to date some attempts have been
made to develop computerized design techniques for solving step l.These
design techniques often tends to be heuristic in nature. Besides, most of the
studies are restricted to a class of kinematic chains namely simple joined
chains. The remaining steps 2 to 4 have been solved almost entirely by
inspection. The main hindrances for development of a reliable computer aided
design program for structural synthesis and which remain unsolved are:-

1. Development of an efficient test for detecting possible isomorphism

between kinematic chains.
2. Development of a proper scheme of representation for multiple joined
chains.
3. Development of a proper representation of kinematic chains which will be
useful in analyzing chains with partial and fractionated freedom.
1.2 OBJECTIVE OF PRESENT WORK:

In the present work, an attempt has been made to provide satisfactory

solution to some of the problem. The following four points are made by taking the
example of seven-links, eight-link and ten-link mechanisms:

(1) A critical examination, in the light of finding available in graph theory of the
use of the characteristic polynomial of the matrix associated with the kinematic
chain for detecting isomorphism.

(2) A simple method for the characteristic co-efficient of the matrix of the
Chain which reveals the physical significance of these co-efficient and thus leads
to a possible way of determining these co-efficient by an inspection of the chain
also.

(3) A matrix notation which permits one to derive and distinguish all possible
mechanisms from kinematic chains.

(4) Algebraic tests based on graph theory for determining whether a kinematic
chain possesses total, partial or fractionated degree of freedom.

In addition a generalize matrix notation which enables representation and

analysis of multiple jointed kinematics chain. The kinematic structure of
mechanism is based to an understanding of their function. An understanding of
this structure will leads to a systematic development of method of identification
and isomorphism which form the structural analysis and synthesis of kinematic
chain and mechanism.

1.3 LITERATURE REVIEW:

In recent time efforts have been made to develop an increasingly rational

approach to engineering design. One of these involves the introduction concepts
of graph theory in the structural analysis of mechanisms. There is lot of work
being done in the direction and also plenty of work has already been done. Here
follows the brief description of the work previously done by the people.

1. H. Eleashy, M.Samy Elagyyar and M.N Shabara presented the graphical

enumeration technique was applied for structural synthesis of mechanically
constrained planar parallel robot formed by single loop 6-bar chain or two 3R
chains. Two RR chains were added to the considered system to mechanically
constraint the movement of its end-effector. Structural code had been proposed
as a new systematic methodology to detect isomorphic graphs. Therefore, 32
non-isomorphic graphs were obtained from that enumeration process. All these
graphs represent one-degree-of freedom eight-bar mechanisms. Reverse
transformation process was presented to obtain the corresponding linkage
diagrams for all results.

2. Fei Yang, Zongquan Deng, Jianguo Tao, Lifang Li presented a new method
used incident matrices to Identify the isomorphism of topological graphs was
proposed in this paper. The technique of acquiring the necessary condition for
identifying the Isomorphism was developed by comparing the calculation of
incident matrices. Furthermore, it could automatically executed by programs.
With the help of the results from the necessary condition, the technique to find
the correspondence of different vertices was presented, and the sufficiency for
the isomorphism Identification was obtained. Three examples were presented to
demonstrate the validity and reliability of that method.

3. Huafeng Ding, Fengmao Hou, Andres Kecskemethy, Zhen Huang presented

the contracted graph shows the primary topological structure of kinematic chains
and was the foundation for constructed kinematic structures of mechanisms. In
that paper, a fully automatic method was proposed to synthesize a complete set
of contracted graphs for planar non-fractionated simple-jointed kinematic chains
with all possible degrees of freedom. First, based on the 4-parameter index and
link assortment array, the relationships of link assortment arrays and non-
fractionated contracted graphs for different types of kinematic chains were
revealed. Then, the general steps to generate the adjacency matrices of
contracted graphs from the synthesis equation set were given. Efficient methods
to detect fractionated structures and isomorphism were also addressed. Finally, a
human-machine interactive synthesis program was developed, and the complete
list of both contracted graphs and valid contracted graphs for planar non-
fractionated simple-jointed kinematic chains with up to 19 links and all possible
degrees of freedom was presented for the first time.

4. Mr. Chaudhari Ashok the work presented here was focused on the type
of freedom of simple jointed planar Kinematic chains. The type of freedom of
forty 9 links, 2-dof were found from the Hamming method. The Hamming number
was computed by using the direct method of writing the hamming matrix, which
save time and effort. Link Hamming string which was defined as the string
obtained by concatenating the link Hamming number and the frequency of
individual hamming numbers in that row was then formed. Finally, chain
hamming string defined as the string obtained by the concatenation of the chain
hamming number and the link Hamming strings in descending order was formed.
Type of freedom of multi-d.o.f. chain could found by used hamming matrix. A
multi d.o.f. could posse's full, partial or fractionated freedom. Full freedom and
partial freedom matrix were also derived to find out the type of freedom. Type of
freedom would was help full during the synthesis of multi degree of freedom
kinematic chains. C++ program was prepared to find out full freedom matrix,
partial freedom matrix and type of freedom of the chains.

5. Ashok Dargar, All Hasan, R. A. Khan presented the simple and efficient
method was proposed to identify whether a kinematic chain posses total, partial
or fractionated mobility. The proposed method used the chain flow values (CFV)
derived from the flow matrix of the given kinematic chain and successfully applied
to all known cases of 2 and 3 degree of freedom planar kinematic chains. Since
the method was systematic and efficient, it could apply to the more complex
chains which not had been reported in the literature yet. This study would be
helpful in divided the frame and input links from the view point of mobility. Some
examples were provided to demonstrate the effectiveness of this method.

6. Huafeng Ding, Jing Zhao, Zhen Huang presented the structural synthesis
theory for the variety of kinematic chains, rather than varied methods for varied
kinds of kinematic chains, was much more convenient for both the study of the
mechanism theory and its applications. This paper proposes a novel structural
synthesis method for kinematic chains with multiple joints which was derived
from the well developed structural synthesis theory of simple joint kinematic
chains and theirs atlas database technique [H.F. Ding, Z. Huang, Mech. Mach.
Theory 2007 42(6) 637-651]. First, a novel topological graph, namely the new
bicolor topological graph, for the representation of the multiple joint kinematic
chain was presented, which was derived from the topological graph of the simple
jo'mt kinematic chain. Then the structural synthesis method of multiple joint
kinematic chains based on the new bicolor topological graph was presented. One
of the merits of the method was that it unifies the structural synthesis of simple
joint kinematic chains with multiple joint kinematic chains. In addition,
isomorphism identification, one of the most difficult problems in structural
synthesis, becomes unnecessary with this synthesis method. Finally, all multiple
joint kinematic chains with several specific numbers of links, degrees-of-freedom,
and numbers of multiple joints were synthesized in batch as examples to show
the effectiveness of the method.

7. A.K. Mallik presented the all engineering processes; design of planar of

linkages also requires a suitable mix of theory and practice. That involves a bit of
science and a bit of art. That aspect would highlight through examples of planar
linkages, both rigid and compliant. For rigid linkages, theory of planar kinematics,
directly applicable to design of four-bar linkages, would extend to design six or
eight link mechanisms. Examples would give of parallel motion generator, focal
mechanisms and wall-climbing robots. Different design principles of compliant
planar linkages would introduce. Finally, an actively controlled two-link path
generating mechanism actuated by SMA wires would present. It would show how
theory helped to provide the reference signal, which needs to modify by a simple
PID controller.

8. Peter Mitrouchev presented a paper on Mechanisms and Machines theory

(MMT) contributed greatly to planar and spatial mechanism synthesis with
different degrees of freedom. Some of the current industrial robots with planar
chains had a main structure created by the kinematic graphs of MMT. That paper
deals with a formulation allowing computing the number of possibilities for
actuators attachment for planar pin-jointed main driving mechanisms in robotics.
It was based on the sub-chains symmetries of structures taking into account the
position of the actuator of the robot. Pairs of groups of mutually symmetrical
mechanisms were detected. That eliminated the symmetrical one confined the
number of possible configurations. Different cases of symmetries had been
studied. Expressions for calculation of the number of actuator position of a
mechanism were presented. They enable the reduction of the number of
structures by avoided those that were isomorphic. Following this, examples for
applications for various planar pin-jointed kinematic structures were presented,
enabled the field of research to be restricted to the possible solutions.

9. Yi Lu, Tatu Leinonen presented the systematic linkage technique and a

topology matrix-graph approach was put forward for type synthesis of unified
planar-spatial mechanism. By using the systematic linkage technique, numerous
associated linkages of unified planar-spatial mechanism were created. The
equivalent relations between the actual mechanism and the associated linkage
were determined, and the formulas for calculated the number of DOF, the
complexity, and acceptable associated linkage were derived. By used the topology
matrix-graph approach, corresponding topology matrices were constructed, and
some topology embryonic graphs and their isomeric topology embryonic graphs
of the unified planar-spatial mechanism were constituted. Finally, the numerous
topology graphs for type synthesis of unified planar-spatial mechanism were
derived. The results show that the two approaches were simple and effective for
type synthesis of unified planar-spatial mechanisms.

10. Eric A. Butcher, Chris Hartman presented the algorithm to exhaustively

enumerate and structurally classify planar simple-jointed kinematic chains used
the hierarchical representation of Fang and Freudenstein was proposed in which
all isomorphic chains were automatically eliminated in the enumeration
procedure such that isomorphism testing on the final set of chains were
eliminated. An efficient rule-based technique for eliminating degenerate
kinematic chains was also proposed. This efficient scheme allows for the
exhaustive enumeration of complicated cases that had received little or no
attention in the past due to the difficult and time-consuming aspect of testing the
kinematic chains for isomorphisms. For verification, the algorithm was first
applied to enumerate the single degree-of-freedom 6-,8-,and 10-bar cases, then
to the 12-bar case (for which the results verified or contradict those reported in
three previous papers),and finally to the previously intractable 14-bar case.

11. L Al-Hakim, A. Kusiak, J. Mathew presented that paper explored the

concepts of concurrency in design and developed the approach that involved
reliability and other functional perspectives at the conceptual design stage. The
paper used graph theory to represent a product and the relationships between its
components. It employs the graph-theory concepts of the tree and the forest to
represent a functional design artifact ^and idle condition respectively. The
approach presented in the paper provides a more visualization of the energy and
owe was applicable to numerous designs included sliding gears, clutches, over
running clutches and wheels, amongst others. It could used to concurrently
modify the design taking into consideration various constraints, e.g. expected
mechanical failures and cost considerations. A case study was presented to
illustrate the benefits of the approach discussed in the paper.

12. T.S. Mruthyunjaya presented the term kinematic structure encompasses

all those characteristics of mechanisms which were determined solely by the
pattern of interconnection among the constituent links of the mechanism and
hence were independent of metric properties of the mechanisms. Study of
kinematic structure had attracted the attention of researchers for well over a
century and continues to do so. Paper presents a broad review of the extensive
literature available on the subject with a view to trace its history highlighting
major trends and discussing significant contributions. Some problem areas
needing further attention of researchers were also presented.

13. W.G. Green presented the walschaert's radial valve gear. He was given
the knowledge of the diagram of the particular gear mechanisms.

14. A.G ambekar presented the knowledge about machine and

mechanism. He had given the all data about mechanism and machines. Different-
different types of linkage systems of machines were required from the book of
mechanism and machines.
8
15. Percy H. Hill, Wilfred P. Rule presented the problem sheets simply, in
order to offer the teacher the greatest possible flexibility when using the book.
There was room for the teacher's individual preferences for the order of
presentation of the subject matter, as well as for the employment of his own
Ideas in the coverage and method of solution. It was felt that prepared sheets of
this nature would allow the student to solve and become acquainted with a
greater variety of mechanisms than in any other way known to the writers. It was
found, when class-testing the manuscript, that the set could used successfully
with many of the leading texts in the field.

16. V. P. Agarwal and J. S. Rao attempt had been made to develop

computationally simple and efficient analytical methods using matrices, link-link
variable characteristic polynomial (VCP-L), link-link variable permanent function
(VPF-L) for identification and isomorphism of kinematic chains (planar, spatial,
simple and multiple-jointed with different types of joints) and their mechanisms
such as path generators and function generators. A complete matrix
representation of kinematic chains results in the development of unique
mathematical expressions called VCP-L and VPF-L which identify kinematic chains
up to isomorphism, and leads to explicit expressions to determine characteristic
coefficients (CC-Ls) analytically or by visual inspection of the chain. Structural
invariants contained in VCP-L and VPF-L was identified and simple method for
computing them was developed. A method was developed to derive all possible
distinct paths in a kinematic chain analytically. The theory was illustrated by few
examples.

17. Carlo U. Galletti this paper presents a structure-based method for

determining and solved linkage compatibility equations by uncoupling
procedures. On the basis of early work by Assure and other authors, the
systematic method proposed could be utilized to generate and analyze
mechanisms of any complexity and degree of freedom. It was shown that only
one kind of link structure (Assur's kinematic chain) was required to implement
that method. Applications to computer-aided analysis were also discussed.
 CHAPTER: 2

STRUCTURAL ANALYSIS OF AUTOMOBILE WINDOW GUIDANCE

LINKAGE AND CARBURATOR FEED MECHANISM:-

2.1 INTRODUaiON

A kinematic chain is the assembly of link/pair combinations to from one

or more closed loops. A useful mechanism will be formed only when one link in
the chain is fixed to ground or to a member with specified motion. A mechanism
has been defined as, a combination of rigid or resistant Bodies so formed and
connected that they moved upon each other with definite relative motion. A
mechanism typically is creating a desired motion of a rigid body relative to a
reference member.

There are three types of common mechanical devices that can be used as basic
element of a mechanism:

(a) Gear system:

In which toothed member in contact transmit motion between
rotating shafts.

(b) Cam system:

Where a uniform motion of an input member is converted into a non-
uniform motion of the output member.

(c) Plane and spatial linkages are useful increasing mechanical motion for
a points or rigid body.

These can be used for three basic tasks:

(a) Rigid body guidance:

10
 A rigid body mechanism is used to guide a rigid body in a series of
prescribed positions in space.

(b) Path generation:

A path generation mechanism is designed to guide one point on moving

rigid body such that it passes through a specified of points on path in space. It is
important that this specified path points are coordinated with specified
displacement angles of an input crank.

(c) Function generation:

A mechanism that creates an output motion that is a specified function of

the input motion. The input and output member may be either a crank or slider,
each with motion specified with respect to a fixed reference member.
This is explaining in fig.2.1

H^idle

FIG.2.1 AUTOMOBILE WINDOW GUIDANCE LINKAGE MECHANISM

11
 «-<->

•//•7.

'^ y ^ '^ \

^ 'W^

.^v'.'y
6 i^

FIG.2.2 CONFIGURATION DIAGRAM

FIG. 2.3 TREE DIAGRAM

12
2.2 MATRIX REPRESENTATION:

It is usual to represent a n-link simple jointed kinematic chain by an n^'^

order symmetric zero-one:

Matrix A = aij in which

Uij = 1 if link 1 is connected directly to link j through a kinematic pair.

( i ;* j ) = 0, otherwise

and an = 0 for all i.

In graph vertices correspond to links of the chain and the edge

connection between vertices corresponds to the kinematic pairing between the
links of chain. Matrix for the fig 2.2 then becomes

0 1 0 1 1 0 0
1 0 1 0 0 0 0
[A] = 0 1 0 1 0 0 1
1 0 1 0 1 1 0
1 0 0 1 0 0 0
0 0 0 1 0 0 1
0 0 1 0 0 1 0

It is clear that A is also the vertex - vertex incidence matrix of the graph
of kinematic chain. In fact the usefulness of the matrix of the kinematic chain in
determining its structural characteristics is entirely due to this fact. In the
literature on graph theory this matrix is usually termed the adjacency matrix of
the graph.

2.3 COMPUTATION OF CHARACTERISTIC POLYNOMIAL:

T.S Murthyunjaya has presented a recursive method for the calculation

of the co-efficient of characteristic polynomial. We present here an alternate
method based on BocheKs formula. For the class of matrices representation of

13
the kinematic chains the calculation the basic of well known results of graph
theory, involved in this method are very simple and well suited for hand
computation. An additional advantage is that the Bocher's formulae when
interpreted on the basic of well known results of graph when interpreted on the
basic of well known results of graph theory reveal the physical meaning of the
characteristic coefficients and thus lead to a possible way of arriving at these co-
efficient by an inspection of the chain itself.

Let the characteristic polynomial of the matrix A be represented by:

ao A:" + a-yX^"'^ + ajX^'^ + ^n-i^ + ^n ••••• eqn(l)

Where aQ.a^^,a2n etc. are the co-efficient Bocher's formulae for these
co-efficient are:

tto = 1

; •

_ _i V eqn(2) ; = 1,2,3,4 ,n
r=l

Where s^ = tr [A^) = trace of matrix A^

Thus to calculate the co-efficient of the characteristic polynomial we need

only compute the power of the matrix A up to A^ and then use the Bocher's
formulae. So for the automobile window guidance mechanism r-link chain as
written in [A] rewriting as:

0 1 0 1 1 0 0
1 0 1 0 0 0 0
0 1 0 1 0 0 1
[A] = 1 0 1 0 1 1 0
1 0 0 1 0 0 0
0 0 0 1 0 0 1
0 0 1 0 0 1 0

14
 3 0 2 1 1 1 0
0 2 0 2 1 0 1
2 0 3 0 1 2 0
[AY2 =_
1 2 0 4 1 0 2
1 1 1 1 2 1 0
1 0 2 0 1 2 0
0 1 0 2 0 0 2

2 5 1 7 4 1 3
5 0 5 1 2 3 0
W' = 1 5 0 8 2 0 5
7 1 8 2 5 6 0
4 2 2 5 2 1 2
1 3 0 6 1 0 4
3 0 5 0 2 4 0

16 3 15 8 9 10 2
3 10 1 15 6 1 8
4 _
[>1] 15 1 18 3 9 13 0
8 15 3 26 9 2 14
9 6 9 9 9 7 3
10 1 13 2 7 10 0
2 8 0 14 3 0 9

15
 20 31 13 50 24 10 25
31 4 33 11 18 23 2
13 33 4 55 18 3 31
5 _ 50 11 55 22 34 40 5
[A? =
24 18 18 34 18 12 16
10 23 3 40 12 2 23
25 2 31 5 16 23 0

105 33 106 67 70 75 23
33 64 17 105 42 13 56
6 _
[Ar= 106 17 119 38 68 86 7
67 105 38 179 72 27 95
70 47 68 72 58 50 30
75 13 86 27 50 63 5
23 56 7 95 30 5 54

170 211 123 356 172 70 180

211 50 225 105 138 161 30
123 225 62 379 144 45 205
_
[Ay7 = 356 105 379 204 246 274 65
172 138 144 246 142 102 118
90 161 45 274 102 32 149
181 30 205 65 118 149 12

16
For these traces are obtained as:

Tr [A] = 0 = Si

Tr [A]^ = 18 = 52

Tr [A]^ = 6 = S3

Tr [A]* = 98 = S4

Tr [A]^ = 70 = S5

Tr [A]^ = 642 = Sg

Tr[>l]^ = 672= S7

Then characteristic co-efficient according to equation (2)

Now given by:

ao = 1

ai = Si = 0

a2 = - l / 2 ( a i S i + S2) = -9

ttg = -l/3(a2Si + aiS2 + S3) = -2

a4 = -l/Aia^Si + a2S2 + ajSs + S4) = 16

as = -l/5{a4Si + a^Sz + a2S3 + aiS4 + Sg) = 4

ae = -l/6(a5Si + 0453 + a^s^ + 0254 + a^Sg + SQ) = -6

ay = -l/7(a6Si + asS2 + a^s^ + a3S4 -I- a2S5 + Sg) = -2

Hence the characteristics polynomial of the seven link automobile window

guidance linkage is given by:

x^ - 9x^ - Ix^ + 16x^ + 4y^ - 6% - 2

17
2.4 MATRIX NOTATION FOR AUTOMOBILE WINDOW GUIDANCE MECHANISM:

In practice one is interested in l<nowing all possible distinct mechanisms

that can be derived from kinematic chain hence an algebraic representation
which preserves the structural characteristics of the mechanism and one from
which one can uniquely describe the mechanism is necessary. A mechanism
differs from the corresponding kinematic chain in fact that, in the mechanism one
of the links is identified as frame. Therefore, a mechanism can be represented by
a matrix which differs from the matrix of the parent kinematic chain in one
respect viz. the element an where (i is the frame link) is made unity. This matrix
now uniquely represents the particular mechanism. Thus the automobile window
guidance can be represented by the matrix as link 1 is fixed.

1 1 0 1 1 0 0
1 0 1 0 0 0 0
0 1 0 1 0 0 1
[A] = 1 0 1 0 1 1 0
1 0 0 1 0 0 0
0 0 0 1 0 0 1
0 0 1 0 0 1 0

This representation is solely meant for the purpose of deriving all possible
mechanisms from a given kinematic chain and identifying the distinct ones among
them. It has no correspondence with graph theory where a unit diagonal element
represents a self loop. It is interesting to see that the characteristic polynomial as
an index of structural isomorphism is applicable for the matrix of the mechanism
also, since the matrix representation of the particular mechanism corresponding
to any other scheme of labeling the links can be obtained shown before through a
sequence of simultaneous permutation of rows and columns. The characteristic
polynomial of this matrix is obtained as:

18
 0 1 0 0 0 0
1 0 1 0 0 1
0 1 0 1 1 0
[A] = 0 0 1 0 0 0
0 0 1 0 0 1
0 1 0 0 1 0

1 0 1 0 0 1
0 2 0 1 2 0
[Ar=2 _ 1 0 3 0 0 2
0 1 0 1 1 0
0 1 0 1 2 0
0 0 1 0 0 1

0 2 0 1 2 0
2 0 5 0 0 4
0 4 0 3 5 0
1 0 3 0 0 2
[Ar=3 _ 1 0 4 0 0 3
0 1 0 1 2 0

19
 2 0 5 0 0 4
0 7 0 5 9 0
4 0 12 0 0 9
0 4 0 3 5 0
[Ar=
0 5 0 4 7 0
1 0 4 0 0 3

0 7 0 5 9 0
7 0 21 0 0 16
1 16 0 12 21 0
[A]' = 4 0 12 0 0 9
5 0 16 0 0 12
0 5 0 4 7 0

7 0 21 0 0 16
2 28 0 21 37 0
[Ar=6 _ 16 0 49 0 0 37
1 16 0 12 21 0
1 21 0 16 28 0
5 0 16 0 0 12

For these traces are obtained as:

Tr [A] = 0 = Si

20
Jr[A]^ = 1 0 = 52

Tr [AY = 0 = S3

Tr [A]^ = 34 = S4

Tr[A]^= 0 = S5

Tr [A]^ = 136 = Sg

Then characteristics co-efflclent according to equation (2)

Now given by

Qo = 1

a^ = Si = 0

02 = -l/2(aiSi + S2) = -5

as = -l/3(a2Si + a^Sz + S3) = 0

a4 = -l/4(a3Si + a2S2 + aiS^ + S4) = 4

05 = -l/Sla^Si + 0352 + a2S3 + aiS4 + S5) = 4

ag = -l/S{asSi + a4S2 + 0353 + UzS^ + OiSg + Sg) = 0

ay = -l/7(a6Si + a^Sz + a^s^ + a^s^ + a255 + Sg) = -1

Hence the characteristics polynomial of the six link automobile window

guidance linkage when one link is fixed is given by:

The equation of mechanism has been found by the subtractions of the main
equation to the equation of which we consider the fixed link are obtained as:

(x^ - 9x^ - 2x* + 16x3 + 4^2 _ 6^ _ 2) _ (jc6 _ 5;c4 + 4^2 _ ^^

= x'^ -x^ - 9x^ + 3%^ + 16%^ - 6y - 1

21
2.5 TEST FOR ISOMORPHISM:

A major problem in structural synthesis or kinematic chains is detecting

possible isomorphism between two given kinematic chains. The matrices of
isomorphism chains differ only in the ordering of rows and columns. For example
see the figure 2.3.

Show the graph of seven link automobile window guidance mechanism

and it can be represented by the matrix.

0 1 0 1 1 0 0
1 0 1 0 0 0 0
0 1 0 1 0 0 1
[A] = 1 0 1 0 1 1 0
1 0 0 1 0 0 0
0 0 0 1 0 0 1
0 0 1 0 0 1 0

The characteristic polynomial as a test for isomorphism is such property.

Other properties like the trace, the determinant, the rank and signature. The
minimum polynomial, the invariant factors and elementary divisors of the
characteristic matrix all remain invariant under such transformation. However, all
these do not constitute a complete set of invariants with the result that these can
only be considered as necessary conditions for isomorphism but not sufficient
condition. In the literature examples are known of graph whose matrices, satisfy
all these necessary condition but still are not isomorphic.

Figure 2.3 show two such graphs whose matrices, it may be verified, have
identical characteristic polynomial.

Through it has not been possible to prove that the characteristic

polynomial is a sufficient test for isomorphism in the case of graphs without
isolated or pendant vertices. We have not come across in graph theory literature,
any examples to the contrary. In view of this and the fact that the characteristic

22
polynomial has been found to distinguish ail known l<inematic chains, (10) it is
hoped that it constitutes a sufficient test for isomorphism of kinematic chains.

Isomorphic is a comparative term. Simply saying a chain is isomorphic does

not mean anything. A chain is isomorphic with another chain. Let us whether
check the seven link automobile window guidance is isomorphic with carburetor
feed mechanism.

As from graph, the carburetor feed mechanism can be represent as a

matrix. This is explaining in fig.2.4

FIG.2.4 CARBURETOR FEED MECHANISM

23
 I

A'
\
\

\
\ ft
/: , • ^x\ \
\

•y>-'

FIG.2.5 CONFIGURATION DIAGRAM

is \

y
\ X
y
\ S/f^

FIG.2.6 TREE DIAGRAM

24
Let the polynomial be :

^n-l^ "'" ^n

0 1 . 1 0 1 0 1
1 0 1 0 0 0 0
1 1 0 1 0 0 1
[X] = 0 0 1 0 1 0 0
1 0 0 1 0 1 0
0 0 0 0 1 0 1
1 0 0 0 0 1 0

4 1 1 2 0 2 0
1 2 1 1 1 0 1
lxY2 =_ 1 1 3 0 2 0 1
2 1 0 2 0 1 0
0 1 2 0 3 0 2
2 0 0 1 0 2 0
0 1 1 0 2 0 2

2 5 7 1 8 0 6
5 2 4 2 2 2 1
3 _ 7 4 2 5 1 3 1
[^p= 1 2 5 0 5 0 3
8 2 1 5 0 5 0
0 2 3 0 5 0 4
0 1 1 3 0 4 0

25
 26 9 8 15 3 14 3
9 9 9 6 9 3 7
8 9 16 3 15 2 10
15 6 3 10 1 8 1
4 _
[xr= 3 9 15 1 18 0 13
14 3 2 8 0 9 0
2 7 10 1 13 0 10

23 34 50 11 55 5 40
34 18 24 18 18 16 12
50 24 20 31 13 25 10
11 18 31 33 4 31 3
5 _
[xr= 55 18 13 33 4 31 3
5 16 25 2 31 0 23
40 12 10 23 3 63 2

179 72 67 105 38 95 27
72 58 70 42 68 30 50
67 70 105 33 106 23 75
6 _
[xr= 105 42 33 64 17 56 13
38 68 106 17 119 7 86
95 30 23 56 7 54 5
27 50 75 13 86 5 63

25
 204 246 356 105 379 65 274
246 142 172 138 144 118 102
[xV = 356 172 170 211 123 181 90
105 138 211 50 225 30 161
379 144 123 225 62 205 45
65 118 181 30 205 12 149
274 102 90 161 45 149 132

From these traces are obtained as

Tr[x] = 0 = ^1

Trlx]2 = 18 = ^2

lx[xf = 6 == ^3

Tr [;c]* = 98 := ^4

Tr [x]^ = 71 •= ^5

Tr [x]^ = 642 == ^6

Tr[xy = 772 := ^7

And from equation (2)

ao = l

ai = Si = 0

27
a 2 = - l / 2 ( a i 5 i + S2) = -9

03 = -l/S{a2Si + a^S2 + S3) = -2

a4 = -l/Aia^Si + a2S2 + a i S s + S4) = 16

tts = - l / 5 ( a 4 S i + 03S2 + 02^3 4- aiS4 + 55) = 3.8

ttg = -l/6{a5Si + a4S2 + a^s^ + 02^4 + a^s^ + Sg) = -6

aj = -l/7{a6Si + a5S2 + 0453 + 03^4 + 0255 + Sg) = -14.487

Putting the values:

Thus characteristics polynomial of carburetor feed mechanism is

x7 - 9JC5 - 2:c^ + 16%^ + 3.8%^ - 6x - 14.487

Comparing the equation of automobile window guidance linkage:-

By the help of the method linear characteristic polynomial method, we are

determining the all coefficient of both equations. Thus the carburetor feed
mechanism is isomorphic with automobile window guidance linkage.

28
2.6 DEGREE OF FREEDOM

Anurag Verma takes the degree of freedom F of a kinematic chain is

given by the Grubler's equation as:

F = 3{n-l) - 2j-h

F = 3(7-1)-2(8)-l

F=l

The carburetor feed mechanism and automobile window guidance have

one higher pair and eight lower pair.

Where n is the number of link and j is number of lower pair and h is

higher pair in terms of the matrix associated with the chain each row (or column)
corresponds to a link with the number of non zero entries in that row giving three
number of kinematic element in the link. Hence, n is the order of the matrix and
2j is the number of non zero entries in the matrix. Also a signal non zero entry in
any row indicates that the matrix representation as open chain.

There are three types of degree of freedom viz. total, partial and
fractionated degree of freedom. A chain is said to have a total degree of freedom
f if any f links of the chain can be moved independent of one another, relative to
any other link and the motion of all the remaining links is dependent on the
motion of all these f and not less than links. A chain which does not satisfy these
conditions is said to have a partial degree of freedom. A chain which besides
violating these conditions consists of a link (called separation link) by cutting
which in to two, the chain of f degree of freedom fi and /2 such that f^+ f2 = f
is said to have a fractionated degree of freedom.

2.6.1 TEST FOR FRACTIONATED FREEDOM:

The fractionated chains are characterized by the presence of a

*separation* link which when cut into two, splits the chain into two separate
closed chains. For example a nine link, two degree of freedom chain in which 9 is
a separation link. When link 9 is cut into two we obtain two different single

29
degree of freedom chains. It is seen tliat when vertex 9 is deleted the graph
becomes disconnected. In graph theory such a vertex is called a 'cut vertex' and
the graph consisting of such vertex or vertices is called a separate graph.
Therefore, the presence of a cut vertex in the graph of the kinematic chain is
necessary and sufficient to conclude that the chain has fractionated freedom. The
test for fractionated freedom can, therefore, proceed as follows:

(i) Check for the presence of row with more than three non zero entries in them
(it is obvious that a separation link has to be at least a quaternary link or the cut
vertex must have a degree of at least four) if there are no such rows the chain
cannot have fractionated freedom. If there are one or more such rows, proceed
to the next step.

(ii) Obtain the matrix Af^ (n — 1) * (n — 1) by deleting row (and column) k from
matrix A (n * n) where the k^^ row has more than three non zero entries.

(iii) Compute what is called the reach-ability matrix R^ given by

Rj,= \ + >lfc + A/ + AK^ + + V

here I is the identity matrix and Aj^ ,Aji^ AK^~^ a''^ the power of A^. All the
computations involved in finding Rjc are carried out as per Boolean algebra viz.
1 + 1 = 1,1 + 0 = 0 + 1 = 1,0 + 0 = 0 , 1 * 0 = 0 * 1 = 0 , 1 * 1 = 1.

(iv) Check for the presence of zeros in R,^ indicates that k is a cut vertex and that
graph becomes disconnected after deleting the vertex k. this means that the
kinematic chain has fractionated freedom with k as a separation link A non zero
if^ entry in Rj^ indicates that vertex j is reachable from vertex I and vice versa in
the graph of Aj^ via a path of (n-2) or fewer edges. If there are no zero entries in
/?/c proceed to next step.

(v) If k is the only row in A with more than three non zero entries we conclude
that there are no cut vertices in the graph and chain does not represent a
fractionated chain. Otherwise we repeat the step (ii) to (iv) with the other rows
consisting of more than three non zero entries in them. This is done till there are

30
no more such rows in the matrix. If the test is not satisfied for all such rows we
conclude that the chain cannot have fractionated freedom. It may have partial or
total freedom.

Since identity matrix of carburetor feed mechanism and automobile

window guidance mechanism do not have presence of zero therefore, it can be
concluded that carburetor feed and automobile window guidance mechanism
have not fractionated freedom.

2.6.2 TEST FOR PARTIAL FREEDOM:

After incurring that the chain does not possess fractionated freedom. It
has been proved by Ashok Dargar, All Hasan & Mr. Chaudhari Ashok that
kinematic chains with degree of the freedom greater than three and consisting of
more than one simple circuit (which is indicated by the number of joints being
greater than number of links) cannot have total freedom and hence can have only
fractionated or partial freedom. Such chains, if they do not satisfy the preceding
test for fractionated freedom. Hence the proposed test for partial freedom need
not applied only for two and three degree of freedom chains. The following
results from Ashok Dargar, All Hasan & Mr. Chaudhari are form the basis of our
algebraic tests for determining whether a chain has partial freedom or not.

(i) Kinematic chains of degree of freedom f in which all sub chains have a
degree of freedom > f have total freedom.

(ii) Kinematic chains of degree of freedom f every sub chain having a degree
of freedom / ^ in the range 0</^<f have partial or fractionated freedom.

(iii) If in kinematic chain of degree of freedom f every sub chain has a degree
of freedom > f then f is equal to one and the chain must contain at least
three independent circuits and eight links.

(iv) In a kinematic chain of degree of freedom f it is impossible for every sub

chain to have a degree of freedom > (f + 1),

31
 It is clear that all these results can be particularized to any sub chain of a
kinematic chain as well provided we take f to mean the degree of freedom of the
sub chain considered and the term sub chain to mean sub-sub chains of the sub
chain considered. The simplest sub chains are, of course, a simple closed
sequence of kinematically paired links or loops.

Since the degree of freedom of carburetor feed mechanism is OO^

therefore, the carburetor feed mechanism does not have the partial freedom.

32
 CHAPTER: 3

WALSCHAERTS RADIAL VALVE GEAR MECHANISM:

3.1 INTRODUCTIOM:

A mechanism that creates an output motion that is a specified function

of the input motion is of function generation type mechanism. The input and
output members may be either a cranio or slider, each with motion specified with
respect to a fixed reference member.

The fig 3.1 shows the 10 linl< walschaert's radial valve gear mechanism
(14). Link 2 and 3 is crank which revolves while link 4, 5,6,7,8 & 10 are floating
links. The link 9 is slider which reciprocates and moves the piston. This is
explaining in fig. 3.2

'HWt,
r^

FIG. 3.1 WALSCAERTS RADIAL VALVE GEAR MECHANISM

33
FIG. 3.2 WALSCAERTS RADIAL VALVE GEAR MECHANISM LINKAGES SYSTEM

%li«^^ H/
v"^'

FIG.3.3 CONFIGURATION DIAGRAM

34
 s ^~
..i^-.
X \G

/
\ \ ,
> :

FIG.3.4 TREE DIAGRAM

3.2 MATRIX REPRESENTATION:

It is usual to represent a n-link simple jointed kinematic chain by an n^^

order symmetric zero-one matrix

A = ajy in which

aij - 1 if link 1 is connected directly to link j through a kinematic pair.

( i ?^ j ) = 0, otherwise

And ttji = 0 for all i.

The matrix thus obtained is called adjacency matrix. Where ag, %,

a^ ........... etc. are the co-efficients. Bocher's formulae for these co-efficients are:

35
 Qj = - - y aj_f. Sfj eqn(2) j = 1,2,3,4 .............n
r=l

Where s^. = Tr (^4'") = trace of matrix ^4^"

Thus to calculate the coefficient of the characteristic polynomial we need

only compute the power of the matrix A up to A^ and then use the bocher's
formula. The powers are as follows:

[A] =

0 1 1 0 1 0 0 0 1 0
1 0 0 0 0 0 0 0 0 1
1 0 0 1 0 1 0 0 0 0
0 0 1 0 1 0 0 0 0 0
1 0 0 1 0 1 0 0 0 0
0 0 0 0 1 0 1 0 0 0
0 0 0 0 0 1 0 1 0 0
0 1 0 0 0 0 1 0 1 0
1 0 0 0 0 0 0 1 0 1
0 1 0 0 0 0 0 0 1 0
L

36
[AY2 _=

4 0 0 2 0 1 0 1 0 2
0 1 2 0 2 0 0 0 1 0
2 0 0 2 0 1 0 0 0 0
0 1 2 0 3 0 1 0 1 0
1 0 0 1 0 2 0 1 0 0
1 0 2 0 3 0 1 0 1 0
0 0 0 0 1 0 2 0 1 0
1 0 0 0 0 1 0 2 0 1
0 2 1 0 1 0 1 0 3 0
2 0 0 0 0 0 0 1 0 2

[Af3 =_

0 6 6 0 7 0 2 0 7 0
6 0 0 2 0 1 0 2 0 4
6 0 0 4 0 2 0 1 0 2
0 2 4 0 5 0 1 0 2 0
7 0 0 5 0 4 0 2 0 2
0 1 2 0 4 0 3 0 2 0
2 0 0 1 0 3 0 3 0 1
0 2 1 0 2 0 3 0 4 0
7 0 0 2 0 2 0 4 0 5
0 4 2 0 2 0 1 0 5 0

37
 4 _
[Ar=

26 0 0 13 0 9 0 9 1 13
0 10 8 0 9 0 3 0 12 0
0 8 10 0 12 0 3 0 9 0
13 0 0 9 0 6 0 3 0 4
0 9 12 0 16 0 6 0 11 0
9 0 0 6 0 7 0 5 0 3
0 3 3 0 6 0 6 0 6 0
9 0 0 3 0 5 0 7 0 6
0 12 9 0 11 0 6 0 16 0
13 0 0 4 0 3 0 6 0 9

[A] 5 _

0 39 39 0 48 0 18 0 48 0
39 0 0 17 0 12 0 15 0 22
39 0 0 22 0 15 0 12 0 17
0 17 22 0 28 0 9 0 20 0
0 12 15 0 22 12 0 17 0 20
18 0 0 9 0 12 0 12 0 9
0 15 12 0 17 0 12 0 22 0
48 0 0 20 0 17 0 22 0 28
1 0 0 0 0 0 0 1 0 1
0 1 0 0 0 0 0 0 1 0

38
[Ar=

174 0 0 87 0 66 0 66 0 87
0 61 56 0 68 0 27 0 76 1
0 56 61 0 76 0 27 0 68 0
87 0 0 50 0 37 0 29 0 37
0 68 76 0 98 0 39 0 85 0
66 0 0 37 0 34 0 29 0 29
0 27 27 0 39 0 24 0 39 0
66 0 0 29 0 29 0 34 0 37
0 76 68 0 85 0 39 0 98 0
87 0 0 37 0 29 0 37 0 50

[Ar=

0 261 261 0 327 0 132 0 327 0

261 0 0 124 0 95 0 103 ,0 137
261 0 0 137 0 103 0 95 0 124
0 124 137 0 124 0 66 0 153 0
327 0 0 124 0 137 0 124 0 153
0 95 103 0 137 0 63 0 124 0
132 0 0 66 0 63 0 63 0 66
0 103 95 0 124 0 63 0 137 0
327 0 0 153 0 124 0 137 0 174
0 137 124 0 153 0 66 0 174 0

39
w«=

1176 0 0 588 0 459 0 459 0 588

0 398 385 0 480 0 198 0 501 0
0 385 398 0 501 0 198 0 480 0
588 0 0 311 0 240 0 219 0 277
0 480 501 0 638 0 261 0 604 0
459 0 0 240 0 200 0 187 0 219
0 198 198 0 261 0 126 0 261 0
459 0 0 219 0 187 0 200 0 240
0 501 480 0 604 0 261 0 638 0
588 0 0 277 0 219 0 240 0 311

9 _
M'=

0 1764 1764 0 2223 0 918 0 2223 0

1764 0 0 865 0 678 0 699 0 899
1764 0 0 899 0 699 0 678 0 865
0 865 899 0 1139 0 459 0 1084 0
2223 0 0 1139 0 899 0 865 0 1084
0 678 699 0 899 0 387 0 865 0
918 0 0 459 0 387 0 387 0 459
0 699 678 0 865 0 387 0 899 0
2223 0 0 1084 0 865 0 899 0 1139
0 899 865 0 1084 0 459 0 1139 0

40
[Ar=

7974 0 0 3987 0 3141 0 3141 0 3987

0 2629 2629 0 3307 0 1377 0 3362 0
0 2629 2663 0 3362 0 1377 0 0 0
3987 0 0 2038 0 1598 0 1543 0 1949
0 3307 3362 0 4261 0 1764 0 4172 0
3141 0 0 2038 0 128e 0 1252 0 1543
0 1377 1377 0 1764 0 774 0 1764 0
3141 0 0 1543 0 125: 0 1286 0 1598
0 3362 3307 0 4172 0 1764 0 4261 0
3987 0 0 1949 0 1543 0 1598 0 2038

For these traces are obtained as:

Tr [A] = 0 = Si

Tr[A]'^ = 24 = S2

Tr [v4]3 = 0 = Ss

Tr [A]^ = 116 = S4

Tr[v4]^ = 0 = -^5

Tr [A]^ = 684 = Se

Tr [Ay = 0 = S7

Tr [A]^ = 4396 = SQ

Tr [Ay = 0 = ^9

Tr [Ay° = 29244 = %0

41
Then characteristics co-efficient according to equation (2)

Now given by:

ao = 1

a^ = Si = 0

a2 = -l/2(aiSi + S2) = -12

03 = -l/3(a2Si + aiS2 + S3) = 0

a4 = -l/4(a3Si -I- 02^2 + aiS3 -I- S4) = 43

as = -l/5{a4Si -H 0352 + a2Ss + ^ 5 4 + 55) = 0

ag = -l/6(a5Si -I- a^S2 + a^s^ + 0254 + a-i^s^ + s^) = -54

ay = -l/7(a6Si -1- a552 + a4S3 + 0354 -I- azSs -H ^ S e + S7) = 0

Og = -l/8(a7Si + ae,S2 + agSg + a4S4 -H 03^5 + azSg + a^Sj + Sg) = 15

Og = -l/9{a8Si + 0752 + agSg + 0554 -h a^s^ + 0355 + 0257 + a^Sg + Sg) = 0

ttio = -l/10{agSi + a852+ 0753 + a^s^ + agSg + a^s^A- a^s-j -h azSg -H

ttiSg -H Sio) = 0

Hence the characteristics polynonniai of the ten link Walscaert's Radial Valve Gear
linkage is given by:

>:^° - \2x^ + A2x^ - 54x^ -t- 15%^

The equation often link Walscaert's Radial Valve Gear linkage.

42
3.3 MATRIX NOTATION FOR WALSCAERT'S RADIAL VALVE GEAR MECHANISM

In practice one is interested in knowing all possible distinct mechanisms

that can be derived from kinematic chain hence an algebraic representation
which preserves the structural characteristics of the mechanism and one from
which one can uniquely describe the mechanism is necessary. A mechanism
differs from the corresponding kinematic chain in fact that, in the mechanism one
of the links is Identified as frame. Therefore, a mechanism can be represented by
a matrix which differs from the matrix of the parent kinematic chain in one
respect viz. the element an where ( i is the frame link ) is made unity. This matrix
now uniquely represents the particular mechanism. Thus the walscaert's radial
valve gear mechanism can be represented by the matrix as link 1 is fixed.

[A] =

1 1 1 0 1 0 0 0 1 0
1 0 0 0 0 0 0 0 0 1
1 0 0 1 0 1 0 0 0 0
0 0 1 0 1 0 0 0 0 0
1 0 0 1 0 1 0 0 0 0
0 0 0 0 1 0 1 0 0 0
0 0 0 0 0 1 0 1 0 0
0 1 0 0 0 0 1 0 1 0
1 0 0 0 0 0 0 1 0 1
0 0 0 0 1 0

43
 This representation is solely meant for the purpose of deriving all possible
mechanisms from a given kinematic chain and identifying the distinct ones among
them. It has no correspondence with graph theory where a unit diagonal element
represents a self loop. It is interesting to see that the characteristic polynomial as
an index of structural isomorphism is applicable for the matrix of the mechanism
also, since the matrix representation of the particular mechanism corresponding
to any other scheme of labeling the links can be obtained shown before through a
sequence of simultaneous permutation of rows and columns. We are removed
first row and first column of the matrix:

[A] =

0 0 0 0 0 0 0 0 1
0 0 1 0 1 0 0 0 0
0 1 0 1 0 0 0 0 0
0 0 1 0 1 0 0 0 0
0 0 0 1 0 1 0 0 0
0 0 0 0 1 0 1 0 0
1 0 0 0 0 1 0 1 0
0 0 0 0 0 0 1 0 1
1 0 0 0 0 0 0 1 0

44
[Af2 =_

1 0 0 0 0 0 0 1 1
0 1 0 2 0 1 0 0 0
0 0 2 0 2 0 0 0 0
0 1 0 2 0 1 0 0 0
0 0 1 0 2 0 1 0 0
1 0 0 1 0 2 0 1 0
0 0 0 0 1 0 2 0 1
2 0 0 0 0 1 0 •2 0
1 0 0 0 0 0 1 0 2

[AY3 =
_

0 0 0 0 0 0 1 0 0
0 0 3 0 4 0 1 0 0
0 2 0 4 0 2 0 0 0
0 0 3 0 4 0 1 0 0
1 1 0 3 0 3 0 1 0
0 0 1 0 3 0 3 0 1
4 0 0 1 0 3 0 4 0
0 0 0 0 1 0 3 0 3
3 0 0 0 0 1 0 3 0

45
 4 _
[Ar=

3 0 0 0 0 1 0 3 0
1 3 0 7 0 5 0 1 0
0 0 6 0 8 0 0 0 0
1 3 0 7 0 5 0 1 0
0 0 4 0 7 0 4 0 1
5 1 0 4 0 6 0 5 0
0 0 1 0 4 0 7 0 6
7 0 0 1 0 4 0 7 0
0 0 0 0 1 0 4 0 5

[A]' =

0 0 0 0 1 0 4 0 5
0 0 10 0 15 0 6 0 1
2 6 0 14 0 10 0 2 0
0 0 10 0 15 0 6 0 1
6 4 0 11 0 11 0 6 0
0 0 5 0 11 0 11 0 7
15 1 0 5 0 11 0 15 0
0 0 1 0 5 0 11 0 11
12 0 0 1 0 5 0 10 0

46
w=6 _

10 0 0 1 0 5 0 10 0
8 10 0 25 0 21 0 8 0
0 0 20 0 30 0 12 0 2
8 10 0 25 0 21 0 8 0
0 0 15 0 26 0 17 0 8
21 5 0 16 0 22 0 21 0
0 0 6 0 17 0 26 0 23
25 1 0 6 0 16 0 25 0
0 0 1 0 6 0 15 0 16

{A\

0 0 1 0 6 0 15 0 16
0 0 35 0 56 0 29 0 10
16 20 0 50 0 42 0 16 0
0 0 35 0 56 0 29 0 10
29 15 0 41 0 43 0 29 0
0 0 21 0 43 0 43 0 31
56 6 0 23 0 43 0 56 0
0 0 7 0 23 0 41 0 39
35 1 0 7 0 21 0 35 0

47
[A]»8 =_

38 1 0 7 0 21 0 35 0
45 35 0 91 0 85 0 47 0
0 0 70 0 112 0 58 0 20
46 35 0 91 0 85 0 47 0
0 0 56 0 99 0 72 0 41
85 21 0 64 0 86 0 85 0
0 0 29 0 72 0 99 0 86
91 7 0 30 0 64 0 91 0
0 0 8 0 29 0 56 0 55

[A] 9 _

0 0 8 0 29 0 56 0 55
0 0 126 0 211 0 130 0 61
91 70 0 182 0 170 0 94 0
0 0 126 0 211 0 130 0 61
131 56 0 155 0 171 0 132 0
0 0 85 0 171 0 171 0 127
126 29 0 106 0 201 0 226 0
0 0 37 44 101 0 175 0 171
136 8 0 47 0 105 0 136 0

48
For these traces are obtained as:

Tr [A] = 0 = Si

Tr [Af = 16 = S2

lx[Af = 0 = S3

Jr[AY= 51 = S4

•\v{Af= 0 = %

Tr [i4]^ = 180 = Sg

Tr[^]^ = 0 = S7

-[r[Af = 661 = Sg

Tr [A]'^ = 0 = Sg

Then characteristics co-efficient according to equation (2)

Now given by:

ao = l

ai = Si = 0

a2 = -l/2(aiSi + S2) = -8

ag = -l/3{a25i + a^S2 + 53) = 0

a^ = -l/4(a3Si + 0252 + a^s^ + S4) = 19

as = -l/5{a4Si + 0352 + 0253 + a-^s^ + Sg) = 0

tte = -l/6{a5Si + a4S2 + a^s-^, + 0254 + a-^s^ + Sg) = -12

a-j = -l/7{asSi + 05^2 + 0453 4- 0354 + a2Ss + a-^^s^ -I- Sy) = 0

49
ttg = -l/SiaySi + aQS2 + tts^s + 0454 + a^s^ + a2S6 + a^Sy + SQ) = 0

ttg = -l/9(a8Si + ayS2 + asS2 + a5S4 + a4S5 + a^s^ + az^y + a^SQ + Sg) = 0

Hence the characteristics polynomial of the nine link Walscaert's Radial

Valve Gear linkage when one link is fixed is given by:

The equation of mechanism has been found by the subtractions of the

main equation to the equation of which we consider the fixed link are obtained
as:
(x^o - 12x« + 43%^ - 54x* + 15%2) - (x^ - Sx^ + 19:^:^ - 12%^ )
= x^° -x^- 12x^ + 8%^ + 43x^ - 19%^ - 54%^ + 12;c^ + 15x^

3.4 DEGREE OF FREEDOM:

Using Grubbler's criterion:

F= 3{L-1)-2J

= 3(10-1)-2(12)

= 3

But kinematic chain has three types of degree of freedom, total as shown earlier,
fractionated and partial freedom.

3.4.1 TEST FOR FRACTIONATED FREEDOM:

Test for fractionated freedom is as follows:

(1) Check for the presence of row with more than three non zero entries in them
(it is obvious that a separation link has to be at least a quaternary link or the cut
vertex must have a degree of at least four) if there are no such rows the chain

50
cannot have fractionated freedom. If there are one or more such rows, proceed
to the next step.

(ii) Obtain the matrix A^ (n - 1) * (n - 1) by deleting row (and column) k from

matrix A (n * n) where the k^^ row has more than three non zero entries.

(iii) Compute what is called the reach ability matrix R^ given by:

Rk=\ + A„+ V +V + + ^i^"

Here I is the identity matrix and A]^ ,A]^ ^K^~^ are the powers of -4^. All the
computations involved in finding R^ are carried out as per Boolean algebra viz.
1 + 1 = 1,1 + 0 = 0 + 1 = 1, 0 + 0 = 0 , 1 * 0 = 0 * 1 = 0 , 1 * 1 = 1.

So i?fc becomes:

1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1

( iv ) Check for the presence of zeros in i?^. There are no zeros in /?fc. So, the
chain does not have any fractionated degree of freedom.

51
3.4,2 TEST FOR PARTIAL FREEDOM:

After ensuring that the chain does not possess fractionated freedom we
can test for partial freedom. It has been proved that kinematic chains with a
degree of freedom greater than three and consisting of more than one simple
circuit cannot have total freedom and hence can have only fractionated or partial
freedom. For such chains if they do not satisfy the preceding test for fractionated
freedom, we conclude that they have partial freedom. Hence, the proposed test
for partial freedom need be applied only for 2 & 3 degree of freedom chains.
Since chain for walschaert's radial valve gear having 3 degree of freedom but they
does not have partial degree of freedom because:--

( 1 ) Sub chains of the chain mechanism having not a degree of freedom / i in the
range of 0 < /^ < f have partial or fractionated degree of freedom.

{ 2 ) Every sub chain has a degree of freedom is not greater then f and f =3.

So, the walscaert's radial gear valve mechanism does not have any partial degree
of freedom.

52
 CHAPTER: 4

STRUCTURAL ANALYSIS OF PEAUCELUER MECHANISM

4.1 INTRODUCTION:

The peaucellier linkage mechanism was important in the development of

steam engine. Peaucellier lipkin linkages (or peaucellier- lipkin cell or peaucellier
- lipkin inversor ) , invented in 1864, was the first planar linkage capable of
transforming rotary motion in to perfect straight line motion.

A mechanism that creates an output motion that is a specified function of

the input motion is of function generation type mechanism. The input and output
members may be either a crank or slider, each with motion specified with respect
to a fixed reference member. The fig shows the 8 link peaucellier mechanism.

FIG.4.1 PEAUCELLIER MECHANISM

53
 A ••
5
• " - #

c
7
yy"
--<l^

FIG.4.2 PEAUCELLIER MECHANISM LINKAGE SYSTEM

,1 i

FIG. 4.3 CONFIGURATION DIAGRAM

54
 .,*

—n

FIG.4.4 TREE DIAGRAM

4.2 MATRIX REPRESENTATION:

It is usual to represent a n-IInk simple jointed kinematic chain by an n^^

order symmetric zero-one

Matrix A = aij in which

Uij = 1 if link 1 is connected directly to link j through a kinematic pair.

('\^l) = 0, otherwise

and ttji = 0 for all i.

The matrix thus obtained is called adjacency matrix. Where ao, %,

a2 etc. are the co-efficients. BocheKs formulae for these co-efficients are:

55
 r ^rj ,eqn(2) ;•= 1,2,3,4 ,72
r=l

Where Sj. = tr {^4'") = trace of matrix A'

Thus to calculate the coefficient of the characteristic polynomial we need

only compute the power of the matrix A up to A^ and then use the bocher's
formulae. The powers are as follows:

0 1 1 0 0 0 0 1
1 0 0 1 1 0 0 0
[A] = 1 0 0 1 0 0 1 .1
0 1 1 0 1 0 1 0
0 1 0 1 0 1 0 0
0 0 0 0 1 0 1 1
0 0 1 0 1 0 0 0
1 0 1 0 0 1 1 0

3 0 1 2 1 1 2 1
0 3 2 1 1 1 1 1
1 2 4 1 1 2 2 2
[A] 2 _
2 1 1 4 1 2 1 2
1 1 1 1 3 0 2 1
1 1 2 2 0 3 1 1
2 1 2 1 2 1 4 2
1 1 2 2 1 1 2 4

56
 2 6 8 4 3 4 5 7
6 2 3 1 1 0 0 0
3 _ 8 3 6 1 0 0 1 1
[Ar = 4 7 9 0 1 0 1 0
3 5 0 1 0 1 0 0
4 3 0 0 1 0 1 1
5 5 1 0 1 0 1 0
7 4 1 0 0 1 1 0

21 9 18 22 14 15 23 19
9 18 22 15 12 14 17 14
18 22 35 23 17 23 29 28
[Ar= 22 15 23 32 15 22 23 26
14 12 17 15 18 9 22 17
15 14 23 22 9 21 18 19
23 17 29 23 22 18 35 28
19 17 28 26 17 19 28 32

46 57 85 64 46 56 74 77
57 36 58 69 47 46 68 62
5 _ 85 58 98 103 65 74 109 105
[Ar= 64 69 103 76 69 64 103 90
46 47 68 69 36 57 58 62
56 46 74 64 57 46 85 77
74 68 109 103 58 85 98 105
77 62 105 90 62 77 105 94

57
 219 156 261 262 177 197 282 261
156 173 256 209 151 177 235 229
261 256 402 333 235 282 380 366
262 209 333 344 209 262 333 334
[^r = 177 151 235 209 173 156 256 229
197 111 282 262 156 219 261 261
282 235 380 333 256 261 402 366
261 229 366 334 229 261 366 364

678 658 1024 876 615 720 981 959

658 516 829 815 559 615 871 824
1024 829 1340 1273 871 981 1383 1325
[AV = 876 815 1273 1084 815 876 1273 1190
615 559 871 815 516 658 829 824
720 615 981 876 658 678 1024 959
981 871 1383 1273 829 1024 1340 1325
959 824 1325 1190 824 959 1325 1254

2641 2169 3494 3278 2254 2555 3579 3403

2169 2032 3168 2775 1946 2254 3083 2973
3494 3168 5005 4423 3083 3579 4919 4728
8 _
[^r= 3278 2775 4423 4176 2775 3278 4423 4298
2254 1946 3083 2775 2032 2169 3168 2973
2555 2254 3579 3278 2169 2641 3494 3403
3579 3083 4919 4423 3168 3494 5005 4728
3403 2973 4728 4298 2973 3403 4728 4568

58
From these traces are obtained as:

Tr[A] = 0 = Si

Jr[A]^ = 28 = S2

lr[AY =30 = S3

Tr [A]^ = 212 = S4

Tr [A]^ = 530 = S5

Tr [i4]6 = 2301 = Sg

Tr[>l]^ = 7406 = Sy

Tr [.4]^ = 27920 = Sg

And from equation (2)

ao = 1

tti = 5i = 0

a2 = -l/2(aiSi + S2) = -14

03 = -l/3{a2Si + aiS2 + S3) = -10

a4 = -l/4{a3Si + a2S2 + ^53 -I- S4) = 45

as = -l/5(a4Si + 0352 -I- azS^ + ^54 4- Sg) = 34

ag = -l/6{a5Si -I- a4S2 + 0353 + 0254 -I- a^s^ + Sg) = -48

aj = -l/7(a6Si + a5S2 + 0453 + a^s^ + a2Ss -\- s^) = -24

ag = -1/8(07 Si + ^6^2 + ^^s^s + ^4^4 + ^3^5 + ^2^6 + %^7 + Sg) = 47

59
Hence the characteristics polynomial of the eight lini<s peaucellier linl<age is given
by:

x^ - lAx^ - IQy^ + 45%^ + 34%^ - 48x^ - 24x + 47

The equation of eight links peaucellier linkage.

4.3 MATRIX NOTATION FOR PEAUCELLIER MECHANISM:

in practice one is interested in knowing all possible distinct mechanisms

that can be derived from kinematic chain hence an algebraic representation
which preserves the structural characteristics of the mechanism and one from
which one can uniquely describe the mechanism is necessary, A mechanism
differs from the corresponding kinematic chain in fact that, in the mechanism one
of the links is identified as frame. Therefore, a mechanism can be represented by
a matrix which differs from the matrix of the parent kinematic chain in one
respect viz. the element % where ( i is the frame link ) is made unity. This matrix
now uniquely represents the particular mechanism. Thus the peaucellier
mechanism can be represented by the matrix as link 1 is fixed.

1 1 1 0 0 0 0 1
1 0 0 1 1 0 0 0
1 0 0 1 0 0 1 1
0 1 1 0 1 0 1 0
[A] =
0 1 0 1 0 1 0 0
0 0 0 0 1 0 1 1
0 0 1 0 1 0 0 0
1 0 1 0 0 1 1 0

60
 This representation is solely meant for the purpose of deriving all possible
mechanisms from a given kinematic chain and identifying the distinct ones among
them. It has no correspondence with graph theory where a unit diagonal element
represents a self loop. It is interesting to see that the characteristic polynomial as
an Index of structural isomorphism is applicable for the matrix of the mechanism
also, since the matrix representation of the particular mechanism corresponding
to any other scheme of labeling the links can be obtained shown before through a
sequence of simultaneous permutation of rows and columns.

We neglect the fixed link row and column, the matrix is:

0 0 1 1 0 0 0
0 0 1 0 0 1 1
[A] = 1 1 0 1 0 1 0
1 0 1 0 1 0 0
0 0 0 1 0 1 1
0 1 0 1 0 0 0
0 1 0 0 1 1 0

2 1 1 1 1 1 0
1 3 0 2 1 3 0
1 1 3 2 1 2 1
[Ar=
1 1 1 3 0 2 1
1 2 1 1 2 2 0
1 1 2 1 1 2 1
0 1 1 2 0 3 2

61
 2 2 4 5 1 4 2
2 3 6 5 2 7 4
[Af- 5 5 4 7 3 8 2
4 4 5 4 4 5 1
2 3 4 6 1 7 4
3 5 3 6 2 7 1
3 6 3 4 4 7 1

9 9 9 11 5 13 3
11 16 10 17 9 - 22 4
11 14 18 20 9 23 8
[^] 4 _
9 10 12 18 5 19 8
10 15 11 14 10 19 3
9 12 14 15 8 19 6
7 11 13 ,i fag 5 21 9

v\ .:
20 24 30 38 14 42 16
27 37 35 52 22 63 19
38 47 45 61 29 73 21
[ ^ f5 =_
30 39 38 45 26 55 14
25 33 39 49 20 59 20
30 41 33 49 24 60 15
29 38 36 50 22 60 18

62
 68 86 83 106 55 128 35
89 115 109 141 78 193 52
107 141 136 184 86 220 64
[Ar= 104 114 148 63 174 57
83
84 112 110 145 69 179 51
87 117 106 146 72 178 48
86 116 104 151 68 183 52

190 245 250 332 149 394 121

280 374 346 481 218 581 164
7 _ 327 422 412 541 268 673 192
[A]
259 339 329 435 210 527 150
256 337 324 445 203 535 157
259 336 329 435 213 545 157
260 344 325 432 219 550 151

From these traces are obtained as:

Tr[A] = 0 = ^1

Tr[A]^ = 17 = ^2

Jr[A]^ = 22 = ^3

Tr [A]^ = 99 = S4

Tr [A]^ = 245 = Ss

63
Tr [A]^ = 771 = Se

Jr[Ay = 2310 = Sy

And from equation (2)

tto = 1

Ui = Si = 0

a2 = -l/2(aiSi + S2) = -8

as = -l/3(a2Si + ttiSz + S3) = -7

a^ = -l/4(a35i + OzSz + ^ 5 3 + S4) = 9

as - -l/5(a4Si + a2S2 + a2S3 + 0^54 + S5) = 10

ag = -l/eiagSi + a4S2 + a^s^, + a2S4 + ^Sg + Sg) = 2

07 = -l/7(a6Si + asS2 + 0453 + O3S4 + 0255 + Sg) = -3

Hence the characteristics polynomial equation of the seven links

peaucellier mechanism when one link is fixed is given by:

x' - 8%^ - 7x^ + 9%^ + 10%^ + 2x - 3

The equation of mechanism has been found by the subtraction of the

eqn. of eight link peaucellier mechanism and the fixed link equation is as follows:

[x^ - lAx^ - lOx^ + 45%* + 34:^3 - 48x2 - 2Ax + 47) - (x^ - Sx^ - 7x* +
9x^ + lOx^ + 2;c - 3 )

x^-x'^ - 14x^ - 2x^ + S2x^ + 25x^ - SSx^ - 26x + 44

64
4.4 DEGREE OF FREEDOM:

Using grubler's criterion:

F= 3(L-1)-2J

= 3(8-1)-2(10)

= 1

But kinematic chains have three types of degree of freedom, total as shown
earlier, fractionated and partial freedom.

4.4.1 TEST FOR FRACTIONATED FREEDOM:

Test for fractionated freedom is as follows:

(1) Check for the presence of row with more than three non zero entries in them
(it is obvious that a separation link has to be at least a quaternary link or the cut
vertex must have a degree of at least four) if there are no such rows the chain
cannot have fractionated freedom. If there are one or more such rows, proceed
to the next step.

(ii) Obtain the matrix A^ (n - 1) * (n - 1) by deleting row (and column) k from

matrix A (n * n) where the k^^ row has more than three none zero entries.

(iii) Compute what is called the reach ability matrix R^ given by:

Rk=\ + ^fc + ^ / , ' + AK^ + + ^ /

Here I is the identity matrix and A/^ ,Ak^........Af(^~'^ are the powers
of Aji. All the computations involved in finding Rjc are carried out as per Boolean
algebra viz. 1 + 1 = 1,1 + 0 = 0 + 1 = 1, 0 + 0 = 0 , 1 * 0 = 0 * 1 = 0 , 1 * 1 = 1.

So Rk becomes

65
 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 . 1
1 1 1 1 1 1 1 1
R,. =
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1

( iv ) Check for the presence of zeros in R^. There are no zeros in R^. So the
chain does not have any fractionated degree of freedom.

4.4.2 TEST FOR PARTIAL FREEDOM:

After ensuring that the chain does not possess fractionated freedom we can
test for partial freedom. It has been proved that kinematic chains with a degree of
freedom greater than three and consisting of more than one simple circuit cannot
have total freedom and hence can have only fractionated or partial freedom. For
such chains if they do not satisfy the preceding test for fractionated freedom, we
conclude that they have partial freedom. Hence, the proposed test for partial
freedom need be applied only for 2 & 3 degree of freedom chains. Peaucellier
mechanism has one degree of freedom. So, they do not have partial degree of
freedom.

66
 CHAPTER: 5

RESULTS AND CONCLUSION

(A) CHARACTERISTIC POLYNOMIAL EQUATION OF THE MECHANISM FOR

STRUCTURAL ANALYSIS:

{a ) For Automobile window guidance linkage mechanism:

yP - 9%^ - 2x^ + 16;c^ + 4 x ^ - 6 ^ - 2

( b ) For carburetor feed mechanism:

yP - 9x^ - 2%^ + 16%^ + 3.8x^ - 6% - 14.487

( c ) For walscaert's radial valve gear mechanism:

x^Q - 12x» + ^1x^ - 54x^ + 15^2

( d ) For Peauciller mechanism:

x^ - 14%^ - IOA:^ + 45x^ + 34%^ - 48%^ - 24;c + 47

(B) ISOMORPHISM:

Chain for Automobile window guidance linkage mechanism is isomorphic

with carburetor feed mechanism because the characteristic polynomial equations
of both mechanisms remain same.

(C) DEGREE OF FREEDOM:

(a) Structural analysis of mechanisms (Automobile window guidance, Carburetor

feed and Peauciller mechanism) have total degree of freedom but do not have
fractionated degree of freedom because of the absence of zero in the R]^ matrix,
mechanisms also do not have partial degree of freedom because the proposed
test need to be applied only for 2 & 3 degree of freedom mechanisms.

(b) Walscaert's radial valve gear mechanism has total degree of freedom but does
not have fractionated degree of freedom because there is no presence of zero in

67
the Rji matrix. It does not have partial degree of freedom because the every
subchain has a degree of freedom not greater than f and f is equal to three.

CONCLUSION:

Characteristic polynomial equations have been used for structural

analysis and determination of isomorphism between two mechanisms. The
coefficients of characteristic equations represent the strength of the mechanisms.

During the isomorphic analysis, it shows that the automobile window

guidance mechanism is isomorphic with the carburetor feed mechanism because
the characteristic polynomial equations of both mechanisms remain same.

During the analysis of the automobile window guidance, it is found that

the third link is stronger in strength than the seventh and second links because
the coefficient of the third link has higher positive value than seventh and second
links. The ninth link is weaker then the seventh link because the coefficient of
ninth link has higher negative value than the seventh link.

During analysis of carburetor feed mechanism, it is found that the link

third is stronger in strength than the seventh and second links because the
coefficient of the third link has higher positive value than seventh and second
links. The ninth link is weaker then the seventh link because the coefficient of
ninth link has higher negative value then the seventh link.

During the analysis of the walscaert's radial gear valve mechanism, it is

found that the sixth link is stronger than the tenth and second links because the
coefficient of sixth link has higher positive value than others. The fourth link is
weaker than the eighth link because the coefficient of the fourth link has higher
negative value than the eighth link.

During the analysis of the peaucellier mechanism, it is found that the

fourth link is stronger in strength than the third and eighth links because the
coefficient of fourth link has higher positive value than the third and eighth links.
The second link is weaker then the fifth and sixth links because the coefficient of
the second link has higher negative value than the fifth and sixth links.

68
 APPENDIX-1

PROGRAM FOR CALCULATING THE EQUATION OF MECHANISM

#include<stdio.h>

#include<conio.h>

#include<math.h>

void main()

Int ij,k,n,p;

float s[100],a [100];

cIrscrO;

printf("Enter the number of links n= ");

scanf("%d",&n);

printf{"\n");

for{i=l;i<=n;i++)

printf{"s[%d]=",i);

scanf("%f",&s[i]);

printf{"\n");

printf("a[0]=");

scanf("%r,&a[0]);

printf{"\n");

69
a[l]=s[l];

printf{"a[l]=%f",a[l]);

printf("\n");

P=0;

for{i=2;i<=n;i++)

P=0;

forG=l;j<=i;j++)

p=p+(a[i-j]*s[j]);

a[i]=-p/j;

printf{"a[%d]=%r,i,a[i]);

printf("\n");

}
getchO;

70
 APPENDIX-2

FLOW CHART OF THE PROGRAM OF CHARACTERISTICS EQUATION OF MECHANISMS

- Source or Destination of data

Data Flow

Process

Storage

71
REFFERENCE:

1. H. Eieashy, M.Samy Elagyyar and M.N Shabara "Structural Synthesis of

Mechanically Constrained Single Loop 6-Bar Chain" International Journal
of Engineering Research and Applications (IJERA) Vol. 1, Issue 2, Mar-Apr
2012, pp.059-064

2. Fei Yang, Zongquan Deng, Jianguo Tao, Lifang LI "A new method for
isomorphism identification topological graphs using incident matrices"
Mechanism and Machine theory volume 49, march 2012 Pp. 298-307

3. Huafeng Ding, Fengmao Hou, Andres Kecskemethy and Zhen Huang

"Synthesis of a complete set of contracted graphs for planar non-
fractionated simple-jointed kinematic chains with all possible DOFs".
International journal of mechanism and machine theory 46 (2011) pp
1588-1600

4. Mr. Chaudhari Ashok " Type Of Freedom Of Simple Jointed Planar

Kinematic Chains Using C++", International Journal of Advanced
Engineering Technology Vol. 1/ Issue l/April-June,2010 ppl-8

5. Ashok Dargar, All Hasan, R. A, Khan "Mobility Analysis of Kinematic

Chain" Kathmandu University Journal Of Science, Engineering And
Technology India Vol. 6, No. I, March, 2010. Pp 25-32.

6. Huafeng Ding, JIng Zhao, Zhen Huang "Unified structural synthesis of

planar simple and multiple joint kinematic chains". Mechanism and
machine theory Volume 45, issue 4 (April, 2010) pp 555-568

7. A.K Mallik was delivered the topic "Rigid and compliant planar linkages"
in fourteenth national conference on Machine and Mechanisms
NACOMM - 09, organized by the Mechanical Department of NIT
Durgapur, dec-17-18 2009.

72
8. Peter Mitrouchev give formulation for actuator's number enumeration for
main structures in robotics G-SCOP Laboratory, 46, 2007 pp. 622-646

9. Yi Lu, Tatu Leinonen "Type synthesis of unified planar-spatial mechanisms by

systematic linkage and topology matrix-graph technique" Mechanism and
Machine theory 40 issue-10 (2005) pp. 1145-1163

10. Eric A. Butcher, Chris Hartman " Efficient enumeration and hierarchical
classification of planar sinnple-jointed kinematic chains" Mechanism and
machine theory, volume 40 issue-9 September 2005 pp. 1030-1050

11. L Al-Hakim, A. Kusiak, J. Mathew "A graph-theoretic approach to

conceptual design with functional perspect" computer aided design
volume 32 december 2000 pp. 867-875

12. T.S Mruthunjaya "Kinematic structure of mechanisms revisited"

Mechanism and Machine Theory 38 (2003), pp. 279-320

13. W.G. green "walschaert's i:0'mf-7iSS0^^ear" chapter-11 of his book

theory of machines pp. 5487566 '" »^%'
:|« 35^m
14. A.G ambekar mechams^, and machllt^ theory chapter no. 1
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15. Percy H. Hill, Wilfred P. Rule Mechanisms: "analysis and design"

engineering graphics and design (TUFT) pp. 10-15

16. V.P. Agarwal and J.S. Rao "Identification and Isomorphism of Kinematic
Chains and Mechanism" Mechanism and Machine theory vol.24, issue 4,
1989. pp. 309-321

17. Carlo U.Galleti "A Note on Modular Approaches to Planar Linkage

Kinematic Analysis" Mechanism and Machine theory vol. 21, issue 5,
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73