1 David - Tavkhelidze Geometry of Five Link

Geometry of five link mechanism with two
degrees of freedom
David Tavkhelidze
Internal combustion engine

E
A-Crankshaft;
B-Connecting rod;
C-Slider (piston);
D-Frame;
E-Valve mechanism
Kinematic pairs
Degree of freedom
Degree of freedom for spatial
mechanism
W=6n-P1-2P2-3P3-4P4-5P5
Degree of freedom of planar mechanism
n
2
P5
3
W=3n-2P5
3n=2P5
2
n P5
3
Kinematic chains
Four link mechanism
Five link mechanism
W 3 4 2 5 2
Mechanisms used in technological machines
Four link mechanism with

rotating kinematic pairs
Six link gear mechanism
Four link slider - crank

mechanism
Five link mechanism with gear pair, reducing

number degrees of freedom of the mechanical
system
Mechanisms with two degrees of freedom
Kinematic scheme of five link mechanism with two

degrees of freedom
Various scheme of mechanisms with two degrees of freedom
Straight geometrical task
The design diagram of five link mechanism

For the closed kinematic chain it is necessary that the product of matrices
of transformation between coupled coordination systems connected with all
incoming links has to be equal to unit matrix
(1)
T (1, 0 )T ( 2 ,1)T ( 3, 2 )T ( 4,3)T ( 0, 4 ) E
For simplification of calculation it would be written
T ( 4 , 3) T ( 0 , 4 ) T ( 2 , 3) T (1, 2 ) T ( 0 ,1)
(2)

The transformation matrix between of two sequential i-1 and i plain coordinate
systems has the following general form:
(3)
Taking in the account the previous equations will be obtained

(4)
1
l3 l4 cos 43
0
cos( 43 40 )
l4 sin 43
sin( 43 40 )
0
sin( 43 40 )
cos( 43 40 )
1
0
0
l 2 cos 23 l1 cos(12 23 ) l 0 cos( 01 12 23 ) cos( 01 12 23 ) sin( 01 12 23 ) .
l 2 sin 23 l1 sin(12 23 ) l 0 sin 01 12 23
sin( 01 12 23 ) cos( 01 12 23 )
The 4th matrix equation of five-link mechanism blockage contains full

information about parameters of link motion characteristics. In order to
determine relative and absolute displacement of links the respective elements
.
of left and right parts of equation should
be equated and receive system of
algebraic equations the solution of which will enable to determine
displacements of mechanism links.
l 3 l 4 cos 43 l1 cos(12 23 ) l 2 cos 23 l 0 cos( 01 12 23 )

l 4 sin 43 l 2 sin 23 l1 sin 12 23 l 0 sin 01 12 23
sin 43 40 sin 01 12 23
(5)
cos 43 40 cos 01 12 23
Besides these equations, in order to solve the problem the subsidiary condition should be
added according to which the sum of internal angles of any five link is equal to 3.
01 12 23 34 40 3
(6)

.
After transformations we get the following quadratic equation
sin 3 01 E 2 cos 2 34 2 AE cos 34 A 2 C 2 sin 3 01 0
Here:
A l 02 l12 l 22 l 32 l 42 2l 2 l 3 2l 0 l 3 2l 0 l 2 cos 3 01
B 2l 3 l 4 2l 2 l 4
C 2l 0 l 4
(7)
E B C cos 3 01
From the equation (7) we will obtain meanings of angels34 and 23 that
determines position of the point C of the mechanism.
34 arccos
2 AE 4 A2 E 2 4 C 2 sin 3 01 E 2 C 2 sin 3 01 A2
2 C sin 3 01 E
2
23 arcsin
l4 sin 34 l0 sin 6 01 34 40
l1
(8)
(9)
And hence, in case of differentiating on time the received values of obtaining

equations, we shall receive values of speeds and acceleration of the links of
the mechanism.
The inverse geometrical task

In spite of the straight geometrical problem, here on the basis of the given
angels of rotation of the actuators mounted on the frame of the mechanism the
trajectory of the output link of the considered mechanical system is defined.
The formulation of inverse task of kinematics of five link mechanism is done
in the following way: the location of C point of mechanism i.e. its coordinates
in coordinate system connected with base, is given and its necessary to find
generalized coordinates of the mechanism which provide the location of C
point.
The design diagram of five link mechanism for inverse task

For this we take C point radius vector from the origin of coordinates and
represent it as the sum of two vectors:
RC l1 l 2
(10)
Projections of these vectors in immovable coordinate system are expressed as:
l1 cos 01
l1
l1 sin 01
r l2 cos 01 12
l2
l2 sin 01 12
In projections formula (10) will have the following form:
X C l1 cos 01 l 2 cos 01 12
(12)
YC l1 sin 01 l 2 sin 01 12
(11)

In order to find two generalized and coordinates determining the location of
BC kinematic chain the expressions (12) should be squared and summed up:
X C2 l12 cos 2 01 2l1l 2 cos 01 cos 01 12 l 22 cos 2 01 12
YC2 l12 sin 2 01 2l1l 2 sin 01 sin 01 12 l 22 sin 2 01 12
(13)
X C2 YC2 l12 2l1l 2 cos 12 l 22
The obtained expressions (13) allows to calculate values of angels 01 and 12

Hence, we will have:
cos 01
(14)
cos 12
(15)
l2YC sin 12 X C l2 cos 12 l1
l2 cos 12 l1
l22 sin 2 12
X C2 YC2 l12 l22
2l1l2

We behave similarly when we determine the location of CDO kinematic chain.
We present radius vector of C point in the form of the following vectors sum:
RC l 0 l 4 l 3
And hence we can obtain:
cos 34
(16)
X C (17)
l 0 YC2 l32 l 42
cos 40
2l3l 4
l0 l3(18)
sin 40 sin 34 X C
l3 cos 34 l 4
Based on derivations of the given formulas the values of velocities and

accelerations of the links of the investigated mechanism have
obtained .

Based on usage of MATLAB software here are given curves of alternations of
phase angles of the five bar mechanism, when the two link junction point C is
performing movement along the circle.

Curves of alternation of angles
kuT xeebi
f01
2.5
2
1.5
10
t
12
14
16
18
20
10
t
12
14
16
18
20
-1
f12
-1.5
-2
-2.5

2.5
f34
2
1.5
1
10
t
12
14
16
18
20
10
t
12
14
16
18
20
f40
2.5
2
1.5

Values of angular velocities
kuT xur i
f 01
si Cqar eebi
0
-1
-2
10
t
12
14
16
18
20
10
t
12
14
16
18
20
f 12
0.5
-0.5

1
f34
0.5
0
-0.5
10
t
12
14
16
18
20
10
t
12
14
16
18
20
0.4
f40
0.2
0
-0.2
-0.4

Values of angular accelerations
kuT xur i aCqar ebebi
30
f f01
20
10
0
-10
10
t
12
14
16
18
20
10
t
12
14
16
18
20
10
f f12
0
-10
-20
-30

0.4
ff34
0.2
0
-0.2
-0.4
10
t
12
14
16
18
20
10
t
12
14
16
18
20
ff40
0.5
0
-0.5
-1
Kinetostatics of five bar planar

mechanisms
On the links of mechanical system are
acting two type of force factors External forces and Internal forces.
The internal forces forces of weight,
reduction forces of inertia and
moments of inertia
of force
couples
Fus ml 2Ws
Forces of inertiaMoments of inertia of force couplesM us I s z
Kinetostatics of five bar planar

mechanism
Reduction forces and moments of inertia acting on

the links of five bar mechanism
Determination of forces and

torques
Lagrange equation relatively to generalized
coordinate 4
d
dt
T
T

M D1
1
1
Lagrange equation relatively to generalized

coordinate 4
d T T

M D4
dt 4 4
Determination of forces and

torques
Equitant for determination of torque acting on A kinematic pair.
I11
d1
d 4
1 I11
I11
2
I14
1
1 4
dt
dt
2 1
4
I14
1 I 44

2 1
4
42 M D1
Equitant for determination of torque acting on O kinematic pair.
I 41

d 4
d1
1 I 44
I 44
I14
42
1 4
dt
dt
2 4
1
I14
1 I11
1
2 4
12 M D 4
Determination of force factors

Determination of torque acting on A kinematic pair.
90
80
70
60
M 1p
50
40
30
20
10
0
-10
10
t
12
14
16
18
20
Determination of force factors

Determination of torque acting on O kinematic pair.
3
M 4p
-1
-2
-3
10
t
12
14
16
18
20
Thank you

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Geometry of five link mechanism with two

Internal combustion engine

Four link mechanism

Five link mechanism

Mechanisms used in technological machines

Four link mechanism with

Six link gear mechanism

Four link slider - crank

Five link mechanism with gear pair, reducing

Mechanisms with two degrees of freedom

Kinematic scheme of five link mechanism with two

Various scheme of mechanisms with two degrees of freedom

Straight geometrical task

The design diagram of five link mechanism

Straight geometrical task

Taking in the account the previous equations will be obtained

Straight geometrical task

The 4th matrix equation of five-link mechanism blockage contains full

l 3 l 4 cos 43 l1 cos(12 23 ) l 2 cos 23 l 0 cos( 01 12 23 )

Straight geometrical task

After transformations we get the following quadratic equation

sin 3 01 E 2 cos 2 34 2 AE cos 34 A 2 C 2 sin 3 01 0

And hence, in case of differentiating on time the received values of obtaining

The inverse geometrical task

The design diagram of five link mechanism for inverse task

The inverse geometrical task

Projections of these vectors in immovable coordinate system are expressed as:

In projections formula (10) will have the following form:

The inverse geometrical task

X C2 YC2 l12 2l1l 2 cos 12 l 22

The obtained expressions (13) allows to calculate values of angels 01 and 12

l2YC sin 12 X C l2 cos 12 l1

X C2 YC2 l12 l22

The inverse geometrical task

Based on derivations of the given formulas the values of velocities and

The inverse geometrical task

The inverse geometrical task

The inverse geometrical task

The inverse geometrical task

The inverse geometrical task

The inverse geometrical task

The inverse geometrical task

Kinetostatics of five bar planar

Kinetostatics of five bar planar

Reduction forces and moments of inertia acting on

Determination of forces and

Lagrange equation relatively to generalized

Determination of forces and

Equitant for determination of torque acting on O kinematic pair.

Determination of force factors

Determination of force factors

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