Analytic Approach To Mechanism Design: ME 324 Fall 2000
Analytic Approach To Mechanism Design: ME 324 Fall 2000
Analytic Approach To Mechanism Design: ME 324 Fall 2000
Mechanism Design
http://www.engr.colostate.edu/me/program/courses/ME324/notes/PositionAnalysis.ppt
ME 324
Fall 2000
1 Position synthesis
Chapter 4 -
Analytic Position Analysis
Imaginary
• A vector can be Axis
represented by a Point A
complex number
• Real part is x-axis jR sin q RA
• Imaginary part is y-
axis q
• Useful when we Real
begin to take Axis
R cos q
derivatives
2 Position synthesis
Derivatives, Vector Rotations in the
Complex Plane
Imaginary
• Taking a derivative of
a complex number will B
RB = j R
result in multiplication
by j C A
• Each multiplication by RA
RC = j2 R = -R
j rotates a vector 90° Real
CCW in the complex
plane R = j3 R = - j R D
D
3 Position synthesis
Labeling of Links and
Link Lengths
• Link labeling starts
with ground link
Link 3, length b
• Labeling of link B
Link 4,
Coupler length c
lengths starts with link Link 2, A
adjacent to ground length a
Link 1, length d
link
Ground Link
• Makes no sense - just Pivot 02 Pivot 04
go with it
4 Position synthesis
Angle Measurement Convention
5 Position synthesis
More on Complex Notation
• Polar form:
re jq
• Cartesian form:
r cosq + j r sinq
• Euler identity:
±e jq = cosq ± j sinq
• Differentiation:
jq
de jq
= je
dq
6 Position synthesis
The Vector Loop Technique
9 Position synthesis
Vector Loop -
Summary
• Draw and label vector loop for mechanism
• Write vector equations
• Substitute Euler identity
• Separate into real and imaginary
• 2 equations, 2 unknown angles
• Solve for 2 unknown angles
• Note: there will be two solutions since
mechanism can be open or crossed
10 Position synthesis
Example:
Analytic Position Analysis
• Input position q2 given
• Solve for q3 & q4
b=2.14
q 3 =?°
a=1.6
c=2.06
11 Position synthesis
Example:
Vector Loop Equation
R2 + R3 - R4 - R1 = 0
aejq2 + bejq3 - cejq4 - dejq1 = 0
1.6ej51.3Þ + 2.14ejq3 - 2.06ejq4 - 3.5ej0° =
0 R3
b=2.14
q 3 =?° R4
R2
c=2.06
a=1.6
q 2 =51.3° d=3.5 q 4 =?°
R1
12 Position synthesis
Example:
Analytic Position Analysis
aejq2 + bejq3 - cejq4 - dejq1 = 0
a(cosq2+jsinq2) + b(cosq3+jsinq3) - c(cosq4+jsinq4)
- d(cosq1+jsinq1)=0
Real part:
a cos q2 + b cos q3 - c cos q4 - d = 0 b=2.14
1.6 cos 51.3 + 2.14 cos q3
- 2.06 cos q4 - 3.5 = 0 q 3 =?°
Imaginary part: a=1.6
c=2.06
a sin q2 + b sin q3 - c sin q4 = 0
1.6 sin 51.3 + 2.14 sin q3 q 2 =51.3° d=3.5
- 2.06 sin q4 = 0
13 Position synthesis
Solution: Open Linkage
14 Position synthesis
Review - Law of Cosines
A +B -C
2 2 2
cosq =
2AB
A
q
A2 + B2 - C 2
q = arccos B
2AB
15 Position synthesis
Transmission Angles
16 Position synthesis
Extreme Transmission Angles -
Grashof Crank Rocker
• For a Grashof fourbar,
m2
extreme values occur
b c
when crank is collinear
with ground
a d
m1
For the extended position shown:
m1=arccos [ (b2+(a+d) 2 - c2)/2b (a+d) ]
m2=180° - arccos [ (b2+c2 - (a+d)2 )/2b c ]
17 Position synthesis
Extreme Transmission Angles -
Grashof Crank Rocker
For the overlapped case shown:
m2
c
b
m1=__________________________
a m1 d
m2=__________________________
18 Position synthesis
Extreme Transmission Angles -
Grashof Double Rocker
• Remember: coupler
makes a full revolution
with respect to
rockers
• Transmission angle
varies from 0° to 90°
19 Position synthesis
Extreme Transmission Angles -
Non-Grashof Linkage
a c
q2 d
q2=__________________________
• Similar analysis for the other toggle
position
21 Position synthesis