Design of Machinery

Assignment
Chapters 4, 6 and 7
Position, velocity and acceleration
analysis

Dr. Jaafar Hallal

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Design of Machinery Dr. Jaafar Hallal
 1. Fourbar pin-jointed position analysis (4, 6.27, 7.21)
The angle between the X and x axes is 25-deg. Find the angular
displacement of link 4 when link 2 rotates clockwise from the
position shown (+37 deg) to horizontal (0 deg).
Find ω4, VA and VB in the local coordinate system if ω2=15 rad/s
CW.
Find α4, AA and AB in the global coordinate system if α2= 25
rad/s2 CCW.
Take L2 = 116 mm., L3 = 108 mm., L4 = 110 mm and L1= 174
mm.

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Design of Machinery Dr. Jaafar Hallal
 2. Fourbar slider crank
For the compressor shown in the following figure, find the position
of the piston with respect to O2. Also find the linear velocity of the
piston as the crank rotates clockwise at constant rate of 120 rad/s.
Put clearly the vector loop and the global coordinate system. All
dimensions are in inches.

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Design of Machinery Dr. Jaafar Hallal
 3. Sixbar
The device shown in figure below can be analyzed as a pin-jointed
fourbar mechanism in series with a slider-crank mechanism. At the
instant shown, the crank OC makes an angle 45 0 with the
horizontal axis;
 Draw the vector loop of the two mechanisms separately
 Determine the position of the slider D with respect to A.
OC = 150 mm, AB = 200 mm, BC = 300 mm, BD = 450 mm.

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Design of Machinery Dr. Jaafar Hallal
 4. Quick return mechanism
For the quick-return mechanism shown below, the rod DC rotates
with a constant angular velocity of 1 rad/s CCW. For the position
shown find:
a) the position of the sliding block C with respect to A
b) the angular velocity of member AB and the velocity of sliding
of block C within the member AB
c) the velocity of the node B.

Dimensions are in inches.

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Design of Machinery Dr. Jaafar Hallal
 5. Fourbar pin-jointed mechanism
The device in the figure below is an oil well pump. Link number is
shown on the figure.
L1=4m; L2=1m; L3=3.5m and L4=3m
In the local coordinate systems, take θ2=315°, ω2= 6 rad/s, α2= -1
rad/s2, δ4 = -160°, u = 4m.

a) Draw the kinematic diagram of the mechanism and the vector

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Design of Machinery Dr. Jaafar Hallal
 6. Sixbar mechanism
For the following six-bar drag-Link mechanism, the crank O2A
makes an angle θ2= 225o.
a) Determine the Grashof conditions and Barker classification
for the first Fourbar (O2-A-B-O4)
b) Find the position of the Slider 6. (Dimensions are in Inch)

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Design of Machinery Dr. Jaafar Hallal
 7. Elliptical trammel (4-58)
The elliptical trammel in the figure below must be driven by
rotating link 3 in a full circle. Derive analytical expressions for the
positions, velocity and accelerations of points A, B and a point C
on link 3 midway between A and B as a function of θ3 and the
length AB of link 3. Use a vector loop equation.

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Design of Machinery Dr. Jaafar Hallal
 Formula sheet
Position analysis: Pin-jointed Fourbar linkage

−𝐁 ± √𝐁 𝟐 − 𝟒𝐀𝐂
𝛉𝟒𝟏,𝟐 = 𝟐 𝐚𝐫𝐜𝐭𝐚𝐧 ( )
𝟐𝐀

 𝐴 = 𝑐𝑜𝑠𝜃2 − 𝐾1 − 𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾3
 𝐵 = −2𝑠𝑖𝑛𝜃2
 𝐶 = 𝐾1 − (𝐾2 + 1)𝑐𝑜𝑠𝜃2 + 𝐾3
𝑑
 𝐾1 = 𝑎
𝑑
 𝐾2 = 𝑐
𝑎2 −𝑏 2 +𝑐 2 +𝑑2
 𝐾3 = 2𝑎𝑐

−𝑬 ± √𝑬𝟐 − 𝟒𝑫𝑭
𝜽𝟑𝟏,𝟐 = 𝟐 𝒂𝒓𝒄𝒕𝒂𝒏 ( )
𝟐𝑫

 𝐷 = 𝑐𝑜𝑠𝜃2 − 𝐾1 − 𝐾4 𝑐𝑜𝑠𝜃2 + 𝐾5
 𝐸 = −2𝑠𝑖𝑛𝜃2
 𝐹 = 𝐾1 + (𝐾4 − 1)𝑐𝑜𝑠𝜃2 + 𝐾5
𝑑
 𝐾4 = 𝑏
𝑐 2 −𝑑2 −𝑎2 −𝑏2
 𝐾5 = 2𝑎𝑏

If θ4 is calculated before you can use the equations below to solve for θ3 :
1. 𝒃𝒄𝒐𝒔𝜽𝟑 = −𝒂𝒄𝒐𝒔𝜽𝟐 + 𝒄𝒄𝒐𝒔𝜽𝟒 + 𝒅
or
2. 𝒃𝒔𝒊𝒏𝜽𝟑 = −𝒂𝒔𝒊𝒏𝜽𝟐 + 𝒄𝒔𝒊𝒏𝜽𝟒
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Design of Machinery Dr. Jaafar Hallal
Position analysis: Slider-crank linkage

𝒂𝒔𝒊𝒏𝜽𝟐 − 𝒄 𝒂𝒔𝒊𝒏𝜽𝟐 − 𝒄
𝜽𝟑𝟏 = 𝒂𝒓𝒄𝒔𝒊𝒏 ( ) 𝒐𝒓 𝜽𝟑𝟐 = 𝒂𝒓𝒄𝒔𝒊𝒏 (− )+𝝅
𝒃 𝒃
𝒅 = 𝒂𝒄𝒐𝒔𝜽𝟐 − 𝒃𝒄𝒐𝒔𝜽𝟑

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Design of Machinery Dr. Jaafar Hallal
Position analysis: Inverted Slider-crank linkage

−𝑻±√𝑻𝟐 −𝟒𝑺𝑼
𝜽𝟒 𝟏,𝟐 = 𝟐𝒂𝒓𝒄𝒕𝒂𝒏 ( )
𝟐𝑺
𝒂𝒔𝒊𝒏𝜽𝟐 − 𝒄𝒔𝒊𝒏𝜽𝟒
𝜽𝟑 = 𝜽𝟒 ± 𝜸 𝒃= 𝒔𝒊𝒏𝜽𝟑

𝑃 = 𝑎𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛 𝛾 + (𝑎𝑐𝑜𝑠𝜃2 − 𝑑)𝑐𝑜𝑠𝛾

𝑄 = −𝑎𝑠𝑖𝑛𝜃2 𝑐𝑜𝑠 𝛾 + (𝑎𝑐𝑜𝑠𝜃2 − 𝑑)𝑠𝑖𝑛𝛾

𝑅 = −𝑐𝑠𝑖𝑛 𝛾; 𝑆 = 𝑅 − 𝑄; 𝑇 = 2𝑃; 𝑈 =𝑄+𝑅

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Design of Machinery Dr. Jaafar Hallal
Transmission Angles for a pin-jointed fourbar linkage

Extreme Values of the Transmission Angle

2. Grashof rocker-crank-rocker
The transmission angle can vary from 0 to 90 degrees
3. Non-Grashof triple-rocker
The minimum transmission angle is 0 degree

Toggle Positions of the Non-Grashof triple-

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Design of Machinery Dr. Jaafar Hallal
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Design of Machinery Dr. Jaafar Hallal