MTE 412
Chapter 5
Position Analysis:
Analytical Methods
Introduction
Once a tentative mechanism design has been synthesized. it must then be analyzed.
Determine the position of moving parts
Determine the velocity of moving parts
Determine the acceleration of moving parts
Determine the dynamic forces on parts
Calculate the stresses in the components
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MTE 412: Kinematics and Dynamics of Machines
Algebraic analysis
Vectors as complex numbers
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Fourbar Linkage
• Write constraint equations for linkage.
• Approach used (vector loop approach)
𝑹𝟏 + 𝑹𝟐 − 𝑹𝟑 − 𝑹𝟎 = 𝟎
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Fourbar Linkage
To note that
• Link lengths are all constants.
• The value of the angle of link 0 is fixed (at zero) since this is the ground frame.
• The independent variable is 𝜃1 which will be controlled .
• 𝜃2 and 𝜃3 are to be found (Two unknowns).
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Fourbar Linkage
• Complex Number Notation (Euler Form):
𝐿1 𝑒 𝑗𝜃1 + 𝐿2 𝑒 𝑗𝜃2 − 𝐿3 𝑒 𝑗𝜃3 − 𝐿0 𝑒𝑗𝜃0 = 0
• Substituting 𝑒 𝑗𝜃 by its Euler equivalent :
𝐿1 cos 𝜃1 + 𝑗 sin 𝜃1 + 𝐿2 cos𝜃2 + 𝑗 sin 𝜃2 − 𝐿3 cos𝜃3 + 𝑗 sin 𝜃3 − 𝐿𝑜 cos 𝜃0 + 𝑗 sin 𝜃0 = 0
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Fourbar Linkage
Separating real and imaginary components :
𝐿1 cos 𝜃1 + 𝐿2 cos 𝜃2 − 𝐿3 cos 𝜃3 − 𝐿𝑜 cos 𝜃0 = 0
ቊ
𝐿1 sin 𝜃1 + 𝐿2 sin 𝜃2 − 𝐿3 sin 𝜃3 − 𝐿𝑜 sin 𝜃0 = 0
with 𝜃0 = 0
𝐿 cos 𝜃1 + 𝐿2 cos 𝜃2 − 𝐿3 cos 𝜃3 − 𝐿𝑜 = 0
→ ቊ 1
𝐿1 sin 𝜃1 + 𝐿2 sin 𝜃2 − 𝐿3 sin 𝜃3 = 0
The solution of those two trigonometric equations is straightforward but tedious.
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Fourbar Linkage
The solution of 𝜃3
𝜃3 𝜃3
𝐴 tan2 + 𝐵 tan +𝐶 = 0
2 2
Where
𝐴 = cos 𝜃1 − 𝐾1 − 𝐾2 cos 𝜃1 + 𝐾3
𝐵 = −2 sin 𝜃1
𝐶 = 𝐾1 − 𝐾2 + 1 cos 𝜃1 + 𝐾3
𝐿0 𝐿0 𝐿21 − 𝐿22 + 𝐿23 + 𝐿20
𝐾1 = ; 𝐾2 = ;𝐾 =
𝐿1 𝐿3 3 2𝐿1 𝐿3
−𝐵 ± 𝐵 2 − 4𝐴𝐶
𝜃31,2 = 2 arctan
2𝐴
We have two solutions because we have two possible linkage
configurations (Open (Minus) and Crossed (Plus))
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Fourbar Linkage
The solution of 𝜃2
𝜃2 𝜃2
𝐷 tan2 + 𝐸 tan +𝐹=0
2 2
−𝐸 ± 𝐸 2 − 4𝐷𝐹
𝜃21,2 = 2 arctan
2𝐷
Where
𝐷 = cos 𝜃1 − 𝐾1 + 𝐾4 cos 𝜃1 + 𝐾5
𝐸 = −2 sin 𝜃1 Again, Two solutions for Open (Minus) and
𝐹 = 𝐾1 + 𝐾4 − 1 cos 𝜃1 + 𝐾5 Crossed (Plus) positions
𝐿0 𝐿23 − 𝐿20 − 𝐿21 − 𝐿22
𝐾4 = ;𝐾 =
𝐿2 5 2𝐿1𝐿2
An imaginary solution means either the dimensions of the links are not compatible or we
are with non Grashof mechanism and the angles are beyond the range of motion.
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MTE 412: Kinematics and Dynamics of Machines
Example
Link 0 = 8 mm Link 2 = 8mm
Link 1 = 5mm Link 3 = 6mm
𝜃1 = 75°
Calculate 𝜃2 & 𝜃3 ? ?
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MTE 412: Kinematics and Dynamics of Machines
Example
To determine 𝜃2 & 𝜃3 first calculate the constants
𝐿0 𝐿0 𝐿21 − 𝐿22 + 𝐿23 + 𝐿20
𝐾1 = = 1.6, 𝐾2 = = 1.333, 𝐾3 = = 1.017
𝐿1 𝐿3 2𝐿1 𝐿3
𝐿0 𝐿23 − 𝐿20 − 𝐿21 − 𝐿22
𝐾4 = = 1, 𝐾5 = = −1.463
𝐿2 2𝐿1 𝐿2
𝐴 = cos 𝜃1 − 𝐾1 − 𝐾2 cos 𝜃1 + 𝐾3 = −0.669
𝐵 = −2 sin 𝜃1 = −1.932
𝐶 = 𝐾1 − 𝐾2 + 1 cos 𝜃1 + 𝐾3 = 2.013
𝐷 = cos 𝜃1 − 𝐾1 + 𝐾4 cos 𝜃1 + 𝐾5 = −2.545
𝐸 = −2 sin 𝜃1 = −1.932
𝐹 = 𝐾1 + 𝐾4 − 1 cos 𝜃1 + 𝐾5 = 0.137
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MTE 412: Kinematics and Dynamics of Machines
Example
The solution of 𝜃3 :
−𝐵 ± 𝐵 2 − 4𝐴𝐶
𝜃31,2 = 2 arctan = 78.2° or − 149.7°
2𝐴
The solution of 𝜃2 :
−𝐸 ± 𝐸 2 − 4𝐷𝐹
𝜃21,2 = 2 arctan = 7.5° or − 79°
2𝐷
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MTE 412: Kinematics and Dynamics of Machines
Graphical Solution
The graphical analysis of this
problem is trivial and can be done
using only high-school geometry.
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Slider-Crank Linkage
Vector loop equation :
𝑹𝟏 − 𝑹𝟐 − 𝑹𝟑 − 𝑹𝟎 = 𝟎
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Slider-Crank Linkage
To note that :
• Link lengths are all constants except 𝐿0 .
• The value of the angle of link 0 is fixed (at zero) since this is the ground frame.
• The value of the angle of link 3 is fixed at 𝟗𝟎° (Offset distance)
• The independent variable is 𝜃1 which will be controlled .
• 𝜃2 and 𝐿0 are to be found (Two unknowns).
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Slider-Crank Linkage
• Complex Number Notation (Euler Form):
𝐿1 𝑒 𝑗𝜃1 − 𝐿2 𝑒 𝑗𝜃2 − 𝐿3 𝑒 𝑗𝜃3 − 𝐿0 𝑒 𝑗𝜃0 = 0
• Substituting 𝑒 𝑗𝜃 by its Euler equivalent :
𝐿1 cos 𝜃1 + 𝑗 sin 𝜃1 − 𝐿2 cos 𝜃2 + 𝑗 sin 𝜃2 − 𝐿3 cos𝜃3 + 𝑗 sin 𝜃3 − 𝐿𝑜 cos𝜃0 + 𝑗 sin 𝜃0 = 0
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Slider-Crank Linkage
Separating real and imaginary components :
𝐿 cos 𝜃1 − 𝐿2 cos 𝜃2 − 𝐿3 cos 𝜃3 − 𝐿𝑜 cos 𝜃0 = 0
ቊ 1
𝐿1 sin 𝜃1 − 𝐿2 sin 𝜃2 − 𝐿3 sin 𝜃3 − 𝐿𝑜 sin 𝜃0 = 0
with 𝜃0 = 0 and 𝜃3 = 90°
𝐿 cos 𝜃1 − 𝐿2 cos 𝜃2 − 𝐿𝑜 = 0
ቊ 1
𝐿1 sin 𝜃1 − 𝐿2 sin 𝜃2 − 𝐿3 = 0
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Slider-Crank Linkage
The solution of 𝜃2 and 𝐿0
𝐿1 sin 𝜃1 − 𝐿3
𝜃21 = arcsin
𝐿2
𝐿0 = 𝐿1 cos 𝜃1 − 𝐿2 cos 𝜃2
The arcsin function is multivalued giving two valid solutions corresponding to the two
circuit of the linkage.
The second value is
𝐿1 sin 𝜃1 − 𝐿3
𝜃22 = arcsin − +𝜋
𝐿2
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MTE 412: Kinematics and Dynamics of Machines
Example
Link 1 = 1.4 mm Link 2 = 4mm
Offset = 1mm 𝜃1 = 45°
Calculate 𝜃2 & 𝐿0 ? ?
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MTE 412: Kinematics and Dynamics of Machines
Example
1st configuration (crossed)
𝐿1 sin 𝜃1 − 𝐿3
𝜃21 = arcsin = −0.144°
𝐿2
𝐿0 = 𝐿1 cos 𝜃1 − 𝐿2 cos 𝜃2 = −3.01 mm
2nd configuration (open)
𝐿1 sin 𝜃1 − 𝐿3
𝜃22 = arcsin − + 𝜋 = 180.14°
𝐿2
𝐿0 = 𝐿1 cos 𝜃1 − 𝐿2 cos 𝜃2 = 4.99 mm
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MTE 412: Kinematics and Dynamics of Machines
Example
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Inverted Slider-Crank Linkage
Vector loop equation :
𝑹𝟏 − 𝑹𝟐 − 𝑹𝟑 − 𝑹𝟎 = 𝟎
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Inverted Slider-Crank Linkage
To note that
• Link lengths are all constants except 𝐿2.
• The value of the angle of link 0 is fixed (at zero) since this is the ground frame.
• The value of the angles of link 3 and link 2 are dependent
𝜃2 = 𝜃3 ± 𝛾
The + sign is for the open and – sign is for the crossed position.
• The independent variable is 𝜃1 (link 1)
which will be controlled .
• 𝜃3 and 𝐿2 are to be found (Two
unknowns).
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MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Inverted Slider-Crank Linkage
Equations to be solved:
𝐿1 cos 𝜃1 − 𝐿2 cos 𝜃2 − 𝐿3 cos 𝜃3 − 𝐿𝑜 = 0
ቊ
𝐿1 sin 𝜃1 − 𝐿2 sin 𝜃2 − 𝐿3 sin 𝜃3 = 0
The solution of 𝜃3
𝜃3 𝜃3
𝑆 tan2 + 𝑇 tan +𝑈 = 0
2 2
Where
𝑆 = 𝑅 − 𝑄, 𝑇 = 2𝑃, 𝑈=𝑄+𝑅
𝑃 = 𝐿1 sin 𝜃1 sin 𝛾 + 𝐿1 cos 𝜃1 − 𝐿0 cos 𝛾
𝑄 = −𝐿1 sin 𝜃1 cos 𝛾 + 𝐿1 cos 𝜃1 − 𝐿0 sin 𝛾
𝑅 = −𝐿3 sin 𝛾
−𝑇 ± 𝑇 2 − 4𝑆𝑈
𝜃31,2 = 2 arctan
2𝑆
Two solutions for crossed (Minus) and open (Plus) solutions. 24
MTE 412: Kinematics and Dynamics of Machines
Position Analysis – Inverted Slider-Crank Linkage
The solution of 𝐿2
𝐿1 sin 𝜃1 − 𝐿3 sin 𝜃3
𝐿2 =
sin 𝜃2
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MTE 412: Kinematics and Dynamics of Machines
Example
Link 0 = 6 mm Link 1 = 2 mm Link 3 = 4 mm
𝛾 = 90° 𝜃1 = 30°
Calculate 𝜃2 , 𝜃3 & 𝐿2 ??
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MTE 412: Kinematics and Dynamics of Machines
Example
To determine 𝜃2 , 𝜃3 & 𝐿2 first calculate the constants
𝑃 = 𝐿1 sin 𝜃1 sin 𝛾 + 𝐿1 cos 𝜃1 − 𝐿0 cos 𝛾 = 1.0
𝑄 = −𝐿1 sin 𝜃1 cos 𝛾 + 𝐿1 cos 𝜃1 − 𝐿0 sin 𝛾 = −4.26
𝑅 = −𝐿3 sin 𝛾 = −4.0
𝑆 = 𝑅 − 𝑄 = 0.268
𝑇 = 2𝑃 = 2.0
𝑈 = 𝑄 + 𝑅 = −8.268
Open configuration Crossed configuration
−𝑇 + 𝑇 2 − 4𝑆𝑈 −𝑇 − 𝑇 2 − 4𝑆𝑈
𝜃31 = 2 arctan = 142.667° 𝜃32 = 2 arctan = −169.041°
2𝑆 2𝑆
𝜃2 = 𝜃3 + 𝛾 = 232.667° 𝜃2 = 𝜃3 − 𝛾 = −259.041°
𝐿1 sin 𝜃1 − 𝐿3 sin 𝜃3 𝐿1 sin 𝜃1 − 𝐿3 sin 𝜃3
𝐿2 = = 1.793 mm 𝐿2 = = 1.793 mm
sin 𝜃2 sin 𝜃2
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MTE 412: Kinematics and Dynamics of Machines
Position of any point on the linkage
The position of a point on a linkage can be defined once the angles of the links are determined.
The position of the point 𝑆 is determined by the vector position 𝑹𝑺 = 𝑹𝑺𝑶𝟐 .
𝑹𝑺 = 𝑹𝑺𝑶𝟏 = 𝐿𝑆 𝑒 𝑗 𝜃1 +𝛿1
The position of the point 𝑈 is determined by the vector position 𝑹𝑼 = 𝑹𝑼𝑶𝟑 .
𝑹𝑼 = 𝑹𝑼𝑶𝟑 = 𝐿𝑈 𝑒 𝑗 𝜃3+𝛿3
The position of the point 𝑃 is determined by the vector position 𝑹𝑷 = 𝑹𝑷𝑶𝟏 .
𝑹𝑷 = 𝑹𝑷𝑶𝟏 = 𝑹𝑩 + 𝑹𝑷𝑩 = 𝐿1 𝑒 𝑗𝜃1 + 𝐿𝑃 𝑒 𝑗 𝜃2 +𝛿2
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MTE 412: Kinematics and Dynamics of Machines
