Chapter 4

Position Analysis
Theory is the distilled essence of
practice
4.0 Introduction
Kinematic Analysis
Determine the accelaration of all the moving parts in the
assembly.
Calculates Stresses of components
Static or Dynamic Forces on the parts
Accelerations
Position / Velocity / Acceleration
Graphical approach
None of the information obtained graphically for the
first position will be applicable to the second position.
It is useful fro checking the analytical results.
Derive the general equations of motion
Solve analytical expressions
Once the analytical solution is derived for a particular
mechanism, it6 can be quickly solved (with a
computer) for all positons.
Graphical Position Analysis
Is more simple then the algebraic approach
Graphical Velocity and Acceleration analysis
Becomes quite complex and difficult then the
algebraic approach
Graphical analysis is a tedious exercise and was the only
practical method available in the day B.C.(Before
Computer) , not so long ago.
4.1 Coordinate Systems
Global (Absolute) Coordinate System
Local Coordinate System
Inertial reference frame:
A system which itself has no acceleration
Local Coordinate system:
Typically attached to a link at some point of interest.
This might be a pin joint, a center of gravity, or a line
of centers of a link. These local coordinate system
may be either rotating or non-rotating as we desire.
4.2 Position and Displacement
Position Vector: The position of a point in the plane
can be defined by the use of a position vector as above
figure.
Polar coordinated / Cartesian coordinate
A position vector
Polar form : a magnitude and angle of vector
Cartesian form : X and Y components of the vector
|
|

\
|
=
+ =
X
Y
Y X A
R
R
R R R
arctan
2 2

In most of calculators and computers

programming languages return angles values in
only the first and fourth quadrants.
R
A
R
X
R
Y

Coordinate Transformation
The systems origins are coincident and the
required transformation is a rotation.


cos sin
sin cos
y x Y
y x X
R R R
R R R
+ =
=
In matrix form
(

=
(

y
x
Y
R
R
R
R


cos sin
sin cos
X
Displacement
Displacement of a point
Is the change in its position and can be defined as the
straight line between the initial and final position of a
point which has moved in the reference frame.
The position vector R
BA
defines the displacement of
the point B with respect to point A . This can be
expressed as the position difference equations.
R
BA
=R
B
-R
A
The position of B with respect to A is equal to the
(absolute) position of B minis the (absolute) position of
A, where absolute means with respect to the origin of
the global reference frame.
R
BA
=R
B
-R
A
R
BA
=R
BO
-R
AO
Case 1
One body in two successive position
position difference
Case 2
Two bodies simultaneous in separate position
relative position
4.3 TRANSLATION, ROTATION, AND
COMPLEX MOTION
Translation
All points on the body have the same
displacement.
B B A A
R R


=

Rotation
Difference points in the body undergo
difference displacements and thus there is a
displacement difference between any two
points chosen.
BA A B B B
R R R =

Complex motion
The sum of the translation and rotation
components.
total displacement =
translation component + rotation component
Referred to the point B
B B B B B B
R R R

+ =
Referred to the origin
at A
A B A A A B
R R R

+ =
Theorems
Eulers theorem
The general displacement of a rigid body with
one point fixed is a rotation about some axis.
Chasles theorem
Any displacement of a rigid body is equivalent
to the sum of a translation of any one point on
that body and a rotation of the body about an
axis through that point.
4.4 GRAPHICAL POSITION ANALYSIS
OF LINKAGES
4.5 ALGEBRAIC POSITION ANALYSIS
OF LINKAGES
2
2
sin
cos

a A
a A
y
x
=
=
( ) ( )
( )
2
2
2
2 2
2
y x
y y x x
B d B c
A B A B b
+ =
+ =
The coordinates of point A
The coordinates of point B
Above equation provides a pair of simultaneous
equations in B
x
and B
y
.
|
|

\
|

=
|
|

\
|

d B
B
A B
A B
x
y
x x
y y
1
4
1
3
tan
tan

The link angles for this position can then be

found and a two argument arctangent function
must be used to solve following equation
Vector Loop Representation of Linkage
An alternate approach to linkage position
analysis creates a vector loop (or loops)
around the linkage. The links are
represented as position vectors.
Multi-Loops Mechanism
Cam Follower Mechanism
Complex Numbers as Vectors
Vectors may be defined in polar coordinates
by their magnitude and angle, or in cartesian
coordinates as x and y components.
Polar form
R
re
j
Cartesian form


sin cos

sin cos
jr r
j r i r
+
+
)
Complex number notation
X direction component real protion
Y direction component imaginary portion
This imaginary number is used in a complex
number as operator, not as a value.
This complex number notation to represent
planar vectors comes from the Euler identity:

sin cos j e
j
=

The Vector Loop Equation for a Fourbar

Linkage
0
1 4 3 2
= + R R R R
0
1 4 3 2
= +
j j j j
de ce be ae
Above equation can be solved for two unknowns.
There are four variables in above equation and
only one independent variable (
2
). We need
to find the algebraic expressions which define
3
and
4
as functions of the constant link lengths
and the one input angle
2
.
{ }
{ }
2 4
2 3
, , , ,
, , , ,


d c b a g
d c b a f
=
=
Substituting the Euler identity into the complex
form equation:
( ) ( ) ( )
( ) 0 sin cos
sin cos sin cos sin cos
1 1
4 4 3 3 2 2
= +
+ + + +


j d
j c j b j a
|

\
|
+
|

\
|

=
|

\
|
+
|

\
|
=
2
tan 1
2
tan 1
cos ,
2
tan 1
2
tan 2
sin
4
2
4
2
4
4
2
4
4

Half angle identities

4.6 THE FOURBAR SLIDER-CRANK
POSITION SOLUTION
Offset : the slider axis extended does not pass
through the crank pivot.
Vector loop equation:
0
1 4 3 2
= R R R R
0
1 4 3 2
=
j j j j
de ce be ae
Complex form equation
Real part
0 cos cos cos
; 0
0 cos cos cos cos
4 3 2
1
1 4 3 2
=
=
=
d c b a
so
d c b a

0 sin sin sin
4 3 2
= c b a
Imaginary part

+
|

\
|

=
=
|

\
|

=
b
c a
b a d
b
c a
2
3
3 2
2
3
sin
arcsin
cos cos
sin
arcsin
2
1
Two unknowns, link length d and link angle
3
can be solved
90
0
4
1
=
=

From the configuration, we can find

The arc-sin function is multi-
valued. Its evaluation will give a
value between 90
0
representing only one circuit of
the linkage.
4.8 LINKAGES oF MORE THAN FOUR
BARS
The Geared Fivebar Linkage
Mobility M=5(3-1)-2X5-1X1=1
0
1 5 4 3 2
= + R R R R R
0
1 5 4 3 2
= +
j j j j j
fe de ce be ae
+ =
2 5
( )
0
1 2 4 3 2
= +
+ j j j j j
fe de ce be ae
Vector Loop Equation
Complex polar notation (Three unkonwns
3

5
)
Two factors determine the relationship between the
two geared links. The gear ratio and the phase
angle
New equation
Step1 Substituting the Euler equvalent
Step 2 Separate the real and imaginary parts
Step 3 Rearranging to isolate one unknown in scalar
equation
Step 4 Square both equations and add them to eliminate
one unknown
Step 5 Substitute the tangent half angle identities for
the sin and cosine terms
Step 6 Repeat steps 3 to 5 for the other unknown
Any point on link 1
Any point on link 4
Any point on link 3
4.10 TRANSMISSION ANGLES
The transmission angle is defined as the angle
between the output link and the coupler.
Extreme Values of the Transmission Angle
For a Grashof crank rocker four-bar linkage the
minimum value of the transmission angle will occur
when the crank is collinear with the ground link as
following figure
(

+
= =

bc
a d c b
2
) (
cos
2 2 2
1
1 1

(

+ +
= =

bc
a d c b
2
) (
cos
2 2 2
1
2 2

For the overlapping
case
For the extended
case
For a Grashof double rocker linkage the
transmission angle can vary from 0 to 90 degrees
because the coupler can make a full revolution with
respect to the other links. For a non-Grashof triple
rocker linkage the transmission angle will be zero
degrees in the toggle positions which occur when the
output rocker c and the coupler b are collinear.
(

+
+ +
=
=

) ( 2
) (
cos
0
2 2 2
1
b a c
d c b a

This is not the smallest value the transmission

angle can have in a triple rocker as that will
obvisously be zero.
4.11 TOGGLE POSITIONS
Using trigonometry
and the cosine law,
the relationship of
the transmission
and the input link
angle
2
can be
expressed as
2
2 2 2 2
2 2
2
2 2
2 2 2
2
2 2 2
cos
2
cos
cos 2 cos 2
cos 2
:
cos 2

bc
ad
bc
d a c b
and
bc c b ad d a
so
bc c b h
also
ad d a h
+
+
=
+ = +
+ =
+ =
To find the maximum and minimum values of
input angle
2
we differentiate previous
equation, from the derivate of
2
with respect
to , and set it equal to zero.
0
sin
sin
2
2
= =

ad
bc
d
d
The link length a, b, c, d are never zero, so this
expression can only be zero when sinis zero.
This is consistent with the definition of toggle
position. If is zero or 180 then coswill be 1.

< <
|
|

\
|

+
=

+
=
= +
+
=

) ( 2
2 2 2 2
1
) ( 2
2 2 2 2
2
2
2 2 2 2
0 ;
2
cos
2
cos
1 cos
2
cos
toggle toggle
ad
bc
ad
c b d a
and
ad
bc
ad
c b d a
or
bc
ad
bc
d a c b
4.12 CIRCUITS AND BRANCHES IN
LINKAGES
Circuit: all possible orientations of the links that
can be realized without disconnecting any of the
joints.
Branch: a continuous series of positions of the
mechanism on a circuit between two stationary
configurations.
The stationary configurations divide a circuit into a
series of branches.