Mechanism Syntheses

The design was based on a 6 bar linkage. A type synthesis was carried out to calculate
the number of single DOF joints and to establish the DOF of the mechanism.

Total no. of links, 𝑛 = 6(considering the ground)

Total No. of single DOF joints, 𝑓1 = 7 there is 2 joint pink, orange and blue bar connections
𝐹 = 3(𝑛 − 1) − 2𝑓1 − 𝑓2 − 𝑥

𝐹 = 3(6 − 1) − 2(7) − 0 = 1

A Kinematic Link Set Solution (KLSS) was carried out to decide on the number of
ternary and binary links to setup the mechanism.

𝑁 𝑜. 𝑜𝑓 𝑇𝑒𝑟𝑛𝑎𝑟𝑦 𝑙𝑖𝑛𝑘 = 1

𝑁 𝑜. 𝑜𝑓 𝐵𝑖𝑛𝑎𝑟𝑦 𝑙𝑖𝑛𝑘 = 4

3 Conceptual Design

A 6 bar linkage mechanism which follows a specific path required for gate hinge

was designed. The mechanism consists of 5 movable joints, 2 fixed joints and 7 total

joint
4 Kinematic Analysis

A kinematic analysis was carried out on the conceptual mechanism to define the variables

and constant values and to fix the nodal coordinates of the mechanism for further analysis

on the mechanism analysis software Linkage V2.0.

The following are the constant variables defined :

0, 𝐿1, 𝐿2, 𝐿3, 𝐿4, 𝐿5, 𝐿6, 𝐶1,

A1 = drive angle

The secondary variables are

a1,a2,a3,a4

Calculations
L5
A5 a4

L4
L3

L1
a3 L6

L2 a2

C1
A1
Loop Closure equation

Loop1(HADGH)

f1 =L5 cos(a5) - L3cos(a3) + L 4sin(a 4) – L 1cos(a 3 ) = 0

f2 = L 1sin(A1) - L 3sin(a2) - L 4 sin(a 3 ) - C1 sin(a1 )- L2 sin(a2 ) = 0

Loop 2 (EAD)

f3 = L 1sin(A1) - L 6 -L 3 si n( a3) +L 4 cos( a4) ) = 0

f4=L6- L4cos (a4 ) – L2 sin(a2) = 0

𝜗1 = 𝑎2
𝜗2 = 𝑎3
𝜗4 = 𝑎4
𝜗1 = 𝑎5
 0 0 L 4cos(a 4) -L5 sin(a5)
- L 3cos(a2) )- 0 0 0
L2 cos(a2)
0 L 3 cos( a3) -L 4 si n( a) 0
L2 cos(a2) 0 L4sin (a4 ) 0

0 0 L 4cos(a 4) a2 L 1sin(a2)
-L5 sin(a5)
- L 3cos(a2) )- 0 0 0 a3 = A1’ L 2sin(a3)
a4
L2 cos(a2)
0 L 3 cos( a3) -L 4 si n( a) 0 L 3sin(a4)
L2 cos(a2) 0 L4sin (a4 ) 0 a5 L 4cos(a5)

The mechanism was modeled using software Linkage 3.0 from above calculation . The
mechanism was then simulated to verify the motion and to check the path of the gate
Length of link calculated using Linkage 3.0 software.
L1= 137.59x
L2=95.97x
L3=64.49x
L4=105.90x
L5=127.23x

Kinematic diagram
Motion Paths

The mechanism was modeled in the mechanism analysis software Linkage 3.0 from the calculated

length values. The mechanism was then simulated to verify the motion and to check the path of the

gate. The simulation displays that the path of moving joints.

 Motion Analysis

A further analysis was done with solidworks motion simulation software to verify that the
joints are moving parallel to each other at the bottom end of the deployment. The graph of
liner displacement of main joint and gate were studied. The simulation also further verified
that gate movement does not interfere with the celling/roof

Liner velocity

Mechanism rotate 2rpm all movement are planer. The cycle time 13s

Main joint

1 0.3

-0 -0.0
X (mm/sec)

Y (mm/sec)

-1 -0.4

-2 -0.7

-3 -1.1
0.00 1.31 2.62 3.93 5.24 6.55 7.86 9.17 10.48 11.79 13.10
Time (s ec)
 -5

-8

-11

-14

-17
0.00 1.31 2.62 3.93 5.24 6.55 7.86 9.17 10.48 11.79 13.10
Time (s ec)

2.5

2.1

1.6

1.1

0.6
0.00 1.31 2.62 3.93 5.24 6.55 7.86 9.17 10.48 11.79 13.10
Time (s ec)

The liner velocities, angular velocities and angular accelerations of all the joints and nodes were plotted
for full cycle to check for any abrupt change in sudden changes in profiles and to verify that the
mechanism is performing according to the design requirements.
 Gate
5 -1
VelocityY (mm/sec)

2 -2

-1 -3

-3 -4

-6 -5
0.00 1.31 2.62 3.93 5.24 6.55 7.86 9.17 10.48 11.79 13.10
Time (s ec)

-4

-5

-7

-8

-10
0.00 1.31 2.62 3.93 5.24 6.55 7.86 9.17 10.48 11.79 13.10
Time (s ec)

1.0

0.5

0.1

-0.3

-0.7
0.00 1.31 2.62 3.93 5.24 6.55 7.86 9.17 10.48 11.79 13.10
Time (s ec)
The liner velocities, angular velocities and angular accelerations of gate were plotted for full cycle to
check for any abrupt change in sudden changes in profiles and to verify that the mechanism is
performing according to the design requirements.