POSITION ANALYSIS

Chapter 4
Introduction

Dynamics

Kinematics Kinetics

Impulse &
Position Newton’s Momentum
Velocity Acceleration
Second Law

Work &
Energy
Graphical
Analytical Stresses
Design
Coordinate Systems
… Global or Absolute
† Attached to Earth

… Local
† Attached to a link at some point
of interest
† LNCS (local nonrotating
coordinate system)
† LRCS (local rotating coordinate
system)
Position and Displacement

RA RY2  RX2 Coordinate

RX Rx cos G  Ry sin G
Transformation
§ RY ·
T tan ¨¨
1
¸¸ RY Rx sin G  Ry cos G
© RX ¹
… Displacement
† Thestraight-line distance between the initial and final
position of a point which has moved in the reference
frame
RBA RB  RA
Translation, Rotation and Complex
Motion
… Translation
† Allpoints on the body have the
same displacement

RA ' A RB 'B
Translation, Rotation and Complex
Motion
… Rotation
† Differentpoints in the body
undergo different
displacements and thus there is
a displacement difference
between any two points chosen

RB 'B RB ' A  RBA

† Euler’s theorem
Translation, Rotation and Complex
Motion
… Complex Motion
† Isthe sum of the translation and
rotation

RB"B RB 'B  RB"B '

RB" A RA' A  RB" A'

† Chasles’Theorem
Graphical Position Analysis
… For any one-DOF, such a fourbar, only one
parameter is needed to completely define the
positions of all the links. The parameter usually
chosen is the angle of the input link.
Graphical Position Analysis
… Construction of the graphical solution
† The a, b, c, d and the angle θ2 of the input link are
given.
† 1. The ground link (1) and the input link (2) are
drawn to a convenient scale such that they
intersect at the origin O2 of the global XY
coordinate system with link 2 placed at the input
angle θ2.
† 2. Link 1 is drawn along the X axis for
convenience.
Graphical Position Analysis
… Construction of the graphical solution
Graphical Position Analysis
… Construction of the graphical solution
† 3. The compass is set to the scaled length of link
3, and an arc of that radius swung about the end
of link 2 (point A).
Graphical Position Analysis
… Construction of the graphical solution
† 4. Set the compass to the scaled length of link 4,
and a second arc swung about the end of link 1
(point O4). These two arcs will have two
intersections at B and B’ that define the two
solution to the position problem for a fourbar
linkage which can be assembled in two
configurations, called circuits, labeled open and
crossed.
† 5. The angles of links 3 and 4 can be measured
with a protractor.
Graphical Position Analysis
… Construction of the graphical solution
Algebraic Position Analysis
… Algebraic Algorithm
† Coordinates of point A
Ax a cos T 2
Ay a sin T 2

† Coordinates of point B
b2 Bx  Ax 2  By  Ay 2
c2 Bx  d 2  By 2
 Algebraic Position Analysis
… Algebraic Algorithm
† Coordinates of point B
a 2  b2  c2  d 2 2 Ay By 2 Ay By
Bx  S
2 Ax  d  2 Ax  d  2 Ax  d 
2
§ Ay By ·
¨
By  ¨ S 
2
¸¸  c 2 0
© Ax  d ¹

 Q r Q 2  4 PR
By
2P

Ay2 2 Ay d  S  a 2  b2  c2  d 2
P 1 Q d  S 
2
 c2
 Ax  d 2
Ax  d R S
2 Ax  d 
Algebraic Position Analysis
… Algebraic Algorithm
† Linkangles for the
given position
§ By  Ay ·
T3 tan ¨¨
1
¸¸
© Bx  Ax ¹

§ By ·
T4 tan ¨¨
1
¸¸
© Bx  d ¹
Algebraic Position Analysis
… Vector Loop
† Links are represented as position vectors
Algebraic Position Analysis
… Complex Numbers as Vector
† Unit vectors
Algebraic Position Analysis
… Complex Numbers as Vector
† Complex number notation
Algebraic Position Analysis
… Complex Numbers as Vector
† Complex number notation
„ Euler identity

r jT
e cos T r j sin T

de r jT
je jT
dT
Algebraic Position Analysis
… Vector Loop Equation
for a Fourbar Linkage
† Position vector
& & & &
R2  R3  R4  R1 0

† Complex number
notation jT3
jT 2 jT 4 jT1
ae  be  ce  de 0

Independent 0
To be
variable
determine
Algebraic Position Analysis
… Vector Loop Equation for a
Fourbar Linkage
T3 f ^a, b, c, d ,T 2 `
T4 f ^a, b, c, d ,T 2 `

† Euler equivalents and separate

into two scalar equations
acos T 2  j sin T 2   bcos T3  j sin T3   ccos T 4  j sin T 4   d cos T1  j sin T1  0

Real part: a cos T 2  b cos T3  c cos T 4  d 0

Imaginary part: a sin T 2  b sin T3  c sin T 4 0

 Algebraic Position Analysis
† Solve simultaneously
b cos T3 a cos T 2  c cos T 4  d
b sin T3 a sin T 2  c sin T 4
† Square and add

b2 sin 2 T3  cos 2 T3   a sin T 2  c sin T 4    a cos T 2  c cos T 4  d 
2 2

b2  a sin T2  c sin T4 2   a cos T2  c cos T4  d 2

b2 a 2  c 2  d 2  2ad cos T 2  2cd cos T 4  2acsin T 2 sin T 4  cos T 2 cos T 4 

Algebraic Position Analysis
† To simplify, constants are define in terms of the
constant link length,
K1
d
K2
d a 2  b2  c2  d 2
K3
a c 2ac
K1 cos T 4  K 2 cos T 2  K3 cos T 2 cos T 4  sin T 2 sin T 4

† Substitutingthe identity, cosT2  T4  cos T2 cos T4  sin T2 sin T4

† Freudenstein’s equation

K1 cos T 4  K 2 cos T 2  K3 cosT 2  T 4 

Algebraic Position Analysis
† Using half angle identities,
§T · §T ·
2 tan¨ 4 ¸ 1  tan 2 ¨ 4 ¸
sin T 4 ©2¹ ©2¹
cos T 4
§T · §T ·
1  tan 2 ¨ 4 ¸ 1  tan 2 ¨ 4 ¸
©2¹ ©2¹

† Simplified form
§ T4 · § T4 ·
A tan ¨ ¸  B tan¨ ¸  C 0
2

©2¹ ©2¹
A cos T 2  K1  K 2 cos T 2  K 3
B 2 sin T 2
C K1  K 2  1 cos T 2  K 3
Algebraic Position Analysis
† The solution, § T 4 ·  B r B  4 AC
2
tan¨ ¸
©2¹ 2A

§  B r B 2  4 AC ·
T4 2 arctan ¨ ¸
1, 2 ¨ 2 A ¸
© ¹
„ Ifthe solution is complex conjugate, the link lengths
chosen are not capable of connection
„ The solution will usually be real and unequal
„ Crossed (+)
„ Open (-)
Algebraic Position Analysis
† Solution for θ3
c cos T 4 a cos T 2  b cos T3  d
c sin T 4 a sin T 2  b sin T3
† Square and add
K1 cos T3  K 4 cos T 2  K5 cos T 2 cos T3  sin T 2 sin T3

K4
d c2  d 2  a 2  b2
K5
b 2ab

§T · §T · D cos T 2  K1  K 4 cos T 2  K 5
D tan 2 ¨ 3 ¸  E tan¨ 3 ¸  F 0
©2¹ ©2¹ E 2 sin T 2
F K1  K 4  1 cos T 2  K 5
Algebraic Position Analysis
† The solution,

§  E r E 2  4 DF ·
T3 2 arctan ¨ ¸
1, 2 ¨ 2 D ¸
© ¹

„ Ifthe solution is complex conjugate, the link lengths

chosen are not capable of connection
„ The solution will usually be real and unequal
„ Crossed (+)
„ Open (-)
Algebraic Position Analysis
… Fourbar Slider-Crank
Linkage
† Position vector
& & & &
R2  R3  R4  R1 0

† Complex number
notation jT3
jT 2 jT 4 jT1
ae  be  ce  de 0

Independent 0
To be
variable
determine
Algebraic Position Analysis
… Vector Loop Equation for a
Fourbar Linkage
† Euler equivalents and separate
into two scalar equations

acos T 2  j sin T 2   bcos T3  j sin T3   ccos T 4  j sin T 4   d cos T1  j sin T1  0

Real part: a cos T 2  b cos T3  c cos T 4  d 0

Imaginary part: a sin T 2  b sin T3  c sin T 4 0

Algebraic Position Analysis
† The solution,

§ a sin T 2  c ·
T31 arcsin ¨ ¸
© b ¹
d a cos T 2  b cos T 3

§ a sin T 2  c ·
T3 arcsin ¨  ¸ S
© b ¹
2