M.

TECH DISSERTATION REPORT

ON

Motion Generation with Five Finitely Separated

Prescribed Points: Superposition of Three Four-
Precision Point Cases
BY
ABHIJEET KUMAR
(2017PDE5274)

UNDER THE SUPERVISION OF

DR. HIMANSHU CHAUDHARY

DEPARTMENT OF MECHANICAL ENGINEERING,

MALAVIYA NATIONAL INSTITUE OF TECHNOLOGY,
JAIPUR-302017 (RAJASTHAN).
2018-2019
 A
DISSERTATION REPORT
ON
Motion Generation with Five Finitely Separated Prescribed
Points: Superposition of Three Four-Precision Point Cases

Submitted in fulfillment of the requirements for the award of degree of

MASTER OF TECHNOLOGY
IN
DESIGN ENGINEERING

Submitted By Supervised By
ABHIJEET KUMAR Dr. HIMANSHU CHAUDHARY
(2017PDE5274) (Associate Professor)

DEPARTMENT OF MECHANICAL ENGINEERING,

MALAVIYA NATIONAL INSTITUTE OF TECHNOLOGY,
JAIPUR-302017 (RAJASTHAN).
2018-2019

2
© Malaviya National Institute of Technology Jaipur – 2016

All rights reserved

3
 DEPARTMENT OF MECHANICAL ENGINEERING,
MALAVIYA NATIONAL INSTITUTE OF TECHNOLOGY,
JAIPUR-302017 (RAJASTHAN).

CERTIFICATE

This is to certify that the dissertation work entitled “Motion Generation with Five Finitely
Separated Prescribed Points: Superposition of Three Four-Precision Point Cases” by Mr.
Abhijeet Kumar is a bonafide work completed under my supervision and guidance, and hence
approved for submission to the Department of Mechanical Engineering, Malaviya National
Institute of Technology Jaipur in fulfilment of the requirements for the award of the degree of
Master of Technology with specialization in Design Engineering. The matter embodied in this
Dissertation Report has not been submitted for the award of any other degree, or diploma.

Place: Jaipur Dr. Himanshu Chaudhary

Date: / / 2017 (Associate professor)

4
 DEPARTMENT OF MECHANICAL ENGINEERING,
MALAVIYA NATIONAL INSTITUTE OF TECHNOLOGY,
JAIPUR-302017 (RAJASTHAN).

Candidate’s Declaration

I hereby certify that the work which is being presented in the dissertation entitled “Defect free
analytical synthesis of four-bar linkage for four precision position using perimeter algorithm ”,
in fulfilment of the requirements for the award of the Degree of Master of Technology in
Design Engineering, submitted in the Department of Mechanical Engineering, MNIT, Jaipur
is an authentic record of my own work carried out for a period of one year under the supervision
of Dr. Himanshu Chaudhary, Associate professor of Mechanical Engineering Department,
MNIT, Jaipur.
I have not submitted the matter embodied in this dissertation for the award of any other degree.

Place: Jaipur ABHIJEET KUMAR

Date: / / 2019 STUDENT ID: 2017PDE5274

5
 ACKNOWLEDGEMENT

I express sincere thanks to my supervisor Dr. Himanshu Chaudhary, Associate Professor,

Department of Mechanical Engineering, M.N.I.T Jaipur., for providing me his invaluable
guidance, support, supervision and useful suggestions. I am sincerely thankful to Dr. Amit
Singh, Dr. T.C. Gupta and Dr. Dinesh kumar who helped me beyond their duty at time of need.
I would also like to thank Mr. Ramanpreet Singh, Mr. Kanishk Sharma, and Mr. NRNV
Gowripathi Rao (Ph.D. Scholars) for their continuous support and suggestions.
Home is where one starts from; I express my deepest gratitude to my parents and my younger
siblings for sharing their love. The motivation I could not find within was rendered to me by
them.

Place: Jaipur ABHIJEET KUMAR

Date: / / 2019 STUDENT ID: 2017PDE5274

6
7
CHAPTER 1

INTRODUCTION
1.1 BACKGROUND
A mechanism is a mechanical device that has a purpose of transferring motion and/or a force
from a source to an output. A linkage consists of links or bars (generally considered rigid)
which are connected by joints to form open or closed loops. A four-bar linkage is the simplest
closed loop linkage and has three moving links, one fixed link and four pin joints (Figure 1.1).
Planar rigid-body motion consists of rotation about an axis perpendicular to the plane of motion
and translation where all points in a body move along identical straight paths. All points
embedded in a body remain parallel to their original orientation. Approaches for the synthesis
of four-bar planar mechanisms address the transformation of input motion to an output (e.g. a
desired function, path and/or motion) through the use of pivots, links and pin joints. Current
synthesis techniques cover a broad angle from documented displacement paths and velocities
[Hrones & Nelson, 1951], graphical methods [Sandor, 1962][Lindholm, 1969] Hain, 1967],
analytical techniques using precision points [Sandor and Erdman, 1991] [Freudenstein, 1955],
analytical techniques using initial estimates of the type and configuration of a mechanism. This
work deals with the synthesis of four-bar linkage mechanisms that have planar rigid-body
motion.

Figure 1. 1 A simple four bar mechanism

8
Planar four bar mechanism are used due to their comprehensibility in design and simplicity in
kinematic i.e. motion without considering forces. The use of simple four bar mechanism can
be observed in day to day life like folding chair, pliers etc.

Figure 1. 2 Simple folding chair

Figure 1. 3 Screw plier with four bar mechanism

As stated above four bar mechanism is very versatile and its use can be observed in heavy
machinery and industries like aeroplane landing gear, diggers, etc.

9
 Figure 1. 4 Aeroplane landing gear

The objective of kinematic synthesis is to calculate the mechanism dimensions required to

achieve or approximate prescribed mechanism output parameters. Synthesized Mechanism also
includes link, joint coordinates and link position. Prescribed mechanism output parameters
include link positions, path points, and displacement angles. In contrast to kinematic analysis
where mechanism dimensions are known and the resulting mechanism output parameters are
calculated. In kinematic synthesis, mechanism output parameters are known and the
corresponding mechanism dimensions are calculated. (Figure 1.5).
Path generation, motion generation and function generation are three sub categories of
Kinematic synthesis In motion generation, mechanism dimensions are calculated to achieve or
approximate prescribed rigid-body positions while the prescribed output parameters are rigid-
body path points in path generation .In function generation, mechanism dimensions are
calculated to achieve or approximate prescribed link displacement angles. Path generation is
much similar to motion generation except the fact that coupler displacement angles are not
stated during the synthesis and only the coordinates of desired points is known. Path generation
along with coupler displacement angles is nothing but motion generation.

10
1.1.1 FUNCTION GENERATION
A frequent requirement in design is that of causing an output member to rotate, oscillate, or
reciprocate according to a specified function of time or function of the input motion. This is
called function generation. That is correlation of an input motion with an output motion in a
linkage. A simple example is that of synthesizing a four-bar linkage to generate the function
the function y=f(x). In this case, x would represent the motion (crank angle) of the input
crank, and the linkage would be designed so that the motion (angle) of the output rocker
would approximate the function y. Other examples of function generation are as follows: In a
conveyor line the output member of a mechanism must move at the constant velocity of the
conveyor while performing some operation for example, bottle capping, return, pick up the
cap, and repeat the operation. The output member must pause or stop during its motion cycle
to provide time for another event. The second event might be a sealing, stapling, or fastening
operation of some kind. The output member must rotate at a specified no uniform velocity
function because it is geared to another mechanism that requires such a rotating motion.
1.1.2 MOTION GENERATION
The second general class of synthesis problem is called body guidance. Here we are interested
in moving an object from one position to another. The problem may call for a simple translation
or a combination of translation and rotation. In the construction industry, for example, heavy
parts such as a scoops and bulldozer blades must be moved through a series of prescribed
positions
1.1.3 PATH GENERATION
Final type of synthesis problem is called path generation. This refers to a problem in which a
coupler point is to generate a path having a prescribed shape that is controlling a point in a
plane such that it follows some prescribed path. Common requirements are that a portion of the
path be a circular arc, elliptical, or a straight line. Sometimes it is required that the path cross
over itself. For this minimum 4-bar linkage are needed. It is commonly to arrive a point at a
particular location along the path without/with prescribed times.

11
 Figure 1. 5(a) Kinematic analysis (b) Kinematic Synthesis

The two basic tools for dimensional synthesis are graphical method and analytical or
mathematical method. Graphical method is fairly quick and straight forward method with some
limitations such drawing errors and complexity of solution because to achieve suitable results
the construction has to be repeated many times.
An analytical methods are suitable for computer programs and have advantage of accuracy and
repeatability. Once the result are obtained from both the above methods one can easily cross
verify the results of one method with another. As graphical method is not the most accurate
method, some error will exit but it will be marginal.

12
Figure 1. 6 Subcategories of kinematic Synthesis

13
1.2 LITERATURE REVIEW
The work in the province of synthesis of four bar mechanism is done through graphical as well
as analytical method. The work George N Sandor and Arthur G. Erdman is well known and
one of the most illustrated in this field. From graphical to analytical and from planar to spatial
mechanism their work is well regarded as the guiding light for researchers and scholars. The
work George N Sandor and Arthur G. Erdman is further reflected in the works of Kevin Russell
Qiong Shen, Raj S. Sodhi.

The work of Arun K. Natesan [3] represents the special cases of four bar straight line
mechanism, the positional analysis is well illustrated using vector method and the dimensional
synthesis is being done using exact and approximate synthesis. The important relation between
the link lengths is also established in approximate method.

Three position synthesis can be accurately done using analytical method using MATLAB
fsolve command which is depicted in details in the work of Galal A. Hassaan [5]. The work
also laid stress on transmission angle (μ) to be in acceptable range of 45o ≤ μ ≤ 135o [18].
Another important work is being done by NRNV Gowripati Rao [4] in three position graphical
synthesis for vibratory tillage operation. The results are further verified through positional
analysis in MATLAB.

G. Erdman [6] work purpose a method of modelling the dyads by complex numbers in several
different equation forms for three prescribed positions of either path, motion generation with
prescribed timing. Daniel A. Brake and David H Myszka [7] gave a complete solution of Alt-
Burmester curve synthesis problems for four bar linkages.

Although an analytical method give an exact solution to synthesis problem but some time the
solution is accompanied by some defects viz. order, branch, circuit, poor transmission, crank
defects. Shrinivas S. Balli et al. [8] gave a detailed explanation of these defects and methods to
rectify them. Grashoff’s crank defect can be removed by carefully looking at the position and
length of crank as well as the range of transmission angle. Gupta [9] found the same equality
conditions more directly by examining the extreme values of the transmission angle. Kohli and
Khonji [10] derived rotatability criteria of spherical five-bar linkages analytically. They
developed the conditions of individual input revolvability and the conditions of full rotatability
for a spherical five-bar linkage.
Order rectification is usually applied only to driving dyads rather than all dyads. The order of

14
follower of four bar is unimportant unless a double-crank or rocker (i/p link)-crank (o/p
link)solution is desired [6]. The order rectification is unnecessary when the rotation of the
driving link are prescribed as part of the problem definition as in function generation or path
generation with prescribed timing [11].Circuit rectification for four precision position synthesis
consists of deleting segments of Burmester curves whose corresponding solutions exhibit the
circuit defect[12]. Filemon [13] whose work is considered to be the first study of branch defect
suggests a graphical construction to eliminate the defect. For a given choice of driven crank,
she locates all the driving cranks which when combined with that crank, produce a linkage,
which can traverse the design positions without change of branch. But for some choices of
driven crank there exists no driving cranks, which can complete a linkage, which is not
subjected to branch change. Hence, there is no solution linkages which can pass through the
four specified positions without geometric inversion.

Optimization technique is also very effective method of synthesis. These are generally used for
more than five position synthesis. Ahmed Saed Mosen Alhaji [14] used one of the optimization
technique viz. harmonic search to get an optimal solution. The objective to be minimized is
sum square error of all the points reached by the coupler point. The important constraints
included are 1) Grashof’s condition to have a crank rocker linkage,2) the transmission angle
criterion and 3) input link angle sequence. The variables included are the link lengths and
angles. A computer programme based on this algorithm is implemented in MATLAB to obtain
the optimum dimension of four-bar linkage. The most common design variables in optimization
problem are link lengths, angle of orientation of fixed link with x-axis, coupler geometry, crank
positions in terms of angles. The objective function is minimize the distance between the
desired and the derived coordinate of the coupler point ‘P’.

𝑀in f(x) = ∑n1(𝑃𝑥𝑑𝑖 − 𝑝𝑥𝑖 )2 + (𝑃𝑦𝑑𝑖 − 𝑝𝑦𝑖 )2

Where,
𝑃𝑥𝑑𝑖 = x coordinate of derived point through optimal synthesis
𝑃𝑦𝑑𝑖 = y coordinate of derived point through optimal synthesis
𝑃𝑥𝑖 = x coordinate of desired or given coordinate
𝑃𝑥𝑖 = y coordinate of desired or given coordinate

15
 Figure 1. 7 Generally used design variables used in optimal synthesis technique

Similarly Cabrera et al. [15] employed genetic algorithm method to solve the optimum
synthesis problem of the four-bar mechanism. Here two constraints namely Grashof’s criteria
and sequence of the input angles have been considered and constraints are handled by penalty
approach whereas other methods like PSO were developed and implemented by Mc Dougall
& Nokleby [16].
Peter J. Martin [17] has talked about the burmester curve theory in details and how to obtain a
defect free mechanisms. This burmester curve theory for four position can be further extended
to five positions using four sets of four position separately and the common intersections fixed
pivots curves for these four sets of data yields a common defect free mechanism for all five
positions [18]. For example 1-2-3-4-5 positions can be divided in four sets namely 1-2-3-4, 1-
2-3-5, 1-2-4-5, 1-3-4-5.

16
Research Gap: - It is observed from the above literature review that a considerable amount of
work is being done on there and four positions. Various issues of defects in mechanism is being
studied and rectified through various methods. But not much of a significant work is being
done on analytical five position synthesis. Superposition of centre and circle point curves seem
to be an untouched field. This study mainly focusses on five position synthesis using the
principle of superposition.

1.3 OBJECTIVE AND SCOPE OF THE WORK

The objective of this work is synthesis of a four bar mechanism by applying existing
knowledge of four position synthesis and the superposition theory of two or more circle point
and centre point curves. Burmester curve generates n pairs of circle and centre point for any
four positions. By dividing five positions 1-2-3-4-5 into four sets of four positions namely 1-
2-3-4, 1-2-4-5, 1-2-3-5, 1-3-4-5 four different graphs of centre points and circle points can be
constructed and superimposed so as to find a common four bar mechanism that can trace all
five positions accurately without any defect. First position is taken common in all the four cases
so that the mechanism synthesized is with respect to the first position. This work can further
applied to four position synthesis using superposition of centre point and circle point curves
generated in case of three positions. By dividing four position 1-2-3-4 into three cases of three
positions namely 1-2-3, 1-3-4 and 1-2-4 a common mechanism can be synthesized that can
trace all four position. But the main focus of this study is five position synthesis using the
existing knowledge of four position synthesis.

17
CHAPTER 2

PATH AND MOTION GENRATION

2.1 VECTOR LOOP EQUATION

Figure 2.1 illustrates both dyads of a planar four-bar mechanism in a starting position (position
1) and a displaced position (position j). The left- and right-side dyads include the vector chains
W-Z and U-S, respectively. By taking the vector sum between the starting and displaced
positions for each dyad, vector loop closure equations are derived. After taking the counter-
clockwise vector sum for each dyad (starting with W1 for the left-side dyad and U1 for the
right-side dyad), the vector loop closure equations for the four-bar mechanism dyads become

Figure 2. 1 vector loop diagram

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For left side dyad:

𝑊1 𝑒 𝑖Ѳ +𝑍1 𝑒 𝑖Ф +𝑃𝑗1 𝑒 𝑖ᵟ𝑗 - 𝑍1 𝑒 𝑖(Ф+𝛼𝑗 ) -𝑊1 𝑒 𝑖(Ѳ+𝛽𝑗)=0 (2.1)

For right side dyad:

𝑈1 𝑒 𝑖𝜎 +𝑆1 𝑒 𝑖ψ +𝑃𝑗1 𝑒 𝑖ᵟ𝑗 - 𝑆1 𝑒 𝑖(ψ+𝛼𝑗) -𝑈1 𝑒 𝑖(ψ+𝛾𝑗) =0 (2.2)

Practically, 𝑊1 =𝑊𝑗 and similarly for other links. Here 𝑃𝑗1 𝑒 𝑖ᵟ𝑗 =𝑃𝑗 -𝑃1

For initial position of both dyad, after factorisation of equation (2.1) and (2.2) the resulting
standard forms of vector loop closure equation for the left-side dyad and right-side dyad are
equation (2.3) and (2.4) respectively.

𝑊1 𝑒 𝑖Ѳ (𝑒 𝑖𝛽𝑗 − 1)+𝑍1 𝑒 𝑖Ф (𝑒 𝑖𝛼𝑗 − 1)=𝑃𝑗1 𝑒 𝑖ᵟ𝑗 (2.3)

𝑈1 𝑒 𝑖𝜎 (𝑒 𝑖𝛾𝑗 − 1)+𝑆1 𝑒 𝑖ψ (𝑒 𝑖𝛼𝑗 − 1)=𝑃𝑗1 𝑒 𝑖ᵟ𝑗 (2.4)

Now for j=4, four prescribed coupler positions, three standard form equations are formed. The
displacement from position 1 to 2, 1 to 3 and 1 to 4 can be presented by equations (2.5, 2.6 and
2.7) respectively. These three equations give five unknowns (W, Z, 𝛽2, 𝛽3, 𝛽4 ).

To equate the number of unknown to the number of equations only free choice is available in
case of four prescribed positions. In four prescribed positions, there are three coupler
displacement angles (𝛼𝑗 ) and three coupler point displacement (ᵟ𝑗 ). Table 2.1 delineate the
number of ‘free choices’ according to given number of coupler positions.

𝑊1 𝑒 𝑖Ѳ (𝑒 𝑖𝛽2 − 1)+ 𝑍1 𝑒 𝑖Ф (𝑒 𝑖𝛼2 − 1)= 𝑃21 𝑒 𝑖ᵟ2 (2.5)

𝑊1 𝑒 𝑖Ѳ (𝑒 𝑖𝛽3 − 1)+ 𝑍1 𝑒 𝑖Ф (𝑒 𝑖𝛼3 − 1)= 𝑃31 𝑒 𝑖ᵟ3 (2.6)

𝑊1 𝑒 𝑖Ѳ (𝑒 𝑖𝛽4 − 1)+ 𝑍1 𝑒 𝑖Ф (𝑒 𝑖𝛼4 − 1)= 𝑃41 𝑒 𝑖ᵟ4 (2.7)

19
When expressed in matrix form for N precision positions (where j = 2, 3, … N), Equations 2.3
and 2.4 become the following equations, respectively

……2.8

…..2.9

Table 2. 1 Number of solutions in N precision position synthesis

Number of precision Number of Number of Free choices available

position (N) equations unknowns and solution

2 2 5 (W, Z,𝛽2) 3 Infinite

3 4 6 (W, Z,𝛽2 , 𝛽3 ) 2 Infinite

4 6 7 (W, Z, 1 Infinite
𝛽2 , 𝛽3 , 𝛽4 )
5 8 8 (W, Z, 0 Finite
𝛽2 , 𝛽3 , 𝛽4 , 𝛽5 )

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2.2 POSITIONAL ANALYSIS OF FOUR BAR MECHANISM, COUPLER POINT ‘P’

Figure 2. 2 Positional Analysis

Loop closure equation for this linkage

𝑏⃗ + 𝑐 = 𝑎 + 𝑑 (2.10)

Now on expanding the equation (2.10)

𝑏(cos 𝜃2 𝑖 + sin 𝜃2 𝑗) + 𝑐(cos 𝜃3 𝑖 + sin 𝜃3 𝑗) = 𝑎(cos 𝜃1 𝑖 + sin 𝜃1 𝑗) + 𝑐(cos 𝜃4 𝑖 + sin 𝜃4 𝑗)

(2.11)

Rewriting the equation (2.11)

𝑏 cos 𝜃2 + 𝑐 cos 𝜃3 = 𝑎 cos 𝜃1 + 𝑑 cos 𝜃4 (2.12)

𝑏 sin 𝜃2 + 𝑐 sin 𝜃3 = 𝑎 sin 𝜃1 + 𝑑 sin 𝜃4 (2.13)

Link having length b is driving link (crank)

𝑐 cos 𝜃3 = 𝑎 cos 𝜃1 + 𝑑 cos 𝜃4 − 𝑏 cos 𝜃2 (2.14)

21
𝑐 sin 𝜃3 = 𝑎 sin 𝜃1 + 𝑑 sin 𝜃4 − 𝑏 sin 𝜃2 (2.15)

Squaring and adding equation (2.14) and (2.15),

𝑐 2 cos 𝜃3 2 = 𝑎2 cos 𝜃1 2 + 𝑑 2 cos 𝜃4 2 + 2𝑎𝑑 cos 𝜃1 cos 𝜃4 + 𝑏 2 cos 𝜃2 2 −

2𝑏 cos 𝜃2 (𝑎 cos 𝜃1 + 𝑑 cos 𝜃4 ) (2.16)

𝑐 2 sin 𝜃3 2 = 𝑎2 sin 𝜃1 2 + 𝑑 2 sin 𝜃4 2 + 2𝑎𝑑sin cos 𝜃4 + 𝑏 2 sin 𝜃2 2 − 2𝑏 sin 𝜃2 (𝑎 sin 𝜃1 +

𝑑 sin 𝜃4 ) (2.17)

Substituting terms in equations (2.16) & (2.17)

A=2𝑏 cos 𝜃2 (𝑎 cos 𝜃1 + 𝑑 cos 𝜃4 )

B=2𝑏 sin 𝜃2 (𝑎 sin 𝜃1 + 𝑑 sin 𝜃4 )

C=𝑎2 + 𝑏 2 + 𝑑 2 − 𝑐 2 − 2𝑎𝑏(cos 𝜃1 cos 𝜃2 + sin 𝜃1 sin 𝜃2 )

𝜃4 = 2 tan−1(𝑡) (2.18)

𝑤ℎ𝑒𝑟𝑒,

−𝐵+𝜎√𝐵2 −𝐶 2 +𝐴2
𝑡= (2.19)
𝐶−𝐴

𝜋 𝜋
The inverse function of tan has a valid range of − 2 𝑡𝑜 so 𝜃4 will have range of −𝜋 𝑡𝑜 𝜋
2

when 𝜃4 is known 𝜃3 can be calculate from equation (2.15) & (2.16).

𝑎 sin 𝜃 +𝑑 sin 𝜃 −𝑏 sin 𝜃

𝜃3 = tan−1 (𝑎 cos 𝜃1+𝑑 cos 𝜃4 −𝑏 cos 𝜃2 ) (2.20)
1 4 2

Let the co-ordinates of point 𝑂1 (𝑂1𝑥 , 𝑂1𝑦 ) so the co-ordinate of A is

𝐴𝑥 = 𝑂1𝑥 + 𝑎 cos 𝜃2

𝐴𝑦 = 𝑂1𝑦 + 𝑎 sin 𝜃2

Now the co-ordinates of point P will be

𝑃𝑥 = 𝐴𝑥 + 𝑟𝑝 cos(𝜃3 + 𝛿)

𝑃𝑦 = 𝐴𝑦 + 𝑟𝑝 sin(𝜃3 + 𝛿)

This positional analysis is coded in matlab and can be used to verify that the synthesized
mechanism passes through the desired points.

22
CHAPTER 3

THREE AND FOUR POSITION SYNTHESIS

3.1 GRAPHICAL METHOD
Graphical method is fairly quick and straight forward method with some limitations such as
drawing errors and complexity of solution because to achieve suitable results the construction
has to be repeated many times. But it give a fairly accurate result and helps in estimating the
type of mechanism. It can be used for both type of synthesis namely with and without
prescribed timing.

3.1.1 THREE POSITION SYNTHESIS

The three arbitrary points are chosen from the trajectory studied in the previous chapter. The
coordinates of three chosen points are tabulated below

S.No Px Py

1 141.741 34.756

2 165.179 38.881

3 180.804 33.964

Table 3. 1 Desired Points

In the graphical method we will use software related to modelling. In this case study the
software used is Autodesk Inventor. The steps related to synthesize the mechanism graphically
are as follows:

1. Select the location for fixed link with respect to prescribed path points P1, 𝑃2 𝑎𝑛𝑑 𝑃3.
And also select a length for a crank and draw the circle.
2. Select a location for point 𝐴1and establish AP. With AP established, select the point
𝐴2 𝑎𝑛𝑑 𝐴3, as AP is a rigid link, so its length must not change.

23
 Figure 3. 1 Graphical Method
3. Now, Position of Point B can be found out using Inversion Method.

Figure 3. 2

24
 4. Final mechanism thus obtained will look like as:

Figure 3. 3 Final Diagram of four bar mechanism

VERIFICATION THROUGH MATLAB

The positional analysis of coupler point ‘P’ is carried out in Matlab and the synthesized four
bar is animated to check whether the Point ‘P’ traces the desired points given in table 2.1.

25
 Figure 3. 4 Position Analysis and Path Trace Diagram (3-Position)
In graphical method it is shown that the coupler point P will pass through all precision points,
but this method does not guarantee a crank-rocker mechanism. Hit and a trial method is used
to obtain a crank-rocker mechanism. The link lengths obtained from the graphical method are
given in table below and these link lengths are calculated form the graphical method itself and
for the mechanism that is synthesized above.
Link Length

Ground 37.324

Input 21.5

Coupler 55.237

Follower 34.937

AP 28

BP 55.036

Table 3. 2 Link Dimensions of Synthesized Four Bar Mechanism for three Position

26
3.1.2 FOUR POSITION SYNTHESIS
A design procedure similar to three position synthesis is employed to four position using the
point position reduction method. Point position reduction method is based on the fact that a
circle can be drawn passing through three points. The centre and radius of the circle determine
the position and length of remaining links of the mechanism. Without prescribed timing method
is applied to four arbitrary points that are chosen from the trajectory studied in the previous
chapter. The coordinates of the chosen points are tabulated below.

S.No Px Py

1. 126.116 31.673

2. 141.741 34.756

3. 180.804 33.964

4. 194.196 28.036

Table 3. 3 Desired Points for four Positions

The steps related to synthesize the mechanism graphically are as follows:

1. Choose two position to make coincident on the inversion. Position P1 and P4 were
chosen to so that Bo is positioned at pole P14. The pole is located on the perpendicular
bisector of line P1P4. This determines angle𝛽, rotation of follower link from position
1 to position 4. As shown in fig 3.5
2. Some direction was chosen for AoBo and draw two lines from Bo at angle +- β/2. A1
and A4 must lie on these lines. This determines the crank. Similarly A3 and A2 are
located.
3. The determination of B2 can be done using kinematic inversion technique as used in 3-
position synthesis. This establish the coupler length and complete the design.

27
 Figure 3. 5 Location of Pole P12

Figure 3. 6 Crank Rotation for two Extreme Position

28
 Figure 3. 7 Location of A1, A2, A3, A4

4. Mechanism was completed with respect to the first position

Figure 3. 8 Final Synthesized Four Bar Mechanism for 4-Position

29
The link lengths obtained from the graphical method are given in table below and these link
lengths are calculated form the graphical method itself and for the mechanism that is
synthesized above.
Link Length

Ground 57.7350

Input 28.8675

Coupler 45.98

Follower 39.702

AP 86.6707

BP 105.199
Table 3. 4 Link Dimensions of Synthesized Four Bar Mechanism (4-Position)

VERIFICATION THROUGH MATLAB

The positional analysis of coupler point ‘P’ is carried out in Matlab and the synthesized four
bar is animated to check whether the Point ‘P’ traces the desired points given in table 2.3.

Figure 3. 9 Position Analysis and Path Trace Diagram (4-Position)

30
In graphical method it is shown that the coupler point P will pass through all precision points,
but this method does not guarantee a crank-rocker mechanism as in case of three position. Hit
and a trial method is used to obtain a crank-rocker mechanism. The problems of various defects
in mechanism synthesis can be corrected using analytical methods.

3.2 ANALYTICAL METHOD

The analytic method follows equation as described in chapter 2. On solving equations 2.8 and
2.9 represented in the form of matrix, the dyad lengths can be evaluated.

3.2.1 THREE POSITION SYNTHESIS

In Three precision positions, our main focus during synthesizing a mechanism is that it should
pass through our three desired points namely, 𝑃1, 𝑃2 𝑎𝑛𝑑 𝑃3.

Figure 3. 10 Vector Loop Diagram

31
For left dyad, the system equations for three positions are:
(𝑒𝑖𝛽2−1)+𝑍(𝑒𝑖𝛼2−1)=𝛿2
(𝑒𝑖𝛽3−1)+𝑍(𝑒𝑖𝛼3−1)=𝛿3
Where, 𝛿𝑗 is the displacement vector along prescribed trajectory from 𝑃1 𝑡𝑜 𝑃𝑗 i.e.
𝛿2=𝑅2−𝑅1, and
𝛿3=𝑅3−𝑅1.
Where, 𝑅𝑗 is the vector defined for position 𝑃𝑗 in the complex coordinate system.
Now, for motion generation, number for free choices is two and for path generation numbers
of free choices are four. These free choices can either be choose arbitrarily or for some initial
iteration we can use graphical method.

If 𝑊 𝑎𝑛𝑑 𝑍 are to be prescribed, then 𝛼2, 𝛼3, 𝛽2 𝑎𝑛𝑑 𝛽3 must be choose arbitrarily. After,
picking up these values, the system is a set of complex linear equations with unknown 𝑊 𝑎𝑛𝑑
𝑍 in the complex form, which can be solved using Cramer’s Rule, which defines the solutions
of the equations as:

iα2
|δ2 𝑒 iα3 −1|
δ3 𝑒 −1
𝑾= 𝑒 iβ2 −1 𝑒 iα2 −1 3A
| iβ3 |
𝑒 −1 𝑒 iα3 −1

iβ2
|𝑒 iβ3−1 𝜹𝟐|
𝑒 −1 𝜹𝟑
𝒁= 𝑒 iβ2 −1 𝑒 iα2 −1 3B
| iβ2 |
𝑒 −1 𝑒 iα3 −1

Similarly, for right dyad the value of U and S can be calculated as

iα2
|δ2 𝑒 iα3 −1|
δ3 𝑒 −1
𝑼= 𝑒 iγ2 −1 𝑒 iα2 −1 3C
| iγ3 |
𝑒 −1 𝑒 iα3 −1

iγ2
|𝑒 iγ3 −1 𝛿2|
𝑒 −1 𝛿3
𝑺= 𝑒 iγ2 −1 𝑒 iα2 −1 3D
| iγ2 |
𝑒 −1 𝑒 iα3 −1

Above values which are to be found by using equations (3A), (3B), (3C) and (3D), indicates
the link lengths in a vector form whose magnitude (absolute value) gives us the link lengths
and the angle for these links can be found as an arguments of these vectors.

32
For three position synthesis N=3 so that j varies from 2 to 3.

[A] [B] [C]

The matrix [A] reduces to a 4×4 matrix. To solve for dyad length one can easily solve [B] by
inversing [A] and multiplying it with [C]. Similarly lengths of right dyads can be found easily
using equation 2.9.

A matlab code for three position synthesis is attached in appendix( ).Results obtained using
analytical method very accurate and very precise.

Figure 3. 11 Synthesized Four Bar

33
3.2.2 FOUR POSITION SYNTHESIS
ALGORITHM FOR BURMESTER CURVE GENERATION

The three-linear equations set (2.5, 2.6 and 2.7) can be expressed in matrix form as

𝑒 𝑖𝛽2 − 1 𝑒 𝑖𝛼2 − 1 𝑊 𝑒 𝑖Ѳ 𝑃21 𝑒 𝑖ᵟ2

1
[𝑒 𝑖𝛽3 − 1 𝑒 𝑖𝛼3 − 1] [ 𝑖Ф
] = [𝑃31 𝑒 𝑖ᵟ3 ] (3.1)
𝑍1 𝑒
𝑒 𝑖𝛽4 − 1 𝑒 𝑖𝛼4 − 1 𝑃41 𝑒 𝑖ᵟ4

Since 𝛼𝑗 , ᵟ𝑗 and 𝑃𝑗1 (j=2, 3, 4) are user prescribed therefore, to have simultaneous solution for
𝑤
⃗⃗ and 𝑧 for a prescribed range of 𝛽2

𝑒 𝑖𝛽2 − 1 𝑒 𝑖𝛼2 − 1 𝑃21 𝑒 𝑖ᵟ2

det[𝑒 𝑖𝛽3 − 1 𝑒 𝑖𝛼3 − 1 𝑃31 𝑒 𝑖ᵟ3 ]=0 (3.2)
𝑒 𝑖𝛽4 − 1 𝑒 𝑖𝛼4 − 1 𝑃41 𝑒 𝑖ᵟ4

or the rank of the “augmented matrix” of the coefficients is 2.

Now equation 3.2 can be expanded about its first column as

∆2 𝑒 𝑖𝛽2 +∆3 𝑒 𝑖𝛽3 +∆4 𝑒 𝑖𝛽4 + ∆1 =0 (3.3)

𝑒 𝑖𝛼3 − 1 𝑃31 𝑒 𝑖ᵟ3

∆2 = | |
𝑒 𝑖𝛼4 − 1 𝑃41 𝑒 𝑖ᵟ4

𝑒 𝑖𝛼2 − 1 𝑃21 𝑒 𝑖ᵟ2

∆3 = | |
𝑒 𝑖𝛼4 − 1 𝑃41 𝑒 𝑖ᵟ4

𝑒 𝑖𝛼2 − 1 𝑃21 𝑒 𝑖ᵟ2

∆4 = | |
𝑒 𝑖𝛼3 − 1 𝑃31 𝑒 𝑖ᵟ3

And

∆1 = −∆2 − ∆3 − ∆4

Here ∆s are known because they contain only user prescribed data. Equation (3.3) is referred
to as the compatibility equation. Now from given prescribed value of 𝛽2 other two values 𝛽3, 𝛽4
can be determined. Equation (3.3) can be solved by two methods analytical and geometrical.
Assume

∆= −∆3 𝑒 𝑖𝛽3 − ∆4 𝑒 𝑖𝛽4 (3.3a)

Then, ∆2 𝑒 𝑖𝛽2 + ∆1=∆ (3.3b)

34
 Figure 3. 12 Compatibility linkage system with its initial and displace positions
From the work of Sandor and Erdman, an analytical algorithm is used to calculate 𝛽3 , 𝛽4 and
𝛽̃ ̃
3 , 𝛽4 which generates Burmester curve. They purposed a four-bar mechanism in which the

length of crank, follower, coupler and ground links are ∆4 , ∆2 , ∆3and ∆1respectively. The
equation (3.4) can be solved for angles 𝛽3 , 𝛽4 corresponding to given range of 𝛽2 for one branch
of mechanism solution, and angles 𝛽̃ ̃
3 , 𝛽4 for other branch of mechanism solution. The solution

of this equation gives Burmester curve as a result. This algorithm has been codified into
MATLAB for Burmester curve generation.

∆2 𝑒 𝑖𝛽2 + ∆1 =∆

|∆4 2 |−|∆3 2 |−|∆2 |

𝑐𝑜𝑠𝜃3 = 2∗|∆3 |∗|∆|

sin 𝜃3 = |√1 − (𝑐𝑜𝑠𝜃3 )2 | ≥ 0

𝜃3 = atan(sin 𝜃3 , 𝑐𝑜𝑠𝜃3 ) where 0≤ 𝜃3 ≤ 𝜋

𝛽3 = 𝑎𝑟𝑔∆ + 𝜃3 − 𝑎𝑟𝑔∆3 } (3.4)

̃3 = 2𝜋 − 𝜃3
𝜃

𝛽̃ ̃
3 = 𝑎𝑟𝑔∆ + 𝜃3 − 𝑎𝑟𝑔∆3

|∆3 2 |−|∆4 2 |−|∆2 |

𝑐𝑜𝑠𝜃4 = 2∗|∆4 |∗|∆|

sin 𝜃4 = |√1 − (𝑐𝑜𝑠𝜃4 )2 | ≥ 0

35
 ̃4 = −𝜃4
𝜃4 = atan(sin 𝜃4 , 𝑐𝑜𝑠𝜃4 )where 0≤ 𝜃4 ≤ 𝜋 and 𝜃

𝛽4 = 𝑎𝑟𝑔∆ + 𝜃4 − 𝑎𝑟𝑔∆4

𝛽̃ ̃
4 = 𝑎𝑟𝑔∆ + 𝜃4 − 𝑎𝑟𝑔∆4

For a range value of 𝛽2, a locus of moving and fixed pivots can be obtained where k=-Z
(moving pivot) and m=k-W (fixed pivot). These curves of moving and fixed pivots known as
circle and center point curves respectively or Burmester curves. Every point on the circle point
curve represents a moving point of a mechanism and each point on the center point curve is a
fixed point of that same mechanism.

By taking, two moving and corresponding two fixed points, a designer can generate a path
generator. These four points will make a mechanism with four of link. The line joining any one
pair of circle points is coupler link.

Whereas the ground link is formed by joining two centre points. Crank is line joining first fixed
point to corresponding moving point i.e. a (k-m) pair. Whereas the follower is the other (k-m)
pair of fixed and moving points.

Similarly for Other branch of Mechanism (mt-kt) pair is taken into account.

However, motion generation fortify that the synthesized mechanism will attain or approximate
user defined rigid-body positions but it is not necessary that they will follow the following
conditions:

Without disassembling or any change in its original configuration, the synthesized mechanism
will follow the prescribed rigid-body output parameter (Branch defect).

Figure 3. 13 Path kindred with point order (a) 1-2-3-4-5-1 (b) 1-2-4-3-5-1
Synthesized mechanism will attain or approximate the prescribed rigid-body guidance in
purposive order (Order defect). These two defects are most common in path generation during

36
mechanism synthesis. The path points which are achieved by a single mechanism assembly
profile, are known as branch. In figure 3.9 (a) two assembly configurations of a four-bar
mechanism is shown as a-b-c-d and a-b-𝑐 ∗ -d. When the mechanism requires disassembling to
attain all the prescribed points during the operation, this generate a major design problem. As
shown in figure 3.9 (b) a four-bar mechanism having rigid-body positions 1-2-3 by the
mechanism a-b-c-d and similarly point 1∗ is achieved by the mechanism a-b-𝑐 ∗ -d and for the
continuous motion of a single mechanism, this is not possible to achieve all prescribed points.
This defect is known as a branch defect.

Figure 3. 14 (a) Four bar assembly configurations (b) branch defect

As shown in figure 3.8 (a) a path containing five-point precision achieved by a four-bar
mechanism in the order 1-2-3-4-5-1. But figure 3.8 (b) shows a problem of disorder of
approaching the points i.e. the order is 1-2-4-3-5-1 which cannot be attain without
disassembling the mechanism. This defect is known as order defect.

These two defects can be removed by different methods like graphical method, constraint
equations method or particular prescribed values are frequently enrolled in motion generation
models for producing the motion generator. One of the graphical method is Filemon’s
construction.

The main focus of work in this thesis is on five position synthesis. So the defect elimination
techniques are not discussed in details. However the knowledge of burmester curve is used in
five position synthesis.

37
An example of Burmester Curve generated for desired points (Table 3.4) is shown below

S.No Px Py

1. 0 0

2. 0.874 0.4853

3. 0.9613 -0.2753

4. 0.972 -0.235

Table 3. 5 Desired Points (Burmester Curve)

Figure 3. 15 Burmester curve for Points indicated in Table 3.5

38
CHAPTER 4

FIVE POSITION SYNTHESIS

In previous sections we observed that a four-bar linkage could be synthesized for four
prescribed positions as a motion generator. Thanks to Burmester and those whoo continued his
work, we know that there are ideally an infinity of pivoted dyads for any four arbitrarily
prescribed positions, and that any two of these can form a four-bar mechanism whose coupler
will match these prescribed positions. Can we analytically solve for five position synthesis
Our first hint toward the answer to this question came when the tabular formulation was
developed (Table 2.1). Although the table shows that there are no free choices for five
prescribed positions, the number of real equations and the number of real unknowns are equal,
indicating that these equations can be solved.
The second hint will come from further examination of the four -position case and the resulting
center- and circle-point curves. Suppose, that the circle- and center-point curves are plotted for
prescribed positions 1, 2, 3, and 4. In addition, a new set of curves for the same first three
positions plus a fifth position are superimposed over the first set. If these curves intersect, a
common solution exists and a Burmester pair (or dyad) has been found that will be able to
guide a plane through all five prescribed positions.
In this work four different cases are considered and the circle- and center-point curves are
plotted. Four different combination of four positions are considered so as to improve the
accuracy of the synthesis. In first case position 1-2-3-4 is considered other cases include the
position namely 1-2-3-5, 1-2-4-5 and 1-3-4-5. It is being noted that position 1 is common in all
four cases. The centre-point and circle point curves of these four cases are generated using the
burmester curve theory.
The common intersection point of centre-point curves for these four cases yields fixed pivots’
locations of the four bar mechanism for all five positions (1-2-3-4-5).
These burmester curves are generated using MATLAB software.

39
The coordinates of the five chosen points are tabulated below.

S.No Px Py
1 -89.3 -0.5
2 -68 3.6
3 -53.5 6.7
4 -13.4 5.8
5 0 0
Table 4. 1 Desired Points For 5-Positions
Other parameters for burmester curve generation is calculated below.

P21 = 14.6 delta2 = 156.5890

P31 =53.92 Delta3 =172.860
P41 = 68.1 Delta4 = 176.970
P51=89.3 Delta5 = 180.34o
Table 4. 2 Calculated Data from Table 4.1 For Burmester Curve Generation
The Centre-point curves for the four cases is shown below.

Figure 4. 1 Centre point curves for position 1-2-3-4, 1-2-3-5, 1-2-4-5, 1-3-4-5

40
The chosen pair for centre points for the four bar mechanism is indicated below.

Figure 4. 2 Common Intersection Points of Centre Point Curves

The coordinates of the chosen fixed pivots are as follows

S.No. X Y
1 -40.56128 -91.0973
2 -59.0478 -78.473
Table 4. 3 Coordinates of Centre Points
The value of 𝛽2 taken in the burmester curve generation was varying from 00 to 3600 with a
step size of 0.001. Therefore a total of 360001 iterations of centre points are present in
burmester curve. It can observed that common intersection point is approximately at the same
iterations for the four cases separately and is tabulated below.
Positions Iterations (X) Iterations (Y)
1-2-3-4 47828 236169
1-2-3-5 47828 236169
1-2-4-5 47829 236159
1-3-4-5 40293 108289
Table 4. 4 Iteration Comparison for the four cases of positions
It can be observed that there is a deviation in iterations for fourth data but the error is very
less when the coordinates of fixed pivots are calculted.

41
Similarly the graphs of moving pivots or circle point curves is also generated using the same
above principle.

Figure 4. 3 Circle point curves for position 1-2-3-4, 1-2-3-5, 1-2-4-5, 1-3-4-5

Figure 4. 4 Common Intersection Points of Circle Points Curve

42
The common intersection point chosen is indicated below in Figure 4.4. The circle point curves
intersects each other corresponding to the same iteration as in case of centre points curves i.e.
47828 and 236159. The circle point curves intersects each other corresponding to the same
iteration as in case of centre points curves i.e. 47828 and 236159.
Now by knowing the positions of fixed and moving pivots corresponding to first position(Table
4.1) we can easily draw and synthesize a four bar mechanism which is shown below

Link Length

Ground 22.3759

Input 10.7538

Coupler 56.947

Follower 45.2042

AP 93.2256

BP 143.49

Table 4. 5 Link Length of Synthesized Four Bar Mechanism (5-Position)

Diagram of Synthesized four bar

Figure 4. 5 Four Bar Mechanism

43
POSITION VERIFICATION THROUGH MATLAB SOFTWARE
Using position synthesis of coupler point P the above four bar is animated and shown to trace
the desired points.

Figure 4. 6 Position Analysis and Path Trace Diagram (5-Position)

44
45