Analytical Linkage

Synthesis
Chapter 5

Types of Kinematic Synthesis

Types
Function Generation
Correlation of an input function with an
output function in a mechanism

Path Generation
Control of a point in the plane such that it
follows some prescribed path

Motion Generation
Control of a line in the plane such that it
assumes some sequential set of prescribed
positions

Chapter 3 - Example 1 (revisited)

Rocker Output- Two Position with
Angular Displacement (Function)
Design a four bar Grashof crank-rocker
speed motor input to give 45 of rocker
motion with equal time forward and back,
from a constant speed motor input.

Two-Position Synthesis for Rocker Output

Generic annotation
Link 4 is the output link to be
driven by a dyad consisting
of link 2 and 3.
To be determine: links 1, 2, 3,
and O2.
Defined: link 4, O4, 4 and

Two-Position Synthesis for Rocker Output

Procedure
Choose a location on link 4 to
attached link 3, B1 and B2 in its
extreme locations. This defined R4.

B1x O4 x R4 cos 4

B2 x O4 x R4 cos 4

M RB2 RB1

Lu RB1 uM

B1y O4 y R4 sin 4

B2 y O4 y R4 sin 4

Two-Position Synthesis for Rocker Output

Procedure
Place the crank pivot O2 suitable far
from B1 along line L
B1O2 M ,

Class 1

B1O2 M ,

Class 2

B1O2 M ,

Class 3

RO2 RB1 KM

2 K 3

The length of the crank must be half

the length of M

R2 0.5 M R4 sin / 2

Two-Position Synthesis for Rocker Output

Procedure
Link 3 can be found by
subtracting R2 from the
magnitude of RB1-RO2

R3 RB1 RO2 R2

Link 1 is found by
subtracting RO2 from RO4

R1 RO4 RO2
Grashof crank-rocker
/no quick return

Two-Position Motion Generation AL

Two-Position Motion Generation AL

Problem Statement
Design a fourbar linkage which will
move a line on its coupler link such that
a point P on that line will be first at P1
and later at P2 and will also rotate the
line through an angle 2 between those
two positions. Find the lengths and
angles of the four links and the coupler
link dimension A1P1 and B1P1.

Two-Position Motion Generation AL

Two-Position Motion Generation AL

Procedure
Define the two desired
precision positions

P21 R2 R1
The dyad W1Z1 (red)defines
the left half of the linkages.
U1S1 (black)the right.
The pin-to-pin length and
angle of link 3 is define in
terms of vector Z1and S1.

V1 Z1 S1

Two-Position Motion Generation AL

Procedure
The ground links is define
in terms of the two dyads

G1 W1 V1 U1

First solve for the left side

of the linkage
To solve for W1 and Z1
write the vector loop
equation

W2 Z 2 P21 Z1 W1 0

Two-Position Motion Generation AL

W2 Z 2 P21 Z1 W1 0
we j 2 ze j 2 p21e j 2 ze j we j 0
we j e j 2 ze j e j 2 p21e j 2 ze j we j 0

we j e j2 1 ze j e j 2 1 p21e j 2
Real part:

w cos cos 2 1 w sin sin 2

z cos cos 2 1 z sin sin 2 p21 cos 2
Imaginary part:

w sin cos 2 1 w cos sin 2

z sin cos 2 1 z cos sin 2 p21 sin 2

Two-Position Motion Generation AL

There are eight vari ables :

Strategy 1

w, , 2 , z, , 2 , p21, and 2
Three are defined in the problem
statement : 2 , p21, and 2

Three are assumed : , 2 ,

Two are solve with the two equations
simplifying,
A cos cos 2 1 sin sin 2

B cos cos 2 1 sin sin 2

C p21 cos 2

Two-Position Motion Generation AL

simplifying,
D sin cos 2 1 cos sin 2
E sin cos 2 1 cos sin 2
F p21 sin 2

then,

Aw Bz C
Dw Ez F

solving simultaneously,
w

CE BF
AE BD

AF CD
AE BD

Two-Position Motion Generation AL

Second Strategy

There are eight vari ables :

w, , 2 , z, , 2 , p21, and 2
Three are defined in the problem
statement : 2 , p21, and 2

Three are assumed : vector Z1 z, ,

link 2

Then solve for the vector W1

Two-Position Motion Generation AL

The x and y components of vectors W1 and Z1

W1x w cos

Z1x z cos

W1y w sin

Z1y z sin

Real part:

W1x cos 2 1 W1y sin 2

Z1x cos 2 1 Z1y sin 2 p21 cos 2

Imaginary part:

W1y cos 2 1 W1x sin 2

Z1y cos 2 1 Z1x sin 2 p21 sin 2

Two-Position Motion Generation AL

simplifying,
A cos 2 1

B sin 2

C cos 2 1

D sin 2

E p21 cos 2

F p21 sin 2

substituting:

AW1x BW1y CZ1x DZ1y E

AW1y BW1x CZ1y DZ1x F

the solution is;

W1x

W1y

A CZ1x DZ1y E B CZ1y DZ1x F

2A

A CZ1y DZ1x F B CZ1x DZ1y E

2A

Two-Position Motion Generation AL

For the right hand dyad, U1S1

U 2 S2 P21 S1 U1 0

ue j e j 2 1 se j e j 2 1 p21e j 2
Real part:

u cos cos 2 1 u sin sin 2

s cos cos 2 1 s sin sin 2 p21 cos 2

Imaginary part:

u sin cos 2 1 u cos sin 2

s sin cos 2 1 s cos sin 2 p21 sin 2

Two-Position Motion Generation AL

There are eight vari ables :
u, , 2 , s, , 2 , p21, and 2
Three are defined in the problem
statement : 2 , p21, and 2

Three are assumed : , 2 ,

Two are solve with the two equations
simplifying,
A cos cos 2 1 sin sin 2

B cos cos 2 1 sin sin 2

C p21 cos 2

Two-Position Motion Generation AL

simplifying,
D sin cos 2 1 cos sin 2

E sin cos 2 1 cos sin 2

F p21 sin 2

then,

Au Bs C
Du Es F

solving simultaneously,
u

CE BF
AE BD

AF CD
AE BD

Two-Position Motion Generation AL

Second Strategy
There are eight vari ables :
u, , 2 , s, , 2 , p21, and 2
Three are defined in the problem
statement : 2 , p21, and 2

Three are assumed : vector S1 s, ,

link 3

Then solve for the vector U1

Two-Position Motion Generation AL

The x and y components of vectors W1 and Z1

U1x u cos

S1x s cos

U1y u sin

S1y s sin

Real part:

U1x cos 2 1 U1y sin 2

S1x cos 2 1 S1y sin 2 p21 cos 2

Imaginary part:

U1y cos 2 1 U1x sin 2

S1y cos 2 1 S1x sin 2 p21 sin 2

Two-Position Motion Generation AL

simplifying,
A cos 2 1

B sin 2

D sin 2

E p21 cos 2

substituting:

C cos 2 1
F p21 sin 2

AU 1x BU 1y CS1x DS1y E
AU 1y BU 1x CS1y DS1x F

the solution is;

U1x

U1 y

A CS1x DS1y E B CS1y DS1x F

2A

A CS1y DS1x F B CS1x DS1y E

2A

Comparison Graphical/Analytical

Example 5-1
Design a fourbar linkage to
move the link APB shown
from position A1P1B1 to
A2P2B2.
Solution
1. Draw the link APB in its
two desired positions to
scale
2. Measure or calculate the
values of the magnitude and
angle of vector P21

p21 2.416

2 165.2

Example 5-1
3. Measure or calculate the
values of the change in
angle, 2, of vector Z from
position 1 to 2,

2 43.3
4. Assume three additional
free choice. Using strategy
2,
z 1.298

26.5
38.4

Example 5-1
5. Substitute these values in
the corresponding equation
A-F, W1x .. and obtain,
w 2.467
71.6
6. Compare to graphical,
w 2.48

71
This vector W 1 is link 2

Example 5-1
7. Repeat the procedure for
the link-4 side, the free
choices, s 1.035
104.1
2 85.6

8. Substitute these values

along with the original
values, p 2.416 165.2 43.3
21

u 1.486

15.4

9. Compare the graphical

solution u 1.53 14

Vector U1 is link 4

Example 5-1
10. Line A1B1 is link 3,

V1 Z1 S1

Line O2O4 is link 1,

G1 W1 V1 U1

11. Check the grashof

condition
12. Construct a model in
CAD. Check for limiting
conditions
13. Check transmission
angles