MAE 375

Analytical Linkage Synthesis

Chapter 5 Lecture Notes
MAE 375 Spring 2014
Steve Caldwell
CSULB
Copyright notice: Images areobtained from Nortons Design of Machinery, 5
th
Ed.
Topics
Introduction
Two Position Analytical Synthesis
Simultaneous Equations Matrix Algebra Review
Three Position Analytical Synthesis
Reading Assignment: Chapter 5
Quiz #4: Take-Home due Monday 03/03/14
Lab #4: Assigned 02/24/14 due 02/26/14
HW #4: 5-1, 5-3, 5-4, 5-50, 5-52
Introduction
Position Analysis Covered
Now Synthesize Linkages Analytically
Specify output positions
Algebraic Technique Not Graphical (Chapter 3)
Suitable for computer program solution
Types of Kinematic Synthesis
Function Generation
Correlation of an input function with an output function
Crank-Rocker, Double-Rocker, Pure rotation in/out
Slider-Crank, rotation in/translation out
Path Generation
Control of a point in the plane so that it follows a prescribed path
Crank-Rocker or Double-Rocker, coupler point traces path
Timing may also be defined for coupler point at specified locations
Motion Generation
Control of a line in the plane such that it assumes some sequential set
of prescribed positions
All Three Use Same Mathematical Formulation
Analytical Linkage Synthesis
Does the same tasks as graphical synthesis,
except uses algebra instead of geometry.
Successive locations of the link are termed
precision positions.
Theoretically, can solve for up to 9 precision
positions.
Practically, is limited to 3 or 4 positions.
Two or three positions can be done by hand
calculation, but computer makes it much easier.
Two Position Synthesis
Rocker Output
Watt sixbar dyad driver used to drive Grashof Crank-Rocker
through given rocker angle
Dyad synthesis done analytically here
Two Position Synthesis Solution
Two Position Synthesis Solution
2 1
O B
R R KM = 2 3 K < <
2 4
0.5| | sin( R M R = = | / 2)
1 2
3 2 B O
R R R R =, ,
4 2
1 O O
R R R =, ,
Precision Points
Precision Points or Positions are the points, or positions, prescribed for successive
locations of the output(coupler or rocker) link in the plane.
The number of precision points synthesized is limited by the number of equations
available for the solution.
The fourbar linkage can be synthesized for up to five precision points for motion or path
generation with prescribed timing (coupler output) and up to seven points for function
generation (rocker output).
Synthesis for two or three precision points is straight forward and these cases can be
reduced to a system of linear simultaneous equations solved on your calculator or in
Matlab.
Four or more position synthesis problems involve nonlinear simultaneous equations
solved on a computer.
2-position Motion Synthesis - 1
o
2
o
2
P
1
P
2
R
1
R
2
jY
X
P
21
2-position Motion Synthesis - 2
Vector Loop Equation
Substitute Eulers Equation and
Separate Real (x) and Imaginary (y)
Substitute Complex Numbers
Solution
Strategy #1
2-Position Solution Strategy #2
Let:
Then:
And:
Second
Dyad
Repeat the process for
the right-side dyad
Graphical and Analytical
Synthesis both have Free Choices
Two Position Motion Generation
Objective: Design a fourbar linkage which will move a line on its coupler link such
that a point on the line will be first at P
1
and later at P
2
and will also rotate the line
through an angle o
2
between the two precision positions. Find the lengths and
angles of the four links and the couple link dimensions A
1
P
1
and B
1
P
1
as shown.
Two Position Motion Generation Solution
Method
Knowns: Precision points P
1
and P
2
, angle o
2
between the two precision positions
Unknowns: Lengths and angles of all four links and the coupler link dimensions A
1
P
1
and
B
1
P
1
.
Method:
1. Define the two desired position relative to an arbitrarily chosen global coordinates XY
using position vectors, R
1
and R
2
. The position difference vector, P
21
, defines the
displacement between the precision points.
P
21
=R
2
R
1
2. Define the position vectors Z
1
, Z
2
, S
1
, and S
2
for the rigid coupler link dimension. Note
that both of these vectors undergo the same rotation through angle o
2
from P
1
to P
2
. This
defines the dyads WZ and US for the left half and the right half of the linkage,
respectively. The lengths of vectors W and U are the link lengths of link 2 and 4 needed,
respectively.
3. Link 3 (coupler) is defined by V
1
=Z
1
S
1
and the ground link 1 is defined by G
1
=
W
1
+V
1
U
1
4. Solve the vector loop equation for the left side of the linkage (vectors W and Z)
W
2
+Z
2
P
21
Z
1
W
1
=0
5. Substitute the complex number equivalents and the Eulers identity for the vectors
Two Position Motion Generation Solution
Method
Two Position Motion Generation Solution
Method
Two Position Motion Synthesis Example
Design a fourbar linkage to move the link APB shown from position A
1
P
1
B
1
to A
2
P
2
B
2
.
Two Position Motion Synthesis Summary
Strategy #1
Assumes values for three angles u, |
2
, |
Why? Because you may want to specify the orientation of u, | of the two link
vectors W
1
and Z
1
to suit a given packaging constraint.
Also to specify the angular excursion |
2
of link 2 to suit some driving constraint
This choice gives linear equations that are easy to solve. (advantage)
Strategy #2
Assumes a length z and angle | for vector Z
1
and angular excursion of link 2.
Then solves for vector W
1
.
This is a common approach.
Infinite number of solutions depending on these free choices. Not all solutions will
work. Some will give circuit or branch defects, i.e., a toggle position between precision
points. Some will have poor transmission angles, poor pivot locations, or overlarge links.
J udgment is important in selecting your free choices. Always build a model to check first.
Simultaneous Equation Solution
Analytical Synthesis Methods lead to sets of linear simultaneous
equations.
Two Position Synthesis leads to two simultaneous solutions solved
by direct substitution.
Three Position Synthesis Problem leads to a system of four
simultaneous equations which require a more complicated method
of solution.
We will write these equations in matrix form and then solve them in
Matlab or your scientific calculator.
First lets review Matrix Algebra
Matrix Algebra Review
Matrix Multiplication
Identity Matrix & Inverse
Linear Equation Matrix Solution
Consider a set of linear equations:
-2x +y +z =-1
x +y +z =6
3x +y z =2
Matrix Form
[A] {B} = {C}
Solution, multiply both sides by [A]
-1
, {B} =[A]
-1
{C}
2 1 1 1
1 1 1 6
3 1 1 2
x
y
z

| || | | |
| | |
=
| | |
| | |

\ .\ . \ .
.33 .33 0 1 2.33
.67 .17 .5 6 .67
.33 .83 .5 2 4.33
x
y
z

| | | || | | |
| | | |
= =
| | | |
| | | |

\ . \ .\ . \ .
3-Position
Synthesis
3-Position
Solution
Variables
3-Position Solution Strategy
3-Position
Solution
Given:
p
21
, p
31
,
o
2
, o
3
,
o
2
, o
3
Assumed:
|
2
, |
3
Calculated:
W
1x
, W
1y
, Z
1x
, Z
1y
Repeat process for
other dyad U-S
Specifying the
Fixed Pivots
Solving the Equations for the Betas
Specified Fixed Pivots
Three Position Motion Generation
Same Approach as Two Position Analytical Synthesis for Fourbar
More Complex
Three Position Motion Generation Solution
Problem Statement: Design a fourbar linkage which will move a
line on its coupler link such that a point on the line will be first at P
1
and later at P
2
, and then at P3, and will also rotate the line through
an angle o
2
between the first two precision positions and an angle
o
3
between the first and the last precision positions.
Knowns: Precision points P
1
, P
2
and P
3
, angles between the three
precision positions.
Unknowns: Lengths and angles of all four links and the coupler
link dimensions A
1
P
1
and B
1
P
1
.
Three Position Motion Generation Solution
Method:
1. Place the global coordinate system XY at the first precision point P
1
. The position
difference vector, P
21
and P
31
, defines the displacement between the precision points.
P
21
=P
2
P
1
and P
31
=P
3
P
1
2. The dyad WZ and US define the left and the right half of the linkage, respectively. V
1
=Z
1
S
1
and the ground link 1 is defined by G
1
=W
1
+V
1
U
1
. To solve for W
1
and Z
1
, write two
vector loop equations which includes positions P
1
and P
3
.
W
2
+Z
2
P
21
Z
1
W
1
=0
W
3
+Z
3
P
31
Z
1
W
1
=0
Substitute the Euler equivalents and separate the real and the imaginary part
Three Position Motion Generation Solution
Method:
3. There are twelve variables (w, u, |
2
, |
3
, z, |, o
2
, o
3
, p
21
, p
31
, o
2
and o
3
) and four equations.
Six, o
2
, o
3
, p
21
, p
31
, o
2
and o
3
, are known parameters given by the design specifications.
Hence, two of the six parameters (w, u, |
2
, |
3
, z, |) must be chosen as the design choices in
order to solve for the other four.
4. One approach is to assume values for |
2
and |
3
. Defining the coefficients and the four
unknowns, W
1x
, W
1y
, Z
1x
, and Z
1y
, and rearrange the equations into the matrix form
Let W
1x
=wcosu W
1y
=wsinu
Z
1x
=zcos| Z
1y
=zsin|
The formulae for the constants A,B,C,D,E,F,G,H,K,L,M,N are given on Page 246 of the text.
Write in matrix form and solve for W
1x
, W
1y
, Z
1x
, and Z
1y
1
1
1
1
x
y
x
y
W
A B C D E
W
F G H K L
x
B A D C Z M
G F K H N
Z
| |

| | | |
|
| |
|
| |
=
|
| |
|
| |
|
\ . \ .
\ .
Three Position Motion Generation Solution
Method:
5. Repeat the same steps with the right half of the linkage with the following vector loop
equations with the angles o,
2
,
3
, , o
2
and o
3
:
U
2
+S
2
P
21
S
1
U
1
=0
U
3
+S
3
P
31
S
1
U
1
=0
Substitute the Euler equivalent, simplify, and rearrange
Assume values for angles
2
and
3
. Note that o
2
and o
3
are the same from the left side.
Let U
1x
=ucoso U
1y
=usino
S
1x
=scos S
1y
=ssin
The formulae for constants A,B,C,D,E,F, G, H, K, L, M, N are on Page 247 of the text. Solve
for the unknowns, U
1x
U
1y
, S
1x
, and S
1y
, using the matrix approach.
Comparison of Analytical and Graphical
Solutions Page 248
Synthesis with Specified Pivot Point
Inthis case, the locations of the fixed pivots, O
2
and O
4
, are defined.
To relate the fixed pivot of vector W and U to the precision points,
place the origin of the global axis system at the precision point P
1
.
The vector R
1
, R
2
, and R
3
can then be drawn from the root of W
1
to
the global origin at P
1
, P
2
, and P
3
, respectively. Note that the vector
R
1
defines the location of the fixed pivot in the plane with respect to
the global origin.
Unknowns: W
x
, W
y
, U
x
, U
y
, |
1
, |
2
,
2
and
3
Obtain the vector loop equation for each precision position as:
W
1
+Z
1
=R
1
W
2
+Z
2
=R
2
W
3
+Z
3
=R
3
Synthesis with Specified Pivot Point
Synthesis with Specified Pivot Point
Center-Point and Circle-Point Circles
If the |
2
is held constant at an arbitrary value, while iterating |
3
through all possible
values from 0 to 2t, a circle will be generated. This circle represents the locus of all
possible locations of the root of vector W (the fixed pivot O
2
) for the particular value of |
2
used. This circle is called a center-point circle. Similarly for the vector Z, holding o
2
constant at some arbitrary value and iterating o
3
from 0 to 2t, another circle is generated.
The circle describes the tip of vector W about pivot O
2
in the finished linkage. This locus
is called the circle-point circle. The same analysis can be performed on the right dyad by
fixing
2
and iterating
3
and fixing o
2
and iterating o
3
.
Analytical Synthesis of Path Generator w/
Prescribed Timing
To create a path generator with prescribed timing, the timing at which the coupler
reaches the precision point can be specified in terms of input rocker angle |
2
. Instead of
specifying the o
2
and o
3
of vector Z in order to control the angle of the coupler, we want
to specify angles |
2
and |
3
of the input rocker to define the timing (o
2
and o
3
are now free
choices). The same method for three-position motion generation can be applied.
Analytical Synthesis of a Fourbar Function
Generator
In this case, the motion of the coupler (line AP) is not of an importance and exists to only
connect the input to the output link. The point P represents the pin joint between link 3 and
4, which makes an arc about O
4
. The function generator uses link 2 as the input and link 4
as the output.
The function generated is the relationship between the angles of link 2 and link 4 for the
specified three positions, P
1
, P
2
, and P
3
, where are located in the plane with respect to a
global coordinate system by position vectors R
1
, R
2
, and R
3
.
Analytical Synthesis of a Fourbar Function
Generator
Note that this function is not continuous and the relationship only holds for the discrete
points k specified. Write a vector loop equations around the linkage in pairs of positions
with both link 2 and link 4 in the loop.
W
2
+Z
2
U
2
+U
1
Z
1
W
1
=0
W
3
+Z
3
U
3
+U
1
Z
1
W
1
=0
Since P
21
=U
2
U
1
and P
31
=U
3
U
1
, substitute the terms and the complex number
identity
The equations contain twelve variables, w, u, z, |, o
2
, o
3
, |
2
, |
3
, u, o,
2
and
3
. |
2
, |
3
,
2
and
3
are constrained by the function. There are four free choices. One strategy is to
choose the length of the output rocker, u, and its initial angle, o. With the u, o,
2
and
3
known, U
2
and U
3
can be found. With U
2
and U
3
found, P
21
and P
31
can be determined.
Then assume values for the angles o
2
and o
3
, then the components of vectors W and Z can
be computed (w, u, z, |).
Analytical Synthesis of a Fourbar Function
Generator
Other
Synthesis
Methods
Optimal Synthesis Methods - 1
Optimal
Synthesis
Methods - 2