3-point synthesis of a 4-bar linkage function generator

Consider the 4-bar linkage shown above.

Using the vector closure equation, we get;

+ + + = 0

Which is the same as this;

2 2 + 3 3 + 4 4 1 = 0

2 2 + 3 3 + 4 4 = 0

Like before, the first step in solving the position equations is to identify the variable to be
determined first. When the situation involves two unknown angles, we isolate the trigonometric
function involving the angle to be eliminated on the left hand side of the equation.

Now square both sides of both equations, add, and simplify the result using the trigonometric
identity 2 + 2 = 1.

Therefore;

32 = 12 + 22 + 42 + 21 2 2 21 4 4 + 22 4 (2 4 + 2 4 )

The divide by 21 2 ;

32 12 22 42
22 4
+ 1 2 + 1 4 = (2 4 )
4 2

Where;

32 12 22 42
1 = 1 ; 2 = 1 ; 3 = 22 4
4 2
So, Freudensteins Equation is:

1 2 + 2 4 + 3 = (2 4 )

To use this to synthesise a 4-bar function generator, you first select 3 precision points.

Intuitively, you would likely select the ends and the middle as good points to evaluate however,
Chebyshev has already figured out the optimum position of such points.

Chebyshev spacing minimises the structural error associated with the analysis, where the term
structural error means the error outside of the precision points.

So, for points; 0 = +1

1 1 (21)
= (+1 + 0 ) (+1 0 ) = 1,2,3, . . .
2 2 2

If, for example, we are given 0 2 . Therefore; 0 = 0 and 4 = 2 .

And;

1 1 (21 1)
1 = (0 + ) ( 0) = 0.10523
2 2 2 2 23

1 1 (22 1)
2 = (0 + ) ( 0) = 0.78539
2 2 2 2 23
1 1 (23 1)
3 = (0 + ) ( 0) = 1.46557
2 2 2 2 23

But we need to know how 1 , 2 and 3 correspond to Freudensteins Equation which is in terms of
and . So we need to know how to do the mapping.
We use linear mapping to do this:

Let 2 = = + and 4 = = +

and use the end points to find the constants and . So;

20 = 0 + 40 = 0 +

24 = 4 + 44 = 4 +

Where the choice of 20 and 24 are a designers decision and often are based on experience. The
rule of thumb is that the input 20 should be taken close to the vertical at about 100 with a range of
about 120.

Pseudocode for 3-point synthesis:

1
We want: =

1. Select 1 and 4
2. Find 1 , 2 and 3 using Chebyshev spacing.
1 1 1
3. Find 1 , 2 and 3 based on the function; here they are , and .
1 2 3
4. Use linear mapping to transform s into 2 s and s into 4 s.
5. Form Freudensteins Equation and solve for 1 , 2 and 3.
6. From 1 , 2 and 3; find 1 , 2 , 3 and 4 , assuming 1 = 1.

See Synthesis.m for the code.