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Position Analysis Page 1 of 2 Dr.

Keith Hekman

Starting with page 118

The vector loop equation for a fourbar linkage is


ae j 2 + be j 3 ce j 4 de 1 = 0
We are looking for a solution for 3 and 4 in terms of a, b, c, d, 2. Grouping the known
values on one side, and calling
s = e j 3 and t = e j 4
we have
bs ct = de 1 ae j 2 = Z . (1)
Since the conjugate of s is
1 1
s = e j 3 = j =
e 3
s
Then the conjugate of (1) is
b c
=Z . (2)
s t
Moving the c term to the other side in both (1) and (2) we have
bs = Z + ct . (3)
b c
=Z+ . (4)
s t

Multiplying (3) and (4) one gets


c
b 2 = ZZ + Z + Z ct + c 2 . (5)
t
2
Moving the b term to the other side and multiplying by t, one has the quadratic expression
for t of
( )
0 = Z ct + ZZ + c 2 b 2 t + Zc .
2
(6)
Using the quadric formulae, one can solve for t to get

t=
( ) (ZZ + c
ZZ + c 2 b 2 2
b2 )
2
4c 2 Z Z
. (7)
2Z c
The two solutions of t correspond to the two possible assembly positions for the linkage
found in the graphical position analysis. From (3) one can calculate s to be
Z + ct
s= . (8)
b

The vector loop equation for a fourbar slider-crank linkage is


ae j 2 be j 3 ce j 4 de 1 = 0
We are looking for a solution for 3 and d in terms of a, b, c, 2. Grouping the known values
on one side, and calling
s = e j 3
we have
bs + d = ae j 2 cj = Z . (9)
Then the conjugate of (9) is
b
+d =Z . (10)
s
Moving the d to the other side in both (9) and (10) we have
Position Analysis Page 2 of 2 Dr. Keith Hekman

bs = Z d . (11)
b
= Z d . (12)
s

Multiplying (11) and (12) one gets


b 2 = ZZ d ( Z + Z ) + d 2 . (13)
Moving the b2 term to the other, one has the quadratic expression for d of
0 = d 2 (Z + Z )d + ZZ b 2 . (14)
Using the quadric formulae, one can solve for d to get

d=
Z +Z (Z + Z ) 2
(
4 ZZ b 2 ). (15)
2
The two solutions of d correspond to the two possible assembly positions for the linkage
found in the graphical position analysis. From (11) one can calculate s to be
Z d
s= . (16)
b

The vector loop equation for a fourbar inverted slider-crank linkage is


ae j 2 be j 3 ce j 4 de 1 = 0
We are looking for a solution for 4 and b in terms of a, c, d, 2. Noting that geometry keeps
the angle between 3 and 4 fixed at
3 =4 +
we can make this substitution in the equations. Grouping the known values on one side, and
calling
s = e j 4 and t = e j
we have
bst + cs = ae j 2 de j1 = Z = s (bt + c) . (17)
Then the conjugate of (17) is
b
+c
t =Z . (18)
s
Multiplying (17) and (18) one gets
1
b 2 + bc t + + c 2 = ZZ . (19)
t
Moving the ZZ term to the other, one has the quadratic expression for b of
1
0 = b 2 c t + b + c 2 ZZ . (20)
t
Using the quadric formula, one can solve for d to get
(
ct+ 1
t
) (t + 1t ) c 2
2
(
4 c 2 ZZ )
b= . (21)
2
The two solutions of b correspond to the two possible assembly positions for the linkage
found in the graphical position analysis. From (17) one can calculate s to be
Z
s= . (22)
bt + c