SOLUTIONS OF HW7

a)

For this mechanism, it happens that

n=6 , j=7, F=1, L=2, V=5

The assigned joint variables are:

θ12, θ13, s15, s16, s34

To generate the independent loops, disconnect the revolute joints at R45 and R46.

Loop-1 (links 1-2-3-4-5): Reconnect C4 and C5; keep D4 and D6 disconnected.

(1)

Loop-2 (links 1-2-3-4-6): Reconnect D4 and D6; keep C4 and C5 disconnected.

(2)

To obtain an equation with a smaller number of variables, subtract Equation (2) from Equation (1):

(3)

Let be the temporary input. Then, write the real and imaginary parts of Equation (3):

(4)

(5)

Rearrange Equations (4) and (5):

(7)

(8)

Find first sin( ) and then from Eq. (7) as follows:

; (9)

Note that, throughout the operation range of the mechanism, remains always positive.
Therefore, . So, with , Equations (7) and (9) lead to
 (10)

After obtaining , Eq. (8) gives directly as

(11)

For the second stage of the solution, rewrite Equation (1) with its real and imaginary parts as shown
below:

(9)

(10)

Rearrange Equations (9) and (10) as follows:

(11)

(12)

Square and add equations (11) and (12):

(13)

Solve Eq. (13) first for so that

(14)

Afterwards, find as

(15)

Considering the given figure of this quick-return mechanism, for a given inclination of Link 4, the time
ratio ( ) will be larger, i.e. the upper power stroke arc of the crank rotation will
be longer than the lower return stroke arc, if is smaller. So, for smaller , is to be selected to
be +1. With this selection, becomes

(16)
After finding as above, Equations (11) and (12) give jointly as

(17)

b)

, which is the maximum value of can be found by making AB perpendicular to DC.

Regarding the above figure, (which is simply represented by '' '' in above figure) can be found as
follows by using the similarity of triangles ABD and OCD:

7.9218 cm

e)

Referring to the sketch drawn in Part b, the following computations can be made recalling that
, , , and 7.9218 cm.
Note that we used the arccos function here, because there is no sign ambiguity; we know that is
definitely smaller than 90o.

The value of found above, which corresponds to , can also be verified by looking at the vs
graph prepared numerically in Part c.

On the other hand, the crank rotations during the return and power strokes happen to be:

and

Hence, the time ratio is found as

MATLAB CODE:

clc
clear

%defining link lengths

b1=10;
b2=5;
b4=30;

%finding s16, teta13, s34, teta12 in terms of s15 for sigma2=+1 branch

for i=1:1:1584
s15=-7.92+0.01*i;

sigma2=1;

teta13=atan2(sqrt((b4^2)-(s15^2)),s15);
s16=b4*sin(teta13)-b1;

s34=b4-(s15*cos(teta13)+b1*sin(teta13))-
sigma2*sqrt(((s15*cos(teta13)+b1*sin(teta13))^2)-((s15^2)+(b1^2)-(b2^2)));

teta12=atan2(s15-(b4-s34)*cos(teta13),(b4-s34)*sin(teta13)-b1);

ss16(i)=s16;
ss15(i)=s15;
ss34(i)=s34;
tteta12(i)=teta12;
tteta13(i)=teta13;

end
%finding s16, teta13, s34, teta12 in terms of s15 for sigma2=-1 branch

for i=1:1:1584
s15=7.92-0.01*i;

sigma2=-1;

teta13=atan2(sqrt((b4^2)-(s15^2)),s15);
s16=b4*sin(teta13)-b1;

s34=b4-(s15*cos(teta13)+b1*sin(teta13))-
sigma2*sqrt(((s15*cos(teta13)+b1*sin(teta13))^2)-((s15^2)+(b1^2)-(b2^2)));

teta12=atan2(s15-(b4-s34)*cos(teta13),(b4-s34)*sin(teta13)-b1);

ss16(i+1584)=s16;
ss15(i+1584)=s15;
ss34(i+1584)=s34;
tteta12(i+1584)=teta12;
tteta13(i+1584)=teta13;

end

%interpolating points to continuous functions, so that we can take

%teta12 values such that teta12=0, 1, 2, ... , 360 [deg]

xq=0:(pi/180):(pi);
p= interp1(tteta12,ss15,xq,'spline');
q= interp1(tteta12,ss16,xq,'spline');

%animation (for 0<teta12<180)

for i=1:1:181

Ox=0;
Oy=0;

Ax=0;
Ay=-b1;

Dx=0;
Dy=-b1-q(i);
Cx=p(i);
Cy=0;

Bx=b2*sin((i-1)*(pi/180));
By=-b1-b2*cos((i-1)*(pi/180));

x=[Dx,Bx,Ax,Bx,Cx];
y=[Dy,By,Ay,By,Cy];

plot(x,y)

axis equal
axis([-20 20 -40 20])
grid on
hold off
pause(0.000001)
end

%animation (for 180<teta12<360)

for i=1:1:181

Ox=0;
Oy=0;

Ax=0;
Ay=-b1;

Dx=0;
Dy=-b1-q(182-i);

Cx=-p(182-i);
Cy=0;

Bx=-(b2*sin((180-i+1)*(pi/180)));
By=-b1-b2*cos((180-i+1)*(pi/180));

x=[Dx,Bx,Ax,Bx,Cx];
y=[Dy,By,Ay,By,Cy];

plot(x,y)

axis equal
axis([-20 20 -40 20])
grid on
hold off
pause(0.000001)
end
%graph of teta12 vs s15

figure (2);
plot((tteta12/pi)*180,ss15)
grid on
title('theta12 vs s15 graph')
xlabel ('theta12 [deg]');
ylabel ('s15 [dcm]');
hold on

AN EXAMPLE POSE OF THE ANIMATION:

vs GRAPH: