AME 352 GRAPHICAL POSITION ANALYSIS

4. GRAPHICAL POSITION ANALYSIS

Similar to the analytical kinematics, graphical kinematics requires determining position,

velocity, and acceleration of all the links in a mechanism. As the title suggests, in a graphical
analysis, instead of analytically solving sets of linear or non-linear equations, the unknowns are
found graphically. Direct measurements from a graph provide the values for the unknowns.
In the graphical position analysis it is assumed that the link lengths are given. The objective
is to graphically construct the mechanism for a given value of the input link. Then by direct
measurements from the constructed polygon, values for the unknown lengths and angles are
obtained. Obviously, the accuracy of the results depends on the accuracy of our drawings and
measurements.
Note: A CAD software can be used to construct a mechanism (position polygon) with known
dimensions and in the desired configuration. The software provides accurate values for the
unknowns.

Four-bar Mechanisms
Problem statement B
A four-bar has the following link lengths: y R BA
RO4O2 = L1 , RAO2 = L2 , RBA = L3 , RBO4 = L4 A θ3
R BO4
Construct the four-bar for a given value of θ 2 ,
R AO2
and then determine the other two angles by direct
θ4
measurement. θ2 R O4O2

O2 x O4
Graphical process A
1. Establish the ground attachment points O2
and O4 , knowing L1 . L2
2. Establish point A knowing L2 and θ 2 .
θ2 L1
O2 O4

3. Draw a circle centered at A and a radius L3 .

A
L3

O2 O4

P.E. Nikravesh 4-1

AME 352 GRAPHICAL POSITION ANALYSIS

4. Draw a circle centered at O4 and a radius L4 .

A

L4

O2 O4

5. The intersect of the two circles is B; there are

two solutions. Based on the application,
A L3 B
select the appropriate one and then measure
for the unknown angles.
L2
L4
θ2 L1
O2 O4

B’

Solution 1: A Solution 2: A
B

O2 O4 O2 O4

Slider-crank (inversion 1)
Problem statement
A slider-crank has the following link lengths:
A
RAO2 = L2 , RBA = L3
Construct the slider-crank for a given value of L3
L2
θ 2 . Determine the unknowns by direct
measurement. θ2
Graphical process B’ RBO2 O RBO2
2 B
1. Establish the ground attachment points O2
and the axis of the sliding joint (most likely
horizontal).
2. Establish point A knowing L2 and θ 2 .
3. Draw a circle, centered at A and a radius L3 .

P.E. Nikravesh 4-2

AME 352 GRAPHICAL POSITION ANALYSIS

4. The intersect of the circle and the sliding joint axis is B; there are two solutions. Based on the
application, select the appropriate one and then measure for the unknowns.
Solution 1: Solution 2:
A A

B B
O2
O2

Slider-crank (inversion 2)
Problem statement:
A slider-crank has the following link lengths: A
RAO2 = L2 , RO4O2 = L1
Construct the slider-crank for a given value of θ 2 RAO2 RAO4
and then determine the other angle and distance θ2
by direct measurement. O2 O4
RO4 O 2
Graphical process:
1. Establish the ground attachment points O2
and O4 knowing L1 (most likely horizontal). A
2. Establish point A knowing L2 and θ 2 .
3. Connect O4 to A and extend to a desired
length. O2 O4
4. There is only one solution—measure for the
unknowns.

Slider-crank (inversion 3)
Problem statement
A slider-crank has the following link lengths: A
RAO2 = L2 , RO4O2 = L1 RAO2 RAO4
Construct the slider-crank for a given value of θ 2 θ2
O4
and then determine the other angle and distance O2
RO4 O 2
by direct measurement.
Graphical process:
A
1. Establish the ground attachment points O2
and O4 knowing L1 (most likely horizontal).
2. Establish point A knowing L2 and θ 2 .
O2 O4
3. Connect A to O4 and extend to a desired
length.
4. There is only one solution—measure for the
unknowns.

P.E. Nikravesh 4-3