INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA KULLIYAH OF ENGINEERING DEPARTMENT OF MECHANICAL ENGINEERING

MEC 3607 KINEMATICS AND DYNAMICS OF MACHINERY SEMESTERII 09/10

KDM PROJECT: FOUR BAR MECHANISM (WIPER)

PREPARED BY:
MOHD HAFIZ BIN AZIZAN MOHD REDZUAN BIN MOHD ZAIN 0439701 0439509

LECTURER:
FADLY JASHI DARSIVAN RIDHUAN SIRADJ

DUE DATE:
MARCH 22ND, 2010

INTRODUCTION: In study of mechanics of machines, engineers main concerns are on kinematic and kinetic analysis on each member as well as joints. Kinematic analysis deals with members position, velocity as well as acceleration. All these three parameters divided into two types, either in linear or angular motion. On the other hand, kinetic analysis is a study of forces as well as moments acting on or by the members of a particular mechanism. Before producing any mechanism, engineer has to draw that mechanism first and analytically analyze its kinematics and kinetics. This drawing and analyzing parts are exposed to human and tool errors. After been analyzed, the mechanism will be assembled and tested for accuracy of previous analysis during pre-producing period. If too many errors occur or purpose of that mechanism is not achieved, then it has to be re-done, starting from review of drawing. This kind of method wastes a lot of time and risky in term of cost (if the mechanism has to be re-done). Thus, engineer comes out with new solution of pre-produced mechanism by using simulation software, such as Working Model Program.

APPLICATION OF THE MECHANISM The four-bar linkage is a versatile planar mechanism, used extensively in articulated systems:

In wheel vehicles: o For the Ackerman steering in all automobiles and trucks. o For automotive and bicycle suspensions. o For hydraulic tail lifts and scissor tippers on dump trucks. In hydraulic machinery: o For tilting the bucket on hydraulic excavators and loaders. o For the blade actuators of earth moving equipment. o For the three-point hitch of agricultural tractors. In industrial automation and material handling: o For the needle mechanism on sewing machines. o For scissor lifts and conveyor ancillary equipment. o For packaging machines. In doors and covers, instead of a simple hinge: o For garage lifting doors. o For engine hoods. In hand tools: o For locking pliers. o For bolt cutters. o For manual clamps.

Analytical Solution: 1 = 2 = 0; 3 = 20; 5 = 6 = 8 = 30; 3 = input = 5rad/s; 3 = 0; r1 = 1.3m r2 = 2.9m r3 = 0.5m r4 = 2.0m

Fig. 1

Two loop mechanism

Fig. 2

Loop 1: R3 + R4 - R1 - R5=0 Real i: r3cos3 + r4cos4 r1cos1 r5cos5 = 0 r3cos3 + r4cos4 r1 r5cos5=0 (1)

Imaginary j: r3sin3 + r4sin4 r1sin1 r5sin5 = 0 .. (2)

Loop 2: R6 + R7 R2 R8=0 Real i: r6cos6 + r7cos7 r2cos2 r8cos8 = 0 7 = 0, 8 = 6, r8 = r6, r2 = r7;

Imaginary j: r6sin6 + r7sin7 r2sin2 r8sin8 = 0 * independent 3(constant); dependent rows: 4, 5, 4, 5

For [] Loop 1: - r33sin3 - r44sin4 + r55sin5 = 0 ..(3) r33cos3 + r44cos4 - r55cos5 = 0 .(4)

Loop 2: - r66sin6 + r88sin8 = 0 r66cos6 - r88cos8 = 0

For [] Loop 1: - r33sin3 - r332cos3 - r44sin4 - r442cos4 + r55sin5 + r552cos5 = 0 .. (5)

+ r33cos3 - r332sin3 + r44cos4 - r442sin4 - r55cos5 + r552sin5 = 0 ..(6)

For [] Loop 2: - r66sin6 r662cos6 + r88sin8 + r882cos8 = 0 r66cos6 r662sin6 - r88cos8 + r882sin8 = 0

From Loop 1: (1): r4cos4 = r1 + r5cos5 - r3cos3 (2): r4sin4 = r5sin5 - r3sin3

(1)2+(2) 2 r42 = (r1 + r5cos5 - r3cos3)2 + (r5sin5 - r3sin3)2 yielding

r42 = r12 + r52 + r32 - 2r3r5cos(3-5) + 2r1r5cos5 - 2r1r3cos3 r52 + r5[-2r3r5cos(3-5) + 2r1cos5]+[r12 + r32 -r42 - 2r1r3cos3] = 0 Quadratic equation solve for r5 <positive value only> , then substitute to (2)& solve for 4; r5 = 1.2856 m, 4 = 13.64

[]: solution 3: (3) x cos5: - r33sin3cos5 - r44sin4cos5 + r55sin5cos5 = 0 4: (4) x sin5: r33cos3sin5 + r44cos4sin5 - r55cos5sin5 = 0 3+4: r33(cos3sin5 - sin3cos5) + r44(cos4sin5 - sin4cos5)= 0 r33sin(5 - 3) + r44sin(5 4)= 0 4 = [- r33sin(5 - 3)]/[ r4sin(5 4)]

Substitute 4 to (3) & solve for 4 4 = - 0.77 rad/s, 5 = 0.77 rad/s

[]: solution 5: (5) x cos5: 6: (6) x cos6:

4 = [- r332cos(3-5)- r33sin(3-5) - r442cos(4- 5)

+ r552] / [r4sin(4- 5)]

5 = [- r332cos(3-5)- r33sin(3-4)- r442

+ r552cos(4- 5)]/ [r5sin(4- 5)] 4 = 22.52 rad/s2, 5 = 35.56 rad/s2

Fig. 3: Drawing

Fig. 4: Simulation

Table 1 (comparison between analytical and simulation) Parameters Methods Analytical Simulation 4 (rad/s) -0.77 -0.866 5 (rad/s) 0.77 0.616 4 (rad/s2) 22.52 24.972 5 (rad/s2) 35.56 39.774

Percentage error for angular velocity:

4 % diff = 5 % diff = Percentage error for angular acceleration: 4 % diff = 5 % diff =

Discussion and Conclusion:

This mechanism has two loops to be considered on the left and right-hand sides respectively (see figure 2). Loop 1 has to be evaluated to find r 5, 4, 4, 5, 4 and 5. By using loop closure equations, we can determine all these unknowns which represent length (r), angle (), angular velocity () and angular acceleration (). Loop 2 is also known as parallelogram four-bar mechanism, thus we can easily know that r6 || r8 and r2 || r7 and the lengths are equal respectively. From parallelogram four-bar mechanism evaluation, we can conclude that 6 = 8 and 2 = 7, so as the angular velocity and acceleration. In this project, we are determining the kinematics of links/bars at the position shown in figure 1. The input motor at joint (1,3) is set to be 5 rad/s and other dimensions are given. When comparing between analytical and simulation methods of determining kinematic properties of the mechanism, we found out that the analytical results are close to the simulation results (see results section). Thus, the calculation of analytical method is considered as correct. As a conclusion, in comparison between analytical and simulation methods for this project, the analytical is more accurate, due the fact that it uses exact geometry of the mechanism. Simulation should be the real case, but it is difficult to set the evaluation of simulation kinematics at exact position. Nevertheless, engineer just needs to use the simulation to complete the job as it reduces time consumption efficiently and such an easy method.