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The sum of the shortest and longest links lengths is less than the sum of the lengths of the remaining two links
MECH 335 Lecture Notes R.Podhorodeski, 2009
Position Analysis
Useful indices for Position Analysis:
a) Types of Mechanism:
4-bar mechanisms can be classified based on Grashof criterion For those that meet the criterion, the identity of the shortest link defines the mechanism type
Position Analysis
Example: Types of 4-bar
Grashof 4-bar with rshort = r2 Crank-Rocker
Position Analysis
Example: Types of 4-bar
Grashof 4-bar with rshort = r1 Drag-Link
Position Analysis
Example: Types of 4-bar
Grashof 4-bar with rshort = r3 (or 4) Rocker-Rocker
Note that the extreme angular positions of the crank and follower do not necessarily coincide
Position Analysis
Example: Types of 4-bar
Any non-Grashof 4-bar is a Triple-Rocker
Again, extreme angular positions of the crank and follower do not necessarily coincide Also, there are points where the motion of the mechanism diverges, i.e. one or more outputs are possible for a given crank input
MECH 335 Lecture Notes R.Podhorodeski, 2009
Which way will link 3 rotate when the input is rotated CW from this position?
Position Analysis
Useful indices for Position Analysis:
b) Inversions of a mechanism
Inversions change which of the mechanisms links is fixed An n-link mechanism has n inversions
Position Analysis
Example: Inversions of the slider-crank
Standard slider-crank
Position Analysis
Example: Inversions of the slider-crank
Freeing the slide, and fixing link 2
Position Analysis
Example: Inversions of the slider-crank
Or, fixing link 3 (note: 4 is still free to rotate)
Position Analysis
Example: Inversions of the slider-crank
Or, fixing 4 (1 slides, but does not rotate, w.r.t. 4)
Position Analysis
Useful indices for Position Analysis:
c) Transmission () and Deviation () angles
Transmission Angle (): The acute angle between the directions of the velocity-difference vector of the driving point , and the absolute velocity vector of the driven point Deviation Angle (): The angle between the absolute direction of travel of the driven point and the direction of the force exerted by the driving link
Position Analysis
Example:
Transmission Angle ():
The acute angle between the directions of:
B2,3
2
A1,2
3
INPUT
VB
V 2 2 VB2//A2
4
MECH 335 Lecture Notes R.Podhorodeski, 2009
Position Analysis
Example:
Deviation Angle ():
The angle between: The absolute direction of travel of the driven point and the direction of the force exerted by the driving link
B2,3
2
FB2B3
A1,2
3
INPUT
VB
4
MECH 335 Lecture Notes R.Podhorodeski, 2009
Displacement Analysis
Any single-loop, planar mechanism will have two unknowns (dependent variables) Need a method to solve for these variables in terms of known mechanism parameters 2 main methods presented:
Graphical Analytical
Displacement Analysis
Example: 4-bar mech.
Vectors Ri used to represent links All link lengths known Input (independent) variable is crank angle 2 What are the dependent variables?
A0 B
R3
A
R4 R2 2 R1
B0
Displacement Analysis
Example: 4-bar mech.
Vectors Ri used to represent links All link lengths known Input (independent) variable is crank angle 2 What are the dependent variables?
Need a method to solve for A0 these variables
B
R3
A
3 R4
R2 2 R1
B0
Displacement Analysis
Graphical (approximate) method
Solution lies at the intersection of the possible positions of links 3 & 4
R2 2
A0
R1
B0
Displacement Analysis
Graphical (approximate) method
Solution lies at the intersection of the possible positions of links 3 & 4 Note presence of 2 possible solutions!
2
A0 B0
Displacement Analysis
Graphical (approximate) method
Solution lies at the intersection of the possible positions of links 3 & 4 Note presence of 2 possible solutions! Unknown angles are measured from drawing
A0 B
2
B0
Displacement Analysis
Analytical methods
Graphical methods inexact, inconvenient for repeated analysis 2 Analytical methods presented:
Geometric analysis Loop-closure
Displacement Analysis
Example 1: Geometric analysis
B
R3 3
arg(D) D
B0
R4 4
R2 2
A0
R1
MECH 335 Lecture Notes R.Podhorodeski, 2009
Displacement Analysis
Loop Closure Based Displacement Analysis
Represent each link by a vector, Sum vectors to close the loop
Split the real and imaginary components of this equation to yield two equations by applying:
Displacement Analysis
Example 2: Loop Closure Analysis
B
R3 3 R4
4
R2 2
A0 B0
4 R1
MECH 335 Lecture Notes R.Podhorodeski, 2009
Displacement Analysis
Example 2: Loop Closure Analysis
R3 3 R4
R2
2
B0
4 R1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
2 3
Solution is correct, but weak, since 4 multiple angles have the same sine
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:
2 3
0 1
Displacement Analysis
Iterative Loop-Closure based displacement solution
If the dependent variables are inaccurate
Displacement Analysis
Example: Newton-Raphson iterative closure
Loop closure error:
2 3
0 1
Displacement Analysis
Example: Newton-Raphson iterative closure
2 3
0 1
Displacement Analysis
Example: Newton-Raphson iterative closure
2 3
0 1
Displacement Analysis
Example: Newton-Raphson iterative closure
For this example:
2 3
0 1
Displacement Analysis
Example: Newton-Raphson iterative closure
2 3
Inverting (4), substituting into (5), and then into (2) gives:
0 1
Where is given in (1). Equation (6) would be used to iteratively improve the estimates of , until:
MECH 335 Lecture Notes R.Podhorodeski, 2009
Displacement Analysis
Numerical Example:
2 3
0 1
Displacement Analysis
Numerical Example:
2 3
0 1