Chapter 2

Linkage Mechanisms:

Position and Velocity Analysis

1
11 Introduction Introduction
A The complete analysis of any mechanism (regardless of what procedure is used), must proceed in the following sequence.

Position Analysis Velocity Analysis Acceleration Analysis Inertia Effects Force Analysis

To get: angular position of each link and location of any point. To get: angular velocity of each link and linear velocity of any point. To get: angular acceleration of each link and linear acceleration of any point, especially mass center. Inertia torque and inertia force created in each link Complete dynamic analysis to determine the necessary driving torque or force.
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B Kinematics C

D Dynamic E
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22

DifferentApproaches for MechmmAnalysis Different Approaches for Mech Analysis

During analysis, we deal with vectors which vary in magnitude and direction when the input parameter(s) change during the complete cycle of the mechanism. Analysis Techniques

Graphical
Traditional Drafting techniques, where a scaled lines are drawn for mechanism, velocity, and acceleration: Straight and easy Problem Visualization Checking of analytical results For one position and less accuracy.
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CAD system
The development of Computer-AidedDesign (CAD) systems has allowed the graphical technique to be applied quickly with high precision. (ACAD Software). The same steps carried by traditional drafting are implemented on P.C.

Analytical
Several Analytical methods to obtain the mathematical models of position, velocity, and acceleration: Matrix methods Complex number method (Polar Technique). These methods allow solution for any configuration with high accuracy.

Computer
A more accurate analytical solution can be achieved using computer approach: Spread Sheet Commercially available dynamic analysis programs as WM, ADAMS. User written computer programs.
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33

Position Analysis Position Analysis

Graphical Approach

The graphical position analysis is a trivial solution, while the analytical approach for position analysis is somewhat complicated (equations are highly nonlinear). So, we can manipulate the derived equations using computer. The analytical approach using complex polar technique will be discussed later. In graphical approach, the linkage is drawn, carefully to scale with the given input position parameter [ for input crank or x for input sliders motion). Then, it is only required to measure the angular positions of the individual links. In many cases, the mechanism can be assembled (or drawn) in two possible configurations. Therefore, we must decide which one is desired. The graphical technique can be used for any planar linkage with any number of DOF. The technique is highly improved using ACAD software.
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Example (1) Discuss the position analysis of a four bar mechanism at a given angle 2 of the crank 2. The dimensions r1, r2, r3, and r4 are given

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Draw to scale r1=O2O4 Find A (use a compass) Find B by drawing two arcs of radii r3 and r4 from A and O4, respectively. (Use protractor) Measure 3 and 4 from horizontal.

Note: two possible solution are available, Open or Crossed mode.

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44
Objective

Velocity Analysis Velocity Analysis

2
2

Given: A linkage at certain configuration defined by 2. The crank 2 has an angular velocity 2. Required: The angular velocities of the other links as well as the output velocity of slider 6.

? Note: The position analysis must be carried out in advance.

v6

?
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Contents
A Velocity analysis using Graphical Technique (traditional or CAD system) Velocity analysis of Mechanisms having sliders performing composed motion (motion relative to moving frame) Velocity analysis using Kennedys Theorem Velocity analysis using Analytical technique (Complex polar approach)

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Velocity Analysis Using Graphical Approach

How can we find the velocity vector ? Translation

D A B C
A B D C

If

vA = 300 cm/s
ov

vA 3 cm

Scale of Length: mv = 100 cm s-1/cm

All points have the same: Path (mutually displaced) Velocity (mag. & direction) Acceleration (mag. & direction Prof. Imam Morgn
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Rotation A O

rA

90o

a vA= rA
oab ~ OAB but turned by 90o in sense of vA A rA O

vB

B C

vA

o v= o

rB

vC

b vB

o v= o

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General Plane Motion Link AB performs G. P. M. r r r vB = v A + vB / A Where: known in direction known in magnitude
Steps: From ov draw vA to scale of velocity mv. From end of vA draw line perpendicular to link AB (direction of vA/B). From origin of velocity diagram ov draw line parallel to direction of vB The two lines intersects, so, velocity diagram is completed.
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vA (Given)

90o

A Direction of vB/A a vA

=? vB=?

ov
vB/A b Direction of vB vB Velocity Diagram Scale mv

Results: Measure vB and multiply by mv to get the value of vB .Also find vB/A. As vB/A= (AB), then find .
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Example (2) A 4-bar mechanism has the dimensions: r1=200 mm, r2= 150 mm, r3= 450 mm, and r4= 295 mm. The input crank 2 rotates with constant angular velocity of 2= 20 rad/s CCW. Determine at the instant when 2=135o: (a) the angular velocities of all links (3 and 4), (b) the velocity of points C, and D mid way of the coupler and follower, resp.
Mechanism (scale mL= 5 cm/cm)
C A
2

B
3

r r r vB = v A + vB / A
Perp. to 4

b D
4

vB

vD

vB/A c vC

ov=o2=o4

2 O2
O4 1 o and =68o 3=22 4

Perp. to 3

vA a
Perp. to 2

1 o we have: For 2=135 Prof. Imam Morgn Head of MCTR Depart.

Velocity Diagram (scale mv= 60 cm s-1/cm)

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Calculate vA assuming that it lies on link 2 that makes rotation about O2 : vA = r2 = (20 rad/s) (15cm) = 300 cm/s and it is directed perpendicular to r2 . Results: From velocity diagram: vB/A = 6.2 (60) cm/s but vB/A = 3 r3 So, v 6.2 60 3 = B / A = = 8.27 rad / s CCW AB 45 Also, vB = 4 r4

4 =

v B 6.22 60 = = 12.65 rad / s CCW r4 29.5

vD = (1/2) vB =186.6 cm/s vC = (4.8)(60) = 288 cm/s

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Example (3)

A slide crank mechanism is drawn to scale of length mL = 10 cm/cm. In the shown instant when = 45o, the crank 2 has an angular velocity of 2 = 15 rad/s. Given: r2 = 400 mm and r3 = 800 mm. Draw the velocity diagram and hence determine: (a) The angular velocity of the coupler, (b) The velocity of the slider and the velocity of point C at mid way of AB.
r r r vB = v A + vB / A
A 2

a c vA vC ov=o2 vB

r2

2=45o

r3

vB/A b

Mechanism mL = 10 cm/cm
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Velocity Diagram mv = 100 cm s-1/cm

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Calculations and Results: vA = 2 (r2) = 15 (40) = 600 cm/s From velocity diagram: vB/A = 3 (r3) (4.6 x 100) = 3 (80) CW 3 = 6 rad/s and, vB = 5.85 x 100 = 585 cm/s vC = 5.5 x 100 = 550 cm/s
A 2

a c
B

r2

vA vC ov=o2 vB

2=45o

r3

vB/A b

Mechanism mL = 10 cm/cm
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Velocity Diagram mv = 100 cm s-1/cm

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Example (4)

Draw the velocity and acceleration diagrams for the given mechanism. The system is already drawn to a known scale of length mL. Explain the procedure.

vE/D

vD/B

vC/B

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vE/D
8 3 6 1 7 5 2

vD/B
4

vC/B

Procedure:

Calculate v B = 2 ( AB ) For B, C on link 3 v Find 3 = C / B CB r r r vD = vB + vD / B CCC

to BD

r r r vC = v B + vC / B

where v D / B = 3 ( DB )..... to DB & in sense of 3

or , use velocity image where bcd ACD but turned 90 o in sense of 3 r r r For D, E on link 5 v E = v D + v E / D Calculate
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5 =

vE / D ED

CCW

and

6 =

vE r6

CW
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Velocity Analysis for simultaneous motion (Graphical Approach)

Absolute, Relative, and Base Motions Composed (simultaneous) motion

In many practical problems, a slider can move inside (or on the contour of) a body. However, the later body is moving with respect to the fixed frame. Inside Outside

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Motion Description
absolute motion relative motion

base body Y Base

The slider 3 (particle A) moves w. r. to the fixed frame O2xy along a circle of radius r2 and centered at O2. This motion X is called absolute motion.
absolute motion is the motion w. r. to the fixed frame

A
4

motion

y
2

O4
1

O2
1

The slider 3 moves w. r. to the moving body 4 (or, frame O4xy) x along a straight line.This motion is called Relative motion.
Relative motion is the motion w. r. to the moving frame

O2xy .. Fixed Frame O4XY .. Moving Frame (attached to 4)

Thus, the slider 3, or particle A, performs two simultaneous motions; the first is its motion relative to the base body, and the second is its motion with the base body.
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The body 4 is called the base body and its motion is called base motion.
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So, the velocity of A is composed of two components: r r r v a = vb + v r

Absolute velocity It is the velocity of A with respect to the fixed frame base velocity Is the velocity of A as if A is held fixed on the base body. I.e., A is considered as point on the base body Relative velocity It is the velocity of A as if the base body is held fixed while the particle A is moving relative to it vr
4

va= 2 r2
90o
3 4 O4 1

vb= 4 r4
90o A
4 O4 1

2
O2 1

A 2 O4 1

A 3

vr va
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vb

r r r v a = vb + v r
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Details of Slider 3 connection

vb is the velocity of point A

A 3

Base body
4 A
va is the velocity of point A

vr is the velocity of point A relative to point A .

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Example (5)

The shown Scotch-Yoke Mechanism is drawn to scale. In the given position the crank 2 has an angular velocity 2 CCW. Determine the velocity of link 4.
Solution:
1

vb
A

At A we have:

r r r v a = vb + v r

base body
4

vr

vr va
1

va

vb = v4
2 1

(a) First type

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Solution:

At A we have:

r r r v a = vb + v r
1

base body

va
B

4 2

vr vb

vr
3

2
1 2

va = v4 vb

(b) Second type

1

ov

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Example (6)

A convention quick return mechanism is drawn to scale in a certain position defined by 2 .The crank 2 rotates with constant 2. All fixed dimensions are given. Determine the output velocity vC of the slider 6 for the given input speed 2.

2
2

o2
1

o4

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at A : (composed motion) r r r v a = vb + v r then, vb = 4 (O4 A) 4 = CCW Also, v B = 4 (O4 B ) =

2 o4 o2
1 2

or , As (O4 B ) = 2(O4 A)
1

then, v B = 2vb Link 5 (G.P.M .) r r r vC = v B + vC / B then, vC / B = 5 (CB )

va

2 a b

vB vC/B
1

vr
a

5 = vC =

CW left

o4 c

vb vC ov

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Velocity Analysis Using Poles (Graphical Approach)

Poles of Velocities (or, Instant Centers) ( Kennedys Theorem )

Instant Center ? Any link, regardless of its motion type, instantaneously appears to be in pure rotation, w. r. to the frame 1, about a specified and single point. This point is termed as the Instant Center of Rotation (or the Pole P) for that link
vA A
90o 3

B
90o

vB

Pole P13 (I.C.R)

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This concept can be extended for two bodies 2 and 3 moving relative to each other: Definition The Instant Center (or, Pole P23) for two bodies 2 and 3, is the location of a point common to the two bodies and has the same velocity vector in each body.
21
2 3

P23

31

vP

23
2

3 2

P23

23= - 32

P23

32

Body 2 rotates w. r. to Body 3

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Body 3 rotates w. r. to Body 2

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Number of Poles in a Mechanism

For any two links there exists a Pole. So, the total number of Poles (N) equals all possible combinations of two from the total number of links (n). So, the number of poles is given by:
N= n(n 1) 2

where, n is the number of links including the frame

E.g., four bar and slider crank mechanisms, each one has: n=4 then N = 6 1 2 3 4

Note: For simplicity the pole P34 is termed as Pole (34), three four not thirty four. Moreover P34 = 34 = 43, i.e., we write the numbers of the two links.
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Kennedys Theorem

3 2 13 12 1 23 must lie on this line

If three bodies are in relative planar motion, then they have three poles and those poles must lie on the same straight line (collinear).
1

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Using the shown circle: A point on the circle represents a link on the mechanism A line joining two points represents the pole between them

13 3 23 12

2 (28)

Apparent Poles They are the poles that can be found directly by inspection.
34 4

Revolute joint

13 to 2 3

Prismatic joint
1

23

The other poles are, then, determined using Kennedys theorem with the help of a circle as preliminary mentioned in the previous slide. The procedures will be described in the following examples and hence how those poles can be used for velocity analysis.
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Example (7)

Determine the poles of the shown 4 bar mechanism. If 2 is given, find the angular velocities 3 and 4 using those poles.
Solution: Number of Poles n(n 1) N= 2 n=4

N=

4(4 1) = 6 Poles 2
4 1

They are: (see circle)

12, 13, 14, 23, 24, and 34

3 Prof. Imam Morgn Head of MCTR Depart.

(30)

Apparent Poles
( 12, 23, 34, 41) 23

34

41 12

Pole 24 13 13 Pole 13

34 23 24 12 Prof. Imam Morgn Head of MCTR Depart. 41 12 23

34

41

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Velocity Analysis: Assume that 2= 10 rad/s CCW, determine 3 and 4 . Determination of 3.

13

10(16 ) = 3 (56 ) So,

12 23 13 2 (12 23) = 3 (13 23)

34 23 24 2 12 41

3 = 2.86 rad / s
? 4

CW
or,

Determination of 4.

12

24

14

3
13

34

14

2 (12 24 ) = 4 (14 24 ) 10(31.5) = 4 (76.5) So, 4 = 4.12 rad / s

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CCW

3 (13 34 ) = 4 (14 34 ) 2.86(41) = 4 (28) So, 4 = 4.18 rad / s

CCW
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Important note
12

3
23 13

If 23 lies between 12 and 13, then, 2 and 3 have opposite sense.

3

23

12

13

If 23 lies outside 12 and 13, then, 2 and 3 have the same sense.

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Example (8)

Find the poles of the shown four bar mechanism

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Example (9)

Find the poles of the shown mechanism

N=

n(n 1) = 15 2

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(35)

Example (10)

The importance of using the method of poles in velocity analysis can be shown in the following example.

For the shown Stephenson-II six bar linkage, assume that 2 is given and it is required to find the output angular velocity 5 .

12

25

5
15

So, we get 35 and use it to find 25 then, 2 (12 25) = 5 (15 25) Now, calculate 5

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Example (11)

The slide crank mechanism given in example 2, is required to be analyzed using the method of Instantaneous centers (Kennedys theorem).
1

a c vB/A b vA vC ov vB
Velocity Diagram mv = 100 cm s-1/cm

4 2

3
13

2 12

23

3 13

?
14

r r r vB = v A + vB / A

2(12-23) = 3(13-23) Then, 3 = vB = 3(13-B) vC = 3(13-C)

A 2
12

r2

23

vC

2=45o

r3
vB

34

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Mechanism mL = 10 cm/cm
Analytical Solution (Complex Polar Analysis)

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Velocity Analysis Using Complex Polar (Analytical Approach)

Idea of Using Complex Polar technique for Kinematic Analysis: r Each link in the linkage is represented by a vector r similar to position vector joining two points.

r The vector r joins two joints

C
3

r r3

B
2 4

r r2
1

r r4
4

A D

r r1

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3 B
3 2

A
1

C
4

r r2
2

r r3

r r1

r r2 r r1

r r4
1 4

C
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Vector r in complex form

Im A

r r
e j

Re

r r

r In complex plane, r is written as r r = r e j where r = magnitude (length) of vector r = direction of r (+ ve CCW ) [ from tail and + ve CCW ]

Re Real axis Im Imaginary axis

r r = r cos

+ j r sin

j = 1
r e j is a unit vector along r

Real part

Imaginary part

e j = cos + j sin
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For velocity analysis

Im

r r

e j = cos + j sin

je j 90o e j j e j = j[cos + j sin ] Re = sin + j cos d j Differentiation of rotating unit vector will give a e = ( je j ) dt unit vector but rotated 90o in sense of rotation and

( )

multiplied by the rate of change of rotation ().

r r = r e j
d r & r = (r ) e j + (r ) e j & dt So,

( )

The two equations

e j = cos + j sin j e j = sin + j cos

r & r = (r ) e j + ( r ) je j &

The two equations:

va

vr

vb

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can give the Real and r & Imaginary parts of r

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Loop closure equation and position analysis

Represent each link by a vector. Consider a part of the linkage that contains a set of vectors. These vectors form a closed polygon and the vectorial equation of the closed polygon is called loop closure equation. Write down each vector, in the loop closure equation, in complex polar form. Equating the real and imaginary parts of the loop closure equation will yield two algebraic equations that are sufficient to determine two unknowns. Consider, then, the following part of the linkage and carry out the same procedures till the full determination of the linkages position. The loop closure equation is differentiated twice for velocity and acceleration analysis.
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Example (12)

B r2 A
2

Find the position of the connecting rod 3 and the slider 4 in terms of the input angle 2. Given: r2 and r3 .
Solution:

r3 2
3

C
4

Required: 3 and r1 r r r r1 = r2 + r3

r 1e j1 = r 2 e j 2 + r 3 e j 3
Re : Im :

r1 cos 1 = r2 cos 2 + r3 cos 3 r1 sin 1 = r2 sin 2 + r3 sin 3

r r2
2

r r3

r r1

For 1 = 0 then, r1 = r2 cos 2 + r3 cos 3 0 = r2 sin 2 + r3 sin 3

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(1) ( 2)

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? r = r cos + r cos ? 1 2 2 3 3

(1)

0 = r2 sin 2 + r3 sin 3 ( 2) r sin 2 From (2) sin 3 = 2 (3) r3 So, 3 =

Numerically:

r r2 r r1 and get r1 =
2

r r3

and then, sub. in (1)

For r2= 40 mm and r3= 100 mm, determine: 3 and r1 for 2= 50o .
40 sin 50 3 = 17.8o or , 3 = 360 17.8 = 342.2 o 100 then, r1 = 40 cos 50 + 100 cos(17.8) r1 = 120.92 mm So, sin 3 = Note: It is not prefer to use sin or cos to find the exact value for , because we have two possible values for the angle and hence two possible solutions. For our example for sin3= - 0.306 we have: 3 = -17.8o (or, 342.2o) one possible solution 3 = +197.8o ( or, -162.2o) second possible solution.
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Recommended: sketch the two possible solutions

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Example (12) Continue In the position defined by 2= the crank 2 has constant 2= 10 rad/s CCW. Determine the angular velocity 3 and velocity of the slider C. Given: 2=50o , r2=40 mm, r3= 100 mm (From position analysis we have: 3= 342.2o and r1= 120.92 mm)
Solution: r r r r1 = r2 + r3 r r r & & & r1 = r2 + r3

50o,

r2 A
2

r3 2
3

C
4

r r2
2

r r3

r r1

(r1 ) e j1 + (1r1 ) je j1 = [(r2 ) e j 2 + ( 2 r2 ) je j 2 ]+ [(r3 ) e j3 + (3 r3 ) je j3 ] & & &

Re : Im : r1 sin 1 = 2 r2 (cos 2 ) + 3 r3 (cos 3 ) &

r1 cos 1 = 2 r2 ( sin 2 ) + 3 r3 ( sin 3 ) &

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(45)

For 1= 0;

0 = 2 r2 (cos 2 ) + 3 r3 (cos 3 )

r1 = 2 r2 ( sin 2 ) + 3 r3 ( sin 3 ) &

(3) ( 4)

From (4)

3 =

2 r2 cos 2 10(40 ) cos 50 = r3 cos 3 100 cos 342.2

= 2.7 rad / s Substitute in (3);

3 = 2.7 rad / s CW

r1 = vC = (10 40 ) sin 50 ( 2.7 100 ) sin 342.2 & = 388.94 mm / s vC = 388.94 mm / s

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(46)

Example (13)
3

Find the position of the rocker 4 and the location of the slider 3 in terms of the input angle 2. Given: r2 . Solve, numerically when 2= 0 300o and r1=50 cm, r2 = 20 cm.
Solution: r r r r1 + r2 = r4

4 1

r 1e j1 + r 2 e j 2 = r 4 e j 4 Re : Im : r1 cos 1 + r2 cos 2 = r4 cos 4 r1 sin 1 + r2 sin 2 = r4 sin 4

? ? A

r r2
2

For 1 = 90 o then,

r r1 (1) ( 2)
C

r r4
4=? r4=?

0 + r2 cos 2 = r4 cos 4 r1 + r2 sin 2 = r4 sin 4

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(47)

2 1 12 + 2 2

tan 4 =

r1 + r2 sin 2 r2 cos 2

Use ATAN2

0 + r2 cos 2 = r4 cos 4 r1 + r2 sin 2 = r4 sin 4 r r2

2

(1) ( 2)

r42 = r12 + r22 + 2r1r2 sin 2

A 4 (o)

Numerical Results
2 (o)

r4 (mm) 53.9 66.6 70 64.7 53.9 40.2 30 34.2

r r1

r r4
4=? r4=?

0 50 90 140 180 220 270 300

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68 79.9 90 103.7 111.8 112.4 90 66.6

+/+ +/+ +/0 +/+/+/+/0 +/+

C

Find the extreme positions of the rocker.

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Example (13) Continue If 2=10 rad/s for the position 2 = , determine 4 and the relative velocity of the slider 3. Given: 2=50o , r2=20 cm, r1= 50 cm (From position analysis we have: 4= 79.9o and r4= 66.6 cm) Solution: r r r r1 + r2 = r4 r r r & & & r1 + r2 = r4
2 j 2

50o

3 2

4 1

[(r& ) e
Im :

Re : ( 2 r2 ) sin 2 = r4 cos 4 ( 4 r4 ) sin 4 & For 2 = 10 rad / s

+ ( 2 r2 ) je

j 2

] = [(r& ) e
3

j 3

+ (3 r3 ) je

j 3

r r2
2

r4 &

( 2 r2 ) cos 2 = r4 sin 4 + ( 4 r4 ) cos 4 &

4 = 2.6 rad / s
r4 = 99.7 cm / s &

r r1
C

r r4
4 4 r4

0.175r4 65.568 4 = 153.21 & 0.985r4 + 11.679 4 = 128.558 &

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Example (14)

B 5 ?
4

Carry out the position analysis of the shown shaper machine at the configuration 2 = 50o. Given: r1= 50 cm, r2 = 20 cm, r4= O4B = 90 cm r5 = 60 cm, h = 70 cm
o2

2
2

Part (1) Given: 2, r1, r2 Find: r4= O4A and 4.

h
4 ?

o4

r6 ?

Part (2) Given: 4, r4, r5, h Find: r6 , and 5.

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Part (1) Quick return mechanism Part (2) Slider crank mechanism
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Part (1) Solved in Ex. (12): tan 4 =

r1 + r2 sin 2 r2 cos 2

r r2
2

r42 = r12 + r22 + 2r1r2 sin 2 For, 2 = 50o Part (2) r r r r r4, + r5 = r6 + r7
r4, e j 4 + r5 e j 5 = r6 e j 6 + r7 e j 7

4 = 79.9o and r4= 66.6 mm

r r1
C

r r4
4=? r4=?

Re : Im :

r4, cos 4 + r5 cos 5 = r6 cos 6 + r7 cos 7 r4, sin 4 + r5 sin 5 = r6 sin 6 + r7 sin 7 and 7 = 90
o

For : 6 = 0 r4, From (1)

r r4,

r r5

r4, cos 4 + r5 cos 5 = r6 sin 4 + r5 sin 5 = r7 From (2)

Prof. Imam Morgn Head of MCTR Depart.

(1) ( 2)

r r7

5 = 342 o
r6 = 72.8 cm

r r6
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Example (15)

B 5
4

Carry out the velocity analysis of the shown shaper machine in the position specified by 2=50o and 2= 10 rad/s CCW. The dimensions are given in the previous example [Ex(14)].
o2

2
2

Part (1)

h
4

O4

r6

Part (2) Part (1) Quick return mechanism Part (2) Slider crank mechanism
(52)

Prof. Imam Morgn Head of MCTR Depart.

r r2
2

r r1
C
For, 2 = 50o 4 = 79.9o. r4= 66.6 mm

r r4
4 r4

Part (2) r , r4
4

r r5

r r7

Part (1)

r r6

Position Velocity
r r r r r4 + r5 = r6 + r7
4 j 4

For, 2 = 10 rad/s 4 = 2.6 rad/s CCW & r4 = 66.6 mm = vr

For, 4 = 79.9o 5 = 342o. r6= 72.8 mm

[(r& )e
Prof. Imam Morgn Head of MCTR Depart.

r r r r & & & & r4 + r5 = r6 + r7

& & + (4 r4 ) je j 4 + (r5 )e j 5 + (5 r5 ) je j 5 = (r6 )e j 6 + (6 r6 ) je j 6 & & Re : (4 r4 ) sin 4 = (5 r5 ) sin 5 + r6 cos 0 r6 + 18.545 = 230.37 Im : (4 r4 ) cos 4 = (5 r5 ) cos 5 + 0 0 + 57.065 = 41.04

] [

] [

5 = +0.72 rad / s CCW

and

& r6 = v6 = 243.72 cm / s
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