International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 3, Issue 4, April 2013)
Analytical Method for Velocity Analysis of Simple and
Compound Mechanisms Using Simple Trigonometry
Pravin S. Ghawade1, Nilesh D. Shirgire2
1,2
Assistant Professor in Jawaharlal Darda Inst.Of Engg. & Tech. Yavatmal(M.S.),India.&
Abstract The Analysis of Simple and Compound
mechanisms has been actively studied since the last century.
The pioneering work in this field was explored by Reuleaux in
the 1870s and continuous to be a field of active research.
Every time, we cant be dependent totally on graphical
working of any thing in the universe, it leads thing to take
much time with less accuracy. Also Graphical method is
inconvenient for Drawing. So we have developed such a
Analytical method using Trigonometry for Analyzing the
simple & compound mechanisms which will be helpful for the
design engineer to carry out the research work in the Industry
by reducing the maximum graphical work. Initially this
method requires initial position of mechanism or angle of each
links with horizontal Axis which also needed in Graphical
Method. The focus of this paper is to draw manually velocity
diagram on X and Y axis without using any drawing
instruments for determining the Linear or Angular Velocities
of links for analysis purpose of four bar, five bar, Six bar,
Seven bar linkages etc.
Keywords Four bar, Six Bar, Space Diagram, Manually
drawn Free Velocity Polygon on X & Y Axis , Triangles etc.
I. INTRODUCTION
To study the motion of a simple & compound
mechanism, knowledge of velocity and acceleration
analysis is required. The analysis of velocity and
acceleration depend upon the graphical as well as analytical
methods. The graphical approach is suitable for finding out
the velocity and acceleration of the links of a mechanism in
one or two positions of the crank. However, if it is required
to find these values at various configurations of the
mechanism or to find the maximum values of maximum
velocity or acceleration, it is not convenient to draw
velocity and acceleration diagrams again and again. In that
case, analytical expressions for displacement, velocity and
acceleration in terms of general parameters are derived. In
this paper a Analytical method using simple trigonometry
is used for getting values of linear velocities & Angular
velocities of a simple or compound mechanisms at any
position of the crank. Graphical method is very
monotonous as compare to Analytical method, because it is
not feasible to draw at one rotation of crank angle.
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If a number of bodies are assembled in such a way that
motion of one causes constrained and predictable motion to
the others, it is known as mechanism. A mechanism
transmits and modifies a motion. A machine is a
mechanism or combination of mechanisms which, apart
from imparting definite motion to the parts, also transmit
and modifies the available mechanical energy into some
kind of desired work. Thus, mechanism is a fundamental
unit for motion transmission. Generally, mechanism used in
a machine is responsible for the performance of machine
and required output. A mechanism with four links is called
as simple mechanism. A four bar mechanism is much
preferred mechanical device for the mechanization and
control of motion due to its simplicity and versatility.
Basically, it consists of four rigid links which are
connected in the form of a quadrilateral by four bar joints.
When one of the links is fixed, it is known as frame. A link
that makes complete revolution is known as crank, link
opposite to the fixed link is known as coupler and fourth
link is known as rocker. But values of velocity and
acceleration changes with respect to time for different
positions of the crank. So analytical approach is an
alternate method and preferable than graphical to save time
and cost.
The graphical method is less accurate than analytical
method. However, Graphical method is preferred as it gives
the motion characteristics of all the links. But The
graphical method restricted for determining velocity and
acceleration for each and every crank angle of the
mechanism. According ,Ron P. Podhorodeski, Scott B.
Nokleby and Jonathan D. Wittchen [1] , they have
described the work related to QR mechanism design and
analysis. The experiences familiarize the terminology of
mechanisms, with concept related mechanism synthesis,
with relative motion analysis and with techniques and
computer programs for the design and analysis of
mechanisms. Matt Campbell & Stephen S.Nestinger [2],
they have provided a software package for the analysis and
design of a Whit worth quick return mechanism. This QR
class can be used to calculate or plot the position, velocity
& acceleration of the mechanism.
 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 3, Issue 4, April 2013)
According, C. S. Sharma, k. Purohit[3,4], they show that Complete the first right angle triangle & determine
the kinematic analysis of the mechanism can be performed the sides of this triangle.
either graphical or analytical method. According , Jih--Lian Select the second pair of link and do the same
Ha, Jer- Rong Chang & Rong-fong fung [5] , have procedure and obtain second right angle triangle.
described , flexible rod of a quick return mechanism is Determine sides.
modeled by Euler-beam theory. The Experimental results Obtain possible number of triangles.
obtained by the Analytical Method are compared with Now if you overlap all these triangle one on other,
graphical method and have attained 99 accurate. you will get the complete Free Velocity Diagram for
the given configuration diagram.
II. METHODOLOGY Thus ,Calculate Linear as well as Angular velocities
We know that, for a single position of crank, we get the of Each Links.
complete position of all other links in a mechanism. For
this method, we must know that position of each link with III. EXPERIMENTAL ANALYSIS OF FOLLOWING SOME
respect to horizontal axis. The position of link is only PRACTICE PROBLEMS
known from its Angle with horizontal Axis. For getting Problem No.01) The position of six bar linkage as shown
angles, we must have to draw first the configuration in fig.1[9] The Following is a complete solution of Linear
diagram graphically. Rest of calculation is completely done velocities & Angular velocities of each links.
manually. In graphical method, the vector is drawn
perpendicular to position of each link to represent the linear
velocity. By using same concept we can obtain right angle
triangle for each pair of links in a mechanism. Thus we get
number of right angle triangles for number of pairs in a
mechanism. Now determine all sides of a triangles. Lengths
of some sides of triangles gives direct velocity &
remaining velocities are determined by summing or adding
the sides of two triangles.
If we overlapping the triangles one on other, we get Fig.1 Six Bar Linkage Mechanism (Space diagram with suitable scale
complete velocity diagram of a mechanism which is & Showing Angle With Horizontal of each Link)
exactly similar to a velocity diagram drawn by graphically.
A. Stepwise Procedure for Determining Velocities.
First draw a Space Diagram as per the required
dimension by using suitable scale.
Measure the Angle of Each Link with Horizontal
Axis.
Locate the direction of motion of Crank i.e. clockwise
or anticlockwise.
Calculate the Linear Velocity of Crank Link with the
given rpm.
Draw X-Y Axis. Fig. 1(a) Manual method of Free Velocity Polygon on X-Y Axis
Draw manually approximately the position of links on
X-Y Axis.
Name the links. Also show the measured angles.
Select the first pair of link including crank.
First, draw a Free Vector for Velocity of Crank by
using the same concept of graphical method i.e.
Showing the position of free vector at 90 to crank
position in a direction of rotation of crank.
Now draw another line perpendicular to the position
of remaining link of a pair from end point of free
vector.
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 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 3, Issue 4, April 2013)
VPB = bp = ob = 1.564 m/sec .. ans
ab = ax bx = 2.45- 0.659 = 1.791 m/sec

VBA = AB = 1.791 m/sec. .. ans

oc /ob = OC/OB
oc /1.561 = 450/240 = 1.875
Fig. 1(b) No. of Right Angle Triangles with pair of Links oc = 2.926 m/sec

Calculation: NAO= 180 rpm, = 2 NAO/ 60 = VCP = pc = 2.926 m/sec .. ans

18.85 rad/sec From Right Angle Triangle ocy
TABLE I Sin35 = yc /oc yc = 2.926*sin35 = 1.678 m/sec
SHOWS NO. OF LINKS, LENGTHS & MEASURED ANGLES OF EACH
LINKS WITH HORIZONTAL Cos35 = yo /oc yo = 2.926*cos35 = 2.396 m/sec
Sr. Link Length(mm) Angle with Horizontal From Right Angle Triangle oyd
No. (degree)
Sin10 = yd /od yd = 2.432*sin10 = 0.4223 m/sec
1) OA 150 30
cd = yc-yd = 1.678- 0.4223= 1.255
2) AB 450 1 V DC = cd = 1.255 m/sec ans
3) PB 240 65 Cos10 = yo /od od = 2.396/cos10 = 2.432 m/sec

4) PC 450 65 V OD = od = 2.432 m/sec ans

TABLE II
5) DC 660 10 CALCULATED RESULTS
Sr. Length Vecto Linear Answe Angula Answer
6) SLIDER ----- 0
No of link rs Velociti rs r s
es Velocit (rad/sec

OA * AB = 18.85 *0.15 = 2.83 m/sec

VAO =
(m) (m/sec) ies )

VAO= 2.83m/sec ..ans

Draw X-Y axis. Show position of each link with above 1 0.15 oa V AO 2.83 AO 18.86
angles mentioned in table.
2 0.45 ab V BA 1.79 BA 3.98
Draw manually free velocity diagram without the scale
& Select right angle triangle with known vector oa =2.83
3 0.24 pb V BP 1.564 BP 6.516
m/sec.
From Right Angle Triangle oax 4 0.45 pc V CP 2.926 CP 6.502

Sin61 = xa /oa xa = 2.83*sin61 = 2.45 m/sec 5 0.66 cd V DC 1.255 DC 1.901

Cos61 = xo /oa xo = 2.83*cos61 = 1.415 m/sec 6 ----- od V DO 2.432 DO ---------

From Right Angle Triangle obx
Sin25 = xb /ob xa = 1.561*sin25 = 0.659 m/sec Problem No.02) The position of four bar linkage as
shown in fig.2[10] The Following is complete solution of
Cos25 = xo /ob ob = 1.415*cos25 = 1.564 m/sec Linear velocities & Angular velocities of each links.

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 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 3, Issue 4, April 2013)
Draw X-Y axis. Show position of each link with above
angles mentioned in table.
Draw manually free velocity diagram without the scale
& Select right angle triangle with known vector ab =0.503
m/sec.
From Right Angle Triangle axb
Sin47= xb /ab xb= 0.503*sin47 = 0.367 m/sec
Cos47=xa /ab xa=0.503*cos47 = 0.343 m/sec
Fig. 2 Four Bar Linkages Mechanism (Space diagram with suitable
scale and Showing Horizontal Angle of each Link) From Right Angle Triangle axc
Sin27 = xc /ac xc = 0.385*sin27 = 0.174 m/sec
Cos27=xa /ac ac = 0.343*cos27 = 0.385 m/sec
bc = xb- xc = 0.367-0.174 = 0.192 m/sec
VCB = bc = 0.192 m/sec .ans
dc = ac = 0.385 m/sec VCD = 0.385 m/sec
Fig.2(a) Manual method of Free Velocity Polygon on X-Y Axis
VCD = dc = 0.385 m/sec .ans
TABLE IV
CALCULATED RESULTS

Sr. Len vect Linea Answe Angular Answers

No gth ors r rs Velocitie
. Veloci s (rad/sec)
Fig. 2(b) No. of Right Angle Triangles with pair of Links
(m) ties (m/sec)
Caculation:
BC = AD , N BA = 120 RPM(clockwise) BA =2NBA/ 60 1 0.04 ab V BA 0.503 BA 12.575
= 12.57 rad /sec
2 0.15 bc V CB 0.192 CB 1.273
V BA =? VCB =? VCD =?
3 0.08 dc V CD 0.385 CD 4.81
TABLE III
SHOWS NO. OF LINKS, LENGTHS & MEASURED ANGLES OF EACH
LINKS WITH HORIZONTAL
Problem No.03) The position of six bar linkage as shown
Sr. No. Link Length(mm) Angle with in fig.3[11] The Following is complete solution of Linear
Horizontal(in velocities & Angular velocities of each links.
Degree)

1) AB 40 60

2) BC 150 17

3) CD 80 80

4) AD 150 0
Fig. 3 Six Bar Linkage Mechanism (Space diagram with suitable scale
V BA = BA * AB = 12.57 * 0.04 = 0.503 m/sec ans and Showing Horizontal Angle of each Link)

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 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 3, Issue 4, April 2013)
From Right Angle Triangle abb
Sin33= bb/ab bb=1.9*sin33 = 1.0343 m/sec
V BB =1.0343m/sec . ans
Cos33= ba /ab ba=1.9*cos33 = 1.593 m/sec
V BA = ab= 1.593m/sec. ans
Fig.3(a) Manual method of Free Velocity Polygon on X-Y Axis ob/oc=OB/OC
1.593/oc =518/700 =0.74
oc= ac =2.15 m/sec
=
V BB bb =2.15 m/sec -----------ans
From Right Angle Triangle abb
Fig. 3(b) No. of Right Angle Triangles with pair of Links TABLE VI
CALCULATED RESULTS
Caculation: AB = 150mm =0.15m, OC =700mm =0.7m,
CD = 200mm = 0.2m Sr. Leng vecto Linea Answ Angula Answer
No. th rs r ers r s
N BA = 120 RPM, BA = 2 N BA / 60= 12.57 rad/sec (m)
Veloci
(m/sec
Velociti
(rad/se
ties es
V BA =? V BB =? V BO =? V CO =? V DC =? VDO =? ) c)
TABLE V
SHOWS NO. OF LINKS, LENGTHS & MEASURED ANGLES OF EACH 1 0.15 ab V BA 1.9 BA 12.57
LINKS WITH HORIZONTAL
2 --- bb V BB 1.034 B'B -------
Sr. No. Link Length(mm) Angle with
Horizontal
3 0.518 ab V BA 1.593 B'A 3.075
& vertical
4 07 oc V CO 2.15 CO 3.071
1) OA 400 90
5 0.2 dc V CD 0.455 CD 2.275
2) AB 150 45
6 ---- od V DO 2.19 DO ---------
3) OC 700 12

4) CD 200 4 Sin12= dc/ad dc = ad*sin12 = 0.455 m/sec

V DC = dc = 0.455m/sec..ans
5) SLIDER1 ---- 12
Cos12= ca /ad ad=2.15/cos33 = 2.19 m/sec
6) SLIDER2 ----- 0
The Results in the Above table are compared with the
Graphical Method and found 99% Accurate.
V BA = BA * AB = 12.57 *0.15 = 1.9 m/sec ans IV. CONCLUSION
Draw X-Y axis. Show position of each link with above This analytical method developed on the basis of
angles mentioned in table. trigonometry for the analysis of simple & compound
Draw manually free velocity diagram without the scale mechanism is quite easy & simple for doing calculation for
& Select right angle triangle with known vector ab =1.9 determining of velocity & acceleration instead of using
m/sec. complex algebra.

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 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 3, Issue 4, April 2013)
Formulae derived in complex algebra are difficult &
hard to remember. In concluding statements it can be
claimed that this Analytical Method For Velocity Analysis
of Simple and Compound Mechanisms using simple
trigonometry is successful in great extent to reduce the
complexity in design and analysis of mechanisms,
obtaining accurate and faster results in terms of getting the
design parameters which also results in saving of time.
Further extension of this work will be based on
Acceleration diagram and easy for developing software. on
the basis of result of analysis, it is seemed that this present
method is less laborious and very efficient than only
graphical method. Also errors due to the graphical method
are eliminated by this present method which gives better
result.
REFERENCES
[1] Ron P. Podhorodeski, Scott B.Nokleby and Jonathan D. Wittchen,
Quick return mechanism Design and Analysis Project,
International journal of Mechanical Engineering Education, Vol, no.
32/2
[2] Matt Campbell, Stephen. S. Nestinger, computer Aided Design and
Analysis of the whithworth Quick Return Mechanism, Computer
aided Mechanism Design, Mechanical And Areonautical
Engineering, University of California Davis, CA 95616
[3] C. S. Sharma, K.Purohit-Hall of India private limited, ISBN-81-203-
2901-5, 2006.
[4] Myszka,D.H..(2005), Machines and mechanisms(3rd ed.), upper
saddle River,NJ; Prentice Hall.
[5] Jih-Lian Ha, Jer-Rong Chang & Rong- Fong Fung, Dynamic
Analysis of a flexiblequick return mechanism.
[6] F Freudenstein. Approximate Synthesis of Four-bar Linkages.
Transaction ASME, vol 77, August 1955, pp 853-861.
[7] Hrishikesh V. Nene, Effect of Link Length on Kinematics of
Mechanisms, M. Tech Thesis, Indian Institute of Technology,
Bombay.
[8] Saggere, L. and Kota, S., 2001, \Synthesis of Planar, Compliant
Four-Bar Mechanisms for Compliant-Segment Motion Generation,"
ASME Journal of Mechnaical Design, 123(4):535-13541.
[9] P.L. Ballaney, Oct 1996,Theory of Machine, Khama Plublishers, 2-
B, Nath Market, Nai Sarak, Delhi-110006.
[10] Passi M, 1st Jan 2000, Theory of Machine-I, Technova Publications,
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[11] Dr. Jagdishlal, 1997, Theory of mechanisms and Machines, Netaji
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