Beruflich Dokumente
Kultur Dokumente
IMECE2007-41441
Ali Mohammadzadeh, Ph.D., P.E. Nael Barakat, Ph. D., P. Eng. Salim Haidar, Ph. D.
Associate Professor Assistant Professor Associate Professor
School of Engineering School of Engineering Department of Mathematics
Grand Valley State University Grand Valley State University Grand Valley State University
301 Fulton St. KEN 231 301 Fulton St. KEN 231 1 Campus Drive
Grand Rapids, MI. 49504 Grand Rapids, MI. 49504 Allendale, MI. 49401
Phone: 616.331.7268 Phone: 616-331.6825 Phone: 616-331-2042
Email: mohammaa@gvsu.edu Email: barakatn1@asme.org Email: haidars@gvsu.edu
Z3 + = 360 o (4)
j Z4
= 1.25 (5)
j
j Z2 Solution of (4) and (5) results in:
Z1
= 200 o and = 160 o (6)
Fig. 1: Complex vector depiction of four bar mechanism.
It can be easily shown that the angle, through which the
Figure 1 depicts the complex number vectors, Z1, Z2, Z3, Z4, coupler rotates when the mechanism moves from the first
representing, the ground, the crank, the coupler and the toggle condition to the next toggle condition is:
follower links respectively, in the starting position. The red
lines in the diagram are the depiction of the links in a different
position as a result of the motion. The loop closure approach j = = 20 o (7)
for position 1 (dark Vector lines) is: 2
The loop closure equation written again for the position 2 (red j = = 200 o (8)
lines), in terms of the original position vectors, results in:
With j, j, and j known as described in the above, one
i j i j i j
Z 2e + Z 3e Z 4e = Z1 (2) chooses vectors Z4 and Z3 in order to reduce the number of
unknowns to one complex value for Z2 in equation (3).
Choosing:
Subtracting Equation (1) from Equation (2) renders:
Z 4 = 1e i 65 , Z 3 = 1.43e i 26.2
o o
i j i j i j (9)
Z 2 (e 1) + Z 3 (e 1) = Z 4 (e 1) (3)
Where r stands for length of each link and 2, 3, and 4 are the r3 sin 3 r4 sin 4 3 sin 2
angles of links 2, 3, and 4 respectively. r cos = r22 (13)
3 3 r4 cos 4 4 cos 2
Given 2 for the increments of motion of the crank shaft,
nonlinear equations (11) are solved for the coupler and the Equation (13) is solved for angular velocities of links 3 and 4,
follower angles. Figure 3 is the trace of the crank-tip, a given the angular position of link 2 and its angular
coupler point (point C), and the follower tip of the mechanism.
velocity 2 . This is accomplished in the MATLAB function
The program also confirms that the design meets the required
specification and indicates that the follower sweeps a 50o of the SIMULINK model, presented later in the text.
angle in its ensuing motion.
To arrive at angular acceleration of the links when the motor
torque is applied to the crank, one adopts Lagranges approach
to Figure (4) as follow:
One should note that equations (18) are nonlinear and carry
W = M motor 2 (16)
the angular positions and velocities of the links 2, 3, and 4 in
them. This means that the angular positions and velocities of
Where Mmotor is the torque applied to the crank by the motor. the links 3, and 4 need to be known prior to the solution for
The generalized coordinates 2, 3, and 4 are constrained by the angular accelerations of all the links. Solution of these
the loop closure equations (11). For the ease of following equations (reduced form of equations (17) and (18)) would be
those equations are rewritten here: implemented by SIMULINK as shown below in figure 5.
f1 = r2 cos 2 + r3 cos 3 r4 cos 4 r1 = 0 The MATLAB functions with foreground colors, blue, orange
(16) and red, seen in the SIMULINK model, are MATLAB .m files
f 2 = r2 sin 2 + r3 sin 3 r4 sin 4 = 0 for finding positions, velocities and accelerations of the links
respectively. The program also animates the mechanism. A
Defining the Lagrangian as L = T V, where T is the kinetic snapshot of such an animation is shown in figure 6.
energy and V is the potential energy for the system.
Neglecting the weight of the links in comparison with their Figure 6 is the Auto-Scale Graph of the SIMULINK model,
respective inertia forces, the potential energy of the system is which is the plot of the angular position of link 4 ( 4 ) vs.
set to zero. With that in mind, the Lagranges equation for
time. Figure 6 confirms the rocking motion of the follower. It
each generalized coordinate is then written as follows:
also shows that the follower sweeps an angle of 50o in its
rocking motion.
Fig. 6: SIMULINK model for position, velocity, and acceleration analysis of each link.
Fig. 6: Snapshot of the animated mechanism. Fig. 7: Angular position of link 4 (the follower) vs. time
F 14 ,x F 43 , x = m 4 a c 4 , x
F32,y
F 14 ,y F 43 , y = m 4 a c4,y
F32,x
m2ac2,y F 43 , x r 4 sin( 4 ) + F 43 , y r 4 cos( 4 ) (20)
C.M I2c &&2 r 42 && 1
m2ac2,x = (I 4c + m 4 ) 4 = m 4 r 42 &&4
4 3
Mmotor 2
2 Equations (18), (19), and (20) can be written in matrix form in
F12,x terms of unknown forces, as follows:
F12,y m2 a c 2, x
1 0 1 0 0 0 0 0 F12, x
m a
0 0 0 F12, y
2 c 2, y
1 0 1 0 0
Fig. 8: Free Body and Inertia Response Diagrams for Link 2. m3 a c 3, x
0 0 1 0 1 0
0 0 32, xF
m 3 a c 3, y
0 0 0 1 0 1 0 0 F32, y
= m a
1 0 F43, x
4 c 4, x
0 0 0 0 1 0
m a
4 c 4, y
F43,y 0 0 0 0 0 1 0 1 F43, y 1
2 &&
0 0 r2 sin 2 r2 cos 2 0 0
0 0 F14, x m 2 r2 2 M motor
3
m3ac3,y r4 sin 4 r4 cos 4 0 0 F14, y 1
F43,x 0 0 0 0 2 &&
m4 r4 4
3
C.M I3c &&3
3 m3ac3,x The kinematics analysis in the above provided the angular
3 positions, velocities, and accelerations of each link, as it is
F23,x F23,y demonstrated in the SIMULINK model. To arrive at the
acceleration of each links center of mass, the kinematics
equations for rotation about a fixed point and plane motion are
Fig. 9: Free Body and Inertia Response Diagrams for Link 3.
employed. The procedure is as follow.
Where F23,x ,for instance, is the x component of force exerted For link 2 rotation about fixed point A (see Figure 4) the
by link 2 to link 3, and likewise F43,y is the y component of acceleration of the center of mass is due to vector sum of
force exerted by link 4 to link3. I2c and I3c are Moments of normal and tangential acceleration of center of mass relative to
inertia of links 2 and 3 about their center of masses, fixed point A, due to rotational motion of the link. Having that
respectively. The accelerations of center of masses are in mind the x and y component of ac2 are:
indicated as aci ,where i takes value of 2 for link 2 and value
of 3 for link 3. It is assumed that the center of mass for all r2 && r
links located at the middle of each link. The equations of a c 2, x = 2 sin 2 2 &2 2 cos 2
motion for links 2 then become: 2 2 (21)
r r 2
F 12 + F 32 = m 2a c2,x a c 2, y = 2 &&2 cos 2 2 &2 sin 2
,x ,x
2 2
F 12 ,y + F 32 ,y = m 2a c2,y (18)
F 32 , x r 2 sin( 2 ) + F 32 , y r 2 cos( 2 ) + M motor
Link 4 is also in rotational motion about fixed point D (see
2 Figure 4). Following the rational in writing equations (21), one
r 1
= ( I 2c + m 2 ) &&2 =
2
m 2 r 22 &&2 can deduce the components of acceleration of the center of
4 3 mass of link 4 as:
Noting that, F23,x = - F32,x and F23,y = - F32,y then the equations
of motion for link 3 are derived as follow:
7.8825 Notice that this plot confirms the magnitude of force F12 at
= tan1 ( ) = 246.420 24.58 seconds, to be 8.6 N, as was calculated in the above.
3.4399
r
F12 = 8.6 N @ 246.460 It is also interesting to see the angular acceleration of link 2
vs. time by opening scope1 in the SIMULINK model, as
One can also plot calculated forces vs. time, from this data. shown in figure 14.
Figure 12 shows F12,x as a function of time using scope2 in the
SIMULINK model.
Fig. 12: Force F12,x (N) vs. time (s) Fig. 14: Angular acceleration of link 2(rad/s2) vs. time (s).