222 KINEMATICS AND DYNAMICS OF PLANE MECHANISMS

on it at random a Connect /, with Y (line

point Y. and with

P
|),

Y
Through

||).
draw line

P
(line parallel to line intersecting the auxil

|,
iary line at Z. Through draw line parallel to line and obtain Os at

||,
a
the intersection of this line with the ray s.

The correctness of the construction proved by considering two sets

is

of similar triangles.
From the similarity of the triangles SI,Y and SPZ,
P-+S - Z->
S

I.^S Y->S
and from the similarity of the triangles SO SZ and SPY,
Os^S Z^S
P^S
=
Hence (0s -> S) (I. S) (P -> S)2
Figure 10-56 shows the same construction for different relative dis
a

position of the points P, and

S,

10-2. Analytical and Graphical Determination of

d,-

moving point and the center of curvature Os of its path form a

A

conjugate pair of points.

Equation (10-1) shows that and the direction of pH can be determined
di

(a) one pair of conjugate points and the corresponding ray angle are
if

given, or (b) two pairs of conjugate points, on different rays, are specified.
Case a. The most usual example of this case illustrated in Fig. 10-6.
is

Given are the conjugate points Om and Of for which the ray angle zero.
is

the center of curvature of the path of See Sec. 3-13.)

is

(Of Om.
 ADVANCED KINEMATICS OF THE PLANE MOTION 223

Analytical Solution. By Eq. (10-1),

1 1 1
+ =
Of P->O„
and di =
lP)(P- Om)

(Of-+P) + (P -> Om)

With 0/ —> P = pf and P —* Om =

— pm, this relation becomes

— P/Pm
di — (10-5)
Pm Pf
P/Pm
or di = (10-5o)
P/ ± Pm

where the plus applies if the two polodes are convex, and the minus if one
polode is convex and the other concave. The result is thus identical with
di, defined by Eq. (3-15).
Graphical Solution. The graphical solution, shown in Fig. 10-6,
consists in performing the construction of Fig. 10-5 in reverse order.

Fig. 10-6

Case b. Specified are two pairs of conjugate points, Q and OQ on ray q

and S and Os on ray s. The given included ray angle 6q, = 6q — 6,
(Fig. 10-17).
Analytical Solution. By Eq. (10-1),

(o~p +
f^q) cos =
(o^Tp +
phis) cos 6°

or
(o^rp +
p^q) cos =
(ojip + phs) cos (*< -°
The above equation is solved for 0„ and di is then found by Eq. (10-1),
applied to Q.
Graphical Solution. The problem may be solved graphically by
determining separately the inflection points /, and /„ using the con
struction of Fig. 10-5 in reverse order, and then erecting normals through
these points to the respective rays. The two normals intersect at the