Chapter ANALYTICAL LINKAGE SYNTHESIS TOPIC/PROBLEM MATRIX SECT TOPIC PROBLEMS: 5.3. Two-Position Motion Generation by Analytical Synthesis 5-1, 5-2, 5-8, 6-9, 5-12, 5-13, 5-16, 5-17, 5-21, 5-22, 6-23 5.8 Three-Position Motion Generation by Analytical Synthesis 5-3, 5-10, 5-14, 5-18, 5-24, 5-25, 5-27, 5-28, 5:31, 5-32, 5-34, 5:37, 5-38, 5-39, 5-41, 5-42,DESIGN OF MACHINERY SOLUTION MANUAL 5-1-1 8S PROBLEM 5-1 Statement: Design afourbar mechanism to give the two positions shown in Figure P3-1 of output rocker ‘motion with no quick-retun, (See Problem 3-3). Given: Coordinates of the points C), Dy, Co, and Dp with respect to C,: Cix= 0.0 Dix i= 1.721 C2y= 2.656 Dp := 5.065 Cy= 09 Diy =-1.150 Coy 0.751 Day = -0.281 ‘Two argument inverse tangent —atan2x,y) = |return O5- if (x= 0A y> 0) return 15-2 if @=0Ay<0) return aw((2)) fx>0 (2) + oe Assumptions: Use the pivot point between links 3 and 4 (C and C> )as the precision points P and P2. Define Position vectors in the global frame whose origin is at C, Solution: See solution to Problem 3-3 and Mathcad file POSO1. 1. Note that this is two-position function generation (FG) problem because the output is specified as an angular displacement of the rocker, link 4. See Section 5.13 which details the 3-position FG solution. See also Section 5.3 in which the equations for the two-position motion generation problem are derived. These are really the same problem and have the same solution. ‘The method of Section 5.3 will be used here. 2. Two solution methods are derived in Section 5.3 and are presented in equations 5.7 and 5.8 for the left dyad and equations 5.11 and 5.12 forthe right dyad. ‘The first method (equations 5.7 and 5.11) looks lke te better one to se in this case since it allows us to choose the link’s angular positions and excursions and solve forthe lengths cof links 2 and 3 (w and). Unfortunately, this method fails inthis problem because of the requirement for a nnon-quick-return Grashof linkage, which requires the angular displacement of link 3 in going from position 1 to position 2 to be zero (a = 0) causing a divide-by-zero error in equations 5.74, 3. Method 2 (equations 5.8 and 5.12) requires the choosing of two angles and a length for each dyad. 4. To obtain the same solution as was done graphically in Problem 3-4, we need to know the location of the fixed pivot Og with respect tothe given CD. While we could take the results from Problem 3-3 and use them here to establish the location of O,, that won't be done. Instead, we will use the point C’as the joint between links 3 and 4 as well as the precision point P. 5. Define the position vectors R and R and the vector Py using Figure 5-1 and equs Che Cox Pais Ris| : Cy Cry, Paty Poiy = 0.751 TF pai (Paix + Paty p21 = 2.760 6. From the trigonometric relationships given in Figure 5-1, determine 8. From the requirement for a non-quick-return, 0.2:= 0. uan(P21x,P21y) R2-RI— Pix = 2.656 82 15.789 degDESIGN OF MACHINERY SOLUTION MANUAL 5-1-2 7. From a graphical solution (see figure below), determine the values necessary for input to equations 5.8. 5.000 Bas 80-deg Solve for the WZ dyad using equations 5 Zip= 4811 Zyy = 2sinld) A= ~2.000 D:= sina) D = 0,000 B= 0.000 B= prvcos(f:) B= 2656 c= 0.000 Fe papsiég) P= -02751 MC2jq + De2jy + 6) + B-CZy ~ DZin + F) Wes dee Wyp= 1328 A(-C-Zyy - D-Zjx + F) + B(CZ}x - D-Zy ~ E) Wyre LLL = Dn + F) + BCZix~ Ply), _ garg i” 2A ” we 1380 @ = 164.211 deg ‘This isthe expected value of w (one half of p21) based on the desig choices made inthe graphical solution and the assumptions made in this problem. 9. From the graphical solution (see figure above), determine the values necessary for input to equations 5.12. s=0 21 S6S19-deg 10. Solve for the US dyad using equations 5.12. Sty = scos(y) S}x = 0.000 O-deg = ssiny) .000