Rahul A. Lekurwale et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES Vol No. 6, Issue No.

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KINEMATIC ANALYSIS OF SIX BAR QUICK RETURN MECHANISM USING COMPLEX ALGEBRA MODELING
Rahul A. Lekurwale1*
M.Tech Student PCEA Nagpur, India rahul.lekurwale@yahoo.com

Dr.Mrs.Swati.D.Moghe2

Associate Professor PCEA Nagpur, India swatimoghe@rediffmail.com

Assist. Professor Lecturer JDIET JCET Yavatmal, India Yavatmal, India prakashpp.2008@rediffmail.com kaustubh_kalas@rediffmail.com

Prakash B. Ingle3

Kaustubh N. Kalaspurkar4

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Keywords: Six bar Quick return mechanism, Kinematic analysis, velocity, Acceleration, Complex Algebra Method. 1. Introduction Kinematics is the study of displacement, rotation, speed, velocity and acceleration of each link at various positions during the one complete rotation of cycle. Using This information we can compute various results with the crank angles. Here we consider the shaper machine for
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Abstract In manufacturing scenario shaper machine is having its own importance for driving the production system of any industry. The need is to understand the kinematic behavior of a machine tool in terms of Position, Velocity, and Acceleration. The shaper machine has a mechanism which must be understood by means of kinematic analysis for one complete rotation of crank. In this work an attempt is made to analyze the kinematic analysis of six-bar quick-return mechanism using the complex algebra modeling. The complex algebra modeling method gives the accurate results at the certain crank angle of quick return mechanism. Graphical method is very monotonous as compare Complex algebra method, because it is not feasible to draw at one rotation of crank angle. In this work, we choose the shaper machine tool for the kinematic analysis which includes the loop closer equations for evaluating the position of linkages, velocity, angular velocity, acceleration and angular acceleration of each link. Here we examine the results of kinematics of linkages at different crank angles which were found close to graphical method. Also these results may helpful for calculations of dynamic force analysis of quick return mechanism.

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Assist. Professor JDIET Yavatmal,, India ranjan_3195@yahoo.co.in

Ranjan K. Waghchore5

kinematic analysis, this machine have six bar linkages. The analytical method, though high accurate, is preferred as it gives the position, velocity, and acceleration characteristics of all the links. In analytical method, we used the complex algebra method for finding the accurate results of the concern characteristics. According, Ron P. Podhorodeski, Scott B. Nokleby and Jonathan D. Wittchen [1], they have described work related to QR mechanism design and analysis. The experiences familiarize the terminology of mechanisms, with concepts related to mechanism synthesis, with relative motion analysis, and with techniques and computer programs for the design and analysis of mechanisms. According, Matt Campbell & Stephen S. Nestinger [2], they have provided a software package for the analysis and design of a Whitworth Quick Return Mechanism. This Quick Return class can be used to calculate or plot the position, velocity, and acceleration of the mechanism. The Quick Return class also provides a function to create an X linkage animation file display the changes in configuration of the mechanism overtime. This package is well suitable for rapid prototyping, distance learning, and as a teaching aid. According, C. S. Sharma, K. Purohit [3], they show that the kinematic analysis of the mechanism can be perform either by graphical or by analytical method. The graphical method is less accurate than analytical method. Graphical method is preferred as it gives the motion characteristics of all the links. The graphical method restricted for determining velocity and acceleration for each and every crank angle of the shaper machine. According, Jih-Lian Ha, Jer-Rong Chang & RongFong Fung [4], have described, flexible rod of a quickreturn mechanism is modeled by Euler-beam theory. The calculus of variation and Hamiltons principle are used to derive the governing equations and boundary conditions.

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Due to the translating/ rotating joint moving reciprocally along the .flexible rod, the special FDMs with the .fixedand variable-grid schemes are proposed to approximate the numerical solutions. However, it is noticeable that numerical divergence occurs when the moving boundary moves across any of the neighboring nodes. Thus, the .fixed-grid method is not applicable for the mechanism with the large crank. The possibility of singularities can be avoided via the variable-grid method, in which a coordinate transformation is employed to .x the moving boundary. For a given time step, taking more space intervals can reduce the more numerical errors. 2. Formulation of work

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3. Kinematic Analysis of six bar Quick return Mechanism a) Position Analysis: To find a position vector at a point, we have to first visualize point in a plane that is actually comparing the positions of two points in a plane. Out of the two points reference point is called origin and second one is visualizing point. By joining these two points we get position vectors, as shown the vector representation of six bar quick return mechanism in fig. 3.1.
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Table 2.1 Specification of Shaper Machine Model Name Run-up 7. Length of stroke 140 mm Motor 1 H.P A.C Motor RPM 1440 No of Links 6 Length of fixed link (r1 ) 0.210 m Length of Crank (r2 ) 0.031 m Length of sliding Block ( r 3 ) Variable Link Length Length of Slotted link (r4 ) 0.475 m Length of connecting rod ( r5 ) 0.110 m Length of fixed link to Ram ( r7 ) 0.450 m Bull gear diameter 0.300 m No. of Teeth on Bull gear 72 No. of Teeth on Pinion gear 13

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= = ( (6.9282)
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)

Commonly two types of Quick return mechanism are used in industrial machine tools. a) Slotted link quick return mechanism. b) Whitworth quick return mechanism. In industrial scenario, slotted link mechanism is frequently used in shaper machine. Thus here we analyze shaper machine.

Loop closure Equation: The sum of the relative position vectors for the links forming a closed loop in the mechanism taken in order is constantly zero; this is known as loop closure equation. The loop closure equation gives the relation between the position vectors of different links by forming a loop in the mechanism. Since the links forming the closed loop in mechanism are rigid, the successive joints of the links always remain at a fixed distance from one another. Therefore though with time the loop changes its position, the magnitudes of the relative position vectors do not change with time. Thus for the loop to satisfy loop-closure equation at every instant the relative position vector must change their positions from time to time and thereby the links should show relative velocity with respective each other[5]. The relative velocity being dependent on the change in position of the relative position vector, the loopclosure equation does not only relate the displacements of the links but decides all kinematic properties of mechanism.

Fig: 3.1 Vector representation of the Six Bar Quick Return Mechanism.

The calculations performed at an angle 2 = 30o is discussed. Let OP be the crank and Q the point fixed on AC with which sliding point P is momentarily in coincidence. The loop closure equation for portion COP of mechanism is; R1+R2=R3 This can be rewritten in complex polar form as r1ej1+r2ej2=r3ej3 (1) Separating real and imaginary parts and comparing r1cos 1+ r2 cos 2 = r3 cos 3 (2) r1 sin 1+ r2 sin 2 = r3 sin 3 (3) Squaring and adding r3 = = r3 = 0.227 m Dividing (3) by (2) tan

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Velocity Analysis: The complex algebra provides an alternative formulation for two dimensional kinematic problems. The complex algebra provides the advantage of increased accuracy. The complex algebra approach to velocity analysis leads to a set of linear equation and solution is quite straight forward. By using complex number we can represent vectors in a plane by choosing real and imaginary axes & origin. When crank made an angle 2 = 30o

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Separating real and imaginary parts and comparing (7) (8) To eliminate , multiplying equation (7) by sin and (8) by cos and subtracting =( ) Substituting in equation (9),

For velocity analysis, differentiate equation (1) w .r. to time, (Note that r1, r2 and 6 are constant but r 3, 2 and 3 are variables) + (j (6)

Vr3 =0.675 m/sec

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3 = 3 = 3= 68.124 rad/sec2 Substituting in equation (11)
( )

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Vr6 = 1.074 m/sec When crank made an angle 2 = 30o

=83.210 Also, the loop closure equation for the portion CAR of mechanism is R4+R5=R7+ R6 This may be rewritten as r1ej1+r5ej5=r6ej6+ r7ej7 (4) Separating real and imaginary parts and comparing them r4cos 4+ r5 cos 5 = r6 cos 6 + r7 cos 7 r4 sin 4+ r5 sin 5 = r6 sin 6 + r7 sin 7 Remembering that r 6 and 5 are unknown and that 6 = 1800 And 6 = 900 Above equations can be reduced to r4cos 4+ r5 cos 5 = - r6 (5) r4 sin 4+ r5 sin 5 = r7 From equation (5), as 4= 3 = 81.70 + * 5 =360+ 0 5 = 348.64 Substituting in equation (5) r6 = - [0.475cos 83.21 + 0.450 cos 348.640] r6 = 0.16 m

Differentiate equation (4) and remembering that r4, r5, r7, 6 and 7 are constant ( ) (9) Separating real and imaginary parts and comparing Remembering that ; above equation reduce to (10) (11) From equation (11), ( ) (

Remembering that )

15.41 rad/s and 4 = 3

5=2.225 rad/sec Subtracting in equation (10),

Acceleration Analysis: The complex numbers are a convenient from for representing the vector the model planar linkages elements and velocities. It follows, therefore, that complex number methods can be applied to acceleration analysis of planar linkages. Consider the sliding contact linkages shown in fig 3.1.

For acceleration analysis, differentiate equation (6). Note that r2 in constant. r2 [(j ) + (j )2 ] ej2 = [ + (j ) + + ] Now, as crank revolves uniformly and therefore, -r2 ( )2 = + 2j( + j ( ) -

Separating out real and imaginary parts and comparing -r2 ( )2 cos 2 = cos 3 -2( sin 3 sin 3 cos 3 (11) -r2 ( )2 sin 2 = sin 3 -2( cos 3 + cos 3 sin 3 (12) To eliminate term involving , multiply (11) by sin 3 and (12) by cos 3 and subtract r2 ( )2 sin( 3 2 ) =2( (sin2 3 cos2 3 ) +

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3 = Ar3=

Position Graph: -

Ar3 = -11.926 m/sec2 Differentiating equation (9) further, for acceleration analysis, (remember that and r4, r1, 7, r5, 6 are constant) we have Comparing real and imaginary parts as before, To eliminate sin 5 and add, As (13) Fig: -4.1 Position of Link 3

(14) term, multiply (13) by cos 5 and (14) by

=180, we have

Ar6 = 7.900 m/sec2

4. Analysis of Position, Velocity, & Acceleration For various positions of crank angles:-

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Serial Number Crank Angle 2 (deg.) 0 30 60 90 120 150 180 210 240 270 300 330 360 1 2 3 4 5 6 7 8 9 10 11 12 13 Table: - 4.1 Link Angle 3 of R3 link 4 (m) 4 (deg.) 0.212 81.60 0.227 83.21 0.237 86.25 0.241 90.00 0.237 93.74 0.227 96.79 0.212 98.40 0.196 97.85 0.183 94.83 0.179 90.00 0.183 85.16 0.196 82.14 0.212 81.60 Angle of link 5 5 (deg.) 349.57 348.64 347.40 346.86 347.40 348.61 349.57 349.23 347.76 346.86 347.76 349.23 349.57 Link 6 R6 (m) 0.177 0.16 0.13 0.107 0.076 0.0520 0.0388 0.0431 0.0675 0.107 0.147 0.173 0.177
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Here, we found the position, velocity, and acceleration at certain crank angle position. The interval of each crank angle is 300.

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Velocity Analysis: Crank Angle 2 deg Serial Number 1 2 3 4 5 6 7 8 9 10 11 12 13 0 30 60 90 120 150 180 210 240 270 300 330 360
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Fig: 4.2 Position of Link 6 Table: - 4.2 Velocit Angular y of velocity Link 3 of link Vr3 3 (m/s) 3 rad/sec 0.834 -0.581 0.675 2.225 0.389 3.197 0 3.500 -0.373 3.182 -0.675 2.225 -0.834 0.582 -0.781 -1.6221 -0.481 -3.783 0 -4.712 0.481 -3.783 0.781 -1.622 0.834 -0.581 Angular velocity of link 5 5 rad/sec -0.372 -1.158 -0.925 0 0.919 1.158 0.373 -0.975 -1.409 0 1.404 0.973 -0.372 Velocit y of Link 6 Vr6 m/sec 0.280 1.074 1.537 1.662 1.488 1.0158 0.266 -0.743 -1.757 -2.238 -1.823 -0.783 0.280
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Rahul A. Lekurwale et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES Vol No. 6, Issue No. 1, 070 - 076

Velocity Graph:

Acceleration Graph: -

Fig: 4.3 Velocity of Link 3 Fig: 4.5 Acceleration of Link 3

Fig: 4.4 Velocity of Link 6 Acceleration Analysis: -

Serial Number

Crank Angle 2 (deg.) 0 30 60 90 120 150 180 210 240 270 300 330 360

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1 2 3 4 5 6 7 8 9 10 11 12 13

Table: -4.3 Accelerati Angular on of Link Acceleratio 3 Ar3 n of link 3 (m/s2) 3 (rad/ s2) 0.0496 102.747 -11.926 68.124 -53.036 32.421 0 0 -17.409 -32.995 -41.146 -15.465 -64.53 -102.742 29.064 -120.938 72.671 -91.265 0 0 20.84 91.306 5.81 120.933 0.0496 102.747

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Acceleratio n of Link 6 Ar6 (m/s2) 7.153 7.900 8.488 8.595 8.690 8.657 8.566 8.655 7.970 7.526 8.107 7.461 7.153 5
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Fig: 4.6 Acceleration of Link 6 Result and Discussion: From the Fig. 4.1 It shows the Position graph, here obtained the maximum position of link r3 at crank angle 900 & minimum position at crank angle 2700 , hence at this angle position we can analyses exact position of the link r3. From the Fig. 4.2 It shows the Position graph, here we found the maximum position of link 6 at 3600 & minimum position at 1800. From Fig. 4.3 it shows the velocity graph, The velocity of link 3 at 00 we get maximum velocity & at 1800 minimum velocity. From Fig. 4.4 shows velocity of link 6 at 900 we get maximum velocity & at 2100 minimum velocity. Hence at various crank angles we found the different velocities of each link. From Fig 4.5 shows acceleration of each link at various crank angle position. In acceleration analysis we get maximum acceleration at 1200 of link 3 & 600 we get minimum acceleration. And from fig. 4.6 shows the acceleration of link 6, we found maximum acceleration at 900 & at 2700 here obtained minimum acceleration. Table no 4.1 to 4.3 revealed the different results of position, velocity and acceleration analysis at different crank angle position. These results are useful for evaluating the dynamic force analysis.
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6.

Conclusion: This work presented the kinematic analysis of six bar quick return mechanism. The complex algebra modeling determined the results of position, velocity, and acceleration at different crank angle. These results useful for the dynamic analysis of six bar quick return mechanism. However, this calculation is also useful for determining the torque at different position of crank angle. The complex algebra modeling is convenient for computer programming software. These results also helpful for evaluating the force analysis on each members & torque at different crank angle for various types of six bar quick return mechanism. The graphical approach is not convincing for software computational programming results. Hence, from this work we observe the analytical approach is suitable for the finding a variety of results at different crank angle positions. Symbols: R1, R2, R3, R4, R5, R6 & R7 are the vectors.(m) 1 angle between fixed link with horizontal reference plane. (deg.) 2 angle of crank with horizontal plane. (deg.) 3 = 4 angle between slotted link with horizontal reference plane. (deg.) 5 angle of connecting rod with horizontal reference plane. (deg.) 6 angle of ram with horizontal reference plane. (deg.) Vr3 velocity of slotted link, link 3 (m/sec) Vr6 - velocity of ram, link 6 (m/sec) 2 Angular velocity of crank, link 2 (rad/sec) 3 Angular velocity of slotted link, link 4 (rad/sec) 5 Angular velocity of connecting rod, link 5 (rad/sec) 2 Angular acceleration of crank, link 2 (rad/sec2 ) 3 Angular acceleration of slotted link, link 4 (rad/sec2 ) 5 Angular acceleration of connecting rod, link 5(rad/sec2) Ar3 Acceleration of slotted link 3, (m/sec2 ) Ar6 Acceleration of ram link 6, (m/sec2 ) References: -

the fixed and variable finite-difference grids, science direct, Journal of Sound and Vibration, Vol. no. 297 (2006) PP 365381. [5] Ashok G. Ambekar. Theory of mechanisms and machines, PHI learning private limited, ISBN-978-81-2033134-1, June-2009.

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[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 Whitworth Quick Return Mechanism, Computer-Aided Mechanism Design, Mechanical and Aeronautical Engineering, University of California Davis, CA 95616. [3] C. S. Sharma, K. Purohit, Theory of mechanisms and machines, Prentice-Hall of India private limited, ISBN-81203-2901-5, 2006. [4] Jih-Lian Ha, Jer-Rong Chang & Rong-Fong Fung, Dynamic analyses of a flexible quick-return mechanism,
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