Theory of Machines

LECTURE NOTES- MECE 303 Theory of

Machines
5- Analytical Position Analysis
Fall Semester 2010/2011
Halil Orhan YILDIRAN, MS
1
Analytical Position Analysis
There are various methods to be applied in analytical solution of
mechanism:
*Solution by successive triangles
*Solution of Loop Closure Equations
-Solution by using scalar component equation -Solution by using scalar component equation
-Solution by using complex equation and its conjugate
2
Analytical Position Analysis
.
Example: Stepwise solution of Four bar linkage using successive triangles

13





c
3

12

14


-

Analytical Position Analysis-Four Bar
.
Joint variables:
12
,
13
,
14

12
is the input
Find
13
and
14

4
is transmission angle
in the figure =open configuration assembly of mechanism
in the figure -=cross configuration assembly of mechanism
Known mechanism: a
1
, a
2
, a
3
, a
4
is known (c and are also known)
Analytical Position Analysis-Four Bar
.
Solution of successive triangles yields:
a)
2 / 1
12 2 1
2
2
2
1
) cos 2 ( a a a a s + = (from triangle A
0
AB
0
using cosine law)
b)
|
|

\
|
+
=

s a
a s a
2
2
2 2
1 1
2
cos ' (from triangle A
0
AB
0
)
5
|

\
s a
1
2
0 0
c) ' =
d)
|
|

\
|
+
=

4 3
2
3
2 2
4 1
2
cos
a a
a s a
(from triangle AB
0
B)
Analytical Position Analysis-Four Bar
.
e)
|
|

\
| +
=

s a
a s a
4
2
3
2 2
4 1
2
cos
f)
14
= -
g)
13
=
14

6

If position of point C is required:
X
c
=a
2
cos
12
+c cos(
13
+)
Y
c
=a
2
sin
12
+c sin(
13
+)
Analytical Position Analysis
.
Stepwise solution of off set slider crank mechanism
a
1
, a
2
, a
3
and b
3
and
3
are known.
12
is the input. From loop closure equation, writing i and j
components

7

12

13

3

Analytical Position Analysis-Off-set slider crank
.
a
2
cos
12
=s
14
+a
3
cos
13
(1)
a
2
sin
12
=a
1
+a
3
sin
13
(2)
) sin (
1
sin
1 12 2
3
13
a a
a
=
(3) (obtained from (2))
) sin (
1
sin
1 12 2
3
1
13
a a
a
=



8
13 3 12 2 14
cos cos a a s = (4) (obtained from (1))
X
c
=s
14
+b
3
cos(
13
-
3
) (5)
y
c
=a
1
+b
3
sin(
13
-
3
) (6)
Equations (5) and (6) can only be solved after equations (3) and (4) are solved
Analytical Position Analysis-Inverted slider crank
Inverted Slider crank mechanism
a
1
, a
2
, a
4
, are known and
12
is the input. We will find
14
and s
43.

If we write loop equation;

12

14



9
Analytical Position Analysis-Inverted slider crank
.
(1) psin=a
2
sin
12
(2) pcos=a
2
cos
12
- a
1
from the above two equation
(3)
(

=

1 12 2
12 2 1
cos
sin
tan
a a
a

(4)
cos sin
1 12 2 12 2
a a a
p

= =
10
(4)

cos
cos
sin
sin
1 12 2 12 2
a a a
p

= =
From triangle B
0
AB
(5)
2
4
2
43
a p s =
(6)
|
|

\
|
=
|
|

\
|
=

p
a
p
s
4
1 43 1
cos sin
(7)
14
=
Analytical Position Analysis
.
Example: Quick return mechanism
Known a
1
, a
2
, a
4
, a
5
, input
12

This is a mechanism formed by in line inverted slider crank and off set slider crank
11
This is a mechanism formed by in line inverted slider crank and off set slider crank
mechanism
For this analysis you must be careful in selecting reference axis.
1-Select in line inverted slider crank (links 1,2,3,4) and find
14

2-Select off set slider crank (links 1,4,5,6), and
14
as input find
15
and s
16

Analytical Position Analysis-Quick Return Mechanism
.
s
43
sin
14
=a
2
sin
12
s
43
cos
14
=a
2
cos
12
-a
1
(

=

1 12 2
12 2 1
14
cos
sin
tan
a a
a

12
Since
14
is found, we can use this value to be an input to the second
mechanism

b
1
=-a
4
cos
14
+a
5
sin
15
(

+
=

5
14 4 1 1
15
cos
sin
a
a b

s
16
=a
4
sin
14
+a5cos
15
Analytical Position Analysis
A
The figure

15

13

14

12