2011-12

Kinematic and Dynamic Analysis of Planar Four-Link Mechanism

SAHIL KAPOOR MANISH KUMAR ANURAG DOHARE RACHIT SHARMA MAHAVEER JAIN

08/ME/36 08/ME/70 08/ME/75 08/ME/85 08/ME/96

CONTENTS
Page

Acknowledgement Abstract
1. Introduction 1.1 Four link planar mechanism 1.2 Grashofs law 1.3 Position analysis of four link planar mechanism 1.4 Velocity analysis of four link planar mechanism 1.5 Acceleration analysis of four link planar mechanism 1.6 Force analysis of four link planar mechanism 2. Problem statement 3. Results 3.1 Results for feasible configuration 3.2 Results for infeasible configuration 3.2 Results for joint forces and torque 4. Discussions on result 5. Conclusions 6. Computer programs 6.1 Program -1 6.2 Program -2

3 4
5

18 19

21 22 23

7. Results of manual calculations

KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

ACKNOWLEDGEMENT
We have taken efforts in this project. However, it would not have been possible without the kind support and help of our respected project guide Professor A.K.Mitra Sir.We would like to extend our sincere thanks to him. We are highly indebted to Prof.A.K.Mitra Sir for his guidance and constant supervision as well as for providing necessary directions regarding the project & also for his kind support in completing the project. Our thanks and appreciations also goes to our fellow batchmates in developing the project and people who have willingly helped us out with their abilities.

KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

ABSTRACT
In planar four bar mechanism, design of links play a critical role for safe and smooth operations of machine members. Hence it becomes important to analyse the stresses in the links at all the positions of crank. We have worked out a problem to determine the internal forces in the links using computer programs for a particular position of the crank. This program can also be used to determine forces for any other position of crank. This has been done by carrying out kinematic analysis of the motion of the links and then choosing the feasible configuration out of two possible configurations of the mechanism for the same position of crank by visualising graphically the mechanism using a computer program. Thereafter force analysis of each link was performed and the joint forces were computed.

KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

INTRODUCTION
Literature survey:
1.) 2.) 3.)

Theory of Machines and Mechanisms. Shigley; Pennock; Uicker. Theory of Machines and Mechanisms. S. S. Ratan. Journals from NPTEL; Wikipedia; Google.

Methods studied:
1.) 2.) 3.) 4.)

Graphical method for position, velocity and acceleration analysis. Vector method for position, velocity and acceleration analysis. Complex algebra method for position, velocity and acceleration analysis. Matrix algebra method for finding internal and action-reaction forces.

Methods used in our project:

Complex algebra method and Matrix algebra method.

Advantages:
1.) 2.)

Easier than other methods. Easy to build programmes.

KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Four-Link Planar Mechanism:

A four bar mechanism consists of four rigid link which are linked in the form of quadrilateral by four pin joints. A link that makes complete revolution is called crank, the link opposite to the fixed link is the coupler and forth link is a lever or rocker if oscillates or another crank if rotates.

Types of four link mechanism:

KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Grashofs law:
It states that, for a planar four bar linkage, the sum of the shortest and the longest link length cannot be greater than the sum of the remaining two link lengths if there is to be continuous relative rotation between two members. By considering a fourbar linkage and denoting the length of the bars as p, q, l and s where: l is the longest bar s is shortest bar p and q are the intermediatelength bars a classification can be made based on the studies performed by Franz Grashof (1826 1893):

(s + l ) < (p + q) (s + l) > (p + q) (s + l) = (p + q) mechanism)

Grashof mechanism nonGrashof mechanism extreme case (sometimes called Changepoint

The Grashof rule is useful for easily identifying the topology of the mechanism. In fact, in Grashof mechanism the short bar can always perform a complete revolution. Based on the short link arrangement, three cases are possible: short bar is the frame -- Fourbar with 2 cranks short bar is coupled with the frame -- Fourbar with 1 crank and 1 rocker short bar is the coupler -- Fourbar with 2 rockers. All the nonGrashof mechanisms have 2 rockers, notwithstanding the arrangement of the bars with respect to the frame.

KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Vector Polygon:

R3 R4 R2

R1
Now, R2 + R3 = R1 + R4 Therefore the equation for position analysis; R2 + R3 = R1 + R4 __________ (i)

To find the velocity, differentiating above eqns. w.r.t. time R2

.iw2

+ R3

.iw3

= R4

.iw4

__________ (ii)

To find the acceleration, again differentiating above eqns. W.r.t. time R2 (i2-w22) + R3 (i3-w32) = R4 (i4-w42) _____ (iii)

KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Position analysis of four link planar mechanism

The position of the points on the links A (Ax, Ay) and B (Bx, By) The coordinates of the point A are found using trigonometry as follows:

Similarly coordinates of point B are found using the equations of circle around A and O4.

KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Position analysis of Grashof four bar mechanism.

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

VELOCITY ANALYSIS
Let 2, 3 and 4 be the angular velocities of the links and r2, r3 and r4 are the lengths of the links respectively. r2cos 2t + r3cos 3t - r4cos 4t r1 = 0 r2sin 2t + r3sin 3 t r4sin 4t = 0 Differentiating Eqns wrt time and solving ; We get 4 = -(r22 sin (3 -2)) / r4sin(4- 3) 3 = (2 sin (4-2)) / r3sin(4- 3)

ACCELERATION ANALYSIS
Let 2, 3 and 4 be the angular accelerations of the links r2, r3 and r4 respectively. Rewriting previous equations as below ; r2 2 sin 2t + r3 3sin 3 t r44sin4t = 0 r2 2 cos 2t + r33cos 3t - r44cos4t = 0 Differentiating Eqns w.r.t. time and solving ;We get 3 =( r222 sin(4 - 2) r2 22 cos(4 - 2)- r332 cos(4 - 3) + r442 ) / (r3 sin(4-3)) and , 4 = - (r22sin (3 - 2) - r2 22 cos(3 - 2)- r332 r442 cos(4-3)) / (r4 sin(4-3))

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Force analysis of all the links:

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Link 2(crank link):

Where, F12x is the force applied by link 1 on link 2 in horizontal direction. F12Y is the force applied by link 1 on link 2 in vertical direction. F32X is the force applied by link 3 on link 2 in horizontal direction. F32Y is the force applied by link 3 on link 2 in vertical direction. T is the input torque.

Link 3(coupler link):

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Where, F23X is the force applied by link 2 on link 3 in horizontal direction. F23Y is the force applied by link 2 on link 3 in vertical direction. F41X is the force applied by link 4 on link 1 in horizontal direction. F41Y is the force applied by link 4 on link 1 in vertical direction.

Link 4 (Follower link):

Where, F34X is the force applied by link 3 on link 4 in horizontal direction. F34Y is the force applied by link 3 on link 4 in vertical direction. F14X is the force applied by link 1 on link 4 in horizontal direction. F14Y is the force applied by link 1 on link 4 in vertical direction.

Using Newtons laws of motion we write the equations of motion for all the links: Force equations: 14 F12X F12Y F23X F23Y F34X + F32X = m2 a2X + F32Y W2 = m2 a2Y + F43X = m3 a3X + F43Y W3 = m3 a3Y + F14X = m4 a4X

KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

 F34Y + F14Y W4 = m4 a4Y Moment equations: F12X l2 sin 2 F12Y l2 cos 2 - F32X l2 sin 2 + F32Y l2 cos 2 + T = i 2 2 F23X l2 sin 3 - F23Y l2 cos 3 + F43Y l2 cos 3 - F43X l2 sin 3 = i3 3 F34Y l4 cos 4 - F34X l4 sin 4 + F14X l4 sin 4 - F14Y l4 cos 4 = i4 4 Formulating the above set of equations into a form of matrix equation,we may write

A*X=B

A=
1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 -1 0 1 0 0 0 0 0 -1 0 1 0 0 0 0 -1 0 1 0 0 0 0 -1 0 1 0 0 0 0 -1 0 0 0 0 0 0 -1 0 0 0 0 0 0

0 - l4 sin 4 l4 cos 4 - l4 sin 4 l4 cos 4 0 0 0 0 1

0 l2 sin 3 -l2 cos 3 l2 sin 3 -l2 cos 3 0 0 0

l2 sin 2 -l2 cos 2 l2 sin 2 -l2 cos 2 0

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

x=
F12X F12Y F23x F23Y F34X F34Y F41X F41Y

B=
m 2 a 2X m 2 a 2Y + W 2 m 3 a 3X W 3 + m 3 a3 Y m 4 a 4X W 4 + m 4 a4 Y i4 4 i3 3 i2 2 16
KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

where,

m2=mass of link 2, m3=mass of link 3, m4=mass of link 4, a2X =. linear acceleration of link 2 in horizontal direction. a2Y = linear acceleration of link 2 in horizontal direction. a3X =. linear acceleration of link 2 in horizontal direction. a3Y = linear acceleration of link 2 in horizontal direction. a4X =. linear acceleration of link 2 in horizontal direction. a4Y = linear acceleration of link 2 in horizontal direction.
The unknown matrix can be computed by finding inverse of multiplying it by

A and

B i.e.

X=A-1B

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

PROBLEM STATEMENT

Given:

ITEM DESCRIPTION MAGNITUDE r1 Length of base link 100cm r2 Length of crank link 50cm r3 Length of coupler link 66cm r4 Length of follower link 90cm 2 Angular velocity of crank link 5 rad/sec 2 Angular acceleration of crank link 2 rad/ sec2 2 Position of crank link (refer fig.) 30 degree x Inner radius of hollow cylindrical links 2 cm y Outer radius of hollow cylindrical links 3 cm m2 Mass of crank link 1.56 kg m3 Mass of coupler link 2.06 kg m4 Mass of follower link 2.82 kg We have assumed the material of the links as Steel with density 8000kg/m3 and the links as hollow cylinders with outer radius as 3cm and inner radius as 2cm. Now we have to determine the feasible configuration of the mechanism for the given position of the crank and the corresponding values of 4, 3, 3, X Y X Y X Y X Y 4, 3, 4, F12 , F12 , F23 , F23 , F34 , F34 , F41 , F41 and T.

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

RESULTS
The two configurations obtained after running computer program are :

Obviously the acceptable configuration is configuration 1.The values of different parameters obtained after running corresponding computer program Program1 are given below in tabular form for both the configurations: Results for Configuration 1(feasible configuration): ITEM 2 4 3 3 4 3 4 DESCRIPTION Position of crank link Position of follower link(refer fig) Position of coupler link(refer fig) Angular velocity of coupler link Angular velocity of follower link Angular acceleration of coupler link Angular acceleration of follower link

PROGRAM OUTPUT
30 degree 109.04 degree 65.53 degree -0.0942 rad/sec -0.0409 rad/sec -2.1530 rad/ sec2 -0.92530 rad/ sec2

Results for configuration 2(infeasible configuration): ITEM 2 4 3 3 DESCRIPTION Position of crank link Position of follower link(refer fig) Position of coupler link(refer fig) Angular velocity of coupler link

PROGRAM OUTPUT
30 degree 203.36 degree 66.876 degree -0.011 rad/sec

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

4 3 4

Angular velocity of follower link Angular acceleration of coupler link Angular acceleration of follower link

-0.0422 rad/sec -0.2661rad/ sec2 -0.961 rad/ sec2

Results obtained after running computer program Program2 for finding the unknown matrix of forces and Torque: ITEM F12X F12Y F23X F23Y F34X F34Y F41X F41Y T PROGRAM OUTPUT 6.4703 N 40.4790 N 7.2503 N 23.8490 N 4.5903 N 4.8730 N 2.3704 N -23.5269 N 12.3719 N m

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

DISCUSSION ON RESULT
The T vs diagram can be plotted using the results obtained for all the values of positions of crank.The internal forces in all the links for all the positions of crank can also be computed which enables us to determine the nature and magnitude of stresses in each member of the mechanism. Once all the stresses are known the links of the four bar planar mechanism can be designed conveniently as per the requirements of the designer considering the working atmosphere and the safety requirements.

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

CONCLUSIONS
1. Results obtained through computer program and those calculated manually are found to be same. Hence the chances of error gets reduced after using computer programs 2. Time of computation of the results also reduced drastically as compared to manual calculation 3. Also the visualisation of the correct configuration can be done graphically using the computer program

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

COMPUTER PROGRAMS USED

Notations used in the program: 2 is represented by theta2 3 is represented by theta3 4 is represented by theta4 2 is represented by omega2 3 is represented by omega3 4 is represented by omega4 2 is represented by alpha2 3 is represented by alpha3 4 is represented by alpha4

1. Program 1 : Java program for finding the possible configurations for same value of 2 and computing the value of 4, 3, 3, 4, 3, 4: Program code:
/* * To change this template, choose Tools | Templates * and open the template in the editor. */

import java.awt.Graphics; import java.io.BufferedReader; import java.io.InputStreamReader; import java.util.logging.Level; import java.util.logging.Logger; import javax.swing.JFrame; import javax.swing.JPanel;

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

/** * * @author Manish */ public class Manish extends JPanel {

public static int[] x = new int[8]; public static int[] y = new int[8];

public static void main(String[] args) { BufferedReader br = new BufferedReader(new InputStreamReader(System.in)); double r1 = 100.0, r2 = 50.0, r3 = 66.0, r4 = 90.0, theta2d,omega2d; int xOrigin = 50, yOrigin = 100;

try { //Read Input values System.out.println("theta2 = "); theta2d = Double.parseDouble(br.readLine()); double theta2r = theta2d * Math.PI / 180; System.out.println("omega = "); omega2d = Double.parseDouble(br.readLine()); double omega2r = omega2d * Math.PI / 180; System.out.println("alpha2(in rad/sec2) = "); double alpha2r = Double.parseDouble(br.readLine());

//Calculate intermediate constants double K = (r1 * r1 + r2 * r2 + r4 * r4 - r3 * r3) / 2.0; double P = K - r2 * (r1 - r4) * Math.cos(theta2r) - r1 * r4;

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

double Q = -2 * r2 * r4 * Math.sin(theta2r); double R = K - r2 * (r1 + r4) * Math.cos(theta2r) + r1 * r4; double temp = Q * Q - 4 * P * R;

if (temp < 0) { System.out.println("Error:Wrong Data."); System.exit(0); }

//calculate theta4 values double theta4p = 2 * Math.atan((-Q + Math.sqrt(temp)) / (2 * P)); double theta4n = 2 * Math.atan((-Q - Math.sqrt(temp)) / (2 * P));

//Display the values. System.out.println("theta2r = " + theta2r); System.out.println("K = " + K); System.out.println("p = " + P); System.out.println("Q = " + Q); System.out.println("R = " + R); //System.out.println((-Q - Math.sqrt(temp)) / (2 * P)); theta4p = round(theta4p); theta4n = round(theta4n); System.out.println("theta4 = " + theta4p + " " + theta4n);

double theta3 = Math.atan((r4*Math.sin(theta4n)r2*Math.sin(theta2r))/(r1+r4*Math.cos(theta4n)-r2*Math.cos(theta2r))); System.out.println("for theta4 = "+theta4n/Math.PI*180+"degree"); System.out.println("======================");

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

double tempN = r2*omega2r*Math.sin(theta4n-theta2r); double tempD = r3*Math.sin(theta3-theta4n); double omega3r = tempN/tempD; double omega4r = -(r2*omega2r*Math.sin(theta3-theta2r))/(r4*Math.sin(theta4ntheta3)); double alpha3r = -((r2*alpha2r*Math.sin(theta4n-theta2r))(r2*omega2r*omega2r*Math.cos(theta4n-theta2r))(r3*omega3r*omega3r*Math.cos(theta4ntheta3))+r4*omega4r*omega4r)/(r3*Math.sin(theta4n-theta3)); double alpha4r = -((r2*alpha2r*Math.sin(theta3-theta2r))(r2*omega2r*omega2r*Math.cos(theta3theta2r))+(r4*omega4r*omega4r*Math.cos(theta4n-theta3))r3*omega3r*omega3r)/(r4*Math.sin(theta4n-theta3)); System.out.println("theta3 = "+theta3*180/Math.PI); System.out.println("omega3 = "+omega3r); System.out.println("omega4 = "+omega4r); System.out.println("alpha3 = "+alpha3r); System.out.println("alpha4 = "+alpha4r); System.out.println("======================");

theta3 = Math.atan((r4*Math.sin(theta4p)r2*Math.sin(theta2r))/(r1+r4*Math.cos(theta4p)-r2*Math.cos(theta2r))); System.out.println("for theta4 = "+theta4p/Math.PI*180+"degree"); System.out.println("======================"); tempN = r2*omega2r*Math.sin(theta4p-theta2r); tempD = r3*Math.sin(theta3-theta4p); omega3r = tempN/tempD; omega4r = -(r2*omega2r*Math.sin(theta3-theta2r))/(r4*Math.sin(theta4p-theta3)); alpha3r = -((r2*alpha2r*Math.sin(theta4p-theta2r))(r2*omega2r*omega2r*Math.cos(theta4p-theta2r))(r3*omega3r*omega3r*Math.cos(theta4ptheta3))+r4*omega4r*omega4r)/(r3*Math.sin(theta4p-theta3));

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

alpha4r = -((r2*alpha2r*Math.sin(theta3-theta2r))(r2*omega2r*omega2r*Math.cos(theta3theta2r))+(r4*omega4r*omega4r*Math.cos(theta4p-theta3))r3*omega3r*omega3r)/(r4*Math.sin(theta4p-theta3)); System.out.println("theta3 = "+theta3*180/Math.PI); System.out.println("omega3 = "+omega3r); System.out.println("omega4 = "+omega4r); System.out.println("alpha3 = "+alpha3r); System.out.println("alpha4 = "+alpha4r); System.out.println("======================");

//get the coordinates of 4 points. x[0] = xOrigin; y[0] = yOrigin; x[1] = xOrigin + (int) r1; y[1] = yOrigin; x[2] = xOrigin + (int) (r2 * Math.cos(theta2r)); y[2] = yOrigin - (int) (r2 * Math.sin(theta2r)); x[3] = xOrigin + (int) (r1 + r4 * Math.cos(theta4n)); y[3] = yOrigin - (int) (r4 * Math.sin(theta4n));

x[4] = xOrigin+200; y[4] = yOrigin; x[5] = xOrigin+200 + (int) r1; y[5] = yOrigin; x[6] = xOrigin+200 + (int) (r2 * Math.cos(theta2r)); y[6] = yOrigin - (int) (r2 * Math.sin(theta2r)); x[7] = xOrigin+200 + (int) (r1 + r4 * Math.cos(theta4p)); y[7] = yOrigin - (int) (r4 * Math.sin(theta4p)); JFrame frame = new JFrame();

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

frame.getContentPane().add(new Manish()); frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); frame.setSize(400, 400); frame.setVisible(true);

//} } catch (Exception ex) { Logger.getLogger(Manish.class.getName()).log(Level.SEVERE, null, ex); }

public static double round(double angle) { if (angle < 0) { angle = angle + Math.PI * 2; } return angle; }

@Override public void paint(Graphics g) { g.drawLine(x[0], y[0], x[1], y[1]); g.drawLine(x[0], y[0], x[2], y[2]); g.drawLine(x[1], y[1], x[3], y[3]); g.drawLine(x[2], y[2], x[3], y[3]); g.drawLine(x[1]+(x[4]-x[1])/2, 0,x[1]+(x[4]-x[1])/2, 200); g.drawLine(x[4], y[4], x[5], y[5]); g.drawLine(x[4], y[4], x[6], y[6]);

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

g.drawLine(x[5], y[5], x[7], y[7]); g.drawLine(x[6], y[6], x[7], y[7]);

} }

2. Program 2 : Java program for finding the unknown matrix of forces using Gauss Elimination approach
import java.io.BufferedReader; import java.io.InputStreamReader; /* * To change this template, choose Tools | Templates and open the template in * the editor. */ /** * * @author Manish */ public class Test1 { public static void main(String args[]) { int i, j, k; double d; Test1 test = new Test1(); try { BufferedReader br = new BufferedReader(new InputStreamReader(System.in)); System.out.println("Enter the order of matrix"); int order = Integer.parseInt(br.readLine()); double[][] a = new double[order][order]; double[][] b = new double[order][1]; for (i = 0; i < order; i++) { for (j = 0; j < order; j++) { System.out.println("A[" + i + "][" + j + "]:"); a[i][j] = Double.parseDouble(br.readLine()); } } for (i = 0; i < order; i++) { for (j = 0; j < 1; j++) {

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

System.out.println("B[" + i + "][" + j + "]:"); b[i][j] = Double.parseDouble(br.readLine()); } } double[][] aInv = test.inverz_matrike(a); double[][] multiplyMat = test.multiply(aInv, b); int len = aInv[0].length; System.out.println("------Inverse Matrix----------"); for (i = 0; i < len; i++) { for (j = 0; j < len; j++) { System.out.print(aInv[i][j] + " "); } System.out.println(); } len = multiplyMat.length; int len2 = multiplyMat[0].length; System.out.println("------Multiplied Matrix----------"); for (i = 0; i < len; i++) { for (j = 0; j < len2; j++) { System.out.print(multiplyMat[i][j] + " "); } System.out.println(); } } catch (Exception ex) { } } public double[][] inverz_matrike(double[][] in) { int st_vrs = in.length, st_stolp = in[0].length; double[][] out = new double[st_vrs][st_stolp]; double[][] old = new double[st_vrs][st_stolp * 2]; double[][] new1 = new double[st_vrs][st_stolp * 2];

for (int v = 0; v < st_vrs; v++) {//ones vector for (int s = 0; s < st_stolp * 2; s++) { if (s - v == st_vrs) { old[v][s] = 1; } if (s < st_stolp) { old[v][s] = in[v][s]; } } } //zeros below the diagonal for (int v = 0; v < st_vrs; v++) {

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

for (int v1 = 0; v1 < st_vrs; v1++) { for (int s = 0; s < st_stolp * 2; s++) { if (v == v1) { new1[v][s] = old[v][s] / old[v][v]; } else { new1[v1][s] = old[v1][s]; } } } old = prepisi(new1); for (int v1 = v + 1; v1 < st_vrs; v1++) { for (int s = 0; s < st_stolp * 2; s++) { new1[v1][s] = old[v1][s] - old[v][s] * old[v1][v]; } } old = prepisi(new1); } //zeros above the diagonal for (int s = st_stolp - 1; s > 0; s--) { for (int v = s - 1; v >= 0; v--) { for (int s1 = 0; s1 < st_stolp * 2; s1++) { new1[v][s1] = old[v][s1] - old[s][s1] * old[v][s]; } } old = prepisi(new1); } for (int v = 0; v < st_vrs; v++) {//rigt part of matrix is invers for (int s = st_stolp; s < st_stolp * 2; s++) { out[v][s - st_stolp] = new1[v][s]; } } return out; } public double[][] prepisi(double[][] in) { double[][] out = new double[in.length][in[0].length]; for (int v = 0; v < in.length; v++) { for (int s = 0; s < in[0].length; s++) { out[v][s] = in[v][s]; } } return out; } public double[][] multiply(double[][] first, double[][] second) { int m = first.length;

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

int n = second[0].length; int p = second.length; double[][] temp = new double[m][n]; double sum = 0; for (int c = 0; c < m; c++) { for (int d = 0; d < n; d++) { for (int k = 0; k < p; k++) { sum = sum + first[c][k] * second[k][d]; } temp[c][d] = sum; sum = 0; } } return temp; } }

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Results of Manual calculations

Position Analysis:

Where, AX = r2 Ay = r2sin2

where,

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Now we have known values as r1 = 100 r2 = 50 r3 = 66 r4 = 90 2 = 30 degree Putting all the above values we find two different values of 4 and 3 (depicting the two different configurations) because of quadratic nature of the expression of By. The results of 3 and 4 obtained are : Configuration 1: 3 = 65.49 degree 4 = 109.21 degree Configuration 2: 3 = 66.73 degree 4 = 203.47 degree

velocity and acceleration analysis:

4 = - (r22 sin (3 -2)) / r4sin (4- 3) 3 = (2 sin (4-2)) / r3sin (4- 3)
3 =( r222 sin(4 - 2) r2 22 cos(4 - 2)- r332 cos(4 - 3) + r442 ) / (r3 sin(4-3)) 4 = - (r22sin (3 - 2) - r2 22 cos(3 - 2)- r332 r442 cos(4-3)) / (r4 sin(4-3))

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KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Configuration 1:

r2 = 0.5 m
r3 = 0.66 m

r4 = 0.9 m 2 = 30 degree 3 = 65.49 degree 4 = 109.21 degree 2 = 5 rad/sec 2 = 2 rad/sec2

Configuration 2:

r2 = 0.5 m
r3 = 0.66 m

r4 = 0.9 m 2 = 30 degree 3 = 66.73 degree 4 = 203.47 degree 2 = 5 rad/sec 2 = 2 rad/sec2

Now using the values for the corresponding configurations we obtain the result as follows:

35

KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM

Configuration 1:
3 4 3 4 Angular velocity of coupler link Angular velocity of follower link Angular acceleration of coupler link Angular acceleration of follower link -0.094 rad/sec -0.041 rad/sec -2.1524 rad/ sec2 -0.9239 rad/ sec2

Configuration 2:
3 4 3 4 Angular velocity of coupler link Angular velocity of follower link Angular acceleration of coupler link Angular acceleration of follower link -0.012 rad/sec -0.0425 rad/sec -0.2652rad/ sec2 -0.957 rad/ sec2

36

KINEMATIC AND DYNAMIC ANALYSIS OF PLANAR FOUR BAR MECHANISM