Mechanism Synthesis, Graphical

Ken Youssefi Mechanical & Aerospace Engineering Dept.
SJSU 1
Mechanism Design
Graphical Method
Ken Youssefi Mechanical & Aerospace Engineering Dept. SJSU 2
Dimensional Synthesis
Mechanism Synthesis
Design a mechanism to obtain a specified
motion or force.
How many links should the
mechanism have? How many degrees of freedom
are desired?
Number Synthesis
given the required performance,
what type of mechanism is suitable? Linkages, gears,
cam and follower, belt and pulley and chain and
sprocket.
Type Synthesis
deals with determining
the length of all links, gear diameter, cam profile.
Mechanism Synthesis
Type Synthesis
The Associated Linkage Concept
It is desired to derive various types of mechanisms for driving a
slider with a linear translation along a fixed path in a machine.
Also, assume that the slider must move with a reciprocating
motion.
4-Bar
Mechanism Synthesis
Type Synthesis - The Associated Linkage Concept (6-Bar)
6-Bar
Limiting Conditions 4 Bar Mechanism
Toggle positions of a crank-rocker mechanism. Links 2 and 3
become collinear.
Transmission Angle 4 Bar Mechanism
The angle between link 3 and link 4 is
defined as the transmission angle
T
4
= F
34
sin() x (O
4
D)
Minimum Transmission Angle 4 Bar Mechanism
Minimum transmission angle occurs when link 2 (crank) becomes
collinear with link 1 (ground link)
The minimum transmission angle should be greater than 40
o
to avoid
locking or jamming the mechanism
Min. transmission
angle
Max. transmission
angle
Mechanical Advantage 4 Bar Mechanism
Mechanical Advantage 4 Bar Mechanism
O
4
B = 2(O
2
A)
r
in
= r
out
= 60
O
, v = 5
O
M.A. = 20

A
B
Mechanism Synthesis
Dimensional Synthesis
Graphical Methods provide the designer with
a quick straightforward method but parameters
cannot easily be manipulated to create new
solutions.
this approach is suitable
for automatic computation. Once a mechanism is
modeled and coded for computer, parameters are
easily manipulated to create new designs.
Analytical Methods
O
2
O
4 4. Select two fixed pivot points, O
2

and O
4
, anywhere on the two
midnormals.

Graphical Synthesis Motion Generation Mechanism
Two positions, coupler as the output
A
1
A
2
B
1
B
2
1. Draw the link AB in its two desired
positions, A
1
B
1
and A
2
B
2
5. Measure the length of all links,
O
2
A = link 2, AB = link 3,
O
4
B = link 4 and O
2
O
4
= link 1

2. Connect A
1
to A
2
and B
1
to B
2
.

3. Draw two lines perpendicular to
A
1
A
2
and B
1
B
2
at the midpoint
(midnormals).

O
4
O
2
Three positions, coupler as the output
A
1
A
2
A
3
B
1
B
2
B
3
Same procedure as for two positions.
1. Draw the link AB in three desired
positions.
2. Draw the midnormals to A
1
A
2
and A
2
A
3
,
the intersection locates the fixed pivot
point O
2
. Same for point B to obtain
second pivot point O
4
.
3. Check the accuracy of the mechanism,
Grashof condition and the transmission
angle.
4. Change the second position of link
AB to vary the locations of the fixed
points
O
6
4. Select any location on
this line for third fixed
pivot, O
6.

D
2
5. Draw a circle with
radius C
1
C
2
/ 2. The
radius is the length of
the sixth link.
Adding a Dyad to a non-Grashof mechanism.
A
1
A
2
B
1
B
2
O
2
O
4
2
3
4
1. Draw the four bar in
both positions
C
1
C
2
2. Select any point C on
link 2.
3. Connect C
1
to C
2
and
extend.
5
6
6. Measure O
6
D = link 6,
DC = link 5
A
1
A

B
1
O
4
O
6
C

D

O
2
B

3 2
4
5
6
6-Bar Grashof mechanism
Three Position, 6-Bar Grashof ,Motion Generation Mechanism
Three Position, 6-Bar Grashof ,Motion Generation Mechanism
Two positions Grashof 4-Bar mechanism with rocker as the output
D
1
C
1
C
2
D
2
O
2
5. Connect B
1
to B
2
and extend. Select
any location on this line for fixed
pivot point O
2
.
O
2
A = B
1
B
2
/ 2
7. Measure the length of all links, O
2
A = link 2,
AB = link 3, O
4
CD = link 4 and O
2
O
4
= link 1
1. Draw the link CD in its two desired
positions, C
1
D
1
and C
2
D
2

2. Connect C
1
to C
2
and D
1
to D
2
and
draw two midnormals to C
1
C
2
and
D
1
D
2

O
4
3. The intersection of the two
midnormals is the fixed pivot point
O
4
.
B
1
B
2
4. Select point B
1
anywhere on link
O
4
C
1
and locate B
2
so O
4
B
1
= O
4
B
2

A
2
6. Draw a circle with radius B
1
B
2
/ 2,
point A is the intersection of the
circle with the B
1
B
2
extension.
Two positions Grashof 4-Bar mechanism
with rocker as the output
D
1
C
1
C
2
A
2
O
4
O
2
B
2
D
2
Two Position, 4-Bar Grashof Motion Generation Mechanism
Three positions with specified fixed pivot points,
coupler as the output
C
1
D
1
C
2
C
3
D
2
D
3
O
4
O
2
1. Draw the link CD in its
three desired positions,
C
1
D
1
, C
2
D
2
and C
3
D
3

and locate the fixed
pivot points O
2
and O
4
.
2. Draw an arc from C
1

with radius O
2
C
2
and
another arc from D
1

with radius O
2
D
2
.
Locate the intersection,
O
2
.
1

with radius O
4
C
2
and
another arc from D
1

with radius O
4
D
2
.
O
4
.

O
4
O
2
O
2
O
4
C
1
D
1
C
2
C
3
D
2
D
3
O
4
O
2
O
2
O
4
1

with radius O
2
C
3
and
another arc from D
1

with radius O
2
D
3
.
O
2
.
1

with radius O
4
C
3
and
another arc from D
1

with radius O
4
D
3
.
O
4
.

O
2
O
4
O
2
O
4
C
1
D
1
C
2
C
3
D
2
O
4
O
2
O
2
O
4
O
2
O
4
G

H

D
3
6. Connect O
2
to O
2
and O
2
to
O
2
. Draw two midnormals
and locate the intersection, G.
7. Connect O
4
to O
4
and O
4
to
O
4
. Draw two midnormals and
locate the intersection, H.
8. O
2
G is link 2 and O
4
H is link 4.
9. Construct a link (3) containing
GH and CD.
10. Verify the solution by
constructing the mechanism in
three position

C
1
D
1
C
2
C
3
D
2
O
4
O
2
G

H

D
3
Three positions with specified fixed pivot points, coupler as the output.
O
4
O
2
2. Select the location of the fixed
pivot points, O
2
and O
4
.
Graphical Synthesis Path Generation Mechanism
Three prescribed points.
5. Measure angles
1
(O
2
A
1
P
1
),
2

and
3
.
3
P
1
P
2
P
3
1. Draw the three desired points, P
1
,
P
2
, and P
3
.
A
1
3. Select the length of the crank O
2
A

and the coupler side AP.
A
3
A
2
4. With A
1
P
1
established, locate A
2

and A
3
, A
1
P
1
= A
2
P
2
= A
3
P
3
.
Design a 4-Bar in such a way that a point on the coupler passes thru three
specified points
Three prescribed points.
Locate moving pivot B by means of kinematic inversion. Fix coupler AP in
position 1 and rotate O
2
O
4
.
O
4
O
2
P
1
P
2
P
3
A
1
11. Verify the mechanism.

B

O
4
O
2
6. Rotate A
1
O
2
about A
1
by (
2

1
) to O
2
.
O
4
7. Draw an arc from O
2
with radius
O
2
O
4
, draw another arc from P
1
with radius P
2
O
4
, locate the
intersection, O
4
.
O
2
8. Rotate A
1
O
2
about A
1
by (
3

1
)
to O
2
.
9. Draw an arc from O
2
with radius
O
2
O
4
, draw another arc from P
1
with radius P
3
O
4
, locate the
intersection, O
4
.
10. Connect O
4
to O
4
and O
4
to O
4

and draw the midnormals. Locate
the intersection, B.
O
2
1. Select location of the fixed pivot point O
2
.
with Prescribed Timing
Three prescribed points
Timing requirements:
input crank rotation , mechanism moves from P
1
to P
2

input crank rotation , mechanism moves from P
1
to P
3

P
1
P
2
P
3
6. Follow the same procedure as before ,
for without timing, to locate the
moving pivot point B.
A

Note: timing takes away the free
choices of the crank length and
coupler length AP.
P
2

2. Rotate O
2
P
2
, in the opposite direction
of motion, through angle , P
2
.
P
3

3. Rotate O
2
P
3
,in the opposite
direction of motion, through
angle , P
3
.
4. Draw midnormals to P
1
P
2
and
P
1
P
3
.and locate the intersection
A.
5. Measure O
2
A = link 2 and AP.
Graphical Synthesis; Quick Return Mechanism
Q = time of advance stroke / time of return stroke
Q > 1 quick-return mechanism
Advance stroke mechanism operates under the load.
Return stroke mechanism operates under no load.
4-Bar crank-Rocker mechanism
Quick Return Mechanism
Consider the two toggle positions of a
crank-rocker mechanism.
O
4 O
2
B
1
2
3
4
A
1
B
2
A
2

C

Locate point C to satisfy the following two conditions;
1) C is on extension of line A
2
B
2
.
2) O
2
C = O
2
B
1
= r
2
+ r
3
B
2
C = r
2
+r
3
- (r
3
r
2
) = 2r
2
Quick Return Mechanism
O
4
O
2
B
1
2
3
4
A
1
B
2
A
2
C

180 , Return stroke
Q = advance / Return = (180 + ) / (180 ), Time Ratio
Synthesis of a Quick Return Mechanism
Known or selected;
Rocker angle,
Rocker length, r
4
Time ratio, Q
Determine; r
1
, r
2
, r
3
O
4
1. Select the location for the fixed
pivot point, O
4.
O
2
6. The intersection of XX and YY is
the other fixed pivot, O
2
X

4. Construct an arbitrary line XX
through point B
1
.

X

5. Construct the line YY through
point B
2
making an angle with
XX.

Y
Y

2. Draw the two toggle positions,
knowing r
4
and .

B
1
B
2

3. Calculate the angle from known
time ratio Q =

(180 + ) / (180 )
Synthesis of a Quick Return Mechanism
O
2
X

Y
O
4
X

Y
B
1
B
2
7. Locate point C on YY so O
2
C = O
2
B
1
.

C
9. Calculate the length of link 3, AB = r
3
= O
2
B
1
r
2
8. Measure length B
2
C, Link 2 = r
2
= (B
2
C) /2
2r
2
A
1
r
2
A
2
A

O
4
O
2
B

10. Verify the motion of the mechanism and check the
minimum transmission angle.

Mechanism Synthesis, Graphical

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Mechanism Synthesis, Graphical

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Ken Youssefi Mechanical & Aerospace Engineering Dept.

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