MENG 372

Chapter 4
Position Analysis

All figures taken from Design of Machinery, 3rd ed. Robert Norton
2003
1

Coordinate Systems
Cartesian (Rx, Ry)
Polar (RA, )
Converting between the two
R A Rx 2 R y 2

arctan R y Rx

Rx R A cos
R y R A sin

Position Difference, Relative position

Difference (one point, two times)
relative (two points, same time)

RBA=RB-RA

Y
A
RA

RBA

RB
2
X

4.3 Translation, Rotation, and

Complex motion
Translation: keeps the same angle
Rotation: one point does not move
Complex motion: a combination of rotation
and translation

Graphical Position Analysis of

Linkages
Given the length of the links (a,b,c,d), the ground
position, and 2. Find 3 and 4
B
A

b
3

b
c

a
2
O2

4
O4
4

Graphical Linkage Analysis

Draw an arc of radius b,
centered at A
Draw an arc of radius c,
centered at O4
The intersections are the
two possible positions for
the linkage, open and
crossed

b
c

B1
b
3

a
d

O2

4
O4

B2

Algebraic Position Analysis

Obtain coordinates of point A:
Ax a cos 2
Ay a sin 2
Obtain coordinates of point B:
2
2
b 2 B x Ax B y Ay
c 2 Bx d B y
2

These are 2 equations in 2 unknowns: Bx and By

See solution in textbook pages 171, 172.

Complex Numbers as Vectors

We can plot complex numbers on the realimaginary plane
Euler identity ei=cos i sin
Cartesian form: RAcos + i RAsin
Imaginary
Polar form: RAei
Multiplying by ei corresponds to rotating
by
Real
7

Analytical Position Analysis

Given: link lengths a,b,c and d, (the motor
position)
Find: the unknown angles and

Analytical Position Analysis

Write the vector loop equation:

R2 R3 R4 R1 0
(Positive from tail to tip)
Substitute with complex vectors

aei 2 bei 3 cei 4 dei1 0

Take knowns on one side, unknowns on the other.
Call the knowns Z

be

i 3

ce

i 4

Unknowns

ae

i 2

de

i1

Knowns
9

Fourbar Linkage Analysis

be

i 3

ce

i 4

ae

i 2

de

i1

Define: s ei3 , t ei4

bs ct Z

Take conjugate to get a second equation:

bs ct Z

For the conjugate of s we have (only true for e ) s e

i

So our second equation is

i3

1
1
i3
e
s

b c
Z
s t
Note:

1
Z
Z
10

Fourbar Linkage Analysis

bs ct Z

b c
Z
s t

Use algebra to eliminate one of the unknowns

b
c
bs Z ct
Z
s
t
Multiplying the two gives:
c
b ZZ Z Z ct c 2
t
2

Multiplying by t and collecting terms gives:

2
2
2
Quadratic equation in t
0 Z ct ZZ c b t Zc
From the quadratic formula t

ZZ c

ZZ c b
2

2 2

2Z c

4c 2 Z Z

Z ct
b

11

Fourbar Linkage Analysis

t

ZZ c

ZZ c 2 b 2

b2

4c 2 Z Z

2Z c

Z ct
s
b

2
2
2
In MATLAB,
0 Z ct ZZ c b t Zc
B1
Zc=conj(Z)
b
t=roots([Zc*c,Z*Zc+c^2-b^2,Z*c])
A
3
4=angle(t), 3=angle(s)
c
Two solutions relate to the a
4
d
open and crossed
2
O2
positions
O4

B2

12

MATLAB
Change your current directory
Type in your commands here or

Use a text editor

13

>> a=2; b=3; c=4; d=5;

>> th1=0; th2=60*pi/180;
>> z=-a*exp(i*th2)+d*exp(i*th1)
z=
4.0000 - 1.7321i
>> zc=conj(z)
zc =
4.0000 + 1.7321i
>> t=roots([zc*c,z*zc+c^2-b^2,z*c])
t=
-0.4194 + 0.9078i
-0.9490 - 0.3153i

>> th4=angle(t)*180/pi
th4 =

114.7975
-161.6240

>> th3=angle(s)*180/pi
th3 =

b
3

39.2750
-86.1015

2
O2

O4

>> s=(z+c*t)/b
s=
0.7741 + 0.6330i
0.0680 - 0.9977i

14

Inverted Crank Slider linkage

Given: link lengths a, c and d, (the motor
position), and the angle between the slider and rod
Find: the unknown angles and and length b

15

Inverted Crank Slider linkage

Write the vector loop equation

R2 R3 R4 R1 0

Substitute with complex vectors

ae i 2 be i 3 cei 4 de i1 0
Geometry keeps
3 4

so
i 2
i 4
i 4
i1
ae be
ce de 0

16

Inverted Crank Slider

i 2

i 4

i 4

i1

ae be
ce de 0
Grouping knowns and unknowns
i 4

i 4

i 2

i1

be
ce ae de Z
i 4
i
Calling
s e and t e
Gives bst cs Z s (bt c)
Taking the conjugate to get the second equation
1 1
s (bt c) Z b c
s t

Multiplying the two gives

1
b bc t c 2 ZZ
t

17

Inverted Crank Slider

1
b bc t c 2 ZZ
t

The solution is a quadratic

equation in b
1

2
2
0 b c t b c ZZ
t

Which has a solution of

b

c t 1

t 1

t
2

c 2 4 c 2 ZZ

b=roots([1 c*(t+1/t),c^2-Z*Zc])
Z
Once b is known, s can be found using s
bt c

18

Crank Slider Mechanism

Given: link lengths a, b and c, (the motor
position)
Find: the unknown angle and length d

19

4.8 Linkages of More than Four Bars

Geared fivebar linkage
vector loop equation

R2 R3 R4 R5 R1 0

Complex vectors
ae

i 2

be

i 3

ce

i 4

i 5

de f 0
Separate unknowns and knowns (5=)
(same eqn.
i 3
i 5
i 4
i 2
be ce ae de f Z
as 4bar)
20

Sixbar Linkages
Watts sixbar can be solved as 2 fourbar linkages
R1R2R3R4, then R5R6R7R8
R4 and R5 have a constant angle between them

21

Sixbar Linkages
Stephensons sixbar can sometimes be solved as a
fourbar and then a fivebar linkage
R1R2R3R4, then R4R5R6R7R8
R3 and R5 have a constant angle between them
If motor is at O6 you have to solve eqns. simultaneously

22

Position of any Point on a Linkage

Once the unknown angles have been found it is
easy to find any position on the linkage
For point S
Rs=sei( + )
For point P
2

RP=aei +pei ( + )
2

For point U
RU=d +uei ( + )
4

23

Using MATLAB (Spring 2007)

24

Transmission Angle
Extreme value of transmission angle when links 1
and 2 are aligned
2
2
b c d a
1 arccos

2
bc

b c d a 2
2 arccos

2
bc

Extended

Overlapped

25

Toggle Position
Caused by the colinearity of links 3 and 4.
2toggle

2
2
2
2

c
bc
1

cos

2ad
ad

0 2toggle

For a non-Grashof linkage, only one of the values

between the () will be between 1 and 1

Extended

Overlapped

26