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Abstract—In this paper is presented a new educational not new. Other universities as Dresden University [6] or
computer program for the simulation of four-bar linkages, Aachen University [7] have previously used it in the
slider-crank mechanisms and other planar linkages derived lectures.
from them. It has been developed by the authors1 as a The software MECAN4 presented in this paper is
complement to the Machine Theory lectures. As it is shown in
the paper, the software covers almost all kinematical analysis
focused on the analysis and dimensional synthesis of the
and synthesis aspects from a graphical point of view. Finally, a planar four-bar linkage and other mechanisms derived
complete design example done with the software presented is from it. There is also a version, BIEMAN, for the
shown. This software is available via internet and is free of simulation of the slider-crank mechanism. The reason
charge. why this software is focused on the planar four-bar
linkages, is that from an educational point of view, these
Keywords: analysis, synthesis, educational software, kind of linkages cover almost all kinematic aspects
four-bar linkage. common to other planar and spatial mechanisms [8], [9].
MECAN4, BIEMAN and their user manuals are
available to be downloaded at the web page of the
I. Introduction authors: www.ehu.es/compmech.
In recent years, there is an increasing interest in the use
of simulation softwares in the teaching of Machine II. Geometry module
Theory. These computer programs help the student to MECAN4 and BIEMAN have been developed in
understand deeply, and in a more visual way, the FORTRAN language and have a modular structure. The
theoretical basis explained during the lectures. This is geometry module has a user-friendly interface based on
clear taking into account that more and more textbooks the use of pull-down menus (figure 1).
of Machine Theory include a CD-ROM with a
simulation program to complement the book contents
[1], [2], [3].
One possibility is the use of a commercial software
package as, ADAMS® [4], DADS® [5] or Working
Model®. These kind of general-purpose programs have
the advantage of their powerful capabilities and their
reliability. However, in the case of ADAMS® and
DADS®, it is necessary to spend a considerable time to
train the student in the use of these programs that have
been developed to be used by professionals and experts.
In the case of Working Model®, it is an analysis tool but
not a synthesis tool. Also, due to their general-purpose
approach, all these programs are based in multibody
techniques. As a result, the geometrical bases of the
Machine Theory are hidden into the mathematical
formulation of the kinematic problems. Fig. 1. MECAN4: Pull-down menus.
Because of this, in the Department of Mechanical
Engineering of the University of the Basque Country, an To start with the kinematic analyses, the student has to
educational computer program has been developed to enter the linkage parameters. It can be done by clicking
help the students in the understanding of the Machine on the screen or by keyboard. There are two ways to
Theory. This approach for the teaching of this subject is define the linkage:
• Enter the lengths of the mechanism links.
* E-mail: victor.petuya@ehu.es • Define the coordinates of the kinematic joints.
† E-mail: mikel.diez@ehu.es In figure 2 the parameters that define the four-bar and the
‡ E-mail: charles.pinto@ehu.es
§ E-mail: a.hernandez@ehu.es
slider-crank linkages in the software are shown.
can note how their radiuses change with the position of
the coupler. Also the acceleration pole is obtained.
• The cusp circle is obtained as the locus of centres of
curvature of the envelopes to straight lines moving
together with the coupler.
• The cubic of stationary curvature (c.s.c) and the pivot-
point curve (p.p.c).
Coupler curve I
Path of moving
pair
Assembly
mode I
Crank
Coupler curve II
Assembly mode II
b)
c)
Envelope
B. Coupler-position synthesis.
As in the case of the coupler curve synthesis, graphical
Fig. 10. Cognate linkages.
procedures have been implemented in the software for
the coupler-position synthesis with three and four
precision positions given the position of the fixed pairs. D. Linkage with a permanent translational link.
In figure 9 the result of a four position synthesis is The student can also synthesize a one degree of freedom
shown. mechanism with a translational link. Based on the
Roberts’ construction, MECAN4 translates one cognate
until its fixed joint meets the non-common fixed pair of
the original linkage. Joining the two input links and
locating an additional link between the two coupler
points, this link has translational movement. If it is
pinned to both couplers, the mechanism has a redundant
link that can be eliminated. In figure 11 the resulting link
from this synthesis process is shown
Translational link
C. Cognate linkages.
Based on the graphical construction of the Roberts’
Theorem [12], the path-cognates of a given linkage can
be obtained. In this way, there are available two
additional design possibilities. In the software, the
cognate linkages can move together so Roberts’ Theorem
is stated in a visual way. In figure 10 the cognates of a
Fig. 11. One-dof mechanism with a translational link.
V. Design example
The software presented in this paper is not only used as
a complement to the theoretical lectures. Using it, our
students have to solve a final design problem. It is also
used to solve a specific design problem. The design
example is presented to the student at the end of the
lectures of Machine Theory [11]. They must apply all the K
C0
knowledge acquired and, aided by this software, be able B
A B0
to obtain a reliable and efficient solution to the problem.
In this case, the goal is the design of an elevation
planar mechanism fixed in a transporting truck with the
following specifications: A0
• During the elevation phase the end-effector must have
vertical permanent translation.
• The fixed joints must be located at the chassis of the Fig. 13. Cognate linkages.
truck.
Now, translating one cognate, a 1-dof linkage with a
• The design must be a 1-dof mechanism.
permanent translational link ( KK ′ ) is obtained (figure
The design problem proposed is a coupler-position
14).
synthesis. The coupler must move vertically with a null
angular velocity. Thus, the first step is the synthesis of a
four-bar linkage with a coupler curve with a straight K
section. In this case, a four-bar linkage in cycloidal
B
position has been entered in MECAN4 and its Ball’s
point has been calculated locating the coupler curve on it K’ A
(figure 12) B0
A0
p.p.c. ≡ De la
Hire Circle
C”’
c.s.c.
Fig. 14. Mechanism with a translational link.
P K
(Ball’s point) However, from a practical point of view, link KK ′ is
too much long. In this way, a similar four-bar loop
AEFD will be used (figure 15)
Acknowledgments
The authors of this paper wish to acknowledge the
finance received from the Spanish Government via
E Ministerio de Educación y Ciencia (Project DPI2005-
F 02207), the FEDER founds of the European Union and
A
the University of the Basque Country (Project
GIU05/46).
References
D
[1] Norton, R.L. Design of machinery: an introduction to the
synthesis and analysis of mechanisms and machines. McGraw-
Hill, 2003.
Fig. 16. Adding a R-dyad. [2] Erdman, A.G. Sandor, G.N. Mechanism design. Analysis and
synthesis. Prentice-Hall, 1997.
Finally the end effector is fixed to link GK and the [3] Waldron K.J. Kinzel G.L. Kinematics, dynamics and design of
machinery. Wiley, 1999.
projected linkage mounted in the truck (figure 17).
[4] Orlandea, M.A. Chace and D.A. Calahan. A sparsity-oriented
approach to the dynamic analysis and design of mechanical
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K L [5] Haugh, E.J. Computer-aided kinematics and dynamics of
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11th World Congress in Mechanism and Machine Science. April 1-
4 2004, Tianjin, China.
[8] Huber, G. Dietmaier, P. Four-bar: and educational synthesis and
design tool for planar four bar mechanisms. Proceedings of the
10th World Congress on the Theory of Machines and Mechanisms.
June 20-24, Oulu, Finland.
[9] Bottema, O. Roth, B. Theoretical Kinematics. Dover publications
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[10] Nieto, J. Síntesis de Mecanismos. A. C. Madrid, 1978.
[11] Hernández. A. Cinemática de mecanismos: análisis y diseño. Ed.
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[12] Roberts, S. On three bar motion in plane space. Proceedings of the
London Mathematical Society, VII, 1875.
VI. Conclusions
In this paper a new educational program for the
kinematic analysis and synthesis of planar four-bar and
slider-crank linkages has been introduced. The user-
friendly graphical interface and its modular structure
make it suitable to be used by undergraduate students
without any previous simulation abilities. When the