Position Analysis

Useful indices for Position Analysis:

a) Types of Mechanism:
Grashof vs. Non-Grashof: Grashof: at least 1 pair of adjacent links is capable of full rotation Test for Grashof mech: Grashofs Law

The sum of the shortest and longest links lengths is less than the sum of the lengths of the remaining two links
MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Useful indices for Position Analysis:
a) Types of Mechanism:
4-bar mechanisms can be classified based on Grashof criterion For those that meet the criterion, the identity of the shortest link defines the mechanism type

MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Example: Types of 4-bar
Grashof 4-bar with rshort = r2 Crank-Rocker

MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Example: Types of 4-bar
Grashof 4-bar with rshort = r1 Drag-Link

MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Example: Types of 4-bar
Grashof 4-bar with rshort = r3 (or 4) Rocker-Rocker

Note that the extreme angular positions of the crank and follower do not necessarily coincide

MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Example: Types of 4-bar
Any non-Grashof 4-bar is a Triple-Rocker
Again, extreme angular positions of the crank and follower do not necessarily coincide Also, there are points where the motion of the mechanism diverges, i.e. one or more outputs are possible for a given crank input
MECH 335 Lecture Notes R.Podhorodeski, 2009

Which way will link 3 rotate when the input is rotated CW from this position?

How about link 4?

Position Analysis
Useful indices for Position Analysis:
b) Inversions of a mechanism
Inversions change which of the mechanisms links is fixed An n-link mechanism has n inversions

MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Example: Inversions of the slider-crank
Standard slider-crank

MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Example: Inversions of the slider-crank
Freeing the slide, and fixing link 2

MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Example: Inversions of the slider-crank
Or, fixing link 3 (note: 4 is still free to rotate)

MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Example: Inversions of the slider-crank
Or, fixing 4 (1 slides, but does not rotate, w.r.t. 4)

MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Useful indices for Position Analysis:
c) Transmission () and Deviation () angles
Transmission Angle (): The acute angle between the directions of the velocity-difference vector of the driving point , and the absolute velocity vector of the driven point Deviation Angle (): The angle between the absolute direction of travel of the driven point and the direction of the force exerted by the driving link

MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Example:
Transmission Angle ():
The acute angle between the directions of:

B2,3
2

the velocity-difference vector of the driving point and

the absolute velocity vector of the driven point

A1,2
3
INPUT

VB

V 2 2 VB2//A2

4
MECH 335 Lecture Notes R.Podhorodeski, 2009

Position Analysis
Example:
Deviation Angle ():
The angle between: The absolute direction of travel of the driven point and the direction of the force exerted by the driving link

B2,3
2

FB2B3

A1,2
3
INPUT

VB

4
MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Any single-loop, planar mechanism will have two unknowns (dependent variables) Need a method to solve for these variables in terms of known mechanism parameters 2 main methods presented:
Graphical Analytical

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example: 4-bar mech.
Vectors Ri used to represent links All link lengths known Input (independent) variable is crank angle 2 What are the dependent variables?
A0 B

R3
A

R4 R2 2 R1
B0

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example: 4-bar mech.
Vectors Ri used to represent links All link lengths known Input (independent) variable is crank angle 2 What are the dependent variables?
Need a method to solve for A0 these variables
B

R3
A

3 R4

R2 2 R1
B0

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Graphical (approximate) method
Solution lies at the intersection of the possible positions of links 3 & 4

R2 2
A0

R1

B0

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Graphical (approximate) method
Solution lies at the intersection of the possible positions of links 3 & 4 Note presence of 2 possible solutions!

2
A0 B0

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Graphical (approximate) method
Solution lies at the intersection of the possible positions of links 3 & 4 Note presence of 2 possible solutions! Unknown angles are measured from drawing
A0 B

2
B0

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Analytical methods
Graphical methods inexact, inconvenient for repeated analysis 2 Analytical methods presented:
Geometric analysis Loop-closure

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 1: Geometric analysis
B

R3 3

arg(D) D

B0

R4 4

R2 2
A0

R1
MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Loop Closure Based Displacement Analysis
Represent each link by a vector, Sum vectors to close the loop

Split the real and imaginary components of this equation to yield two equations by applying:

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 2: Loop Closure Analysis
B

R3 3 R4
4

R2 2
A0 B0

4 R1
MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 2: Loop Closure Analysis

EQUATION FROM REAL PARTS

R3 3 R4

R2

EQUATION FROM IMAGINARY PARTS

A0

2
B0

4 R1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank

2 3

Solution is correct, but weak, since 4 multiple angles have the same sine

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example 3: Loop Closure, offset slider-crank
A stronger solution can be found by writing:

2 3

0 1

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Iterative Loop-Closure based displacement solution
If the dependent variables are inaccurate

An iterative algorithm for closure can then be based on: and

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example: Newton-Raphson iterative closure
Loop closure error:
2 3

0 1

Input: Unknowns: i.e.

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example: Newton-Raphson iterative closure
2 3

If is correct, Estimate of can be improved by iteration, i.e.

0 1

Input: Unknowns: i.e.

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example: Newton-Raphson iterative closure
2 3

If is correct, Estimate of can be improved by iteration, i.e.

0 1

Input: Unknowns: i.e.

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example: Newton-Raphson iterative closure
For this example:
2 3

0 1

Input: Unknowns: i.e.

Then, from (3):

,

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Example: Newton-Raphson iterative closure
2 3

Inverting (4), substituting into (5), and then into (2) gives:

0 1

Input: Unknowns: i.e.

Where is given in (1). Equation (6) would be used to iteratively improve the estimates of , until:
MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Numerical Example:
2 3

0 1

Suppose we start by guessing: Analysis tolerance:

MECH 335 Lecture Notes R.Podhorodeski, 2009

Displacement Analysis
Numerical Example:
2 3

0 1

Now we iterate from that starting point

MECH 335 Lecture Notes R.Podhorodeski, 2009