1

All figures taken from Design of Machinery, 3

rd
ed. Robert Norton 2003
MENG 372
Chapter 4
Position Analysis
2
Coordinate Systems
Cartesian (R
x
, R
y
)
Polar (R
A
, u)
Converting between the two


Position Difference, Relative position
Difference (one point, two times)
relative (two points, same time)
R
BA
=R
B
-R
A


( )
x y
y x A
R R
R R R
arctan
2 2
=
+ =
u
u
u
sin
cos
A y
A x
R R
R R
=
=
X
Y
R
B
R
A
A

B

R
BA
3
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
4
Graphical Position Analysis of
Linkages
Given the length of the links (a,b,c,d), the ground
position, and u
2
. Find u
3
and u
4
a
d
u
2

b
c
u
3

u
4

A
B
O
2

O
4

b
c
5
Graphical Linkage Analysis
Draw an arc of radius b,
centered at A
Draw an arc of radius c,
centered at O
4

The intersections are the
two possible positions for
the linkage, open and
crossed

a
d
u
2

b
c
u
3

u
4

b
c
A
O
2

O
4

B
1

B
2

6
Algebraic Position Analysis
2
2
sin
cos
u
u
a A
a A
y
x
=
=
Obtain coordinates of point A:
( ) ( )
( )
2 2
2
2 2
2
y x
y y x x
B d B c
A B A B b
+ =
+ =
Obtain coordinates of point B:
These are 2 equations in 2 unknowns: B
x
and B
y
See solution in textbook pages 171, 172.

7
Complex Numbers as Vectors
We can plot complex numbers on the real-
imaginary plane
Euler identity e
iu
=cos u i sin u
Cartesian form: R
A
cos u + i R
A
sin u
Polar form: R
A
e
iu

Multiplying by e
iu

corresponds to rotating
by u


Real
Imaginary
8
Analytical Position Analysis
Given: link lengths a,b,c and d, u
1
, u
2
(the motor
position)
Find: the unknown angles u
3
and u
4

9
Analytical Position Analysis
0
1 4 3 2
= +
u u u u i i i i
de ce be ae
0
1 4 3 2
= + R R R R

Z de ae ce be
i i i i
= + =
1 2 4 3
u u u u
Write the vector loop equation:

(Positive from tail to tip)
Substitute with complex vectors


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


Unknowns Knowns
10
Fourbar Linkage Analysis
Z de ae ce be
i i i i
= + =
1 2 4 3
u u u u
Z ct bs =
Z t c s b =
3
3
1 1

i
i
s e
e s
u
u

= = =
Z
t
c
s
b
=
Z
Z
1
=
Define:
Take conjugate to get a second equation:
For the conjugate of s we have (only true for e
iu
)
So our second equation is
Note:
3 4
,
i i
s e t e
u u
= =
11
Fourbar Linkage Analysis
Z ct bs = Z
t
c
s
b
=
ct Z bs + =
t
c
Z
s
b
+ =
2 2
c ct Z
t
c
Z Z Z b + + + =
( ) Zc t b c Z Z ct Z + + + =
2 2 2
0
( ) ( )
c Z
Z Z c b c Z Z b c Z Z
t
2
4
2
2
2 2 2 2
+ +
=
b
ct Z
s
+
=
Quadratic equation in t
Use algebra to eliminate one of the unknowns

Multiplying the two gives:

Multiplying by t and collecting terms gives:


From the quadratic formula
12
Fourbar Linkage Analysis
In MATLAB,
Zc=conj(Z)
t=roots([Zc*c,Z*Zc+c^2-b^2,Z*c])
u
4
=angle(t), u
3
=angle(s)
Two solutions relate to the
open and crossed
positions
( ) ( )
c Z
Z Z c b c Z Z b c Z Z
t
2
4
2
2
2 2 2 2
+ +
=
b
ct Z
s
+
=
a
d
u
2

b
c
u
3

u
4

A
O
2

O
4

B
1

B
2

( ) Zc t b c Z Z ct Z + + + =
2 2 2
0
13
Change your current directory
Type in your commands here or
Use a text editor
MATLAB
14
>> 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

>> s=(z+c*t)/b

s =
0.7741 + 0.6330i
0.0680 - 0.9977i
>> th4=angle(t)*180/pi

th4 =

114.7975
-161.6240

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

th3 =

39.2750
-86.1015
b
c
u
3

u
4

A
B
a
d
u
2

O
2

O
4

15
Inverted Crank Slider linkage
Given: link lengths a, c and d, u
1
, u
2
(the motor
position), and

the angle between the slider and rod
Find: the unknown angles u
3
and u
4
and length b



16
Inverted Crank Slider linkage
Write the vector loop equation

Substitute with complex vectors

Geometry keeps

so


0
1 4 3 2
= R R R R

u u + =
4 3
0
1 4 3 2
=
u u u u i i i i
de ce be ae
( )
0
1 4 4 2
=
+ u u u u i i i i
de ce be ae
17
Inverted Crank Slider
( )
0
1 4 4 2
=
+ u u u u i i i i
de ce be ae
( )
Z de ae ce be
i i i i
= = +
+
1 2 4 4
u u u u
u i i
e t e s = = and
4
) ( c bt s Z cs bst + = = +
|
.
|

\
|
+ = = + c
t
b
s
Z c t b s
1 1
) (
Z Z c
t
t bc b = +
|
.
|

\
|
+ +
2 2
1
Grouping knowns and unknowns

Calling
Gives
Taking the conjugate to get the second equation

Multiplying the two gives



18
Inverted Crank Slider
Z Z c
t
t bc b = +
|
.
|

\
|
+ +
2 2
1
( ) ( )
( )
2
2 2
1 1
4
2
c t t c c ZZ
t t
b
+ +
=
2 2
1
0 b c t b c ZZ
t
| |
= + + +
|
\ .
c bt
Z
s
+
=
The solution is a quadratic
equation in b

Which has a solution of

b=roots([1 c*(t+1/t),c^2-Z*Zc])
Once b is known, s can be found using
19
Crank Slider Mechanism
Given: link lengths a, b and c, u
1
, u
2
(the motor
position)
Find: the unknown angle u
3
and length d


20
4.8 Linkages of More than Four Bars
0
5
4 3 2
=
+
f de
ce be ae
i
i i i
u
u u u
0
1 5 4 3 2
= + R R R R R

Z f de ae ce be
i i i i
= + + =
5 2 4 3
u u u u
Geared fivebar linkage
vector loop equation

Complex vectors

Separate unknowns and knowns (u
5
=u
2
+|)
(same eqn.
as 4bar)



21
Sixbar Linkages
Watts sixbar can be solved as 2 fourbar linkages
R
1
R
2
R
3
R
4
, then R
5
R
6
R
7
R
8
R
4
and R
5
have a constant angle between them
22
Sixbar Linkages
Stephensons sixbar can sometimes be solved as a
fourbar and then a fivebar linkage
R
1
R
2
R
3
R
4
, then R
4
R
5
R
6
R
7
R
8
R
3
and R
5
have a constant angle between them
If motor is at O
6
you have to solve eqns. simultaneously
23
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
R
s
=se
i(u
2
+o
2
)

For point P
R
P
=ae
i u
2

+pe
i (u
3
+o
3
)
For point U
R
U
=d

+ue
i (u
4
+o
4
)

24
Using MATLAB (Spring 2007)
25
Transmission Angle
Extreme value of transmission angle when links 1
and 2 are aligned



( )
(

+
=
bc
a d c b
2
arccos
2
2 2
1

( )
(

+ +
=
bc
a d c b
2
arccos
2
2 2
2
t
Overlapped
Extended
26
Toggle Position
Caused by the colinearity of links 3 and 4.

For a non-Grashof linkage, only one of the values
between the () will be between 1 and 1
t u u s s
|
|
.
|

\
|

+
=

toggle toggle
ad
bc
ad
c b d a
2
2 2 2 2
1
2
0
2
cos
u
2

u
2

2
3
4
4
3
2
Overlapped
Extended