MECH3030 Mechanisms of Machinery

Chapter 3 Introduction to Mechanism Synthesis

Mechanism synthesis
Qualitative synthesis: to create the potential solutions
Some linkage design in the absence of a well-defined
algorithm that predicts the solution
Iteration between analysis and synthesis:
With the help of CAD such as Working Model or
popular programs
Nortons Chap 3 & Chap 5
2

Mechanism synthesis classification

Function generation:

correlation of I/P motion with O/P motion in an

mechanism (black box: mechanical analog computer, artillery rangefinder,

shipboard gun aiming system); Linkage performs a mathematical function w/ input
the independent variable and output the dependent variable

- rocker output
Path generation:

control of a Point in the plane such that it follows some

prescribed path; The linkage guides some pt. (coupler pt.) along a desired path

Motion generation: control of a Line in the plane such that it follows some
prescribed set of sequential positions: bucket control on a bulldozer (rigid body
guidance); The linkage guides a body through a specified path with specified
orientation

- simple case: coupler output

Mechanism Categories
Function Generation Mechanisms

A function generator is a linkage in which the relative motion between links connected
to the ground is of interest.

- Correlation of an input motion with an output motion in a mechanism

4

- Typically, correlation of 2 grounded links

Mechanism Categories
Function Generation Mechanisms
A function generator is a linkage in which the relative motion
between links connected to the ground is of interest.

A four-bar hand actuated wheelchair brake mechanism

5

Lockheed PV-1 Vega "Ventura" Anti-submarine Patrol Bomber

1942: delivered
Fuel capacity:
6,082 Liters
British
Commonwealth
got 675 PV-1 in
WW II

http://en.wikipedia.org/wiki/Lockheed_Ventura
6

http://www.youtube.com/watch?v=9qTAJCgRK04

Function Generation Mechanism used in Mechanical Analog Computer

Type LC-1: WWII Navy PV-1 "Balance Computer

Librascope Incorporation, Burbank, California

Made for the WW II U.S. Navy Lockheed PV-1
Vega "Ventura" antisubmarine patrol bomber. The
computer has 19 dials to input fuel load and tanks,
bomb load, guns, ammo, torpedos etc. and uses
this information to calculates Total Weight and
Center of Gravity.
http://dcoward.best.vwh.net/analog/libra.htm
7

Mechanism Categories
Function Generation Mechanisms

A four-bar drive linkage for a lawn sprinkler

http://www.youtube.com/watch?v=Gv2SfFFstbw
8

Mechanism Categories
Path Generation Mechanisms
In path generation, we are concerned only with the path of a
tracer point and not with the motion (rotation) of the coupler link.

Example: film advance mechanism, See Animation/WM/Ch3/camera in Nortons CD-Rom

Control of a point so that it follows a prescribed path
Does not specify orientation

Mechanism Categories
Motion Generation Mechanisms
In motion generation, the entire motion of the coupler link is
of interest (rigid body guidance).

- Control of a line in a plane so that it assumes a prescribed set of positions and

orientations
- Hard to do with more than 3 positions if ground pivots specified
10

Mechanism Categories
Motion Generation Mechanisms
In motion generation, the entire motion of the coupler link is
of interest (rigid body guidance).

New Rollerblade brake system

11

Mechanism Categories
Motion Generation Mechanisms

Hood

Four-bar automobile hood linkage design

12

Mechanism Categories
Path Generation Mechanisms
In path generation, we are concerned only with the path of a
tracer point and not with the motion (rotation) of the coupler link.

Crane straight line motion

13

Mechanism synthesis: two approaches

Traditional method

Computer-aided design
synthesis

Design

Specify Function

Iterate
Test

Build

Create Mechanism

Synthesis CAD program: Symech

http://www.symech.com

- Graphical (chap 3)
- Analytical (chap 5)
- Working model (MECH3030 lab)
14

Pro/Engineer
More CAD programs:
http://www.tenlinks.com/CAE/products/kinematics.htm

Two-Position Synthesis
Rocker output:
- Grashof crank-rocker is desired
- a trivial case of function generator
Coupler output (complex motion)
- more general
- simple case of motion generation
- two positions of a line are defined as O/P

15

Two-Position Synthesis
4-bar Grashof crank-rocker synthesis
Design a 4-bar Grashof crank-rocker to give 45 of
rocker rotation with equal time forward and back,
from a constant speed motor input

16

Nortons textbook, Example 3-1, p. 93

See Animation\WM\Ch3\fig3_4\ in Nortons CD-Rom

Two-Position Synthesis
4-bar Grashof crank-rocker synthesis

17

Limiting conditions: Toggle positions

4-bar Grashof crank-rocker synthesis
Step 1: Draw the rocker O4B in both extreme positions, B1and B2 in any convenient
location with angle 4 = 45.

B2

B1
O4

The linkage in its two toggle positions

18

Nortons textbook
Example 3-1, p. 93

4-bar Grashof crank-rocker synthesis

Step 2, 3

select a convenient point O2 on line B1B2 extended.

B2
O2

B1
O4

Arbitrarily select O2 point on Line B1B2: may be good, may

not (require some trial and error)
19

4-bar Grashof crank-rocker synthesis

Step 4a

Bisect line B1B2 , and draw a circle with that radius about O2.

B2
O2

B1
O4

20

4-bar Grashof crank-rocker synthesis

Step 4b

B2
O2

A2

1
O2 A2 (O2 B2 O2 B1 )
2

21

B1
O4

4-bar Grashof crank-rocker synthesis

Step 5

Label the two intersection points of the circle with B1B2 extended: A1 and A2.

Link 2

Link 2
a

a
B2
A1

O2

A2

B1
O4

22

4-bar Grashof crank-rocker synthesis

Step 6

Measure O2A (crank, Link 2) and AB (coupler, Link 3).

Link 3
Link 2

B2
A1

O2

A2

B1
O4

23

4-bar Grashof crank-rocker synthesis

Step 7
Link 3
Link 2

A
A1

O2

B2

B1
Link 1

24

Link 4
O4

4-bar Grashof crank-rocker synthesis

Step 8

Link 3
Link 2

A
A1

O2

B2

B1
Link 1

Find the Grashof condition:

25

Link 4
O4

<
L+S = P+Q
>

If non-Grashof (>), then redo Step 3~8 by moving O2 further from O4

4-bar Grashof crank-rocker synthesis

Step 9

Link 2

Link 3

B2

O2

Link 4
Link 1
O4

- Simulate this mechanism to check its function and

transmission angles (Nortons CD: working model file)
26

4-bar Grashof crank-rocker synthesis

27

4-bar Grashof crank-rocker synthesis

In inch
28

Rocker output- two positions with complex displacement

(motion generation)
Problem: design a 4-bar linkage to move link CD from position C1D1 to C2D2

29

Page 95, Ex 3-3, Nortons textbook

Rocker output- two positions with complex displacement

(motion generation)
Problem: design a 4-bar linkage to move link CD from position C1D1 to C2D2

D1

Step 1
Draw link CD in two
desired positions

Link 4
C1

C2

D2

30

Norton, Ex 3-3

Rocker output- two positions with complex displacement

(motion generation)
Problem: design a 4-bar linkage to move link CD from position C1D1 to C2D2

D1

Step 2
Draw construction line
from C1 to C2 and from
D1 to D2

Link 4
C1

C2

D2

31

Rocker output- two positions with complex displacement

(motion generation)
Problem: design a 4-bar linkage to move link CD from position C1D1 to C2D2

D1

Step 3
Bisect C1C2 and D1D2 and
extend to intersect at O4

Link 4
C2

C1

O4

32

D2

Rocker output- two positions with complex displacement

(motion generation)
Problem: design a 4-bar linkage to move link CD from position C1D1 to C2D2

D1

Step 4:
draw an arc about O4 to
intersect O4C1 and O4C2 at

Link 4
C2

C1

B1 and B2 respectively

B2

B1
O4

O4CiDi = output link, i=1,2

33

D2

Rocker output- two positions with complex displacement

(motion generation)
Problem: design a 4-bar linkage to move link CD from position C1D1 to C2D2

D1

Step 5:
Follow Steps 2~8 of previous
example to complete the
C1
linkage

Link 4
C2
B2

B1
O4

34

D2

Rocker output- two positions with complex displacement

(motion generation)
Problem: design a 4-bar linkage to move link CD from position C1D1 to C2D2

Link 4

C1

D1

C2

a
B2

O2

A2

B1
O4

35

D2

Rocker output- two positions with complex displacement

(motion generation)
Problem: design a 4-bar linkage to move link CD from position C1D1 to C2D2

D1
Link 4

Link 2

C2

C1
Link 3

A1

O2

B1

A2
Link 1

36

B2

O4

D2

Rocker output- two positions with complex displacement

(motion generation)
Problem: design a 4-bar linkage to move link CD from position C1D1 to C2D2

37

Three-position Synthesis with specified Fixed Pivots

38

Three-position Synthesis with specified Fixed Pivots

Problem: design a inverted 4-bar linkage to move link CD from position
C1D1 to C2D2 and then C3D3. Use specified fixed pivots O2 and O4

Step 1
Draw link CD in three
desired positions

Norton, Section 5.8

Synthesis CAD program: Symech
http://www.symech.com
39

Three-position Synthesis with specified Fixed Pivots

Problem: design an inverted 4-bar linkage to move link CD from position
C1D1 to C2D2 and then C3D3. Use specified fixed pivots O2 and O4

Step 2
Draw the ground link O2O4

40

Three-position Synthesis with specified Fixed Pivots

Step 3
Draw the arcs from C2 to O2 and from D2 to O2

(a) Original coupler three-position problem with specified pivots

41

(b) Position of the ground plane relative to the second coupler position
(arbitrary).

Three-position Synthesis with specified Fixed Pivots

Step 4
Draw the arcs from C2 to O4 and from D2 to O4

(a) Original coupler three-position problem with specified pivots

42

(b) Position of the ground plane relative to the second coupler position
(arbitrary).

Three-position Synthesis with specified Fixed Pivots

Step 4
Transferring O2O4 to O2O4

(c) Transferring second ground plane position to reference

location at first position
43

Three-position Synthesis with specified Fixed Pivots

Step 5
Repeat the process for the 3rd coupler position. Transferring O2O4 to O2O4

O2
O4
(d) Position of the ground plane relative to the third coupler
position (e) transfer 3rd ground plane position to ref location
at 1st position
44

Three-position Synthesis with specified Fixed Pivots

O4

O2

O2

O2
G

O4

O4

(f) Check the 3 inverted positions of the ground plane

O2O4 and O2O4

E1F1, E2F2 and E3F3

(g) Find the ground pivot points: G and H

45

O 2O 4

Three-position Synthesis with specified Fixed Pivots

(h) The correct inversion of desired linkage

46

Three-position Synthesis with specified Fixed Pivots

(i) Re-invert to obtain the result (E1F1 pivots)

47

(j) Re-place the Link CD

Quick-return Mechanism
- Used in single point
metal cutting
machine.
- Forward = cutting

48

Analytical Mechanism Synthesis

Two-Position Motion Generation by Analytical Synthesis

P1, P2= 2 precision

points

2, p21 and 2

P1

P2

2
B2

A1

B1

A2

Design a four-bar linkage, which

will move a line on its coupler
link such that a point P on that
line will be first at P1 and later at
P2 and will also rotate the line
through an angle 2 between
those two precision positions.
Find the lengths and angles of
the four links and the coupler
link dimensions A1P1 and B1P1
as shown in Fig 5-1.

o2

49

If Z = 0, no coupler pont P,
simple 4-bar linkage

o4

Fig. 5-1 Nortons textbook

Two-Position Motion Generation by Analytical Synthesis

The problem statement is:

Design a four-bar linkage, which will move a line on its
coupler link such that a point P on that line will be first at P1
and later at P2 and will also rotate the line through an angle
2 between those two precision positions. Find the lengths
and angles of the four links and the coupler link dimensions
A1P1 and B1P1 as shown in Figure 5-1.

50

Two-Position Motion Generation by Analytical Synthesis

The displacement of the output

motion of point P
P21 = R2 R1

(5. 1)
s1

Link 3
V1 = Z1 S1

Z1

(5. 2a)

Ground link 1
G1 = W1 + V1 U1

(5. 2b)

V1
W1

Thus if we can define the two dyads

W1, Z1, and U1, S1, we will have
defined a linkage that meets the
problem specifications.
Dyads = open kinematic chain of 2 binary links and one joint
51

u1

G1

Two-Position Motion Generation by Analytical Synthesis

First solve for the left side of the linkage
(vectors W1 and Z1). A vector loop equation
around the loop which includes both positions
P1 and P2 for the left-side dyad.

W2 + Z2 P21 Z1 W1 = 0

P21
z1

z2

(5.3)

x - component

w cos cos 2 1 w sin sin 2

z cos cos 2 1 z sin sin 2

p21 cos 2

(5.6a)

y - component

w sin cos 2 1 w cos sin 2

z sin cos 2 1 z cos sin 2
52

Textbook, Sec. 5.4 for detail

p 21 sin 2

W1

W2

(5.6b)

Two-Position Motion Generation by Analytical Synthesis

we j ( 2 ) ze j ( 2 ) p 21e j 2 ze j we j 0
j

we e
j

j 2

we (e

ze e

j 2

j 2

p 21e
j

1) ze (e

j 2

j 2

ze j we j 0

1) p 21e

Euler formula

e j cos j sin , j 1

x - component

w cos cos 2 1 w sin sin 2

z cos cos 2 1 z sin sin 2

j 2

p21 cos 2

(5.6a)

y - component

w sin cos 2 1 w cos sin 2

z sin cos 2 1 z cos sin 2
53

p 21 sin 2

Slide 42,

(5.6b)
Textbook p.213

Two-Position Motion Generation by Analytical Synthesis

w cos cos 2 1 w sin sin 2

z cos cos 2 1 z sin sin 2

p21 cos 2

w sin cos 2 1 w cos sin 2

z sin cos 2 1 z cos sin 2

p 21 sin 2

There are eight variables in these two equations: w, , 2, z, , 2,

p21 and 2. Three of the eight are defined in the problem statement,
namely 2, p21 and 2. Of the remaining five w, , 2, z, , we are
forced to choose three as free choices (assumed values) in order
to solve for the other two.
One strategy is to assume :
Values for the three angles, , 2,
54

8-3-3=2 (w,z)

Two-Position Motion Generation by Analytical Synthesis

A cos cos 2 1 sin sin 2

B cos cos 2 1 sin sin 2

(5.7a)

C p 21 cos 2

D sin cos 2 1 cos sin 2

E sin cos 2 1 cos sin 2

F p 21 sin 2

Aw + Bz = C
Dw + Ez = F

(5.7b)

(5.7c)

Solving simultaneously,
w
55

CE BF
;
AE BD

AF CD
AE BD

(5.7d)

Two-Position Motion Generation by Analytical Synthesis

Repeat the process for the righthand dyad, U1S1

U2 + S2 P21 S1 U1 = 0

(5.9a)

S1

The x and y component equations

become:

S2

cos (cos 2 1) sin sin 2

U2

s cos (cos 2 1) s sin sin 2 p 21 cos 2

(5.10a)

sin (cos 2 1) cos sin 2

s sin (cos 2 1) s cos sin 2 p 21 sin 2
2, p21 and 2
56

Right-hand dyad: three angles , 2,

8-3-3=2 (u,s)

(5.10b)

Left-hand dyad: three angles , 2,

8 variables: 2, p21, 2 , , 2, , u, s

U1

Two-Position Motion Generation by Analytical Synthesis

A cos cos 2 1 sin sin 2

B cos cos 2 1 sin sin 2

(5.11a)

C p 21 cos 2

D sin cos 2 1 cos sin 2

E sin cos 2 1 cos sin 2

F p 21 sin 2

Au + Bs = C
Du + Es = F

(5.11b)

(5.11c)

Solving simultaneously,
u
57

CE BF
;
AE BD

AF CD
s
AE BD

(5.11d)

Nortons FOURBAR program for 2 position synthesis

58

Ex: 5-1, p.219

Nortons FOURBAR program for 2 position synthesis

59

Three-Position Motion Generation by Analytical Synthesis (coupler link)

There are 12 variables in these FOUR equations (Eq. 5.22): w, , 2 , 3, z, , 2,
3 , p21 , p31 , 2 and 3. Six of the 12 are defined in the problem statement,
namely 2, 3, p21 , p31 2 and 3. Of the remaining six w, , 2, 3, z, , we are
forced to choose two as free choices (assumed values) in order to solve for
the other FOUR.

left-hand dyad

W2 + Z2 P21 Z1 W1 = 0

(5.19)

W3 + Z3 P31 Z1 W1 = 0

(5.20)

12-6-2=4 (W,Z)=W,,Z,

A2
A3

A1

B2
B3

B1

2 3=free choices

right-hand dyad
U2 + S2 P21 S1 U1 = 0
U3 + S3 P31 S1 U1 = 0
12-6-2=4 (U,S)=U,,S,

(5.28)

2 3=free choices

Sec 5.6, Norton,pp. 223-228

60

Left-hand vector loop equations for Three-Position Synthesis

w cos (cos 2 1) w sin sin 2 z cos (cos 2 1) z sin sin 2 p21 cos 2
w cos (cos 3 1) w sin sin 3 z cos (cos 3 1) z sin sin 3 p21 cos 3
w sin (cos 2 1) w cos sin 2 z sin (cos 2 1) z sin sin 2 p21 sin 2

w sin (cos 3 1) w cos sin 3 z sin (cos 3 1) z sin sin 3 p21 sin 3

There are twelve variables in these four equations: w, , 2, 3, z,

, 2, 3 , p21, p31 and 2, 3 . Six of the eight are defined in the
problem statement, namely 2, 3 , p21, p31, 2 and 3 . Of the
remaining six (w, , 2, 3, z, ), we are forced to choose two as
free choices (assumed values) in order to solve for the other four.
One strategy is to assume :
Values for the two angles (2, 3)
61

12-6-2=4 (w,,z,)

Analytical Solution to Three-Position Motion Synthesis:Lefthand vector loop equations

A B
F G

B A

G F

C
H
D
K

D W1x E
W

K 1y L

C Z 1x M

H Z 1 y N

(5.27)

One strategy is to assume :

Values for the two angles (2, 3)

12-6-2=4 (w,,z,)
or W1x W1y Z1x Z1y

Textbook, Sec. 5.5 for detail

62

Analytical Solution to Three-Position Motion Synthesis:

right-hand vector loop equations

A B
F G

B A

G F

C
H
D
K

D U 1x E
U

K 1y L

C S1x M

H S1 y N

(5.31)

One strategy is to assume :

Values for the two angles (2, 3)

12-6-2=4 (u,,s,)
or U1x,U1y, S1x, S1y

Textbook, Sec. 5.5 for detail

63

Nortons FOURBAR program for 3 position synthesis

Eqn. (5.27)

64

Eqn. (5.31)

Nortons FOURBAR program for 3 position synthesis

65

Nortons FOURBAR program for 3 position synthesis with

fixed pivot points (O2, O4)

66

Nortons FOURBAR program for 3 position synthesis with

fixed pivot points (O2, O4)

67

Backhoe Bucket Mechanism

Backhoe (): an excavator whose shovel bucket is attached to a

hinged boom and is drawn backward to move earth
68

Bulldozer Mechanism

Bulldozer (): a tractor-driven machine usually having a broad blunt horizontal

blade for moving earth (as in road building)

69

http://www.kenkenkikki.jp/special/no02/e_index.htm
http://maeweb.ucsd.edu/~mae3/spring2002/mae3_19/web/load.html

Three-Position Motion Synthesis

Design_of_machinery_CD\Animations\WM\ch3.html
70

Problem 3.54

Two position synthesis

Design a four-bar crank and rocker mechanism to give 45o of rocker
rotation with equal time forward and back, from a constant speed motor
input.
1 Draw the rocker O4B in both extreme
positions, B1and B2 in any convenient
location with angle 4 = 45o.
2 select a convenient point O2 on line
B1B2 extended.
3 Bisect line B1B2 , and draw a circle
with that radius about O2.
4 Label the two intersection points of
the circle with B1B2 extended, A1 and A2.
5 Measure O2A (crank, link2) and AB
(coupler, link3).

71

Two position synthesis

Design a four-bar crank and rocker mechanism to give 45o of rocker
rotation with equal time forward and back, from a constant speed motor
input.

72

Motion Generation Mechanisms: Graphical Solution

Two position synthesis C1D1 and C2D2
1. Draw the link CD in its two desired
positions, C1D1 and C2D2
2. Connect C1 to C2 and D1 to D2.
3. Draw two lines perpendicular to
C1 C2 and D1D2 at the midpoint
(midnormals)
4. Select two fixed pivot points, O2
and O4, anywhere on the two
midnormals.

73

Motion Generation Mechanisms: Graphical Solution

Two position synthesis (coupler output) C1D1 and C2D2

The rigid body to be moved from position 1 to 2 is secured to link 3.

74

Three positions with specified fixed pivot points, coupler as the

output
1.

2.

3.

75

O4

Draw the link CD

in its three
desired positions,
C1D1, C2D2 and
C3D3 and locate
the fixed pivot
points O2 and O4.
Draw an arc from
C1 with radius
O2C2 and another
arc from D1 with
radius O2D2.
Locate the
intersection, O2.
Draw an arc from
C1 with radius
O4C2 and another
arc from D1 with
radius O4D2.
Locate the
intersection, O4.

O2
C2

D2
D1

D3

C1

C3
O2
O2

O4

O4

Three positions with specified fixed pivot points, coupler as the

output

4.

5.

76

Draw an arc from C1

with radius O2C3 and
another arc from D1
with radius O2D3.
Locate the
intersection, O2.
Draw an arc from C1
with radius O4C3 and
another arc from D1
with radius O4D3.
Locate the
intersection, O4.

O4

C2

D2
D1

O2

D3

C1

C3

O2

O2
O4
O2

O4

O4

Three positions with specified fixed pivot points, coupler as the

output
6.

7.

8.
9.

Connect O2 to O2 and O2 to
O2 . Draw two midnormals
and locate the intersection,
G.
Connect O4 to O4 and O4 to
O4 . Draw two midnormals
and locate the intersection,
H.
O2G is link 2 and O4H is link
4.
Construct a link (3)
containing GH and CD.

10. Verify the solution by

constructing the mechanism
in three position

77

O4
O2
O4
C2
D1
O2

C1

D2
H
D3

G
O2

C3
O4

Three positions with specified fixed pivot points, coupler as the

output

78

Two position Motion synthesis

79

Final Solution to Example: Design a four-bar mechanism to give 2 positions

shown in Fig. P3-1 of coupler motion

A1

O4

P21

x
A2

B2

B1

2
A1x=0.0, B1x=1.721, A2x=2.656, B2x=5.065
A1y=0.0, B1y=-1.75, A2y=-0.751, B2y=-0.281
O2
80

Sol to Example: Design a four-bar mechanism to give 2 positions

shown in Fig. P3-1 of coupler motion
B1
A
A1x = 0.0, B1x = 1.721, A2x = 2.656, B2x = 5.065
1
A1y = 0.0, B1y = -1.75, A2y = -0.751, B2y = -0.281 A2
B2
R1 = (A1x, A1y), R2 = (A2x, A2y), P21 = R2 - R1 = (2.656, -0.751), p21 = 2.76
Note: There is no additional coupler point P. The coupler point can be regarded as to
be merged with Point A (Slide 49) R1 = A1, R2 = A2

A B1 y
A B2 y
56.519
tan 1 1 y
2 tan 2 y
A1x B1x
A2 x B2 x
1

P21 y
2 tan
P21x
1

15.789

From graphical method, determine the I/P for Eq. (5.7)

= 94.394, 2 = -40.366, = -45.479
Solve for (w z) dyad using Eq. (5.7)
y ArcTan( y / x), if x 0
tan 1 ( )
x ArcTan( y / x) , otherwise
81

Sol to Example: Design a fourbar mechanism to give 2 positions

shown in Fig. P3-1 of coupler motion
A cos cos 2 1 sin sin 2

(5.7a)

B cos cos 2 1 sin sin 2

C p 21 cos 2

D sin cos 2 1 cos sin 2

(5.7b)

E sin cos 2 1 cos sin 2

F p 21 sin 2

Aw + Bz = C
Dw + Ez = F
w

82

CE BF
4 .000
AE BD

(5.7c)

AF CD
0 .000
AE BD

Final Solution to Example: Design a four-bar mechanism to give 2 positions

shown in Fig. P3-1 of coupler motion
y

O4

A1
P21

x
A2

B2

B1

A1x=0.0, B1x=1.721, A2x=2.656, B2x=5.065

A1y=0.0, B1y=-1.75, A2y=-0.751, B2y=-0.281
O2
83

Sol to Example: Design a fourbar mechanism to give 2 positions

shown in Fig. P3-1 of coupler motion
From graphical method, determine the I/P for Eq. (5.11)
= -93.449, 2 =54.330, = 134.521
A cos cos 2 1 sin sin 2

(5.11a)

B cos cos 2 1 sin sin 2

C p 21 cos 2

D sin cos 2 1 cos sin 2

E sin cos 2 1 cos sin 2

F p 21 sin 2

Au + Bs = C
Du + Es = F

(5.11b)

(5.11c)

Solving simultaneously,
CE BF
u
4 .000
AE BD
84

AF CD
2 .455
AE BD

Sol to Example: Design a four-bar mechanism to give 2 positions

shown in Fig. P3-1 of coupler motion
(5. 2a)
Link 3
V1x z cos s cos 1.721
V =2.455

V1 = Z1 S1

Ground link 1

V1 y z sin s sin 1.750

V1 y
V1x

3 tan 1

45.479

(5. 2b)

G1 = W1 + V1 U1 G1x w cos v cos 3 u cos 1.655

G =6.447
G1 y w sin v sin 3 u sin 6.231

G1 y
75.123
G1x

1 tan 1

Determine the initial & final value of the input crank wrt vector G
2i = - 1=19.271, 2f = 2i + 2 = -21.095
input link W
Determine the coupler point wrt point A and the vector V
rp = z = 0.0, p = - 3 = 0

85

2i
G

Sol to Example: Design a fourbar mechanism to give 2 positions

shown in Fig. P3-1 of coupler motion
Locate the fixed pivots in the global frame using all the vector
definitions
A1 y
90.0
A1x

1 tan 1

R1 = (A1x, A1y)

R1 = 0

O2 x R1 cos 1 z cos w cos 0.306

O2 y R1 sin 1 z sin w sin 3.988

O2

O4 x R1 cos 1 s cos u cos 1.962

O4 y R1 sin 1 s sin u sin 2.243

O4

O4

O4 y O2 y
75.123
O4 x O2 x

O O tan 1
2

86

O2

O2O4

Example: Design a fourbar mechanism to give 2 positions shown

in Fig. P3-1 of coupler motion
Link 1 :

g = 6.447, 1 = 75.123

Link 2 :

w = 4.000, = 94.394

Link 3 :

v = 2.455, 3 = -45.479

Link 4 :

u = 4.000, = -93.449

Coupler :

rp = 0, p = 0

Crank angle: 2i = 19.271

2f = -21.095

87

Final Solution to Example: Design a fourbar mechanism to give 2 positions

shown in Fig. P3-1 of coupler motion
O4

A1
P21
v

x
A2

B2

B1

G1 = W1 + V1 U1
O2
88

Final Solution to Example: Design a fourbar mechanism to give 2 positions

shown in Fig. P3-1 of coupler motion
O4

A1
P21
v

O2
89

B1

x
A2

B2

Final Solution to Example: Design a fourbar mechanism to give 2 positions

shown in Fig. P3-1 of coupler motion
y

O4

u
A1
P21

x
A2
v

B1
w

O2
90

B2

Graphical Synthesis; Quick Return Mechanism

Advance stroke mechanism operates under the load.
Return stroke mechanism operates under no load.
Q = time of advance stroke / time of return stroke
Q>1

quick-return mechanism

http://kmoddl.library.cornell.edu/model_metadata.php?m=681
Whitworth Slider-Crank, Quick-Return Mechanism

Norton: 3.5
91

Used shaper machine tools for cutting metals. Joseph Whitworth was a 19th century
British engineer and inventor.

http://www.youtube.com/watch?v=3dvSOYRz3do

Quick Return Mechanism

Consider the two toggle positions of a
crank-rocker mechanism.

B1

B2
4

3
2

A2

A1

O2

O4

Locate point C to satisfy the following two conditions;

1) C is on extension of line A2B2.
2) O2C = O2B1 = r2 + r3
92

B2C = r2 +r3 - (r3 r2) = 2r2

Quick Return Mechanism

B1

B2

A2

A1

O2 180 , Return stroke

O4

Q = advance / Return = (180 + ) / (180 ), Time Ratio

93

Synthesis of a Quick Return Mechanism

Known or selected;
Rocker angle,
Rocker length, r4
Time ratio,
Q

Determine; r1, r2, r3

Q

1.

Select the location for the fixed

pivot point, O4.

2.

Draw the two toggle positions,

knowing r4 and .
Calculate the angle from known
time ratio Q.

3.
4.

Construct an arbitrary line XX

through point B1.

5.

Construct the line YY through

point B2 making an angle with
XX.
The intersection of XX and YY is
the other fixed pivot, O2

6.
94

180
180

B1
B2

O2
X

O4

Synthesis of a Quick Return Mechanism

7.

Locate point C on YY so O2C = O2 B1.

8.

Measure length B2 C, Link 2 = r2 = (B2 C) /2

9.

Y
2r2

Calculate the length of link 3, AB = r3 = O2 B1 r2

B2

A1

O2
X

O2

A2
O4

r2

10. Verify the motion of the mechanism and check the

minimum transmission angle.
95

B1
X

O4

Three-Position Synthesis with Arbitrary Pivots

Design a
mechanism to
transport the C1
coupler CD
between the
three positions
shown

D2

C2
D1

C3

D3

96

Three-Position Synthesis with Arbitrary Pivots

Draw construction lines
from C1 to C2
to C3 and
1
from D1 to D2 C
to D3
Draw perpindicular
bisector to each
construction line
Ground pivots must lie at
the intersection of the
perpendicular bisectors
97

D2

C2
D1

C3

O4
D3
O2

Three-Position Synthesis with Arbitrary Pivots

Linkage
C2
shown
in the
C1
3 positions
specified
3-positions
is the max number of
positions that can be
specified if location of CD on
coupler is specified
(4 can be specified if
O2
unspecified)
98

D2
D1

C3

O4
D3

Three-Position Synthesis with Specified Fixed Pivots

3 positions of line segment CD on coupler given

Ground pivots O2
and O4 given
D1
Synthesize linkage
D2

C1

D3
C2

O2

O4
C3

99

Three-Position Synthesis with Specified Fixed Pivots

Technique: Use inversion techniqe

Fix coupler in any of its 3 positions
Allow ground
to rotate through
O2
3 positions

D1

C1
O2
O2
100

O4

O4 O4

Three-Position Synthesis with Specified Fixed Pivots

Choose one of the three coupler positions

Mark the ground pivot as O2O4
Map relative position of
ground to coupler in
D1
2 other locations
Use template
C1
on homework

O2
101

O4

Three-Position Synthesis with Specified Fixed Pivots

Consider coupler and ground

to be fixed structure
Rotate structure so that
coupler in position 2
coincides w/ coupler in
position 1
Mark new position of
ground pivots as O2O4

D1
D2
C1

C2
O2

102

D3

O4

Three-Position Synthesis with Specified Fixed Pivots

Choose one of the three coupler positions
Mark the ground pivot as O2O4
Map relative position of
ground to coupler in
2 other locations,
mark as O2O4 ,
D1,2
and O2O4
O2
Use template
on homework
C1,2
O2
O2
103

O4

O4

Three-Position Synthesis with Specified Fixed Pivots

3 positions of line segment CD on coupler given

Ground pivots O2
D1
and O4 given
Synthesize linkage
C1

O2

O4
C3

104

D3

Three-Position Synthesis with Specified Fixed Pivots

Choose one of the three coupler

positions
Mark the ground pivot as O2O4
Map relative position of
D1,3
ground to coupler in
O2
2 other locations,
mark as O2O4 ,
C1,3
and O2O4
Use template
on homework
O2
105

O4 O4

Three-Position Synthesis with Specified Fixed Pivots

Find rotopoles G and H of O2O2O2 and O4O4O4

Rotopoles are pivot
points of coupler
in position drawn
D1
Rotopole H
O2
H
in this case
C1
difficult due to
O2
narrow angles
G
O2
106

O4

O4 O4

Three-Position Synthesis with Specified Fixed Pivots

The mechanism can now be drawn using G and

H as coupler pivots
Be careful with
reinversion!
D1
O2
C1
O2
O2
107

O4

O4 O4

Three-Position Synthesis with Specified Fixed Pivots

The inverted linkage in motion

D1
O2
C1
O2
O2
108

O4

O4 O4

Three-Position Synthesis with Specified Fixed Pivots

The reinverted linkage (normal position) in motion

D1
D2
C1

D3
C2

O2

O4
C3

109

Table I: Number of solutions for Std-Form dyad equation

when as and Positions are given
# of positions # of scalar
(j)
equations

# of Scalar
unknowns

# of Free
Choices

# of
Solutions

Solution
Technique

5 (W,Z, 2)

O(infinity)^3

So Easy!

6 (W,Z, 2, 3)

O(infinity)^2

Straight forward

7 (W,Z, 2, 3)

O(infinity)

Mediumdifficulty

(Linear equations in
general)

(Burmester)

110

8 (W,Z, 2, 3,
4)

Finite

Hard
Analytically (but
not impossible)

General solution process for some typical problems

Table II

111

Path Generation (w/

prescribed input)

Body Guidance

Given:

P1-P3, 2, 3

P1-P3, 2, 3

Free Choices:

2, 3 (for lh dyad)
2, 3 (for rh dyad)

2, 3 (for lh dyad)
2, 3 (for rh dyad)

Solution:

Linear equations,
solve using linear
algebra techniques.

Linear equations

b. Review defects
Primary types of defects:

112

a.

Branch defect

b.

Grashoff defect

c.

Order defect

d.

Branch def.: Angle b/n coupler and output is always < 180
deg. Or > 180 deg.

e.

Grashoff: at least one link can rotate fully (s+l <= p+q)

f.

Order def.: Linkage does not pass through the points in

the correct order

Notes:
1. there are 4 infinities of solutions
corresponding to choosing the circle
points, A & B.
2. Choosing the 3 body positions to
represent the task presents an
iteration
3. Once OA and OB are chosen, check
for defects.
113

Two-Position Synthesis Exercise: Laparoscopy ()

Goal: Have coupler act like rocker without
having ground pivot

Section A-A

at least 45
(up to 75)

displacement
< 1 cm

up to 25 cm

http://www.youtube.com/watch?v=OU1F35b5f3c
114

Two-Position Synthesis Exercise: Laparoscopy ()

Try applying two-position synthesis technique

115

Two-Position Synthesis Exercise: Laparoscopy ()

Four main possibilities:

4

3
5

4
2

3
3

Do any give desired motion?

116

5
5
3

Three-Position Synthesis Problems

117

Three-Position Synthesis Problems

B1
A2
A3

B2

A1

B3

118

Three-Position Synthesis Problems

B1
A2
A3

A1

B2
B3

U3

U2

U1

119

Three-Position Synthesis Problems

A2

A3

120

A1

B1
B2
B3

Three-Position Synthesis Problems

A2
A3

121

A1

B2

B3

B1

Two-position synthesis: Compare Graphical & Analytical Solutions

Graphical
122

Norton 5.5, p.224

Analytical

Crank Shaper (Crank planer,): quick-return slider crank mechanism

Crank Shaper 12, Hendey Machine Co.

123

Crank Shaper (Crank planer,): quick-return slider crank mechanism

124