International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 INTERNATIONAL JOURNAL OF MECHANICAL ENGINEERING 6340(Print), ISSN

N 0976 6359(Online) Volume 4, Issue 2, March - April (2013) IAEME AND TECHNOLOGY (IJMET)

ISSN 0976 6340 (Print) ISSN 0976 6359 (Online) Volume 4, Issue 2, March - April (2013), pp. 444-452 IAEME: www.iaeme.com/ijmet.asp Journal Impact Factor (2013): 5.7731 (Calculated by GISI) www.jifactor.com

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MODELING, SIMULATION & DYNAMIC ANALYSIS OF FOUR-BAR PLANAR MECHANISMS USING CATIA V5R21
Chikesh ranjan*; Dr R. P. Sharma ** * Dept. of Mechanical Engineering, RTC Institute of Technology, Anandi, Ormanjhi, Ranchi, 835213, India ** Dept. of Mechanical Engineering, Birla Institute of Technology, Mesra, Ranchi, 835215 India.

ABSTRACT The four-bar linkage is the most basic chain of pin-connected links that allows relative motion between links. Although a simple mechanism, the four-bar linkage Mechanism is very versatile and used in thousands of applications. To study the motion of a four bar mechanism, knowledge of velocity and acceleration analysis is required. The analysis of velocity and acceleration depend upon the graphical as well as analytical methods. The graphical approach is suitable for finding out the velocity and acceleration of the links of a mechanism in one or two positions of the crank. However, if it is required to find these values at various configurations of the mechanism or to find the maximum values of maximum velocity or acceleration, it is not convenient to draw velocity and acceleration diagrams again and again.so that we are approaches to find out velocity and acceleration of four bar mechanism using software. The main themes of this paper are the modelling, computer-aided dynamic force analysis and simulation of four-bar planar mechanisms composed of rigid bodies and massless force and torque producing elements. Modelling of planar four-bar mechanisms will be done by using the CATIAV5R21 software. By this software we can simulate their link at different positions and find the velocity and acceleration graph and compared with analytical equations. Keyword- CATIA, CAD, simulation.

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International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 6340(Print), ISSN 0976 6359(Online) Volume 4, Issue 2, March - April (2013) IAEME

1.0 INTRODUCTION AND LITERATURE SURVEY A mechanical system is made-up of several components, which can be divided into two major groups namely links and joints. The functionality of a joint relies upon the relative motion allowed between the connected components. This implies the existence of a clearance between the mating parts.In the analysis and design of mechanisms, kinematic quantities such as velocities and accelerations are of great engineering importance. Velocities and displacements give an insight into the functional behaviour of the mechanism. The accelerations, on the other hand, are related to forces by Newtons principle which themselves are related to stresses and deformations in the mechanisms components. In the kinematic analysis, the mechanism is assumed to be made up of rigid bodies. Actually the machine member is moving and the applied forces are not always constant for different configurations of the machine, as in case of four bar mechanisms. However, these forces can be considered as constant forces acting on the respective links for a particular configuration. To study motion of a four bar mechanism, knowledge of velocity and acceleration analysis is necessary. For this purpose, graphical approach is generally used. But values of velocity and acceleration changes with respect to time for different positions of the crank.So analytical approach is alternate method and preferable than graphical to save time and cost. For that, a computer program is prepared to solve this problem and to get the values of velocity and analysis at different positions of the crank.Traditionally, the only way to study such motion was to design and manufacture a physical prototype and run it in the lab. In this setting, the displacements, velocities, accelerations and forces had to be measured. This physical simulation is inflexible in terms of mechanisms parameters and more importantly, due to costs and space limitations, the variety of mechanisms available for the study is limited. In addition, the study of mechanisms in a physical lab is usually done in groups, which limits a students personal experience due to time constraints. To overcome this problem it is desired to use the modern available tools and resources. Computer in terms of tool and design software as resources will give a solution to above mentioned problem. During the last quarter century, rigid body dynamics has received considerable attention due to the central role it plays in robot simulation, control, design, and computer animation. A great number and variety of formalisms have been developed for rigid body systems despite the fact that all of them can be derived from a few fundamental principles of mechanics. What is commonly known as the Newton-Euler method includes the constraint forces acting on all bodies of the system, which results in redundant equations with more equations than unknowns. Brian TavisRundgren[1] Optimized Synthesis of Dynamically Based Force Generating Planar Four-bar Mechanism, have advocated a technique for designing planar four-bar linkages by coupling optimization, dynamics and kinematics. MekonnenGebreselassie[2] Computer-Aided Synthesis, Kinematic Analysis and Simulation of Planar Mechanisms have presented the kinematic synthesis and analysis of four, five, and six-bar mechanisms by using the complex number approach.R. Brent Gillespie [3]Kanes Equations for Haptic Display of Multibody Systems have discussedin other formulations, such as Lagranges and Kanes method. The constraint forces are eliminated by using DAlemberts principle. Efficient simulation algorithms were developed based on these formulations for systems with different structures. A. M. Vaidyaand P. M. Padole [4]A Performance Evaluation of Four Bar Mechanism Considering Flexibility of Links and Joints Stiffness has deals with the study of joint clearance on kinematics of mechanism and bearing stiffness along with links flexibility on modal analysis at higher frequency The method of
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International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 6340(Print), ISSN 0976 6359(Online) Volume 4, Issue 2, March - April (2013) IAEME

calculating clearance at joints, checking for orientation of linkages and estimation of exact mechanical error using sensitivity analysis is discussed. Manish Mehtaa and P M George [5]Rigid Dynamics Analysis Of Four Bar Mechanism InAnsys And C++ Programme have discussed a systematic approach is mention for dynamic force analysis of four bar linkage by considering rigid link. Prof. N. G. Alvi, Dr.S.V.Deshmukhet.al.[6] has proposed analytical method using computer programming is useful in determining the values of velocity and acceleration analysis at different positions of the crank. On the basis of result and analysis, it is seen that this present method is very fast and less laborious and very efficient than graphical method. Also errors due to the graphical method are eliminated by this present method which gives better result. From a critical review of the literature on modeling, simulation & dynamic analysisof four-bar planar mechanisms using CATIA.it is apparent that further studies are warranted to provide better understanding and error free result using CATIA software. 2.0MATHEMATICAL MODELING 2.1 Mathematical Modeling The modeling process itself is (or should be) most often an iterative process. The following are the assumptions and restrictions imposed for getting solution. 1. Global deformations are not allowed when a rigid body is exposed to varying force fields. 2. Point contact is assumed to simplify the modeling process. 3. Mass of each body is assumed to be concentrated at its canter of gravity and connection elements like springs, dampers, actuators and joints are assumed to be massless. 4. Impulse is not allowed to formulate system dynamics. 5. All friction effects are neglected in the analysis. To different the values of velocity and acceleration at different positions of a crank, analytical expressions in terms of general parameters are derived.

Figure2.0 -Four bar chain mechanism Let, Link AB a- Crank Link ,BC b Coupler Link, CD c- Rocker Link, AD d- Fixed link Input angle, Output angle

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International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 6340(Print), ISSN 0976 6359(Online) Volume 4, Issue 2, March - April (2013) IAEME

As, O/P angle is a function of I/P angle, we have = (a, b, c, d, ) (1) Thus, if values of a, b, c, d and are known, we can find out relationship between and . To determine the relationship between O/P and I/P links, we will use expressions of displacement, velocity and acceleration. Displacement Analysis: Position of the O/P link given by can be calculated using equation (2) =2tan-1{[-BB2 - 4AC]/2A} (2) Where, A= k-[a* (d-c) *cos ] c*d B = -2*a*c *sin C = K-[a (d+c)cos ] +c*d 2k =a2-b2+c2+d2. A relationship between the coupler link position and I/P link can also be found using eqn (3) C*sin= a sin + b sin (3) Velocity Analysis: Let, a, b, c be the angular velocities of the links AB, BC and CD respectively. Value of a is given, value of b and c can be calculated using eqn (4.1 & 4.2) Wb = -a*Wa*sin ( ) / b* sin (-) (4.1) Wc = a* Wa*sin ( ) / c*sin () (4.2) Acceleration Analysis: Let a , b, c be angular acceleration of links AB, BC, CD respectively. As per data given in the problem, link AB rotates at uniform angular velocities. In this case, acceleration of input linkwillbe zero i.e. there is no need to calculate it. b, c can be calculated using equationsb=[a* a*sin( ) {a*(Wa2)*cos( )}-{b*(Wb2)*cos( )}+ c*Wc2] b *sin( ) b=[a* a*sin( - ) {a*(Wa2)*cos( )}- b*Wb2 + c*(Wc2)cos( )] c*sin( ) 3. MODELING USING CATIA CATIA V5, developed by DassaultSystemes, France, is a completely reengineered, next-generation family of CAD/CAM/CAE software solutions for Product Lifecycle Management. Through its exceptionally easy-to-use state of the art user interface, CATIA V5 delivers innovative technologies for maximum productivity and creativity, from concept to the final product. CATIA V5 reduces the learning curve, as it allows the flexibility of using feature-based and parametric designs.
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International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 6340(Print), ISSN 0976 6359(Online) Volume 4, Issue 2, March - April (2013) IAEME

3.1Modeling of four bar links using CATIA

Figure 3.0- Isometric view of Link 1

Figure 3.1- Isometric view of Link 2

Figure 3.2- Isometric view of Link 3

Figure 3.3- Isometric view of Link 4

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International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 6340(Print), ISSN 0976 6359(Online) Volume 4, Issue 2, March - April (2013) IAEME

3.2 Assembly of four-bar bar mechanism using CATIA

Figure 3.43.4 Assembly of four-bar mechanism A specification of four bar linkage for analysis is as follows: Link No. 1(Ground) 2 3 4 Length(m) 1.241 1.241 1.200 1.200

4. FOLLOWING STEPS USED IN DIGITAL MOCK-UP MOCK KINEMATICS INEMATICS USING SIMULATION TION WITH LAW TO GET THE RESULT 1. Assembly 2. Enter DMU workbench 3. Auto Constraints conversion (n/n to 0/n) 4. Convert joint into Angle driven and Length driven 5. Simulation 6. Simulation with law 7. Formula (x) 8. Speed and acceleration 9. Trace 10. Save all 5. Result and Discussion In this paper four bar mechanisms are modelled, , assembled and simulated to obtain the result at different position of links. During that different nature of graph in CATIA on angle of link, speed of link and angular acceleration verses time in both clock wise and anticlockwise movement of links are studied and following graphs are obtained from software.The The nature of the graph is linear, constant and variables.It provides the critical time and data needed to explore design alternatives and increase product innovation.
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International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 6340(Print), ISSN 0976 6359(Online) Volume 4, Issue 2, March - April (2013) IAEME

Fig5.0-Output plot of angle of link versus time.

Fig5.1-Output plot of angular speed of link versus time (Clock & Anticlockwise link movement)

Fig5.2-Output Output plot of angular acceleration of link versus time (Clock lock &Anticlockwise link movement)
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International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 6340(Print), ISSN 0976 6359(Online) Volume 4, Issue 2, March - April (2013) IAEME

Output plot of angular acceleration of link versus time Fig5.3-Output (Anticlockwise link movement) 6. CONCLUSION In this paper, an attempt has been made to study on four bars mechanism by CATIA softwares. By this software we can simulate their link at different positions and find the velocity and acceleration graph. On the basis of result and analysis, DMU Kinematics Simulator provides users the ability to define a point in a moving part and generate it trace for the mechanisms. During mock-up up design review, users do not only need to view simulated kinematics but also analyse the mechanism's consistency with the functional specifications. DMU Kinematics Simulator performs performs interference and clearance checking as well as computing the minimum distance. A 'stop on collision' option freezes the motion for detailed analysis. The simulating softwares DMU CATIA Kinematics Simulator is very fast and less laborious and very efficient fficient than graphical and analytical methods. Also errors due to the graphical and analytical methods are eliminated by this present method which gives better result. The study reveals following conclusions: For four bar mechanism the coupler point location and output angle is greatly affected by joint clearances and flexibility in linkages. Errors due to the graphical and analytical methods are eliminated by this present method which gives better result. 7. REFERENCES 1. 2. Brian TavisRundgren,( 2001) Optimized timized Synthesis of Dynamically Based Force Generating Planar Four-bar bar Mechanism, Mechanism, thesis on Masters of Science,Virginia Polytechnic Institute and State University, Virginia,. MekonnenG.Selassie, Thesis of Master of Science on(2002) Computer Computer-Aided Synthesis and Analysis of Planar Mechanisms Mechanisms Mechanical Engineering Dept., AAU,.
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3. 4.

5.

6. 7.

R. Brent Gillespie,(2003) Kanes Equations for Haptic Display of Multibody Systems,University of Michigan, Dept. of Mech. Engg, Haptics-e, Vol.3.No.2., http://www.haptics-e.org. A. M. Vaidya and P. M. Padole (2010)A Performance Evaluation of Four Bar Mechanism Considering Flexibility of Links and Joints Stiffness published in aOpen Mechanical Engineering Journal, Manish Mehta And P M George (2012) Rigid Dynamics Analysis Of Four Bar Mechanism In Ansys And C++ Programme published in a journal International Journal of Mechanical and Production Engineering Research and Development (IJMPERD) 2 June. Prof. N. G. Alvi,Dr. S. V. Deshmukh and Ram.R.Wayzode(2012) Computer Aided Analysis of Four bar Chain Mechanism published in a International Journal of Engineering Research and Applications (IJERA).. Bhagyesh Deshmukh and Dr. Sujit Pardeshi, Study of Various Compliant Micromechanism and Introduction of a Compliant Micromotion Replicating Mechanism, International Journal of Mechanical Engineering & Technology (IJMET), Volume 3, Issue 3, 2012, pp. 574 - 582, ISSN Print: 0976 6340, ISSN Online: 0976 6359

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