Synthesis of Planar Mechanisms, Part V: Six Bar-Three Sliders Mechanism

ISSN (ONLINE): 2454-9762
ISSN (PRINT): 2454-9762
Available online at www.ijarmate.com

International Journal of Advanced Research in Management, Architecture, Technology and
Engineering (IJARMATE)
Vol. 1, Issue 3, November 2015
Synthesis of Planar Mechanisms, Part V: Six

Bar-Three Sliders Mechanism
Galal Ali Hassaan
Emeritus Professor, Department of Mechanical design & Production,

Faculty of Engineering, Cairo University, Egypt
galalhassaan@ymail.com
cognates of the 4-bar mechanism the obtained a Watts 6-bar
Abstract This paper investigates the synthesis of 6 bar-3
mechanism generating straight and parallel motion. They used
sliders mechanism for motion generation having maximum time
the genetic algorithm optimization method to find the optimal
ratio and an assigned stroke. The mechanism output is a
lengths of the mechanism [5]. Pennock and Israr (2009)
translation motion. The optimal dimensionless dimensions of the
investigated the kinematics of an adjustable 6-bar linkage.
mechanism links are assigned using MATLAB optimization tool.
They showed how to determine the angle of oscillation of the
The objective function to be maximized is the mechanisms time
output link for a specified position of the fixed pivot and
ratio subjected to four functional constraints controlling the
performance of the mechanism. A desired dimensionless stroke
investigated the extreme positions of the output link
between 3 and 8 is covers. In all the cases, the optimal
corresponding to the extreme positions of point on the coupler
dimensions are assigned and the transmission angel of the
[6].
mechanism is kept between 45 and 135 degrees.
Eleashy, Elgayyar and Shabana (2012) presented a
methodology to convert planar 3DOF open 4-bar chain into
Index Terms 6 bar-3 sliders mechanism, mechanism
planar 1DOF 6-bar linkages. They could produce 7 different
synthesis, optimal mechanism dimensions, motion generation,
maximum time ratio.
forms of 6-bar linkages [7]. Plecnik and McCarthy (2013)
specified five positions of a planar RPR chain and solved the
I. INTRODUCTION
synthesis equations for two RR constraints to obtain a 6-bar
Six bar mechanisms are in use for various applications and linkage. They applied their synthesis procedure to the design
find great attention from researchers regarding their analysis of a linkage that generates a square pattern [8]. Agrawal,
and synthesis. This series of research papers aims at Upadhyay, Sharma and Sehgal (2013) investigated the
synthesizing planar mechanisms for specific requirements kinematic analysis and synthesis of a Stephenson-III 6-bar
linkage. They proposed the mechanism to bea dwell one and a
using optimization tools.
Hongying, Zhixing, Dewei and Junsheng (2003) studied a double reciprocation one. They presented the effect of
numerical comparison method of planar 6-bar dwell changing the dyad links orientation on the kinematic
mechanism synthesis. They illustrated their method by performance of the mechanism [9].
Hassaan (2014) synthesized a 6-bar planar linkage for a
computer simulation on mechanism kinematics [1]. Collard,
single
dwell across 60 degrees of crank rotation. His optimal
Fisette and Duysinx (2005) presented a simple approach to
synthesis
problem incorporated seven parameters to be
optimize the dimensions and positions of 2D mechanisms for
path ot function-generator synthesis. They discussed the optimally evaluated, objective function and three functional
question of finding the global optimum and presented three constrains controlling the performance of the mechanism
applications including the 6-bar steering linkage [2]. Soh, [10]. Agarwal, Badduri and Bandyopadhyay (2015)
Gracia and McCarthy (2006) obtained designs for each of the introduced an approach for the synthesis of planar 6-bar
known Watt and Stephenson 6-bar topologies except Watt II. mechanisms using multi-objective numerical optimization.
They demonistrated the synthesis process with an example They demonstrated the formulation and results in the context
of a Stephenson III mechanism [11].
[3].
Dong and Wang (2007) presented an approach for
II. MECHANISM
optimum synthesis of 6-bar dwell mechanisms. Based on the
adaptive curve fitting approach, a unified mathematical model
The planar 6-bar mechanism under study is shown in Fig.1.
was established for the synthesis of circular arc and straight It is a simplified mechanism of the quick return motion
line dwell mechanisms. They have given examples showing mechanism invented by the Arabic mechanical engineer Ibn
the simplicity, efficiency and accuracy of their technique [4]. Ismail Alzaray in the beginning of the 13th century AC [12].
Mehdigholi and Akbarnejad (2008) considered optimal
A crank 2 rotates fully and joined to a slider 3 with a
synthesis of a special type of 4-bar linkagfes. Using the R-joint. Slider 3 drives an oscillating lever 4. Two other
All Rights Reserved 2015IJARMATE
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ISSN (PRINT): 2454-9762

sliders 5 and 6 are jound with each other through a R-joint.

Slider 5 slider inside or over the oscillating lever, while the
output slider 6 slides over the frame. There are two fixed
R-joints in the mechanism, one at O and the second at Q. The
mechanism has a unit degree of freedom. The vertical
distance between the line of action of the output slider and
joint Q is L. The dimensions of the mechanisms having
constant length are the crank length r2, frame length r1 and
frame dimension L.
Fig.1 The 6-bar 3-sliders planar mechanism.

III. PERFORMANCE PARAMETERS
The performance parameters of the mechanism are:
mechanism stroke, time ration, minimum transmission
angle and maximum transmission angle. To derive those
functional parameters, the mechanism is drawn in its two
limiting positions as shown in Fig.2.
Corresponding to it slider 3 positions A1 and A2

respectively. The mechanism stroke is S (B1B2). The
crank angle corresponding to the return stroke is . The
minimum transmission angle is TAmin at the limiting
position of the oscillating lever. The maximum
transmission angle is TAmax when the oscillating lever is in
the vertical position (making 90 degrees with slider 6
centerline).
The mathematical models of the functional parameters of
the mechanism in Fig.1 are as follows:
- Time ratio, TR:
The time ratio of a mechanism is defined as the ratio
between the time of the forward stroke to the time of the return
stroke. In terms of the crank angle, it is defined for a constant
speed crank by (see Fig.2) :
(1)
TR = (360 ) /
Where:
= 2
(2)
(3)
And = cos-1 (r2/r1)
Using normalized dimensions by referring all the
dimensions to the crank length r2. The normalized length of
the frame, r1n becomes:
(4)
r1n = r1/r2
Combining Eqs.3 and 4 gives the angle as:
(5)
= cos-1 (1/r1n)
- Stroke, S:
The mechanism stroke S using the trigonometric relations
of the triangles in Fig.2 is given by:
S = 2Ltan
(6)
Where:
= 90
(7)
Dividing Eq.6 by r2 provides the normal stroke Sn in terms
of the normalized length Ln (L/r2). That is:
(8)
Sn = 2Lntan
- Minimum and maximum transmission angle, TAmin
and TAmax:
Using the geometry of Fig.2, the minimum transmission
angle is given by:
(9)
TAmin =
And the maximum transmission angle is given by:
(10)
TAmax = 90 degrees
IV. OPTIMAL SYNTHESIS OF THE MECHANISM
Fig.2 Limiting positions of the mechanism.

The limiting positions of the output slider are B1 and B2.
1. Objective function: The mechanism is to be

synthesized for maximum time ratio. That is the
time ratio given by Eq.1 is to be maximized.
2. Functional constraints: Functional constraints are
set in the optimization technique to control the
performance of the mechanism during operation.
Four functional constraints are used:
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ISSN (PRINT): 2454-9762

(i) Normalized stroke constraint:

(11)
Sn
Where:
is a desired value for the normalized stroke.
(ii) Minimum transmission angle constraint:
TAmin 45 degrees
(12)
(iii) Output slider location constraint:
L > r1 + r2
In a normalized form:
(13)
Ln > r1n + 1
(iv) Fixed joints constraint:
r1 > r 2
In a normalized form:
(14)
r1n > 1
3. Synthesis dimensions: The mechanism normalized
dimensions used in the synthesis process are r1n
and Ln.
4. Synthesis dimensions constraints: The constraints
imposed on the synthesis normalized dimensions
are as follows:
1 r1n 10
(15)
For r1n:
2 Ln 50
(16)
For Ln:
5. Optimization procedure: The objective function in
Eq.1 is maximized subjected to the functional
constraints of Eqs.11 through 14 and the
dimensions constraints of Eqs.15 and 16. The
MATLAB toolbox is used for this purpose
through its command fmincon [13].
6. Optimal mechanism synthesis results: The
application of the detailed procedure above
resulted in a very successful design for the 6 bar
3 sliders mechanism. A sample of the results is
given in Table 1 against the desired stroke of the
mechanism.
TABLE I: OPTIMAL MECHANISM DIMENSIONS AND
PERFORMANCE FUNCTIONS
r1n
Ln
TR
Sn
TAmin
(degrees)
2.7621
3.8621
1.6173
3
68.7744
3
2.0682
3.1682
1.9467
3.5
61.0856
3.5
1.7345
2.8346
2.2850
4
54.7940
4
1.5425
2.6425
2.6300
4.5
49.5868
4.5
1.4198
2.5798
2.9799
5
45.2264
5
1.4142
2.7455
3
5.4910
45
5.5
1.4142
2.9942
3
5.9884
45
6
1.4142
3.2500
3
6.5
45
6.5
1.4142
3.5000
3
7
45
7
1.4142
3.7500
3
7.5
45
7.5
1.4142
4.0000
3
8
45
8
The dimensions includes the maximum

normalized length of the oscillating lever (QB1/r2,
Fig.2).
Fig.3. Optimal dimensions of the mechanism against its

desired stroke.
8. The optimal time ratio (objective function) and
normalized stroke (one of the functional
constraints) against the desired normalized stroke
of the mechanism is shown in Fig.4.
Fig.4 Optimal time ratio and normalized stroke of the

mechanism.
9. The optimal minimum and maximum transmission
angles of the mechanism against the desired
normalized stroke are shown in Fig.5. They are
within the recommended range of 45 to 135
degrees [14].
7. The optimal dimensions of the 6 bar 3 sliders

planar mechanism is shown graphically in Fig.3
against its desired normalized stroke from 3 to 8.
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ISSN (PRINT): 2454-9762

through four functional constraints.

- MATLAB optimization toolbox was used to assign
the optimal dimensions of the mechanism.
- Normalized dimensions were used in the mechanism
synthesis.
- Desired normalized stroke between 3 and 8 was
assigned.
- The optimal mechanism dimensions were defined
against the desired normalized stroke.
- The proposed procedure was completely successful,
since the desired stroke was obtained and the
transmission angle of the mechanism was within the
recommended range for successful mechanism
synthesis.
Fig.5 Optimal minimum and maximum transmission angles of
the mechanism.
REFERENCES
[1]
V. OUTPUT MOTION OF THE OPTIMAL MECHANISM

The application of the optimization technique to a 6 bar 3
sliders mechanism has led to an optimal mechanism having a
desired normalized stroke and specific transmission angle
range for a maximum time ratio of the mechanism.
To investigate the normalized output displacement (slider 6
displacement) of the mechanism for one revolution of its
crank, Fig.6 is generated using MATLAB for a desired
normalized stroke of 4 (see Table 1). The maximum time ratio
of the mechanism is 2.285, the normalized stroke is exactly 4
and the minimum transmission angle is 54.79 degrees (> 45
degrees).
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
Fig.6. Normalized displacement of slider 6.

[12]
VI. CONCLUSION
- The synthesis of a 6 bar 3 sliders planar mechanism
was investigated.
- The maximum time ratio of the mechanism was used
as an objective function.
- The performance of the mechanism was controlled
[13]
[14]
H. Hongying, M. Zhixing, T. Dewei and L. Jiansheng, study on

numerical comparison method for planar six-bar dwell mechanism
synthesis, Proceedings of the 11th World Congress on Mechanism
and Machine Science, 5pages, 18-21 August 2003.
J. Collard, P. Fisette and P. Duysinx, Optimal synthesis using time
varying dimensions and natural coordinates, 6th World Congress of
Structural and Multidisciplinary Optimization, Riode Janeiro, Brazil,
10 pages, 30 May 3 June 2005.
G. Soh, A. Gracia and J. McCarthy, The kinematic synthesis of
mechanically constrained planar 3R chains, Proceedings of the 1st
European Conference on Mechanism Science, Obergurgl, Australia,
17 pages, 21-26 February 2006.
H. Dong and D. Wang, New approach for optimum synthesis of
six-bar dwell mechanisms by adaptive curve fitting, Proceedings of
the 12th World Congress on Mechanism and Machine Science.,
Besancon, France, 17-21 June 2007.
H. Mehdigholi and S. Akbarnejad, Optimization of Watts six-bar
linkage to generate straight line and parallel leg motion, Journal of
Humanoids., vol.1, issue 1, pp.11-16, 2008.
G. Pennock and A. Israr, Kinematic analysis and synthesis of an
adjustable six-bar linkage, Mechanism and Machine Theory, vol.44,
pp.306-323, 2009.
H. Eleashy, M. Elgayyar and M. Shabana, Synthesis of one degree of
freedom 6-bar linkage from three degree of freedom open 4-bar chain
using structural code technique, International Journal of
Engineering Research and Applications, vol.2, issue 2, pp.65-69,
2012.
M. Plecnik and J. McCarthy, Dimensional synthesis of six-bar linkage
as a constrained RPR chain, Mechanisms and Machine Science,
vol.7, pp.273-280, 2013.
T. Argawal, K. Upadhyay, N. Sharma and P. Sehgal, Effect of change
of the orientation of dyad links on kinematics of Stephenson-III six-bar
linkage, 1st International Conference on Machines and Mechanisms
Roorkee, India, pp.482-488, 18-20 December 2013.
G. A. Hassaan, Optimal synthesis of a single dwell 6-bar planar
linkage, International Journal of Computational Engineering
Research, vol.4, issue 2, pp.50-56, 2014.
S. Agarwal, J. Badduri and S. Bandyopadhyay, Optimal synthesis of
six-bar function generators, The 14th World Congress, Taipei, Taiwan
10 pages, 25-30 October 2015.
G. A. Hassaan, Innovation of mechanical machinery in medieval
centuries, Part II: Water pumps, clocks and robotics, International
Journal of Engineering Research and Management, vol.1, issue 7,
pp.99-104, 2014.
C. Lopez, MATLAB optimization techniques, Springer, 2014.
C. Wilson, J. Sadler and W. Michels, Kinematic and dynamic analysis
of machinery, Harper & Row Publishers, p.24, 1983.
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ISSN (PRINT): 2454-9762

Member of the Editorial Board of a number of

International Journals including IJARMATE.
Reviewer in some international journals.
Scholars interested in the author's publications can
visit:
http://scholar.cu.edu.eg/galal
BIOGRAPHY
Prof. Galal Ali Hassaan:

Emeritus Professor of System Dynamics and
Automatic Control.
Has got his B.Sc. and M.Sc. from Cairo University in
1970 and 1974.
Has got his Ph.D. in 1979 from Bradford University,
UK under the supervision of Late Prof. John
Parnaby.
Now with the Faculty of Engineering, Cairo
University, EGYPT.
Research on Automatic Control, Mechanical
Vibrations , Mechanism Synthesis and History of
Mechanical Engineering.
Published more than 100 research papers in
international journals and conferences.
Author of books on Experimental Systems Control,
Experimental Vibrations and Evolution of
Mechanical Engineering.
Chief Justice of International Journal of Computer
Techniques.
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ISSN (ONLINE): 2454-9762

ISSN (PRINT): 2454-9762

Available online at www.ijarmate.com