Computer Simulation and Design of 2D and 3D Mechanisms

SM Situmbeko,
Department of Industrial Design and Technology,
University of Botswana, Gaborone, Botswana
situmbeko@mopipi.ub.bw; ssitumbeko@yahoo.com

Abstract
Spatial mechanisms generate three dimensional (3D) motion. This is in contrast with planar mechanisms
that generate two dimensional (2D) motion. The first section of this paper presents a summary of a
simplistic approach to the application of computer simulation in the design (analysis and synthesis) of
planar 2D mechanisms, and in particular, the slider-crank mechanism. The remainder of the paper looks at
the application of computer simulations in the design of spherical mechanisms. Spherical mechanisms are
the simplest type of spatial mechanisms and generate motion through movement of linkages on concentric
spheres to provide 3D movement. An application of the 3D mechanism is given in a simple example of a
lecture room chair provided with a hinged and folding support for writing. With planar mechanisms a
two-step motion, consisting of two by 2D motions, is required to move the support from the side to the
writing position. However, with the 3D mechanism, this is achieved with just one motion. Animated 3D
models of both the 2D and the 3D designs of the lecture room chair are included and will be displayed
during the paper presentation to give a visual feel of spatial mechanisms.

Keywords
Computer simulation, Planar, Spherical, Animated, Spatial.

1. Introduction

Spherical mechanisms are linkages which generate

motion on concentric spheres and are the simplest
mechanisms which provide spatial movement. In
contrast, planar mechanisms generate two-
dimensional motion [figure 1][2]; for this reason
their design is compatible with using conventional
drafting tools while the synthesis of spherical
mechanisms is three-dimensional and is not well
suited for drafting techniques. Computer graphics
can be an effective tool for providing the 3D
visualization necessary for the design of spatial
mechanisms. Efforts have been made to create
computer graphics based software packages for
spherical four-bar mechanism design.

This paper presents the use of a general puprpose

3D modeling software package in the design of
both 2D and 3D mechanisms.

Figure 1. (a) Planar four-bar mechanism

(b) Spherical four-bar mechanism
2. Computer Simulation and Design of Piston Displacement
Planar 2D Mechanisms: Slider-Crank 4 3 2
y = -5E-05x + 0.0063x - 0.2213x + 0.6272x + 103.65
120
115
A planar slider-crank mechanism modeled with 110

SolidWorks 2005 to demonstrate the animation 105

100

Piston Displacement (mm)

aspect of 3D solid modeling is shown in figure 2. 95
This model uses a rotary motor actuator to impart a 90
85
rotary motion to the crankshaft; the simulation has 80
been recorded and the animated model was 75
70
displayed during the conference presentation. 65
60
55
50
45
40

0
10
20
30
40
50
55
65
75
85
95
105
115
125
135
145
155
165
176
185
Crank Displacement (deg)

Graph 1: Displacement Graph for the Slider-Crank

Mechanism

From the simulated data and assuming constant

angular velocity for the crank, the velocity and
acceleration data has been computed using Excel
spreadsheet and the resulting data is depicted in
graphs 2 and 3 respectively for piston velocity and
acceleration.

Piston Velocity
y = -6E-05x3 + 0.0046x2 - 0.0971x + 0.0908
0.10

0.00
3 18 33 47 57 73 88 102 118 133 148 162 178
Velocity (mm/deg)

-0.10

-0.20

-0.30

-0.40

-0.50

-0.60

Crank disp (deg)

Figure 2. Slider –Crank Mechanism

Graph 2: Velocity Graph for the Slider-Crank
The kinematic analysis of the mechanism has been Mechanism
accomplished through a computer-aided graphical
technique and the generated motion data, showing
piston linear displacement against time (in the case
of constant crank angular velocity, time maybe
represented by crank angular displacement) is
shown in graph 1.

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 Piston Acceleration
y = 2E-10x 4 - 7E-08x 3 + 8E-06x 2 - 0.0001x - 0.012
0.010
Acceleration (mm/deg2)

0.005

0.000
0 15 30 45 60 75 90 105 120 135 150 165 180

-0.005

-0.010

-0.015

Crank Disp (deg)

Graph 3: Acceleration Graph for the Slider-Crank

Mechanism
Figure 3: Spherical Four-Bar Linkage
This procedure was very well appreciated in the
teaching of a course on mechanisms owing to the
reduced effort in offering explanations on the
Spherical mechanisms allow creation of a linkage
motion conversion as well as the relative motions.
whose output is referred to as spatial motion.
Prototypes have been developed to replace coupled
planar linkages in certain applications by allowing
3. Computer Simulation and Design of Spatial
smooth spatial motion with fewer moving parts.
3D Mechanisms: Four Bar Spherical
Spherical mechanisms have been proposed for use
in devices to assist the handicapped, and it is
Most situations in nature, from the gigantic galactic
possible that they could replace robots in
motions of outer space to the minute movement of
performing repetitive tasks such as those required
tiny organisms such as ants and mosquitoes, do not
in manufacturing processes.
usually consist of simple planar motions but
involve motions in a 3D environment and quite
In this section we consider modelling spherical
often include a fourth dimension of time. However,
mechanisms. Spherical mechanisms are linkages
the presentation of 3D motion is even more
which generate motion on concentric spheres and
complex when contrasted with 2D motion.
are the simplest mechanism which provide spatial
Understanding how a general purpose 3D modeler
movement [3]. Whereas it is simple to analyse and
can be employed in the presentation of 3D motion
develop planar motions using conventional drafting
would certainly be advantageous.
and designing software such is not the case with 3D
mechanisms. Figure 4 shows a Design Sphere
A spherical four-bar linkage consists of four links
employed in generating an animated scheme in a
connected by four revolute joints; the revolute joint
3D virtual environment assisted with a variety of
axes of a spherical four-bar converge at a point, and
visual display devices including stereo glasses, a
the output motion traces out a path along the
head-mounted display or a head-coupled display
surface of a sphere.
(BOOM), CrystalEyes, and pinch gloves. [2, 3]

Figure 4. Sphinx Design Sphere

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However, specialised spherical mechanism design
software is not always available to a designer,
particularly not so in developing countries‟ R&D
institutions and universities. The following section
shows the use of a general 3D solid modeller in the
synthesis of a spherical four-bar linkage
mechanism.

3.1 3D Spherical Mechanism Design with

SolidWorks 2005

A simple 3D 4-bar linkage mechanism has been

modelled using SolidWorks 2005; the design is
based on a spherical coordinate system. The first
step involves approximating the initial spatial
location and the desired output motion. This is
followed by selection of an initial design sphere to
fit the datum or frame link (depicted in black in the
figure).
Figure 5. shows a simple 3D 4-bar spatial
mechanism. This would be the equivalent of a 4-bar
oscillatory planar mechanism (double-rocker
mechanism). An animated model was included with
the presentation document for this paper.
Figure 6. spherical joint [4]
The application of 3D mechanisms is still an active
field of interest for researchers.
As a simple example we consider a foldable writing
support on a lecturer room chair. With planar
mechanisms, you would basically need a 2
sequence movement, to open it up from the side
and then to swing it flat in front of you, as shown in
the figure.

Figure 7: 2 Sequence Motion of a Lecture Room

Writing Support with 2D-Planar mechanism
Figure 5. 4 bar spherical mechanism However with a 3D mechanism this can be
achieved with one sequence motion with a 4-link
3.2 Applications mechanism shown in the model in figure 8.
By incorporating spherical joints (figure 6) in a
mechanism, much like in the human body skeletal
design, it is possible to achieve two or more 2D
planar motions with one 3D motion.

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 Position 2

Figure 8: 3D-spherical mechanism application

An animated version of this model was included

with the presentation format for this paper.

Position 3
4. 3D Modeling of a Lecture Room Chair
Writing Support Figure 9 : Conventional lecture room chair
Figure 9 shows the two sequential motions of the
writing support in the conventional lecture room
chair whilst figure 10 shows the same chair
retrofitted with a 3D Spherical mechanism.

The modeling procedure involves fitting an

imaginary design sphere onto the chair positioned
in such a way that the writing support rests onto the
sphere in both the folded and the writing positions.
The task then becomes one of determining the
requisite motion handles that would output the
required 3D rotational motion of the support in the
3D environment. This task is amenable to both
mathematical and graphical modeling. In this case a Figure 10 : Lecture room chair with 3D mechanism
graphical approach has been used mainly for the
obvious benefits of visual verification and ease of
modifications for improved performance. step1 step2

Figure 11 has been included to show the stepwise

animated motion of the 3D spherical chair support.

step3 step4

Position 1

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 data may be obtained in a short time and at
step5 step6 relatively little cost.

The complexity of 3D mechanism could also be

dealt with through the 3D visualization possible
with the modeling software.

However, as helpful as virtual design is, it would be

folly for any designer to think that it may replace
step7 step8 physical design completely. It should be thought of
as playing a pivotal complimentary role; with the
enhanced software and immense computing power
available to the designer today, a virtual design can
be presented to a client with fairly good
approximation to the real world design even in
terms of visualization, feel and function thus giving
tremendous savings in cost and time.

Figure 11: Stepwise representation of the 3D

Animated Motion of the Lecture Room Chair
Support
5. Mechanisms Analysis
Both geometric and collision detection analyses
have been performed on both the 2D and the 3D
models.
The load analysis has not been performed as the
modeling software, SolidWorks2005 with
COSMOSXpress, does not provide for analysis on
assembled models. Later versions of the software
may provide this aspect. It is possible, however, to
perform analyses on single components.
References
[1] Situmbeko, S.M; “Application of Computer
Simulation in Mechanisms Design”, BIE
Conference, Gaborone, Botswana, 2007
[2]http://www.vrac.iastate.edu/~jmvance/SPHERE/
SPHERE.htmA Virtual Reality Environment
for Spherical Mechanism Design
[3] Tse, D.M, Larochelle, P.M; “A New Method Of
Task Specification For Spherical Mechanism
Design”, ASME Design Engineering Technical
Conferences, Atlanta, Georgia, USA, 1998
[4] Steadman Philip and Rooney Joe; “Computer-
Aided Design”, Spoon Press, London, 1987

6. Conclusion

The paper has highlighted the process of 2D and

3D mechanisms design through the use of a general
3D modeling software for modeling, simulation and
analysis.

Two simple examples, the slider-crank for the 2D

mechanism and the 4-link spherical mechanism for
the 3D mechanism have been successfully used to
present the case.

Through the process, it was also possible to

appreciate the benefits of computer simulation
design; one of the main benefits being repeatability
thus allowing numerous iterations (including
various scenarios) and „virtual tests‟ on one
primary design. Another benefit is the ease with
which an abundant quantity of useful verifiable

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