1

2
Figure 4.1 Examples of one-loop mechanisms.
A loop of a mechanism involves traversing along links and through kinematic pairs, to
arrive back at the starting point. Mechanisms may be classified according to the
number of
loops required to cover all links and kinematic pairs.
Figure 4.1 illustrates two mechanisms, each having only one loop. In each case, a
single loop covers all links and kinematic pairs of the mechanism.
4.2 LOOP CLOSURE EQUATION
3
Figure 4.2 Examples of two-loop mechanisms.
Figure 4.2 illustrates two mechanisms where each requires two loops.
4
Figure 4.3 Complex vector representation of a four-bar mechanism: (a) mechanism, (b) vector representation, version 1, (c) vector
representation, version 2.
Vectors in a complex plane may be combined to represent a mechanism loop.
However, no vector representation is unique. Figures 4.3(b) and 4.3(c)
illustrate two different complex vector representations of the mechanism
shown in Figure 4.3(a). The representation shown in Figure 4.3(b) has all
vectors placed head to tail. The corresponding angular displacements of the
vectors are also specified.
The loop closure equation corresponding to the vectors shown:
In Figure 4.3(b) In Figure 4.3(c)
5
There are independent variables and dependent variables that apply to a
mechanism.
Inputs to a mechanism are considered to be independent variables.
Dependent variables are produced as a result of the inputs.
1. The number of independent variables is equal to the mobility of the
mechanism.
2. There are two dependent variables for each mechanism loop.
The dependent variables may be either magnitudes or arguments (i.e.,
angular
displacements) of the vectors.

For the four-bar mechanism shown in Figure 4.3(c),
I. the independent variable is the angle of link 2,
II. then the two dependent variables are u
3
and u
4
.
6
Figure 4.4 (a) Slider crank mechanism. (b) Complex vector representation.
If the independent variable is selected as the angular displacement of
link 2, then the dependent variables are the angular displacement of link
3 and the magnitude of vector R
4
. Vector R
4
is along the line of action of
the slide.

Vector R
1
corresponds to the slider offset, which is fixed, and neither its
length nor angle will change as the mechanism operates.
Therefore, neither the magnitude nor argument of vector R
1
is variable.
consider the complex vector representation of a slider crank mechanism
as shown in Figure 4.4(a). The corresponding complex vector
representation is shown in Figure 4.4(b).
7
COMPLEX VECTOR ANALYSIS OF A PLANAR
ONE LOOP MECHANISM
To perform a complex vector analysis, the following general steps are required:
1. Represent the mechanism links, using complex vectors, to form a polygon.
2. Generate a loop closure equation and identify the two dependent variables.
3. Generate two equations, which are real and imaginary parts of the loop
closure equation.
4. Solve for the two dependent variables using equations from step 3.
5. Determine the values of the time derivatives of the dependent variables,
using one of the following methods:
(i) Method #1: Use the solved expressions for the dependent variables, obtained in
step 4, and differentiate them with respect to time.
(ii) Method #2: Differentiate the real and imaginary components of the loop
closure equation, obtained in step 3, and solve for the time derivative quantities.
8
Figure 4.9 Scotch yoke
mechanism. (b) Complex
vector representation.
4.3.1 Scotch Yoke Mechanism
R
1
R
2
R
3
u
2
A complex vector representation of this
mechanism is given in Figure 4.9(b), and
the corresponding loop closure
equation is,
Using
we obtain
Recognizing that u
1
=0 and u
3
= 90,
Equation (4.3-3) may be simplified to,
(4.3-1)
(4.3-2)
(4.3-3)
(4.3-4)
9
A special case is obtained for Equations(4.3-9) and (4.3-10) if we consider
a constant input rotational speed, by setting
It is possible to compare expressions for calculated quantities obtained
using the graphical and the analytical techniques. For this example
Taking time derivatives of Equations (4.3-5) and (4.3-6), where we recognize
that r
2
, is constant, and therefore ;
2
= 0, gives
Considering the real and imaginary components of Equation (4.3-4), we
obtain,
(4.3-5)
(4.3-6)
(4.3-7)
(4.3-8)
(4.3-9) (4.3-10)
10
4.3.2 Inverted Slider Crank Mechanism
R
1
R
2
u
2
u
4
R
4
Real

I
m
a
g
i
n
a
r
y

A vector representation of this mechanism is given in Figure 4.10(b),
and the corresponding loop closure equation is,
Using Equation(4.3-2),we obtain
(4.3-11)
(4.3-12)
11
Recognizing that 81 = 0, Equation (4.3-12) becomes,
(4.3-13)
The real component of Equation (4.3-13) is
and the imaginary component is
(4.3-14)
(4.3-15)
Rearranging Equations (4.3-14) and (4.3-15) to bring these dependent
variables onto one side.
(4.3-16)
(4.3-17)
Squaring and adding Equations (4.3-16) and (4.3-17), and employing the
identity
we obtain,
(4.3-18)
(4.3-19)
Where, only the positive value of the square root was retained.
12
Dividing Equation (4.3-17) by Equation (4.3-16) gives
An asterisk has been added to the left-hand side of Equation (4.3-21) to
signify that the equation includes an inverse trigonometric function, and
when calculating this expression using a calculator or computer, only the
principal values of angles are supplied.

The ranges of principal values of inverse trigonometric functions are sin
-1
,
(-90 to 90); cos
-1
(0 to 180); tan
-1
(-90 to 90). As a result, the value
obtained using Equation (4.3-21) may not correspond to the actual
angular displacement of the link. Therefore, it becomes necessary to
check the value obtained using Equation (4.3-21) against a known result.
(
(
(
(

|
.
|

\
|

=

2
1
2
2 1 *
3
cos
sin
tan
r
r
u
u
u
(

=
1 2 2
2 2
3
cos
sin
tan
r r
r
u
u
u
(4.3-20)
(4.3-21)
13
The corresponding geometry of the mechanism is
shown in Figure 4.11. In this instance, as isosceles
triangle, we should obtain
For illustration, if we select
Figure 4.11 Special geometry of an
inverted slider crank mechanism.
60
0
60
0
However, from Equation(4.3-21)
Thus, the value of angular displacement obtained by
using Equation (4.3-21) is incorrect, calling for an
essential adjustment. Since
we adjust Equation (4.3-21) to obtain,
(
(
(
(

|
.
|

\
|

+ =

2
1
2
2 1 0
3
cos
sin
tan 180
r
r
u
u
u
which will provide the correct value for the angular displacement.
(4.3-22)
14
We will now determine time derivative quantities of the dependent
variables. We will employ both methods mentioned in COMPLEX VECTOR
ANALYSIS procedures.
Taking the time derivative of Equation (4.3-19) gives
Substituting Equation (4.3-19) and simplifying
Likewise, for the second time derivative, we can show that
( )
2 2
3
2 1
3
sin u u

r
r r
r =
( )
2 2 2
2
2
3
2 1
3
2
3
3
sin cos u u u u

+ + =
r
r r
r
r
r
(4.3-24)
(4.3-25)
METHOD #1
15
Differentiating Equation (4.3-26) with respect to time,
(
(
(
(
(

|
|
.
|

\
|

|
|
.
|

\
|
+
(
(

|
|
.
|

\
|

(
(

|
|
.
|

\
|

|
|
.
|

\
|
+
(
(

|
|
.
|

\
|
|
|
.
|

\
|
=
2
2
1
2
2
1
2
2
1
2
2
2
2
1
2
2
1
2
2
1
2
2
1
2
2 3
cos 2 1
cos 1
cos 2 1
1 sin
u
u
u
u
u
u u
r
r
r
r
r
r
r
r
r
r
r
r
r
r

(4.3-27)
(
(
(
(
(

|
|
.
|

\
|

|
|
.
|

\
|
+
|
|
.
|

\
|

=
2
2
1
2
2
1
2
2
1
2 3
cos 2 1
cos 1
u
u
u u
r
r
r
r
r
r

(4.3-26)
To determine the first time derivative of u
3
, we use Equation (4.3-22) and
employ
After simplification,
A special case of Equations (4.3-25)
and (4.3-27) is obtained if we
consider a constant input rotational
speed,
( )
2
2
2
3
2 1
3
2
3
3
cosu u

r
r r
r
r
r + =

(
(

|
|
.
|

\
|

|
|
.
|

\
|
+
(
(

|
|
.
|

\
|
|
|
.
|

\
|
=
2
2
2
1
2
2
1
2
2
1
2
2
1
2
2 3
cos 2 1
1 sin
u
u
u u
r
r
r
r
r
r
r
r

(4.3-27b)
(4.3-25b)
We return to the real and imaginary components of the loop closure
equation, differentiate with respect to time, and solve for the time
derivatives of the dependent variables.
We take the time derivative of Equations(4.3-16) and (4.3-17):
To solve Equations (4.3-28) and (4.3-29) for , and to eliminate , we
take
3
r

3
u

Equation (4.3-28) x cos u

3
+ Equation (4.3-29) x sin u
3
and obtain

(4.3-28)
(4.3-29)
Employing the identities
(4.3-30)
METHOD #1
For the second time derivative quantities, we differentiate Equations (4.3-
28) and (4.3-29)with respect to time and solve, to obtain
| |
2
3 3 2 3 2 2 3
2
2 2 3
) sin( ) cos( u u u u u u u


r r r + =
| |
3
3 3
2 3 2 2 3
2
2
3
2
3
2
) sin( ) sin(
r
r
r
r u
u u u u u u u

+ =
Equation (4.3-30) becomes
) sin(
2 3 2 2 3
u u u =

r r
) cos(
2 3
3
2 2
3
u u
u
u =
r
r

(4.3-34)
(4.3-32)
(4.3-33)
(4.3-31)
In calculating dependent variables and their time derivatives, the Coriolis
acceleration is not directly obtained. However, the Coriolis acceleration
may be calculated from the dependent variables. Using Equation (2.4-8),
we have,
3 3 3
2 2
2 3 2 3
u u

r r a
B B
C
B B
= =
18
Figure 4.12 Inverted slider crank.
Example 4.1 Analysis of an Inverted Slider Crank Mechanism
For the mechanism shown in Figure 4.12(a),determine for the position shown
(a) the rotational velocity of link 4
(b) the Coriolis acceleration of point B
3
with respect to point B
2
Use a complex number approach.