ME 3507: Theory of Machines

Position Analysis

Dr. Faraz Junejo

Introduction
A principal goal of kinematic analysis is to
determine the accelerations of all the
moving parts in the assembly. Why ?
The design engineer must ensure that the
proposed mechanism or machine will not fail
under its operating conditions. Thus the
stresses in the materials must be kept well
below allowable levels.
From Newton's second law, F = ma,
one typically needs to know the
accelerations (a) in order to compute the
dynamic forces (F) due to the motion of the

Introduction (contd.)

Kinematic Analysis
We determine relative motion
characteristic of a given mechanism.
Can be classified into:
- Position analysis
- Velocity analysis
- Acceleration analysis

For all these three type of problems,

we can use either:
- Graphical Method or
- Analytical Method

Position Analysis
Given

the

kinematic

dimensions and position or

movement

of

the

input

link determine the position or

movement of all other links

Objective
Determine the positions of links
and points on mechanisms.

Graphical Approach
In

the

graphical

method,

the

kinematic diagram of the mechanism

is drawn to a suitable scale, and
The desired unknown quantities are
determined

through

geometrical

constructions

calculations.

suitable
and

Graphical approach

We will have to do an independent

graphical solution for each of the
positions of interest
None of the information obtained
graphically for the first position will
be applicable to the second position.
It is useful for checking the
analytical results.

Analytical approach
Derive

the

general

equations

of

motion
Solve analytical expressions
Once the analytical solution is
derived for a particular mechanism,
it

can be quickly solved (with a

computer) for all positions.

Graphical vs. Analytical approach

Graphical Position Analysis
Is more simple then the algebraic
approach
Graphical Velocity and Acceleration
analysis
Becomes quite complex and difficult then
the algebraic approach
Graphical analysis is a tedious exercise
and was the only practical method available
in the day B.C.(Before Computer) , not so
long ago.

Graphical vs. Analytical approach (contd.)

Coordinate System
Global or Absolute: Master frame
reference fixed in space.
Local: Typically attached to a link at
some point of interest.
- This might be a pin joint, a center of
gravity, or a line of centers of a link.
- These local coordinate system may be
either rotating or non-rotating as we
desire.

Position & Displacement (Point motion)

The position of a point in the plane can

be defined by the use of a position
vector.
Polar coordinate / Cartesian coordinate
A position vector can be expressed
in:
Polar form : a magnitude and angle
of vector

Cartesian form : X
components of the vector

and

Position Vector in Cartesian

and Polar Form

Coordinate Transformation

The systems origins are coincident

and the required transformation is a
rotation.

Coordinate Transformation

Displacement of a point
Is the change in its position and can be
defined as the straight line between the
initial and final position of a point which
has moved in the reference frame.
Note
that
displacement
is
not
necessarily the same as the path length
which the point may have traveled to get
from its initial to final position.

Displacement (contd.)
Figure a shows a point in two positions, A
and B. The curved line depicts the path
along which the point traveled.

The position
vector RBA
defines the
displacement of
the point B with
respect to point A
.

Displacement (contd.)
Figure b defines this situation with
respect to a global reference frame XY.
The vectors RA and
RB define,
respectively, the
absolute positions
of points A and B
with respect to this
global XY reference
frame.

Displacement (contd.)
The vector RBA denotes the difference in
position, or the displacement, between A and
B.
This can be expressed as the position
difference eq:
The position of B with
RB toRA or
respect R
toBA
A=
is equal
the (absolute) position
of B minis the
(absolute) position of A,
where absolute means
with respect to the
origin of
the global reference
frame.

RBA=RBO-RAO

Displacement (contd.)
Case 1
One body in two successive position
position difference
Case 2
Two bodies simultaneous in separate
position
relative or apparent position

Summary
Cartesian (Rx, Ry)
Polar (RA, )
Converting between the two
R A Rx 2 R y 2

arctan R y Rx

Rx R A cos
R y R A sin

Position Difference, Relative position

Difference (one point, two times)Y
relative (two points, same time)

RBA=RB-RA

A
RA

RBA

RB
X

Translation

All points on
the body have
the same
displacement, as

No change in
angular
orientation
Can
be curvilinear or rectilinear translation

Rotation

Different points in the body

undergo different
displacements and thus there
is a displacement difference
between any two points chosen

The link now changes its

angular orientation in the
reference frame

Complex Motion
The sum of the translation and rotation components.

total complex displacement =

translation component + rotation component
The total complex displacement of point B can be defined
as:

Whereas, the
new absolute
position of
point B w.r.t
origin at A is:

Theorems

Eulers theorem
The general displacement of a rigid body
with one point fixed is a rotation about
some axis.
This applies to pure rotation as mentioned earlier.

Chasles theorem describes complex

motion
Any displacement of a rigid body is
equivalent to the sum of a translation of
any one point on that body and a rotation
of the body about an axis through that
point.

Summary: Translation, Rotation,

and Complex motion
Translation: keeps the same angle
Rotation: one point does not move, such as
A in preceding examples
Complex motion: a combination of rotation
and translation

Example: 1
The path of a moving point is defined
by the equation y = 2x2 28. Find
the position difference from point P
tox point Q, when
x

RP 4 and RQ 3

Example: 1 (contd.)
The y-components of two vectors can be
2 as
2
y written
y

RP 2 4 - 28 4

and RQ 2 3 28 10

Therefore,
the
two vectors can
be
written

RP 4i 4j and RQ 3i 10j
as
RQP RQ RP 7 i 14j 15.65243.4

Thus, position difference from point P to Q

As, is(-7) 2 (14) 2 15.65 and
14
tan
63.43 180 243 .4
7
1

Remember:

Angles will
always be
measured ccw
from +ve x-

Example: 2

Where , RP 3 / 2 displacement of link 3 w.r.t link 2

Example: 2 (contd.)
jt

RP re (t 2)e
j

(1 2)e
2

j 1

345

RP (1) 3 cos 45i 3 sin 45 j 2.121i 2.121 j.

3

RP (2) (2 2)e
2

j 2

690

RP (2) 6 cos90i 6 sin 90 j 6 j.

3

RP RP (2) RP (1)
3

RP 2.121i 3.879 j 4.421118 .7 Ans

3

RP

3/ 2

Example: 2 (contd.)
j
2
j0
re (t 2)e 0

RP (t 2)0 (t 2)i2
2

3/ 2

RP (1) (1 2)i2 3i2

2

3/ 2

RP (2) (2 2)i2 6i2

2

3/ 2

RP RP (2) RP (1) 3i2 Ans

3/ 2

3/ 2

3/ 2

Objective of Position
Analysis
The main task in position analysis is the
find the output variables knowing:
The input variable
The length of all the links

Objective of Position Analysis (contd.)

As discussed earlier, there are 2 ways of doing
this:
Graphical method (use drawing tools)
Analytical method (use equations)
Reminder: All angles are measured counter
clockwise from the positive x-axis, as shown below

Graphical Position Analysis

For any one-DOF linkage, such a four-bar,
only one parameter is needed to
completely define the positions of all the
links. The parameter usually chosen is the
angle of the input link; i.e.

Construction of the graphical solution

1. The ground link (1) and the input link (2)

are drawn to a convenient scale such that
they intersect at the origin O2 of the
global XY coordinate system with link 2
placed at the input angle 2.
2. Link 1 is drawn along the X axis for
convenience.

Construction of the graphical solution (contd.)

3. The compass is set to the scaled length of

link 3 (i.e. length b), and an arc of that
radius swung about the end of link 2
(point A) i.e. draw an arc centered at end
of Link 2 (point A)

Construction of the graphical solution (contd.)

4. Set the compass to the scaled

length of link 4 (i.e. length c), and
draw another arc centered at end of
Link 1 (point O4). Label the
intersection of both arcs B and B
Note that intersection of
both arcs B and B define
the two solution to the
position problem for a fourbar linkage which can be
assembled in two
configurations, called
circuits, labeled open and
crossed.

First Config. (Open Config.)

Measure 3 and 4 with protractor

Called Open configuration because
both links adjacent to the shortest link
(Links 1 and 3) do NOT cross each
other

Second Config. (Cross Config.)

Measure 3 and 4 with protractor (CCW

from positive x-axis)
Called Cross configuration because both
links adjacent to the shortest link (Links 1
and 3) cross each other

Summary: Example 1
Given the length of the links (a,b,c,d),
the ground position, and 2. Find 3 and
4
B
A

b
3

a
2
O2

4
O4

Example 1: Graphical Linkage Analysis

Draw an arc of radius

b, centered at A

B1

Draw an arc of radius

c, centered at O4
The intersections are
the two possible
positions for the
O2
linkage, open and
crossed

b
3

a
d

4
O4

B2

Summary: Graphical Position

Analysis

Shaping machine
A photographic view of general configuration of shaping
machine is shown in Figure. The main functions of
shaping machines are to produce flat surfaces.

Example: 2
Model of Slotted quick return mechanism
used in Shaping machines
Tool holder moves in a slot, in the frame of
machine
Block Hinged to the bull
gear, and moves up &
down in the slotted
lever
Link connecting
slotted lever with
tool holder
Cutting tool

Slotted lever
hinged to frame
Bull gear rotated
at constant speed

Example: 2 (contd.)
So, we have a six link mechanism, where
continuous uniform rotation of the bull
gear is converted into to and fro motion
of the cutting tool.
It can be seen that cutting tool is doing
useful work during forward motion/stroke,
so we have to maintain a proper cutting
speed. However, during return stroke it is
not doing any useful work, so we would
like to make return stroke faster, hence it
is referred as quick return mechanism.

Link 2, O2A Bull gear

Link 3, block that is hinged
to bull gear and goes up &
down in the slotted lever,
which is link 4
Link 5 connects slotted
lever with tool holder,
which is represented by

Here, we have got 5

revolute pairs at 02, O4,
A, B and D
respectively.
There are two
prismatic pair, one
between link 1 & 6 in
the horizontal
direction, second one is

Example 2: Statement
Determination of quick return ratio (ratio of

the durations of the forward stroke and the

return stroke) & stroke length of a slotted
lever mechanism used in shapers, with constant
angular speed 2 of input link 2 i.e. bull gear
f
q.r .r
r
where;
f rotation of link2 during forward motion of the cutting tool
r rotation of link2 during return motion of the cutting tool

Example 2: Solution

Example 2: Procedure
1. Note that Point A moves along the circle drawn
whose centre is at O2 with radius O2A. Therefore,
this circle represent path of point A i.e. KA.
2. To determine the extreme positions of the link 4
(i.e. slotted lever), we draw two tangents to the
circle (representing path of point A) from point
O4.
3. Consequently, tangent drawn on right hand side
(R.H.S) represent right most position of slotted
lever (i.e. link 4), indicated by AR, whereas
tangent on L.H.S. represent right most position
of slotted lever (i.e. link 4), indicated by AL.

4. Since the distance O4B does not change, so

we can also locate rightmost position of
revolute pair at B (indicated by BR), by
drawing a circular arc with O4 as centre and
radius O4B. In similar manner, on L.H.S. we
can locate BL.
5. It should be noted that the distance BD does
not changes, as D (i.e. tool holder) moves
horizontally. Hence, BR location can be used
to locate rightmost position of tool holder
(indicated by DR) by drawing a circular arc
with BR as centre and radius BD. In similar
manner, DL i.e. leftmost position of tool
holder can be obtained.

Example 2: Procedure (contd.)

Determination of Q.R.R
It can be seen that input link O2A rotates from
O2AR to O2AL for forward motion (i.e. right to left),
hence the angle between O2AR and O2AL represent
f i.e. rotation of input link (i.e. link 2) during
forward motion.
Similarly, it can be seen that for return motion
(i.e. left to right) input link travels from O2AL to
O2AR now indicating this angle with r i.e. rotation
of input link (i.e. link 2) during return motion.
It can be seen that f is larger then r resulting in
quick return motion of tool holder.

Example 2: Discussion
It should be noted that if stroke length
needs to be decreased, we need to:
decrease the length of input link O2A, because as a result, tangent
from O4 to circle KA i.e. AR and AL points representing rightmost and
leftmost position of slotted lever will move up, resulting inf r .
(i.e. f approaches r) implying a decrease in quick return ratio.

It can be concluded, that this mechanism is OK

for producing quick return effect so long the

stroke length is sufficiently large, and quick return
effect decreases as stroke length decreases.

Slotting machine
Slotting machines can simply be considered as vertical
shaping machine where the tool reciprocates vertically.
Unlike shaping machines, slotting machines are generally
used to machine internal surfaces, implying smaller stroke
length.

Example: 3
Determination of quick return ratio of
Whitworth quick return mechanism
used in slotting machines.
Here,

the

quick

return

ratio

independent of the stroke-length.

is

 Model of Whitworth quick return mechanism

used in Slotting machines

Cutting tool

Kinematic diagram

It is a 6 link mechanism, with five revolute pairs at O2,

O4, A, C and D, and two prismatic pairs between link 3 &
4, and link 6 & 1 respectively.

Kinematic diagram description

Link 2 (O2A) is input link that rotates at
constant angular speed, and is hinged to
fixed link at O2.
Link 3 is the block that moves along link 4
via a prismatic pair.
Link 4 is hinged to fixed link at O4.
Link 4 & Link 5 are connected by a revolute
pair at point C.
Link 5 & Link 6 are connected by a revolute
pair as well.
Link 6 has prismatic pair with fixed link 1 for
horizontal motion.

Example 3: Solution

Example: 4
For a six link mechanism shown below,
determine stroke-length of the output link
i.e. the slider 6. Also determine the quick
return ratio assuming constant angular
speed of link 2.

Example 4: Solution

Exercise: 1

Figure shows a kinematic diagram of a mechanism that is

driven by moving link 2. Graphically reposition the links of
the
mechanism
as
link
2
is
displaced
30
counterclockwise. Determine the resulting angular
displacement of link 4 and the linear displacement of point
E . Use suitable scale.

= 26o,
CCW
R E = 0.95

Exercise: 1 (sol)

Link
2
is
graphically
rotated
30
counterclockwise, locating the position of
point B.
Being rigid, the shape of link 3 cannot change,
and the distance between points B and C
remains constant. Because point B has been
moved to B, an arc can be drawn of length rBC
, centered at B. This arc represents the
feasible path of point C. The intersection of
this arc with the constrained path of C
(obtained by Drawing an arc of radius 3.3 in,
centered at D) yields the position of C.

 This same logic can be used to locate the position of

point E. The shape of link 5 cannot change, and the
distance between points C and E i.e. rCE remains
constant.
Because point C has been moved to C, an arc can be
drawn of length rCE, centered at C. This arc represents
the feasible path of point E. The intersection of this arc
with the constrained path of E yields the position of E.
Finally, with the position of C and E determined, links
3 through 6 can be drawn. The displacement of link
4 is the angular distance between the new (CD) and
original position (CD), approx.: 26 Degrees
counterclockwise
The displacement of point E is the linear distance
between the new (E) and original position (E)of point .
approx.: 0.95 in

Exercise: 2
A point Q moves from A to B along
link 3while link 2 rotates
30 to from
120
2

'
2

. Find the absolute

displacement of Q.