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Position Analysis
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
Position Analysis
Given
the
kinematic
of
the
input
Objective
Determine the positions of links
and points on mechanisms.
Graphical Approach
In
the
graphical
method,
the
through
geometrical
constructions
calculations.
suitable
and
Graphical approach
Analytical approach
Derive
the
general
equations
of
motion
Solve analytical expressions
Once the analytical solution is
derived for a particular mechanism,
it
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.
Cartesian form : X
components of the vector
and
Coordinate Transformation
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
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
Complex Motion
The sum of the translation and rotation components.
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.
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
Remember:
Angles will
always be
measured ccw
from +ve x-
Example: 2
Example: 2 (contd.)
jt
RP re (t 2)e
j
(1 2)e
2
j 1
345
RP (2) (2 2)e
2
j 2
690
RP RP (2) RP (1)
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
3/ 2
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
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
B1
b
3
a
d
4
O4
B2
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.
Example 2: Statement
Determination of quick return ratio (ratio of
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.
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.
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
is
Cutting tool
Kinematic diagram
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
= 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.
Exercise: 2
A point Q moves from A to B along
link 3while link 2 rotates
30 to from
120
2
'
2
Coordinates of point A
Eq: 1
Coordinates of point B
are found using equations
of circles about A & O4
Eq: 2
Eq: 3
Where,
Solution to Eq:6;
- Imaginary implies links cant connect at given input
angle
- Real both values of By can be substituted into eq:4 to
find their corresponding x component
Eq: 7
An
Vector Loop
Representation of
Linkage
alternate
linkage
approach
position
to
analysis
Note that Except A0B0 , the other three vectors will be a function
of time (since the distances between the two points on the same
link are fixed, the magnitudes will remain constant but the
directions of these vectors will change in time).
Multi-loops Mechanisms
Imaginary
Axis
Point A
jR sin
RA
R cos
Real
Axis
Imaginary
B
RB = j R
A
RA
RC = j2 R = -R
R D = j3 R = - j R
Real
b
3 B R4
c
R2
Alternative notation:
2 d
RAO2 + RBA - RBO4 - RO4O2 O
R1
2
O4
=0
nomenclature - tip then
4. Represent Each Vector using Complex Number
tail
Notation
Real:
a cos 2 + b cos 3 - c cos 4 - d cos 1 = 0
a cos 2 + b cos 3 - c cos 4 - d = 0,
since 1 = 0 cos 1 = 1
Imaginary:
ja sin 2 + jb sin 3 - jc sin 4 - jd sin 1 = 0
a sin 2 + b sin 3 - c sin 4 = 0,
since 1 = 0 sin 1 = 0 and the j divides
out
Example: 1
Calculate the values of 4 when the
input
angle, 2 = 30
Example: 1 (contd.)
Example: 1 (contd.)
Example: 1 (contd.)
Solution for 3
Solution for 3
Example 1:
Analytic Position Analysis
Input position 2 given
Solve for 3 & 4
b=2.14
3 =?
a=1.6
2 =51.3 d=3.5
c=2.06
4 =?
Example 1:
Vector Loop Equation
R2 + R3 - R4 - R1 = 0
aej2 + bej3 - cej4 - dej1 = 0
1.6ej51.3 + 2.14ej3 - 2.06ej4 3.5ej0 = 0
R2
R3
b=2.14
3 =?
R4
c=2.06
a=1.6
2 =51.3 d=3.5
R1
4 =?
Example 1:
Analytic Position Analysis (contd.)
aej2 + bej3 - cej4 - dej1 = 0
a(cos2+jsin2) + b(cos3+jsin3) - c(cos4+jsin4)
- d(cos1+jsin1)=0
Real part:
a cos 2 + b cos 3 - c cos 4 - d = 0
b=2.14
1.6 cos + 2.14 cos 3
- 2.06 cos 4 - 3.5 = 0
3 =?
Imaginary part:
a=1.6
c=2.06
a sin 2 + b sin 3 - c sin 4 = 0
1.6 sin + 2.14 sin 3
2 =51.3 d=3.5
- 2.06 sin 4 = 0
b=2.14
4=104
Recap
In case of a four-bar, the vectors in the
loop
closure
equation
have
fixed
magnitudes.
However, the angular inclinations of the
three vectors representing the moving links
will change. Hence, there are three position
variables (12, 13and 14). Note 11 for fixed
link is 0.
If one of these variables is defined, the
remaining two variables can be solved from
the vector equation; using scalar and
imaginary parts respectively.
Recap (contd.)
If we refer to the definition of the degree-offreedom of a mechanism, the variable that
must be defined is the input variable; and,
for a constrained motion the number of
input variables must be
equal to
the
case
of
connections
a
are
four-bar,
since
revolute
all
joints,
the
the
AoA+AB=AoB
Again there are three variables (12,13and s14)
one of which must be specified as the input. In
this case the vectorsAoAandABhave fixed
magnitudes and varying directions. The
vectorAoBhas a fixed y component (length c)
and a changing x component (s14).
13
where;
a2 , a3 : lengths of link 2 & 3 respectively
Important Note!!
The vectors defined and the variables used in
the loop closure equations are not unique.
For example, for the slider crank mechanism,
rather than disconnecting the revolute joint at
B, one can as well disconnect the revolute joint
at A between links 2 and 3, as shown in
figurebelow.
Important Note!!
(contd.)
a2e
s14 jc a3e
Example: 2
The linkage is driven by moving the sliding
block 2. Write the loop-closure equation.
Solve analytically for the position of sliding
block
i.e.mm
RA,. 15; 45
where
, RAB 4
200
Example: 2 (contd.)
Example: 2 (contd.)
RA e
j / 12
RA e
j .15
RB RAB e
RB RAB e
j ( 45 )
j .135
Real:
a cos 2 - b cos 3 - c cos 4 - d cos 1 = 0
a cos 2 - b cos 3 - c cos 4 - d = 0,
since 1 = 0 cos 1 = 1
Imaginary:
ja sin 2 + jb sin 3 - jc sin 4 - jd sin 1 = 0
a sin 2 - b sin 3 - c sin 4 = 0,
since 1 = 0 sin 1 = 0 and the j divides out
Example: 1
Example: 1 (contd.)
Example: 1 (contd.)
2
This angle
A B C
cos
2AB
A2 B2 C2
arccos
2AB
Transmission Angles
The transmission angle is defined as the
angle between the output link and the
coupler.
For our four bar linkage example, it would be
the difference between 3 and 4 .
It is usually taken as the absolute value of
the acute angle.
Because..
If the measured angle between the coupler and output
link is greater than 90, the transmission angle is
calculated as 180 minus the measured angle.
Thus, the maximum possible, and optimal,
transmission angle is 90.
At this angle, all of the force (generated from the
torque) is transferred to the output link.
As the transmission angle deviates from 90, some
component of the force is not acting on the output
link.
At 45, only about 70% of the force is producing
desirable work. As a rule of thumb, machine designers
try to keep the minimum transmission angle above
~40.
as 1 > 90,
trans1 = 180 - 1
Transmission Angles
Transmission Angles:
Summary
C
B
A
A ground link
B input link
C coupler
D output link
Example
Toggle
angles
are a measure of
when the crank
torque
will
create
a
maximum
Example (contd.)
a. Find 2 (i.e. toggle angles of the crank link) and
4 corresponding to each limit position.
b. What is total rocking angle of link 4?
c. What are the transmission angles at the extremes?
2 29; 4 58; 29
4 136;
'
' 68
Example (contd.)
b. Since two limit positions of a crank-rocker
describe the extreme positions of the
rocker, therefore rocking angle is given
by
4 4 ' 4 136 58 78
Exercise: 1
53.1(overlapped )