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http://www.engr.colostate.edu/me/program/courses/ME324/notes/PositionAnalysis.ppt
ME 324
Fall 2000
Position synthesis
Imaginary
Axis
Point A
jR sin
RA
R cos
Real
Axis
Position synthesis
Taking a derivative of
B
a complex number will
RB = j R
result in multiplication
by j
C
A
Each multiplication by
RA
RC = j2 R = -R
Real
j rotates a vector 90
CCW in the complex
plane
D
R = j3 R = - j R
D
Position synthesis
Link 3, length b
Coupler
Link 2,
length a
Link 4,
length c
A
Link 1, length d
Pivot 02
Ground Link
Pivot 04
Position synthesis
3
2
B
4
1 = 0
Position synthesis
de
j
je
d
Position synthesis
R4
4
O4
Position synthesis
Position synthesis
Position synthesis
10
Example:
Analytic Position Analysis
Input position 2 given
Solve for 3 & 4
b=2.14
3 =?
a=1.6
2 =51.3 d=3.5
11
c=2.06
4 =?
Position synthesis
Example:
Vector Loop Equation
R2 + R3 - R4 - R1 = 0
aej2 + bej3 - cej4 - dej1 = 0
1.6ej51.3 + 2.14ej3 - 2.06ej4 - 3.5ej0 = 0
R2
b=2.14
3 =?
R4
c=2.06
a=1.6
2 =51.3 d=3.5
12
R3
R1
4 =?
Position synthesis
Example:
Analytic Position Analysis
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
3 =?
a=1.6
c=2.06
2 =51.3 d=3.5
Position synthesis
b=2.14
Position synthesis
A2 B2 C 2
arccos
2AB
C
15
Position synthesis
Transmission Angles
Transmission angle is the angle
between the output angle and the
coupler
180-
Absolute value of the acute angle
Measure of quality of force
acute
transmission
Position synthesis
2
b
Position synthesis
2
b
1=__________________________
a
1 d
2=__________________________
18
Position synthesis
19
Position synthesis
Position synthesis
2=__________________________
Similar analysis for the other toggle
position
21
c
d
Position synthesis