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Position Analysis Lecture Note (Theory of Machines)

1) The document presents equations to solve for unknown positions (θ3, θ4, d, b) in fourbar linkages using a vector loop equation approach. 2) Quadratic equations are derived and solved for the unknown positions, yielding two possible assembly positions that correspond to the graphical position analysis. 3) The process is demonstrated for a standard fourbar linkage, fourbar slider-crank linkage, and fourbar inverted slider-crank linkage.

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Ahmed
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© © All Rights Reserved
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143 views

Position Analysis Lecture Note (Theory of Machines)

1) The document presents equations to solve for unknown positions (θ3, θ4, d, b) in fourbar linkages using a vector loop equation approach. 2) Quadratic equations are derived and solved for the unknown positions, yielding two possible assembly positions that correspond to the graphical position analysis. 3) The process is demonstrated for a standard fourbar linkage, fourbar slider-crank linkage, and fourbar inverted slider-crank linkage.

Uploaded by

Ahmed
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 2

Position Analysis Page 1 of 2 Dr.

Keith Hekman

Starting with page 118

The vector loop equation for a fourbar linkage is


ae j 2 + be j 3 ce j 4 de 1 = 0
We are looking for a solution for 3 and 4 in terms of a, b, c, d, 2. Grouping the known
values on one side, and calling
s = e j 3 and t = e j 4
we have
bs ct = de 1 ae j 2 = Z . (1)
Since the conjugate of s is
1 1
s = e j 3 = j =
e 3
s
Then the conjugate of (1) is
b c
=Z . (2)
s t
Moving the c term to the other side in both (1) and (2) we have
bs = Z + ct . (3)
b c
=Z+ . (4)
s t

Multiplying (3) and (4) one gets


c
b 2 = ZZ + Z + Z ct + c 2 . (5)
t
2
Moving the b term to the other side and multiplying by t, one has the quadratic expression
for t of
( )
0 = Z ct + ZZ + c 2 b 2 t + Zc .
2
(6)
Using the quadric formulae, one can solve for t to get

t=
( ) (ZZ + c
ZZ + c 2 b 2 2
b2 )
2
4c 2 Z Z
. (7)
2Z c
The two solutions of t correspond to the two possible assembly positions for the linkage
found in the graphical position analysis. From (3) one can calculate s to be
Z + ct
s= . (8)
b

The vector loop equation for a fourbar slider-crank linkage is


ae j 2 be j 3 ce j 4 de 1 = 0
We are looking for a solution for 3 and d in terms of a, b, c, 2. Grouping the known values
on one side, and calling
s = e j 3
we have
bs + d = ae j 2 cj = Z . (9)
Then the conjugate of (9) is
b
+d =Z . (10)
s
Moving the d to the other side in both (9) and (10) we have
Position Analysis Page 2 of 2 Dr. Keith Hekman

bs = Z d . (11)
b
= Z d . (12)
s

Multiplying (11) and (12) one gets


b 2 = ZZ d ( Z + Z ) + d 2 . (13)
Moving the b2 term to the other, one has the quadratic expression for d of
0 = d 2 (Z + Z )d + ZZ b 2 . (14)
Using the quadric formulae, one can solve for d to get

d=
Z +Z (Z + Z ) 2
(
4 ZZ b 2 ). (15)
2
The two solutions of d correspond to the two possible assembly positions for the linkage
found in the graphical position analysis. From (11) one can calculate s to be
Z d
s= . (16)
b

The vector loop equation for a fourbar inverted slider-crank linkage is


ae j 2 be j 3 ce j 4 de 1 = 0
We are looking for a solution for 4 and b in terms of a, c, d, 2. Noting that geometry keeps
the angle between 3 and 4 fixed at
3 =4 +
we can make this substitution in the equations. Grouping the known values on one side, and
calling
s = e j 4 and t = e j
we have
bst + cs = ae j 2 de j1 = Z = s (bt + c) . (17)
Then the conjugate of (17) is
b
+c
t =Z . (18)
s
Multiplying (17) and (18) one gets
1
b 2 + bc t + + c 2 = ZZ . (19)
t
Moving the ZZ term to the other, one has the quadratic expression for b of
1
0 = b 2 c t + b + c 2 ZZ . (20)
t
Using the quadric formula, one can solve for d to get
(
ct+ 1
t
) (t + 1t ) c 2
2
(
4 c 2 ZZ )
b= . (21)
2
The two solutions of b correspond to the two possible assembly positions for the linkage
found in the graphical position analysis. From (17) one can calculate s to be
Z
s= . (22)
bt + c

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