ME 352 - Machine Design I Name of Student:__________________________

Fall Semester 2012 Lab Section Number:_______________________

Homework No. 3 (30 points). Due at the beginning of lecture on Wednesday, September 12th.

Consider the variation of the Scotch-yoke mechanism shown in Problem 3.26 on pages 161

and 162. For the given position of the input angle, that is, θ2 = 45o , perform a position analysis

of the mechanism using trigonometry (that is, the law of sines and the law of cosines).
If the input link 2 of the mechanism is rotating clockwise with a constant angular velocity of
36 rad/s, that is, ω2 = − 36 k rad/s then for the given position of the mechanism, perform a

m
velocity analysis using:

er as
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(i) The method of kinematic coefficients.

eH w
o.
(ii) The method of instantaneous centers of velocity. Draw the Kennedy circle and list the
rs e
primary instant centers and the secondary instant centers. Clearly write the scale that you used
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for your scaled drawing of the mechanism.
o

Compare the answers that you obtained from Part (i) with the answers that you obtained from
aC s

Part (ii).
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 Solution to Homework 3 (30 Points).
Position analysis of the mechanism.
The vectors for the variation of the Scotch-yoke mechanism are as shown in Figure 1. Note
that R 4 is the vector from the ground pivot O2 to point B, fixed in link 4, that is, the time rate

of change of this vector is the velocity of link 4. Also, note that R 34 is the vector from point B

(fixed in link 4) to point A (which is fixed in link 3). The time rate of change of this vector, that

is, R 34 , is the relative velocity between these two points (which are fixed on different links).

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Figure 1. The vectors for a kinematic analysis of the mechanism.

The known constants are: R 2 = 250 mm, θ4 = 0o , and θ34 = 105o. For the given input
o

position θ2 = 45o , the unknown position variables R 4 and R 34 can be obtained from
aC s
vi y re

trigonometry.
For example, using the law of sines gives
R2 R 34 R4
= = (1)
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sin ∠ABO 2 sin ∠AO2 B sin ∠O 2 AB

ar stu

Therefore, the distance between point B and point A can be written as

R2 250
R 34 = sin ∠AO 2 B = sin 45° (2a)
sh is

sin ∠ABO 2 sin 75°

Th

Therefore, the distance between point B (fixed in link 4) and point A (fixed in link 3) is

R 34 = 183.01 mm (2b)

Similarly, the distance between the ground pivot O 2 and point B can be written as

R2 250
R4 = sin ∠O 2 AB = sin 60° (3a)
sin ∠ABO 2 sin 75°

Therefore, the distance between the ground pivot O 2 and point B is

R 4 = 224.14 mm (3b)

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 Velocity analysis of the mechanism.
(i) The method of kinematic coefficients. From Figure 1, the vector loop equation (VLE) is

√I ?√ ?√
R 2 − R 34 − R 4 = 0 (4)

The physical significance of the vectors R 34 and R 4 was explained on the previous page. Note
that a vector for the ground link, that is R1, does not appear in Equation (4) and is not required
for a kinematic analysis of this mechanism. The X and Y components of Equation (4) are

R2 cos θ 2 − R34 cos θ 34 − R4 cos θ 4 = 0 (5a)

and
R2 sin θ 2 − R34 sin θ 34 − R4 sin θ 4 = 0 (5b)

Differentiating Equations (5a) and (5b) with respect to the input position θ2 gives

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er as
′ cos θ 34 − R4′ cos θ 4 = 0
− R2 sin θ 2 − R34 (6a)

co
and

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′ sin θ 34 − R4′ sin θ 4 = 0
R2 cos θ 2 − R34 (6b)

o.
rs e
Then writing Equations (6) in matrix form gives
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⎡ − cosθ 34 − cos θ 4 ⎤ ⎡ R34
′ ⎤ ⎡ R2 sin θ 2 ⎤
⎢ − sin θ = (7)
⎣ 34
⎥
− sin θ 4 ⎦ ⎣ R4′ ⎥⎦ ⎢⎣ − R2 cos θ 2 ⎥⎦
⎢
o
aC s

The determinant of the coefficient matrix in Equation (7) can be written as

vi y re

− cos θ34 − cos θ 4

DET = = sin (θ 4 − θ34 ) (8a)
− sin θ34 − sin θ 4
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Substituting the known angles θ 4 = 0° and θ34 = 105° into Equation (8a), the determinant is
ar stu

DET = sin ( 0° − 105° ) = − 0.9659 rad (8b)

sh is

Note that the sign is negative and the units are radians. Using Cramer’s rule, the first-order
kinematic coefficient for links 3 and 4 can be written as
Th

R2 sin θ 2 − cos θ 4
− R2 cos θ 2 − sin θ 4 − R2 cos (θ 2 − θ 4 ) − 250 cos (45° − 0°)
′ =
R34 = = (9a)
DET sin (θ 4 − θ34 ) sin (0° − 105°)

that is
′ = + 183.01 mm
R34 (9b)

Note that the sign of this kinematic coefficient is positive and the units are length. The positive
sign indicates that the length of the vector R 34 is decreasing (i.e., negative) for a negative
′ = R34 .
change in the position of the input link 2 (i.e., a clockwise rotation). Also, note that R34

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 Recall that the first-order kinematic coefficient is defined as
d R34 −
′ =
R34 = =+ (9c)
dθ 2 −

Also, the first-order kinematic coefficient of link 4 can be written as

− cos θ34 R2 sin θ 2

− sin θ34 − R2 cos θ 2 R2 cos (θ 2 − θ34 ) 250 cos (45° − 105°)
R4′ = = = (10a)
DET sin (θ 4 − θ34 ) sin (0° − 105°)

that is
R4′ = − 129.4 mm (10b)

Note that the sign is negative and the units are length. The negative sign indicates that the length

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of the vector R4 is increasing (i.e., positive) with a negative change in the position of the input

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link 2 (i.e., a clockwise rotation). This agrees with the definition of this first-order kinematic

co
coefficient, namely

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d R4 +

o.
R4′ = = =− (11)
rs e dθ 2 −
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The velocity of point A, fixed in link 3, relative to the velocity of point B, fixed in link 4, can
be written as
o

VAB = R34 = R34

′ ω2 (12)
aC s
vi y re

Substituting the given angular velocity of the input link 2, that is, ω2 = − 36 rad / sec, and
Equation (10b) into Equation (12), the velocity of point A, fixed in link 3, relative to the velocity
of point B, fixed in link 4, is
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VAB = (+ 183 mm) × (− 36 rad/s) (13a)

ar stu

that is
VAB = − 6,588 mm/sec = − 6.59 m/sec (13b)
sh is

The negative sign indicates that point A, which is fixed in link 3, is moving downwards point B,
which is fixed in link 4. This agrees with the explanation of the first-order kinematic coefficient
Th

in Equation (9c).
The absolute velocity of link 4 can be written as

V4 = R 4 = R4′ ω2 = (− 129.4 mm) × (− 36 rad/s) (14a)

that is
V4 = R 4 = + 4, 658.7 mm/sec = + 4.66 m/sec (14b)

The positive sign indicates that point B, fixed in link 4, is moving to the right; i.e., the direction
of the velocity vector V4 is in the positive X-direction. In other words, the velocity of link 4 is

V4 = 4.66 i m/sec (15)

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 (ii) The method of instantaneous centers of velocity. A scaled drawing of the mechanism is
shown in Figure 2. The scale that is used here is 1 inch represents 200 mm.

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Figure 2. A scaled drawing of the mechanism. Scale: 1 inch represents 200 mm.
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The number of links is four, therefore, the number of instant centers is

n ( n − 1) 4 x 3
N= = =6 (16)
sh is

2 2
Th

The primary instant centers (i.e., the instant centers given on the figure of the mechanism) are
I12, I23, I34 and I41
The secondary instant centers are
I13 and I24.
With some insight you can claim that the instant center I13 is given and is, therefore, a primary
instant center. The insight is that link 3 can not rotate; i.e., ω3 = 0 (the motion of link 3 is
referred to as curvilinear translation). Therefore, the instant center I13 (marked on the Kennedy
circle, see Figure 3a, as a dashed line) must be at infinity along the line containing the instant
centers I12 and I23. Figure 3b shows the location of the six instant centers on a scaled drawing of
the mechanism.
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 Figure 3a. The Kennedy Circle.

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Figure 3b. The Scotch-yoke mechanism. (Scale: 1 inch represents 200 mm).
sh is

(i) The velocity of point A, fixed in link 3, relative to the velocity of point B, fixed in link 4, see
Th

Equation (11a), can be written as

VAB = VA /B = R34 = R34

′ ω2 (17a)
3 4

Rearranging this equation, the first-order kinematic coefficient for links 3 and 4 can be written as
VA /B
′ =
R34 3 4 (17b)
ω2

Note that the relative velocity between point A, fixed in link 3, and point B, fixed in link 4, must
be along the slot in link 4; i.e., perpendicular to the line connecting the instant centers I 23 and

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 ′
I 24 . Also, it may be more helpful to realize that the first-order kinematic coefficient R34
indictes the relative velocity between point A fixed in link 3 and point A fixed in link 4; i.e.,
VA /A
′ =
R34 3 4 (18a)
ω2

Since point A is also a point on link 2 then Equation (18a) can be written as
VA /A
′ = 2 4
R34 (18b)
ω2

Therefore, the first-order kinematic coefficient for links 3 and 4 can be written as
ω24 ( I 23 I 24 ) ω − ω4
′ =
R34 =( 2 ) I 23 I 24 (19a)

m
ω2 ω2

er as
which can be written as

co
′ = (1 − θ′4 ) I 23 I 24
R34 (19b)

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o.
Note that link 4 is in pure translation, that is, the first-order kinematic coefficient θ 4′ = 0 rad/rad.
rs e
Therefore, the first-order kinematic coefficient for links 3 and 4 can be written from Equation
ou urc
(19b) as
′ = I 23 I 24
R34 (19c)
o

From the scaled drawing, see Figure 3b, the distance from the instant center I 23 to the instant
aC s

center I 24 is measured as
vi y re

I 23 I 24 = 183 mm (20a)

Check: It can be shown from trigonometry that I 23 I 24 = R34 . Therefore, from Equation (2b) we
ed d

have
ar stu

I 23 I 24 = 183.01 mm (20b)

Substituting Equation (20a) into Equation (19c), the first-order kinematic coefficient for links 3
sh is

and 4 is
′ = + 183 mm
R34 (21)
Th

Sign: Note that the correct sign for the first-order kinematic coefficient for links 3 and 4 (in this
position) is positive because the length of the vector R 34 is increasing (i.e., positive) with a
positive change in the position of the input link 2 (i.e., a counterclockwise rotation) then
d R34 +
′ =
R34 = =+ (22a)
dθ 2 +

Check: The length of the vector R 34 is decreasing (i.e., negative) with a negative change in the
position of the input link 2 (i.e., a clockwise rotation), that is

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 d R34 −
′ =
R34 = =+ (22b)
dθ 2 −

Note that the answer for the first-order kinematic coefficient for links 3 and 4 given by Equation
(21) is in good agreement with the answer from Equation (9b).
Alternative derivation. The velocity of point A, fixed in link 3, relative to the velocity of point
B, fixed in link 4, see Equation (11), can be written as

VA /B = VA − VB = VA − VB (23a)
3 4 3 4 2 4

Equating the i components of this vector equation gives

′ ω2 ) cos75o = [(I12 I 23 ) ω2 ] cos45o + R4′ ω2

(R34 (23b)

and canceling the input angular velocity gives

m
er as
′ cos75o = (I12 I 23 ) cos45o + R4′
R34 (23c)

co
eH w
Then substituting I12 I 23 = R 2 = 250 mm and Equation (10b) into Equation (23c) gives

o.
rs e ′ = 250 mm x 0.7071 − 129.4 mm = 47.375 mm
0.2588 R34 (24a)
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Rearranging this equation, the first-order kinematic coefficient for links 3 and 4 can be written as
o

′ = + 183.06 mm
R34 (24b)
aC s
vi y re

which is in good agreement with the answer given by Equation (21).

Point C, see Figure 3b, denotes the instant center of links 2 and 4. Therefore, the velocity of
point C fixed in link 4 is the same as the velocity of point C fixed in link 2; i.e.,
ed d

VC 4 = VC 2 (25a)
ar stu

or
V4 = VC 4 = ( I12 I 24 ) ω2 (25b)

The first-order kinematic coefficient for link 4 can be written as

sh is
Th

V4
R4′ = ± = ± I12 I 24 = ± 129.41 mm (26)
ω2

Note that the correct sign is negative because the relative instant center I 24 lies between the two
absolute instant centers I12 and I14 .
Comparing Equation (9b) with Equation (15b) and Equation (10b) with Equation (26) shows
that the answers for the first-order kinematic coefficients, obtained from the two methods, are in
good agreement.
The velocity of link 3 relative to the velocity of link 4, see Equation (14a), can be written as

VAB = VA /B = R34 = R34

′ ω2 (27a)
3 4

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 or as
VAB = (+ 183 mm)(− 36 rad/ sec) = − 6,588 mm/ sec (27b)

The absolute velocity of link 4 can be written as

V4 = R4 = R4′ ω2 (28a)

or as
V4 = (− 129.4 mm)(− 36 rad/ sec) = + 4,658.4 mm/ sec (28b)

Comparing Equation (11) with Equation (21b) and Equation (12) with Equation (22b) shows that
the answers for the velocities, obtained from the two methods (analytical and graphical), are in
good agreement.

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