Synthesis of four bar mechanism using three precision points

Prof. Prashim kamble1 Mechanical Engg deptt DMIETR ardha! India Prashim.friend"gmail.com Prof. Dinesh # Shinde$ Mechanocal Engg Deptt DMIETR ardha! India Prof. %r&ind T adghure' Mechanocal Engg Deptt DMIETR ardha! India Abstract: The concept of function! motion and path generation mechanisms is introduced here. The four(bar! one(D)* planar mechanism! +hich constitutes a base for synthesi,ing the simplest programmable function generator mechanisms! is studied here. -sing this method! se&eral satisfactory four(bar linkages can be obtained for the three precision points. 1. INTRODUCTION The research on synthesis theories and methods of .(bar linkages has been carrying on for many years. It is kno+n that the researching +ork includes mainly contents co&ered three fields/ those are path generation! function generation and motion generation. This has been +idely concerned by researchers. There are many papers constantly published. 0enerally speaking! theories in this field become more perfect! and methods become di&ersiform. 1o+e&er! +ith the de&elopment and application of the computer! designers are not content +ith only a fe+ synthesis mechanims obtained! but al+ays +ant to kno+ all mechanisms +hich meet the design conditions! and +hich one is the best. Therefore! for different types of synthesis firstly! and secondly from +hich the best one is selected through analysis. This paper gi&es a no&el method to synthesi,e a .(bar mechanism to generate coupler cur&e +ith three precision points. the classical geometry theory to gi&e a geometric synthesis method. 1o+e&er! the sol&ing process is &ery complicated and much kno+ledge on the kinematical geometry theory is needed. In addition! the coupler cur&e produced by this kind of linkages may be asymmetrical or symmetrical. 2. SYNTHESIS OF MECHANISM The three position motion synthesis problem is considered. *ig sho+s a four bar linkage in one general position +ith coupler point located at its first precision point P1. Second and third precision position 2point P$ and P'3 are also sho+n. These are to be achie&ed by the rotation of the input rocker! link $! through as yet unspecified angles 4$ and 4'. %lso the %ngle of coupler link ' at each of precision positions are defined by the angles of precision &ectors 51! 5$ and 5'. The linkage sho+n in figure

is schematic. Its dimensions are kno+n at the outset and are to be found by this synthesis techni6ue. Thus for e7ample the length of position &ector 51 as sho+n is not indicati&e of the final length of that edge of link ' nor the lengths or angles of any of the links sho+n predicti&e of the final result. e +ill take place global coordinate system 89 at the first precision position P1. e +ill define the other t+o desired precision position in the plane +ith respect to this global system as sho+n in figure. The position difference &ectors P$1! dra+n from P1 to P$! and P'1! dra+n from P1 to P' ha&e angles :$ and :' respecti&ely. The position difference &ectors P$1 and P'1 define the displacement of the output motion of point P from point 1 to $ and from 1 to ' respecti&ely. The dyad 151 define the left half of the linkage. The -1S1 defines the right half of the linkage. ;ectors 51 and S1 are both embedded in the right coupler 2link '3! and both +ill undergo the same rotations! through angle <$ from position 1 to position $ and through angle <' from position 1 to position '. The pin to pin length and pin to pin length and angle of link ' 2&ector ;13 is define in terms of &ector 51 and S1 as in e6uation 1 and the ground link is defined by e6uation $. *irst +e +ill sol&e for the right side of the linkage 2&ectors 1 and 513 and later use the same procedure to sol&e for the right side 2&ectors -1 and S13. To sol&e for 1 and 51 +e need to no+ +rite t+o &ector loops e6uations! one around the loop +hich includes positions P1 and P$ and the second one around the loop +hich includes positions P1 and P'. e +ill go clock +ise around the first loop for motion from position1 to $! starting +ith $ and then +rite the second loop e6uation for motion from 1 to 'starting +ith '. W$ = Z$ > P$1 > Z1 >W1 ? @ W' = Z' > P'1 > Z1 >W1 ? @ 2$.13 Ao+

8 components

2$.$3 9 components

2$.'3 *or Beft dyad 17 2cos4$ ( 13 > 1y 51y sin <$ ? P$1 cos :$ 17 2cos4' ( 13 > 1y 51y sin <' ? P'1 cos :' 1y 2cos4$ ( 13 = 17 517 sin <$ ? P$1 sin :$ 1y 2cos4' ( 13 = 17 517 sin <' ? P'1 sin :' sin4$ = 517 2cos<$ (13 > sin4' = 517 2cos<' (13 > sin4$ = 51y 2cos<$ (13 = sin4' = 51y 2cos<' (13 = 2$..3

There are 1$ &ariables in these *)-R e6uations/ +! C! 4$ ! 4'! ,! D! <$! <'! p$1! p'1! :$ and :'. Si7 of the 1$ are defined in the problem statement! namely <$! <'! p$1! p'1 :$ and :'. )f the remaining si7 +! C! 4$! 4'! ,! D! +e are forced to choose three as Efree choicesF 2assumed &alues3 in order to sol&e for the other four. Gonsider % ? cos4$ > 1 # ? sin 4$ D ? sin <$ E ? P$1 cos :$ 0 ? sin4' 1 ? cos <' (1 B ? P'1 cos :' M ? P$1sin :$ Ao+ +e get! % * 17 > # 17 > 0 1y = G 517 > D 51y ? E 1y = 1 517 > H 51y ? B G ? cos <$ (1 * ? cos4' > 1 H ? sin <' A ? P'1 sin :'

# 1y = % 17 = D 517 = G 51y ? M 0 1y = * 17 = H517= 151y ? A

2$.I3

There are t+el&e &ariable in this e6uation +! C! 4$ ! 4'! ,! D! <$! <' ! p$1 ! p'1 ! :$ and :'. e can sol&e only four ! si7 of them defined in the problem statements namely <$! <' ! p$1 ! p'1 ! :$ :' of remaining si7 +! C! 4$ ! 4'! ,! D +e must choose t+o as free choice 2 assume &alue 3 in order to sol&e for other four. )ne strategy is to assume &alue for other t+o angles 4$ ! 4' on the premise that +e may +ant to specify the angular e7cisions of link $

-17 2cos' > 13 > -1y sin' = S17 2cos<' (13 ( S1y sin<' ? P'1 cos:' -17 sin$ = -1y 2cos$(13 = S17 sin<$ = S1y 2cos<$ (13 ? P$1 sin:$ -17 sin' = -1y 2cos' > 13 = S17 sin<' = S1y 2cos<' (13 ? P'1 sin:' 2$.M3 Gonsidering! % ? cos$(1 # ? sin$ G ? cos<$ (1 D ? sin<$ E ? P$1 cos:$ * ? cos' > 1 0 ? sin' 1 ? cos<' (1 H ? sin<' B ? P'1 cos:' M ? P$1 sin:$ A ? P'1 sin:' Put the abo&e &ale at e6uation 2$.M3 +e get!

Similarly for Right dyad -$ = S$ ( P$1 > S1 > -1 ? @ -' = S' > P'1 > S1 > -1 ? @ 8 component % -17 > # -1y = G S17 > D S1y ? E * -17 > 0 -1y = 1 S17 ( H S1y ? B # -17 = % -1y = D S17 = G S1y ? M 0 -17 = * -1y = H S17 = 1 S1y ? A

2$.J3

2$.1@3

2$.K3

9 component

2$.L3

Substituting! Simplifying and Rearranging +e get -17 2cos$(13 > -1y sin$ = S17 2cos<$ (13 > S1y sin<$ ? P$1 cos:$

*ig. Three position synthesis of four bar mechanism

Sol&e the e6uation $.I and $.1@ simultaneously +e get the re6uired link length. So +e can synthesis the re6uired four bar mechanism. 3. FUTURE WORK Soft+are can be generated +hich can gi&e the direct &alue of the links and generated the optimal four bar mechanism using three precisions points.

CONC USION
This paper is described synthesis of four bar mechanism using three precision points. -sing this method +e can get the optimal solution of the mechanism.

REFERENCES
N1O T.P. Bi! .Q. Gao! P.H. Ghu! The topological representation and detection of isomorphism among geared linkage kinematic chains! Transactions of the %SME $Ith #iennial Mechanisms! 1MML! DETGMLRMEG1IL1$. N$O T. Bi! . Gao! Hinematic analysis of geared linkage mechanisms! Mechanism and Machine Theory .@ 2$@@I3 1'M.>1.1'. N'O %.0. Erdman! 0.A. Sandor! Hinematic synthesis of a geared fi&e(bar function generator! Transactions of the %SME(Pournal of Engineering for Industry M' 21MK13 11>1J. N.O S.%. )leska! D. Tesar! Multiply separated position design of the geared fi&e(bar function generator! Transactions of the %SME(Pournal of Engineering for Industry M' 21MK13 K.>L.. NIO %.;. Mohanrao! 0.A. Sandor! E7tension of *reudensteinSs e6uation to geared linkages! Transactions of the %SME(Pournal of Engineering for Industry M' 21MK13 $@1>$1@. NJO G.H. Bin! G.1. Ghiang! Synthesis of planar and spherical geared fi&e(bar function generators by the pole method! Mechanism and Machine Theory $K 2$3 21MM$3 1'1>1.1. NKO T. . Bee! *. *reudenstein! Design of geared fi&e(bar mechanisms for unlimited crank rotations

and optimum transmission! Mechanism and Machine Theory 1' 2$3 21MKL3 $'I>$... NLO H. Buck! H.1. Modler! 0etriebetechnik/ analyse! synthese! optimierung! Springer! #erlin! 1MM@. NMO P. ;olmer! 0etriebetechnik/ koppelgetriebe! ;E# ;erlag Technik! 1! auflage! #erlin! 1MKM. N1@O R. Aeumann! Einstellbare fTnfgliedrige raderkoppelgetriebe! Maschinenbautechnik $L 21MKM3 $11>$1I. N11O R. Aeumann! #auelemente auslegung &on getrieben berechnung &on getrieben mit grossem sch+ing+inkel! Maschinenbautechnik $M 21ML@3 .@I>.@J. N1$O P. ;olmer! 1. Riedel! E. Rissman! #auelemente auslegung &on getrieben berechnung &on schritt und pilgerschrittgetrieben! Maschinenbautechnik $M 21ML@3 1$1>1$.. N1'O P. ;olmer! Rationalisierungsmittel fTr den konstrukteurarbeitsblaetter ,ur auslegung &on getrieben! Maschinenbautechnik $M 21ML@3 1$I> 1$K. N1.O P. ;olmer! G. Meiner! #auelemente auslegung &on getrieben berechnung &on schritt und pilgerschrittgetrieben! Maschinenbautechnik $K 21MKL3 $1M>$$@. N1IO Shrini&as S. #ali !Satish Ghand E Synthesis of a fi&e(bar mechanism +ith &ariable topology for motion bet+een e7treme positions 2S9A*#;TM3F N1JO R. ;inet !%.%. Bakis ! E.1aulin! E)ptimal synthesis of a planar four > link mechanism used in a hand prosthesisF N1KO 0. A. Sandor ! %.0. ErdmanE %d&anced mechanism Design/ %nalysis and Synthesis!;ol/$.Prentice >hall! Engle+ood Gliffs AP!1MLL F 1rishikesh ;. Aene! EEffect of Bink Bength on Hinematics of MechanismsF! M. Tech Thesis! Indian Institute of Technology! #ombay. N$O M.9.Bee! %.0.Erdman! S.*aik! E% 0enerali,ed Performance Sensiti&ity Synthesis Methodology for *our bar MechanismsF! Mechanical Design and Synthesis! %SME! ;ol..J! 1MM$!pp 1(.