13216-14-9P

AID: 1825 | 23/09/2014

Show the free body diagram of the given four-bar linkage as shown in Figure (1).

i j
k
Let , , and be the unit vectors.
RG O
R BA R BO R DO R G A
Calculate the position difference vectors
,
,
,
, and
on the fourbar linkage in the vector form from Figure (1).
R AO2 0.3m 170
4

0.295i 0.052j m

R BA 1.5 m 29.57
1.304i 0.740j m
R BO4 0.8 m 82.17
0.109i 0.793j m
R G3 A 0.65 m 45.56
0.455i 0.464j m

R G4O4 0.45 m 99.21

0.072i 0.444j m
R DO4 0.4 m 135.20
0.284i 0.282j m
O2

R AO2

s
, and
is
, the position
Here, the position difference vector between point
R BA
B
A
difference vector between points
, and
is
, the position difference vector
O4 R BO4
B
D
between points , and
is
, the position difference vector between points , and
R DO4
O4
G3
A R G3 A
is
, the position difference vector between points
, and is
, and the
R
G4
O4
G4O4
position difference vector between points
, and
is
.
Use the following steps to draw the velocity polygon for the given four-bar linkage.

Use the scale factor 1:1 to draw the velocity polygon.(3.6 cm for 3.6 m/s)
O4
Mark a point
on a blank sheet as a reference point.
O4 A
VA
Construct the line
perpendicular to the link 2 from the known value of
.
A
From the terminus of point
construct a line in a direction perpendicular to link
AB
.
O4
O4 B
O4 B
From the point
draw a line
in a direction perpendicular to link
to
B
AB
intersect the line
at .
O4 B
AB
Measure the lines
, and
, and calculate the angular velocities of the links
3, and 4 .
B
A
Draw two arcs with centers at points , and , and radius as known velocities of
AC
BC
C
the links
, and
. These two arcs intersect at the point .
O4
B
Draw two arcs with centers at points , and
, and radius as known velocities
O4 D
BD
D
of the links
and
. These two arcs intersect at the point .
AG3
BG3
A
B
Construct lines
, and
from the points
and
respectively in a
AG3
BG3
direction perpendicular to the position vectors
and
. These two lines
G3
intersect at point
.

O4G4

BG4

O4

B
from the points
, and
respectively in a
O4G4
BG4
direction perpendicular to the position vectors
, and
. These two lines
G4
intersect at point
Construct lines

, and

Show the velocity polygon for the given four-bar linkage as shown in Figure (2).

Use the following steps to draw the acceleration polygon for the given four-bar linkage.

Use the scale factor 1:1 to draw the acceleration polygon.

O4
Mark a point
on a blank sheet as a reference point.
From the known angular velocity of the link 2, draw the normal acceleration of
A
point .
O4
O4 A
From the point
draw a line
, in a direction parallel to the position vector
R AO2
.
Calculate the normal acceleration of the link 4 using the angular velocity of the
O4 B1
O4
link 4. Draw a line
from the point
in a direction parallel to the link 4,
and length equal to the normal acceleration of link 4.
O4 B1
B1B
From the terminus of the line
draw a line
in a direction perpendicular
to the link 4.
O4 A
AB
From the terminus of the line
draw a line
in a direction parallel to the
AB
AB
link
, this denotes the normal acceleration of the link
.
CAB CBA DO4 B DBO4 G3 AB G3 BA G4O4 B
Measure the angles
,
,
,
,
,
,
G4 BO4
AC BC
, and
from Figure (2).Use these angles to construct the lines
,
,
O4 D BO4 AG3 BG3 O4G4
BO4
,
,
,
,
, and
respectively.
G3
G4
From the construction of the above lines, the points C, D,
, and
are
obtained.
Measure the lengths from the acceleration polygon to get the total acceleration for
the required links.

Show the acceleration polygon for the given four-bar linkage as shown in Figure (3).

Perform the kinematic analysis of the given four bar linkage.

O2
Express the velocity difference equation relating the points A, and
VA VO2 VAO2
VA
Here, the velocity of the point A is

, the velocity of the point

O2 VAO2
velocity difference vector of points A, and
is
.

VO2

O2
is

, and the

2 R AO2

VAO2

VAO2

Substitute 0 for
, and
VA 2 R AO2

for

2
Here, the angular velocity of the link 2 is
O2 R AO2
the points A, and
is
.
k rad s

0.295i 0.052j m

Substitute 12
for
VA 2 R AO2

, and the position difference vector between

, and

for

R AO2

12 k rad/s 0.295i 0.052j m

0.625i 3.545j m/s

=3.600 m/s 100o
3.600 m/s 100o

Hence, the velocity of the point A is

Express the velocity difference equation relating the points A, and B.

VB VA VBA
(1)
VB
Here, the velocity of the point B is
VBA
B is
.

, and the velocity difference vector of points A, and

O4
Express the velocity difference equation relating the points B, and
VB VO4 VBO4

.
(2)

VO4

O4
Here, the velocity of the point
O4 VBO4
and
is
.

is

, and the velocity difference vector of points B,

From Equations (1), and (2).

VA VBA VO4 VBO4
0.625i 3.545j m/s

VO4
4 R BO4
VA 3 R BA
VBA
for
,
for
, 0 for
, and
for

Substitute
VBO4
.
0.625i 3.545j m/s 3 R BA 0 4 R BO4

0.625i 3.545j m/s R

3

3 k rad s

Substitute
0.109i 0.793j m

3 4 k rad s
4 1.304i 0.740j m
R BA
for
,
for
,
for
, and

R BO4

for
.

0.625i 3.545j m/s

4 R BO

BA

k rad s 0.109i 0.793j m

4

k rad s 1.304i 0.740j m

3

0.625i 3.545j m/s 0.740 i 1.304 j 0.793 i 0.109 j

3

Consider unit vector

0.7403 0.7934 0.625
(3)
j
Consider unit vector
1.3043 0.1094 3.545
(4)

3
Solve Equations (3), and (4) for
Equation (4) with 0.740.
0.9653 1.0344 0.815

, and

. Multiply Equation (3) with 1.304, and

(5)

0.9653 0.0814 2.623

(6)

4
Add Equations (5), and (6) to find
0.9534 3.438
3.607 k rad/s

k rad s
Substitute 3.607

4
for

in Equation (3) to find

0.7403 0.793 3.607 0.625

0.7403 2.235
3 3.020 k rad s
3.020 k rad s

Hence, the angular velocity of link 3 is

3.607 k rad s
link 4 is

, and the angular velocity of the

VO4 4 R BO4
VBO4
4
k rad s
0.109i 0.793j m
Substitute 0 for
,
for
, 3.607
for
, and
for
R BO4
VB
in Equation (2) to find
.
VB 0 VBO4

4 R BO4

3.607 k rad/s 0.109i 0.793i m

2.859i 0.393i m s
2.886 m s 172.17o

2.886 m s 172.17o
Hence, the velocity of the point B is

O2
Express the acceleration difference equation relating the points A, and
A A AO2 A AO2

(7)
AO2
AA
O2
Here, the acceleration of the point A is
, the acceleration of the point
is
, and
A
O2
AO2
the acceleration difference vector of points A, and
is
.
A AO2
Express

as the sum of normal, and tangential components of acceleration, and

AO2
substitute 0 for
in Equation (7).
n
A A A AO2 AtAO2
22 R AO2 2 R AO2

A nAO2

O2

Here, the normal acceleration difference vector of the points A, and

is
, the
t
A AO2
O2
tangential acceleration difference vector of the points A, and
is
, and the angular
2
acceleration of the link 2 is
.
R AO2
2 0.295i 0.052j m
2
Substitute 12
for
,
for
, and 0 for
.
2
A A 12 k rad s 0.295i 0.052j m 0 0.295i 0.052j m

42.543i 7.502j m s 2
k rad s

43.200 m s 2 10o
43.200 m s2 10o

Hence, the acceleration of the point A is

Express the acceleration difference equation relating the points A, and B.

A B A A A BA
AB
Here, the acceleration of the point B is
A BA
points A, and B is

, and the acceleration difference vector of

A BA
Express the total acceleration of
A B A A A nBA AtBA

as the sum of normal, and tangential accelerations.

A B A A 32 R BA 3 R BA
(8)
A nBA
Here, the normal acceleration difference vector of the points A, and B is
, the
t
A BA
tangential acceleration difference vector of the points A, and B is
, and the angular
3
acceleration of the link 3 is .

Express the acceleration difference equation relating the points B, and O4.
A B AO4 A BO4
A O4

O4

Here, the acceleration of the point

O4 A BO4
the points B, and
is
.

is

, and the acceleration difference vector of

A BO4
Express the total acceleration of
AO4
and substitute 0 for
.
n
t
A B A BO4 A BO4

as the sum of normal, and tangential accelerations,

A B 42 R BO4 4 R BO4
(9)
A nBO4
O4
Here, the normal acceleration difference vector of the points B, and
is
, the
t
A BO4
O4
tangential acceleration difference vector of the points B, and
is
, and the angular
4
acceleration of the link 4 is
.
From equations (8), and (9)
A A 32 R BA 3 R BA 42 R BO4 4 R BO4
A A 3.020 k rad s
3 1.304i 0.740j m
for
,
for
,
for
2
2

4 k rad s
4
4
3.607 k rad s
for
,
for
, and

42.543i 7.502j m s2

Substitute
R BA 3 k rad s
3
,
for
,

R BO4
0.109i 0.793 j m
for
.
42.543i 7.502j m s2

3.020 k rad s 1.304i 0.740j m

k rad s2 1.304i 0.740j m

0.109i 0.793j m

k rad s 0.109i 0.793j m

3.607 k rad s
2

42.543i 7.502 j m s2 11.893i 6.749j m s 2

0.740 i 1.304 j m s2

3
3

0.793

0.740 i 1.304 j m s

32.069i 3.940j m s 2

1.419i 10.311j m s
0.793 i 0.109 j m s
2

i 0.109 j m s 2
4

Consider unit vector

0.740 3 0.793 4 32.069
(10)
j
Consider unit vector
1.304 3 0.109 4 3.940
(11)

3
Solve equations (10), and (11) for , and
Equation (11) with 0.740.
0.965 3 1.034 4 41.818

. Multiply Equation (10) with 1.304, and

(12)

0.965 3 0.081 4 2.916

(13)

4
Add Equations (12), and (13) to find
0.953 4 38.902
40.820k rad/s 2

40.820k rad s2

Substitute
for
in Equation (10) to find
0.740 3 32.069 32.370

0.740 3 0.301
0.406k rad s2
3

0.406k rad s2

Hence, the angular acceleration of link 3 is

40.820k rad s 2
acceleration of link 4 is

, and the angular

Express the acceleration difference equation relating the points G3, and A.
AG3 A A A G3 A
A G3

G3

Here, the acceleration of the point

AG3 A
G3
points
, and A is

is

, and the acceleration difference vector of

AG3 A
Express the total acceleration of
A G3 A A A Gn 3 A AGt 3 A

as the sum of normal, and tangential accelerations.

A G3 A A 32 R G3 A 3 R G3 A

AGn 3 A

G3
Here, the normal acceleration difference vector of the points
, and A is
A tG3 A
G3
tangential acceleration difference vector of the points
, and A is

42.543i 7.502j m s2

, the

A A 3.020 k rad s
3 0.406k rad s2
3
for
,
for
,
for
,

Substitute
R G3 A
0.455i 0.464j m
and
for
.
42.543i 7.502j m s 2 3.020 k rad s 2 0.455i 0.464j m

A G3

0.406k rad s 2 0.455i 0.464j m

2
2
42.543i 7.502j m s 4.149i 4.231j m s 0.188i 0.185j m s 2

38.582i 11.918j m s 2
40.381m s 2 17.16o

40.381m s2 17.16o
Hence, the acceleration of the point is

G4
Express the acceleration difference equation relating the points
AG4 A O4 AG4O4

, and

A O4

O4
Here, the acceleration of the point

O4

A G4

G4

is

, the acceleration of the point

G4
O4 A G4O4
the acceleration difference vector of points
, and
is

is

, and

A G4O4
Express the total acceleration of
AO4
and substitute 0 for
.
n
AG4 AO4 AG4O4 AGt 4O4

as the sum of normal, and tangential accelerations,

A G4 42 R G4O4 4 R G4O4
G4

Here, the normal acceleration difference vector of the points

, and
t
G4
O4 A G4O4
tangential acceleration difference vector of the points
, and
is
3.607 k rad s

is

, the

2
R G4O4
4 0.072i 0.444j m
40.820k rad s
for
,
for
, and
for

Substitute
4
.
A G4 42R G4O4 4 R G4O4

0.072i 0.444j m
40.820k rad s 0.072i 0.444j m

0.936i 5.780j m s 18.124i 2.939j m s

A Gn 4O4

O4

3.607 k rad s

19.060i 2.841j m s2

19.270 m s 2 8.48o
19.270 m s 2 8.48o
Hence, the acceleration of the point G4 is

Show the free body diagram of link 2 as in Figure (4).

Show the free body diagram of link 3 as in Figure (5).

Show the free body diagram of link 4 as in Figure (6).

Find the DAlembert inertia forces, torques, and offsets for link 2, link 3, and link4 of the
four-bar linkage.
Express the DAlembert inertia force.
fi mi A Gi

Here, the inertia force for the

fi

th

link is , the mass of the

A Gi
i th
acceleration about the mass center of the
link is
.

th

(14)
mi
link is
, and the

Express the DAlembert inertia torque.

ti I Gi i
(15)
i
i th
Here, the inertia torque for the
link is , the mass moment of inertia for the
link is
th
I Gi
i
i
, and the angular acceleration of the
link is .
ti

th

Express the DAlembert inertia offset.

hi ti f i
(16)
fi
Here, the offset distance from the center of mass at the which the inertia force
acts on
th
hi
i
the
link is .

f2

Substitute 2 for i in Equation (14) to find

f 2 m2 AG2
m s2

A G2

m2

Substitute 0
for
, and 5.2 kg for
f 2 5.2 kg 0

0
Hence, the inertia force acting on link 2 is

t2
Substitute 2 for i in Equation (15) to find
t2 I G2 2

kg m 2

2
Substitute 0 for , and 4.2
t 2 4.2 0

I G2

for

0
Hence, the inertia torque acting on link 2 is 0.
h2
i in Equation (16) to find
Substitute 2 for
h2 t2 f 2
t2
Substitute 0 for
h2 0 f 2

0
Hence, the offset of the inertia from the mass center of link 2 is 0 m.

f3

Substitute 3 for i in Equation (14) to find

f3 m3 A G3
38.582i 11.918j m s2

A G3

m3

Substitute
for
, and 65.8 kg for
f3 65.8 kg 38.582i 11.918j m s 2

2538.696i 784.204j N

2657.057 N 162.83

2657.057 N 162.83o
Hence, the inertia force acting on link 3 is

t3

Substitute 3 for i in Equation (15) to find

t
3 I G3 3

kg m 2

2
k rad s

Substitute -0.406
for , and 4.2
2
t 3 4.2 kg m 0.406k rad s2

I G3

for

1.701k N m
1.701k N m
Hence, the inertia torque acting on link 3 is

h3

3 for i in Equation (16) to find

Substitute
h3 t3 f 3
1.701k N m

t3

f3

Substitute
for , and 2657.057 N for
h3 1.701N m 2657.057 N

0.001m

Hence, the offset of the inertia force from the center of mass of link 3 is 0.001 m.

f4
Substitute 4 for i in Equation (14) to find
f 4 m4 AG4
19.060i 2.841j m s2

AG4

m4

Substitute
for
, and 21.8 kg for
f4 21.8 kg 19.060i 2.841j m s 2

415.508i 61.934j N
=420.098 N 171.52o

420.098 N 171.52o

Hence, the inertia force acting on link 4 is

t4
Substitute 4 for i in Equation (15) to find
t4 I G4 4

kg m 2

I G4

2
k rad s

Substitute 2.51
for
, and -40.820
2
t 4 2.51kg m 40.820k rad s2

for

102.458k N m
102.458k N m
Hence, the inertia torque acting on link 4 is

h4
for i in Equation (16) to find
Substitute 4
h4 t4 f 4
t4

N m

f4

Substitute 102.458
for , and 420.098 N for
h4 102.458 N m 420.098 N

0.244 m

Hence, the offset of the inertia force from the center of mass for link 4 is 0.244 m.

O4
From Figure (6), take moment about point
MO 0

R G4O4 f 4 t 4 R DO4 FD R BO4 F34t 0

FD
Here, the external force acting on the point D is
F34t
force acting on link 4 due to link 3 is
.
0.072i 0.444j m

, and the transverse component of

415.508i 61.934j N

R G4O4

f4

102.458k N m

Substitute
for
,
for ,
R BO4 0.284i 0.282j m
t 4 3876.912i 8055.628j N
FD 0.109i 0.793j m
for ,
for ,
for
,
t
R DO4
F34
F34t
0.991i 0.136j
for
, and only direction
for
to find the magnitude of
.
0.072i 0.444j m 415.508i 61.934j N

102.458k N m 0.284i 0.282j m 3876.912i 8055.628j N 0

0.109i 0.793j m 0.991i 0.136j F34t

180.026k N m

102.458k N m 3381.087

k N m

k m F
0.800

t
34

Consider unit vector .

180.026 102.458 3381.087 0.800 F34t 0
0.800 F34t 3098.603

3098.603
0.800
3873.254N

F34t

F34t F34t 0.991i 0.136j

3873.254 N 0.991i 0.136j

3838.395i 526.763j N

Hence, the transverse component of force acting on link 4 due to link 3 is

3838.395i 526.763j N
.

F43t

From Figure (5) the transverse component of force acting on link 3 due to link 4 is
.
F43t
F34t
From Figures (5), and (6) forces
, and
are equal in magnitude but opposite in
direction.
F43t F34t

3838.395i 526.763j N

3838.395i 526.763j N
Hence, the transverse component force acting on link 3 due to link 4 is
3838.395i 526.763j N
.
From Figure (4), take moment about point A.
MA 0
R G3 A f3 t 3 R BA F43t R BA F43r 0

F43r
Here, the radial component of force acting on link 3 due to link 4 is
0.455i 0.464j m

R G3 A 2538.696i 784.204j N
f3 1.701k N m
Substitute
for
,
for ,
for
r

t 3 1.304i 0.740j m
F43
R BA
0.136i 0.991j
,
for
, direction vector
for
, and
t

F
3838.395i 526.763j N
43
for
.

0.455i 0.464j m 2538.696i 784.204j N 1.701k N m

1.304i 0.740j m 3838.395i 526.763j N

1.304i 0.740j m 0.136i 0.991j F43r

1534.768k N m 1.701k N m

3527.311

k N m

k m F
1.192

r
43

Consider unit vector .

1534.768 1.701 3527.311 1.192 F43r 0
1.192 F43r 1990.842

1990.842
0.838
1670.170 N

F43r

F43r F43r 0.136i 0.991j

1670.170 N 0.136i 0.991j

227.143i 1655.138j N

Hence, the radial component of force acting on link 3 due to link 4 is

227.143i 1655.138j N
.

F43
From Figures (5), and (6), forces
direction.
F43 F43r F43t

F34
, and

are equal in magnitude, and opposite in

227.143i 1655.138j N + 3838.395i 526.763j N

=3611.252i 1128.375j N
3783.434 N 17.35o
F34 F43

3611.252i 1128.375j N

= 3611.252i 1128.375j N
=3783.434 N162.65o

3783.434 N162.65o
Hence, the force acting on link 4 due to link 3 is

, and the force

3783.434 N 17.35

acting on link 3 due to link 4 is

From Figure (6), take the summation of all the forces.

F 0
F34 f 4 F14 FD 0

F14
Here, the force acting on link 4 due to link 1 is
3611.252i 1128.375j N
Substitute
415.508i 61.934j N

3876.912i 8055.628j N

F34
for

3611.252i 1128.375j N 415.508i 61.934 j N +

3876.912 i 8055.628 j N +F14

149.848i 9245.937j N +F

14

F14 149.848i 9245.937j N

= 9247.151N 89.07o
9247.151N 89.07o

Hence, the force acting on link 4 due to link 1 is

From Figure (5), take the summation of all the forces.

F 0
F43 f3 F23 0
F23

Here, the force acting on link 3 due to link 2 is

FD
for

f4
for

, and

3611.252i 1128.375j N

2538.696i 784.204j N

F43

Substitute
for
, and
3611.252i 1128.375j N 2538.696i 784.204j N F23 0

for

1072.556i 344.171j N F

f3

23

F23 = 1072.556i 344.171j N

=1126.424 N162.20o

1126.424 N162.20o
Hence, the force acting on link 3 due to link 2 is

F32
From Figure (4) the force acting on link 2 due to link 3 is . From Figures (4), and (5)
F32
F23
forces
, and
are equal in magnitude but opposite in direction.
F32 F23

1072.556i 344.171j N

1072.556i 344.171j N
1126.424 N 17.80o

1126.424 N 17.80o
Hence, the force acting on link 2 due to link 3 is

From Figure (4), take the summation of all the forces.

F 0
F32 F12 0

F12
Here, the force acting on link 2 due to link 1 is
1072.556i 344.171j N

F32

Substitute
for .

1072.556 i 344.171j N F12 0

F12 1072.556i 344.171j N

=1126.424 N 162.20o
1126.424 N 162.20o

Hence, the force acting on link 2 due to link 1 is

O2

From Figure (4), take moment about point

MO 0

R AO2 F32 M12 0

M12
Here, the external torque required to drive link 2 is
0.295i 0.052j m

R AO2

1072.556i 344.171j N

Substitute
for
, and
for
0.295i 0.052j m 1072.556i 344.171j N M12 0

F32
.

45.758k N m M12 0
M12 45.758k N m

Hence, the external torque required to drive link 2 at the given velocity is
45.758k N m
, and it acts in the counter clockwise direction.