LOOP EQUATION FOR TWO POSITIONS FROM THE

INITIAL POSITION WITH SPECIFIED COUPLER ANGLES

The problem of synthesizing a mechanism to assume three specified

positions with designated coupler angles at those positions is
encountered in many instances. The case of moving a manufactured
part or carton from one position to another in the manufacturing process
while avoiding obstacles in the path is frequently encountered. In the
example following, the problem is to open a rather large valve opening.
Three is maximum number of positions for which a mechanism may be
synthesized with a linear solution of the equations. More than three
positions (up to five) are solved with nonlinear techniques.
In fig. 8.7 the mechanism is shown in two positions. Each link is
indicated in its original position using capital letters. Thus
R1,R2,R3,R4,R5 and R6 are the link of the mechanism, each of which is
treated as a vector. For this reason, the angular displacements are all
measured from the initial position of the mechanism. Thus 012
represents the displacement of link 1 from its initial position to position
2. Displacement of point C from its original position to another position is
also treated as a vector. In considering the Jth position of the mechanism
and link 1 and 5, a loop equation may by written.

Or
Considering links 3 and 6, another loop equation may be written.
Or
Note: since links 5 and 6 are two sides of the same rigid link. Links R2,
R5 and R6 comprise another loop.
The last loop is made up of link R1, R2, R3, and R4
Equations (8.22) may be written twice remembering that
Equations (8.26) may be solved for R3 and R6 after which eqs. (8.23)
and (8.24) may be used to solve for R2 and R4.
Design an automated assembly line mechanism which will operate in the
horizontal plane and will allow an object at point C1 to be picked up and
move 2.6 pulg. At an angle of 120 with the horizontal while the object is
rotated through 15 to point C2. Then the object is to be moved to point
C3 located 3.2 pulg. From C2 at an angle of 140 with the horizontal an
the object rotated through 30 from its original orientation. Input crank
rotation is to be 20 from position 1 to 2 and 60 from position 1 to
position 3.

Disear un mecanismo automatizado de lnea de montaje que

funcionar en el plano horizontal y permitir que un objeto en el punto
C1 sea recogido y mueva 2,6 pulg. En un ngulo de 120 con la
horizontal, mientras que el objeto es girado a travs de 15 a punto C2.
Entonces el objeto debe ser movido al punto C3 situado 3.2 pulg. Desde
C2 en un ngulo de 140 con la horizontal y el objeto girado a travs de
30 desde su orientacin original. La rotacin de manivela de entrada
debe ser 20 desde la posicin 1 hasta 2 y 60 desde la posicin 1 a la
posicin 3.