1

KINEMATIC ANALYSIS OF MECHANISMS

We shall consider planar mechanisms only.

I this
In hi chapter
h we shall
h ll assume that
h we kknow the
h di
dimensions
i
of all the links. If the mechanism has F degrees of
freedom, we shall assume that we know the value of F
numberb off parameters. t
Our aim is:
1 Determine the position of all the links in the
1.
mechanism
2. Determine the paths of points on these links
3. To determine velocity and acceleration characteristics
of all the links or points on these links.

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 Position: Location of a rigid
g body y ((link)) or a p
particle (p
(point)) in a
rigid body with respect to a given reference frame.

Path: Locus of successive positions of a particle (point) on a

rigid body (link).

Displacement: Change in position of a rigid body (link) or a

particle (point)
( ) with respect to a reference
f frame.
f It is a vector
quantity whose magnitude is called distance (measured in mm
or m).

Velocity: The rate of change of position of a particle or a rigid

body. It is the time rate of change of displacement. It is a vector
quantity whose magnitude is called speed (mm/sec = mms-11 or
m/sec = ms-1).

Acceleration: Time rate of change of velocity

velocity. It is a vector
quantity whose magnitude is measured in mm/sec2 = mms-2 or
m/sec2 = ms-2.

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Kinematics of a Particle

x=rcos y=rsin r = (x2 + y2 )

y
= tan 1 ( )
x
G 
r = ix + jy G
r = r
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 Complex Numbers

Real Numbers: are used to represent the magnitude of a quantity

When a real number is

operated by (-1)
operator, that number
is rotated by 1800
(-1) operator. 5
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 (i) operator: when this operator operates on a real number, that
number is to be rotated by 900 CCW.
CCW

ib is the imaginary number, shows

the real number b rotated 900 CCW.

a+ib is the complex number. It

shows the location of a point P in
the complex plane (Cauchy plane
or Gauss-Argand Diagram)

r is the modulus, is the argument

of the complex number.
f we operate on a real number by i r = a 2 + b2
twice: ((i*i)b,
) , the real number must
rotate twice by 900=1800. Since 1800 = tan 1 (b / a )
rotation is defined by (-1) operator:
i*i = i2 = -1

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1. Two Complex numbers can be equal only if their real and imaginary parts are equal.

2 Complex numbers add vectorially (Paralelogram Law of addition)

2.

The sum of two complex numbers is determined by adding real and imaginary parts
separately.
p y If c1= a1+ib1 and c2= a2+ib2 then
z=c1+c2= (a1+a2)+i(b1+b2)

3 Multiplication and division follows the rules of ordinary algebra with the additional relation i2=-1.
3. =1
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 c=a+ib : ortogonal representation

c=r(cos+isin)

Eulers equation: ei = cos +i sin,

c =r ei : Exponential
p form u= ei a unit vector making an angle
wr to real axis
Multiplication of a complex number Multiplication of a complex
byy a constant, k number byy ei.

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 Conjugate of a complex number:
c=a+ib
c a+ib c= rei

c=a - ib c= re-i

r2 = cc = (a+ib) (a-ib) = a2 +b2

Re [c] = [(a+ib) +(a

Real part of c =Re ib)] = (c + c)
+(a-ib)]

Imaginary part of c = Im [c] = [(a+ib)- (a-ib) = [((c - c)

Differentiation of complex numbers also follows the rules of ordinary calculus.

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 z = r cos + ir sin e i = cos i sin
z = r (cos + i sin )

z = re i

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 Kinematics of Rigid Body in Plane
The assumption of rigidity results with the following three important conclusions:

1. The plane motion of a rigid body is completely described by the motion of any two points within the rigid
body or by a point and the angle a line on the rigid plane makes wr to a reference

2 Rigidity
2. Ri idit ensures that
th t the
th particles
ti l lying
l i on a straight
t i ht liline h
have equall velocity
l it components
t iin th
the di
direction
ti off thi
this
line, since the distance between any two points along this line remains constant.

3. We are concerned with the kinematics of the rigid bodies only. It is sufficient to consider just a line on the rigid
body ector AB,
bod ((vector AB for e
example).
ample) Since the act
actual
al bo
boundaries
ndaries of the body
bod does not infl influence
ence the kinematics
kinematics, the
rigid body in plane motion is to be regarded as a large plane which embraces any desired point in the plane.
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 Coincident Points

02
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Vector Loops of a Mechanism Fundemental
Joint

A0B0=a1, AA0=a2, AB=a3,, B0B=a4

12,13, 14 are the position variables.
A0A +AB=A0B (for open kinematic chain 1,2,3)
A0B0 +B0B= A0B (for open kinematic chain 1
1,4)
4)
A0A +AB=A0B0 +B0B loop closure equation (vector loop equation)
G G G G G G G Loop closure
a 2 cos 12 i + a 2 sin 12 j + a 3 cos 13 i + a 3 sin 13 j = a 1 i + a 4 cos 14 i + a 4 sin 14 j
equation
ti in
i
a 2 cos 12 + a 3 cos 13 = a 1 + a 4 cos 14 cartesian form
a 2 sin 12 + a 3 sin 13 = a 4 sin 14

a 2 e i12 + a 3 e i13 = a 1 + a 4 e i14 Loop Closure equation in complex numbers

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 AA0=a2, AB=a3

12,13, s14 are the position variables.

A0A +AB=A0B ((for open

p kinematic chain 1,2,3)
, , )
A0B (for open kinematic chain 1,4)

A 0 A + AB = A 0 B loop closure equation (vector loop equation)

i12 i13
a 2e + a 3e = s14 + ic Loop Closure equation in complex numbers

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 AA0=a2, AB=a3

' = 13
13

A0 A = A0 B + BA loop closure equation (vector loop equation)

i12 i13
= s14 + ic + a 3 e
/
a2e Loop Closure equation in complex numbers

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 Inverted Slider Crank Mechanism

AA0=a2, B0C=a4, A0B0=a1

AoA = AoBo + BoC + CA

a 2 e i12 = a 1 + a 4 e i14 + s 43 e i ( 14 + 4 )
05

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 Two loops!

A0D0=a1, A0A=a2, AC=a3, AB=b3, CB=c3, EC=a4, D0E=a5, D0D=b5, ED=c5, BD=a6

A0A +AC=A0D0+D0E +EC a 2 e i12 + a 3 e i13 = a 1 + a 5 e i15 + a 4 e i14

A0A +AB=A0D0+ D0D +DB a 2 e i12 + b 3 e i ( 13 + 3 ) = a 1 + b 5 e i ( 15 + 5 ) + a 6 e i16

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 A third Loop equation

EC +CB=ED+DB

a 4 e i14 + c 3 e i ( 13 +3 ) = c 5 e i ( 15 +5 ) + a 6 e i16

A0A +AC=A0D0+D0E +EC AoA + AC + EC + CB =DoE+ EC + ED +DB

Add
EC +CB=ED+DB AC+CB = AB These are not
Similarly loop closure
Eqns.
D0E+ED = D0D

There are only 2 independent

A0A +AB=A0D0+ D0D +DB
loops
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 Door Mechanism for a Dishwasher

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 c1

D
A0A=a2,; A0G=b2 ; GF=a3; BA=a6 ;
B0B=a5 B0C=b5 ; B0E=c5 ; EF=a5 ;
8 CD=a5 ; <BB0C=5; <BB0E=5
E 7
s18

1
1

7 V t LoopEquations:
Vector L E ti
5
5

4
1

B0 C
A0A+AB=A0B0+B0B
F
B A0G+GF=A0B0+B0E+EF
b1

6 B0C+CD=B0D
A
12
16

A 0 3
13

2 G Loop Closure equations in complex numbers

2
a1

a2 ei12 + a6 ei16 = a1 + ib1 + a5ei15

b2 ei (12 + 2 ) + a3ei13 = a1 + ib1 + c5ei (15 + 5 ) + a4 ei14
b5ei (15 +5 ) + a7 ei17 = c1 + is18 20
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 A0A +AB = A0B

These are
AoA + AC = AoC
not loop equations

AC+CB = AB

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Hints
1 Only one variable angle must be used to define the angular
1.
orientation of a link.
2 Use aj, bj, cj for the fixed link lengths and j, j,j for the fixed
2.
angles 1j for the variable link angles and sjk for the variable
lengths.
g
3. Beware of special positions at which the mechanism is drawn.

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 Eulers Equation of Polyhedra

j = the number of joints in the open kinematic chain + the number of joints removed.

j = (l-1)
(l 1) + L or

L=j-l+1 (Eulers Equation of polyhedra)

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 Graphical Solution:

If you are given 4 links

links, you
can combine them in 8
different ways

Given one form of assembly

determine the position of the links
when the independent parameter
changes its value from 12 to 12

A0A+AB = A0B0+B0B

A0A
A+AB
+AB = A0B0+B0B
B
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 Both
A0B0+ A0A
A =B
B0A
A vectors
t are
known

Solve the vector equation

q
B0A+ AB =B0B The magnitudes of
the three vectors
are known

What about B???

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 Grashofs Rule
1.The link may have a full rotation about
the fixed axis (crank)
2 The link may oscillate (swing)
2.
between two limiting angles (rocker).

3 possibilities for a four-bar

four bar mechanism:
i) Both of the links connected to the fixed link can have a full rotation. This type of
four-bar is called "double-crank " or "drag-link.
g

j) Both of the links connected to the fixed link can only oscillate. This type of four-bar
is called double-rocker.

k) One of the links connected to the fixed link oscillates while the other has a full
rotation. This type of four-bar is called "crank-rocker".

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l= length of the longest link
s= length of the shortest link
p,q = length of the two intermediate links

l=830, s=216 , p=485 , q=581

830 + 216 = 1046 < 485+581 = 1066

IF l + s < p + q
a),b)
) b) Two
T different
diff t crank-rocker
k k mechanisms
h i are possible.
ibl IIn eachh case th
the
shortest link is the crank, the fixed link is either of the adjacent links.
c)) One double-crank ((drag-link)
g ) is p
possible when the shortest link is the
frame.
d) One double-rocker mechanism is possible when the link opposite the
shortest link is the frame
frame.
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 l+s<p+q

Drag-Link Double Rocker

Crank-Rocker
Crank Rocker

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l+s>p+q
Only double-rocker mechanisms are possible (four different
mechanisms, depending on the fixed link).
ll=829,
829 s=216
216 , p=485
485 , q=415
415
829 + 216 = 1045 > 485+415 = 900

Grashofs rule does not depend on how

the links with different size are
connected to each other.

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 l+s=p+q Same as l + s < p + q but Change point exists.
A position of the mechanism where all the joints
are colinear (lie on a straight line)

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 Paralelogram Linkage Deltoid Linkage

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 Dead-Center Positions of Crank-Rocker Mechanisms

= swing angle
= corresponding crank rotation

= initial crank angle

Determine and using

cosine theorem.

time it takes
takes for forward stroke
TR = =
time it takes for reverse stroke 360 0

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 Transmission Angle

Transmission angle is a
kinematic quantity which
gives
i us an idea
id on how
h
well the force is
transmitted

a 24 + a 23 a 12 a 22 a 1a 2
cos = + cos 12
2a 3 a 4 a 3a 4

a 24 + a 23 a 12 a 22 a 1a 2
cos min =
max 2a 3 a 4 a 3a 4

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Examples:

Slider Crank Mechanism

Slider-Crank Inverted Slider-Crank
Slider Crank Mechanism

For the full rotatability of

the crank:
Eccentricity < (a3-a2) and
a3 > a2

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 35
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 36
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 37
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 Function routines to determine the magnitude
and the angle of a vector (rectangular to polar
conversion)
i )
Function Mag(X, Y)
returns the magnitude of the vector
Mag = Sqr(X ^ 2 + Y ^ 2)
End Function

Function Ang(X, Y)
returns the angle the vector makes wr to +ve x axis
Dim AA, Pi
Pi=4*Atn(1)
If Abs(X)
bs( ) > eps Then
e
AA = Atn(Y / X)
If X < 0 Then
AA = AA + Pi
Else:
El
If Y < 0 Then AA = AA + 2*Pi
End If
Else:
If Y > 0 Then AA = Pi/2 Else AA = -Pi / 2
End If
Ang = AA
E d Function
End F ti
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 O p p o s i te
Function routines to solve an unknown angle
B C or length of a triangle using cosine theorem
U1
U2 Function AngCos(u1, u2, Opposite)
returns the angle alfa
A Dim U
U = (u1 * u1 + u2 * u2 - Opposite * Opposite) / (2 * u1 * u2)
AA = Acos(U)
AngCos = AA
E d Function
End F ti
1
Function MagCos(u1, u2, Angle)
returns the length
g of the side opposite
pp to the side
1- x 2
MagCos = Sqr(u1 * u1 + u2 * u2 - 2 * u1 * u2 * Cos(Angle))
End Function
x
Function
F ti Acos(X)
A (X)
Acos = Atn(-X / Sqr(-X * X + 1)) + 2 * Atn(1)
End Function
1
x Function Asin(X)
Asin = Atn(X / Sqr(-X * X + 1))
End Function
1- x 2
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Stepwise Solution
Write a set of equations which can be solved in steps to yield a
complete anal
analysis
sis of the mechanism
Or
g
Derive an algorithm to perform
p a complete
p position
p analysis
y
Example: Four-bar
B0A=sx+isy =s<

sx= a2cos(12)-a1 (1)

sy=a2sin(12) (2)

s = sx 2 + s y 2 (3)

= a tan 1 ( sx , s y ) ((4))

[( )
= cos 1 a 24 + s 2 a 23 / 2a 4 s] (5)

[( )
= cos 1 a 23 + a 24 s2 / 2a 3 a 4 ]
14= (6)
(7)
13=14 (8)
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 Given:
Th link
The li k llengths
th a1, a2, a3, a4,
the configuration (config)
Th input
The i l 12
t crankk angle

Determine: The position of

the links
Solve equations 1-8

Config= +1 or -1(cross
1(cross configuration)

Function FourBar(Crank,
( Coupler,
p Rocker, Fixed, Config,
g Theta))
Dim S, Fi, Si As Double
Dim sx, sy As Double
This function sx= -Fixed + Crank * Cos(Theta)
routine
ti returns
t th sy = Crank * Sin(Theta)
the
value of 14 S = Mag(sx, sy)
Fi = Ang(sx, sy)
Si = AngCos(Rocker, S, Coupler)
FourBar = Fi - Config * Si
End Function 41
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 Function FourBrCoupler(Crank, Coupler, Rocker, Fixed, Config, Theta)
Dim S, Fi, Si, Mu As Double
Dim sx, sy, Theta4 As Double
sx = -Fixed + Crank * Cos(Theta)
This function sy = Crank * Sin(Theta)
routine S = Mag(sx, sy)
returns the Fi = Ang(sx,
Ang(sx sy)
value of 13 Si = AngCos(Rocker, S, Coupler)
Theta4= Fi - Config * Si
Mu = AngCos(Coupler, Rocker, S)
FourBrCoupler = Theta4 - Mu
End Function 42
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 Function FourBar2(Crank, Coupler, Rocker, Fixed, Config, Theta)
Dim s, Fi, Si As Double
Di sx, sy A
Dim As D
Double
bl
Dim A(2)
sx = -Fixed + Crank * Cos(Theta)
This function sy = Crank
C a *S Sin(Theta)
( eta)
routine returns s = Mag(sx, sy)
both values 13 Fi = Ang(sx, sy)
and 14 Si = AngCos(Rocker, S, Coupler)
M = AngCos(Coupler,
Mu A C (C l R Rocker,
k s))
A(1) = Fi - Config * Si
A(0) = A(1) - Mu
FourBar2 = A
End Function
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Example: Slider-Crank Mechanism

a2 sin 12 a1
= sin 1
a 3
If Config= +1 then 13=
If C
Config=
fi -11 then
th 13=

s14=a2cos12-a3cos 13

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Example: Slider-Crank mechanism

Function SliderCrank(Crank, Coupler, Eccentricity, Config, Theta)

Dim Fi As Double
Fi = Asin((Crank * Sin(Theta) - Eccentricity) / Coupler)
If Config = 1 Then Fi = 4 * Atn(1) - Fi
SliderCrank = Crank * Cos(Theta) - Coupler * Cos(Fi)
End Function

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 Function with double argument

Function FourBar2(Crank, Coupler, Rocker, Fixed, Config, Theta)

Dim s, Fi, Si As Double
Dim sx, sy As Double
Dim A(2)
sx = -Fixed + Crank * Cos(Theta)
This function sy = Crank * Sin(Theta)
routine returns s = Mag(sx, sy)
both values 13 Fi = Ang(sx, sy)
and 14 Si = AngCos(Rocker, S, Coupler)
Mu = AngCos(Coupler,
C (C Rocker, s))
A(1) = Fi - Config * Si
A(0) = A(1) - Mu
FourBar2 = A
End Function
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 Function SliderCrank2(Crank, Coupler, Eccentricity, Config, Theta)
Dim Fi As Double
Dim A(2) As Double
Fi = Asin((Crank * Sin(Theta) - Eccentricity) / Coupler)
If Config = 1 Then Fi = 4 * Atn(1) - Fi
A(0) = Fi
A(1) = Crank * Cos(Theta) - Coupler * Cos(Fi)
SliderCrnk2 = A
End Function

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