Position Synthesis Page 1 of 3 Dr.

Keith Hekman

From figure 5-1 in the book, a vector loop can be written of

W2 + Z2 - P21 - Z1 - W1 = 0 (1)
Substituting in the complex equivalents of the vectors leads to
we j ( + 2 ) + ze j ( + 2 ) p 21 e j 2 ze j we j = 0 (2)
Rewriting the exponent of the sum as the product of exponents, we have
we j e j 2 + ze j e j 2 p 21 e j 2 ze j we j = 0 (3)
Combining the common terms we get
( ) ( )
we j e j 2 1 + ze j e j 2 1 = p 21 e j 2 (4)
In this equation, we have 8 variables (w, z, p21, 2, 2, , , and 1) of which 3 (p21,,and 1)
are specified. The one complex equation allows us to solve for two variables, which leaves
us with 3 free choices (8-3-2=3). We make these free choices to simplify the calculations
involved is solving the remaining two equations.
One possible choice set is to pick values for 2, , and (the angles) to get
wS + zT = U (5)
where
( )
S = e j e j 2 1
T =e j
(e j 2
1) (6)
j 2
U = p 21 e
We can take the conjugate of (5) to get
wS + zT = U (7)
This gives us two simultaneous equations that we can solve for w and z.
Another option is to choose values for z, 2, and and find w and . From the
equation we have
( ) (
we j e j 2 1 = p 21 e j 2 ze j e j 2 1 ) (8)
Isolating the variables for which we to solve, we have

we j = 21
(
p e j 2 ze j e j 2 1
=U
) (9)
e j 2 1
Now w and can be found from the magnitude and angle of U or in MATLAB, w = abs(U)
and = angle(U).
For the other side of the mechanism a similar procedure is followed, using U and S
rather than W and Z.

Three Position Synthesis Problem

The three position synthesis problem follows the same procedure as the two position
synthesis problem, only there are more equations and variables. The initial vector loop
equations are
W2 + Z2 - P21 - Z1 - W1 = 0 (10)
W3 + Z3 - P31 - Z1 - W1 = 0 (11)
or
we j ( + 2 ) + ze j ( + 2 ) p 21 e j 2 ze j we j = 0
. (12)
we j ( + 3 ) + ze j ( + 3 ) p 31 e j 3 ze j we j = 0
Performing the same rearrangement, we get
Position Synthesis Page 2 of 3 Dr. Keith Hekman

( ) ( )
we j e j 2 1 + ze j e j 2 1 = p21e j 2
(e 1) + ze (e 1) = p
j j 3 j j 3
j 3
. (13)
we 31e

In these two equations, there are 12 variables (w, z, p21, p31, 2, 3, 2, 3, , , 1 and 2).
Six of these are specified in the problem (p21, p31, 2, 3, 1 and 2). The two complex
equations allow us to solve for 4 variables, leaving us with two free choices (12-6-4=2).
Again using the principal of picking choices that we can easily solve the equations, we
usually pick 2 and 3. This gives us two equations
WS 2 + ZT2 = U 2
. (14)
WS3 + ZT3 = U 3
where
W = we j S 2 = e j 2 1 T2 = e j 2 1 U 2 = p21e j 2
. (15)
Z = ze j S3 = e j 3 1 T3 = e j 3 1 U 3 = p31e j 3
from which W and Z can be solved. The magnitude of W is w and the angle of W is and
similarly for Z.
If we were to choose the attachment points (z,), as we did in the graphical position
synthesis, the equations can be solved, but it is more difficult. From the vector loop
equations we have
( ) (
w e i e i 2 1 + ze i e i 2 1 = P2 1e i 2 )
w e i ( ei 1) + ze i ( e i 1) = P3 1e i
(16)
3 3 3

if we choose z, (the attachment points) then we can define

( )
wei ei2 1 = C1 = P21ei2 zei ei2 1 ( )
wei (ei 1) = C2 = P31ei zei (ei 1)
(17)
3 3 3

Calling
s = ei , T2 = ei 2 , T3 = ei 3 (18)
we have two simultaneous complex equations
wsT2 ws = C1 , wsT3 ws = C2 (19)
Taking the conjugate, we have
w w w w
= C1 , = C2 (20)
sT2 s sT3 s
Putting the sT2 or sT3 term on one side we have
w w
wsT2 = C1 + ws , = C1 +
sT2 s
(21)
w w
wsT3 = C2 + ws , = C2 +
sT3 s
Multiplying successive rows leads to
C1 C2
w 2 = w 2 + w + C1 s + C1C1 , w 2 = w 2 + w + C2 s + C2 C2 (22)
s s
Solving for w, we have
Position Synthesis Page 3 of 3 Dr. Keith Hekman

C1C1 C2 C2
w= = (23)
C1 C2
+ C1 s + C2 s
s s
multiplying by -1 and cross multiplying produces
C C
C2C2 1 + C1s = C1C1 2 + C2 s (24)
s s
Multiplying by s and collecting terms we have
C1C1C2 s 2 C2 C2 C1 s 2 = C2 C2 C1 C1C1C2 (25)
Solving for s leads to
C1C2 (C 2 C1 )
s= (26)
C1C2 (C1 C2 )
We can then use (8) to solve for w, and from (6a) and (6c) we have
C1 + ws C1 C2 + ws C2
T2 = = + 1, T3 = = +1 (27)
ws ws ws ws
Now wouldnt you rather choose 2 and 3?