Introduction

Fundamentals of Analytical Analysis

2

Fundamentals of An Analytical Method

The vector-loop method is a classical procedure that provides a set of vector
equations that can be solved either graphically for the kinematics of a planar
mechanism. This lesson reviews the basic ideas and rules in constructing the
vectors, and consequently the corresponding vector loop, for different
mechanisms.
When vector loop equations are transformed to algebraic equations, they can
be solved analytically or numerically to determine the kinematics of a system.
The analytical formulations will be discussed in the upcoming lessons.

P. Nikravesh, AME, U of A

Vector loop

Fundamentals of Analytical Analysis

2

Vector Loop
Position vectors in a mechanism creates one or more vector loops around the
linkage. If we move around a loop, the vectors in that loop take us from one link
through a joint, to another link, and another joint, and so on until we return to the
same link that we started from.
In the following examples we see how vector loops are constructed for some
commonly used mechanisms.
Vector loops lead to algebraic equations that can be solved for the kinematics of a
mechanism.
In order for a vector loop to yield a solvable set of algebraic equations, some
fundamental rules must be followed when the vectors are defined.

P. Nikravesh, AME, U of A

Vector loop

Fundamentals of Analytical Analysis

2

Vector Loop For A Fourbar

The ground link, the three moving links, and
the four pin joints (A, B, O2, and O4) form a
closed chain.
The following four vectors form a loop:

RBA

The four vectors form the following vectorloop equation:

RAO2 + RBA - RBO4 - RO4O2 = 0

A
RBO4
RAO2

The ground link can be represented by

vector RO4O2 or it can be presented as the
sum of two
vectors, one horizontal and one
vertical:
The vector loop equation can be revised as:
RAO2 + RBA - RBO4 - RO4Q - RQO2 = 0
Either set of ground vectors could be used
for kinematic analysis.

P. Nikravesh, AME, U of A

RO4O2

O4
RO4Q

O2

RQO2

Vector loop

Fundamentals of Analytical Analysis

2

Vector Loop For A Slider-Crank

The ground link, the three moving links,
the three pin joints (A, B, and O2), and the
sliding joint form a closed chain (loop).
A

The following three vectors form a loop:

The three vectors form the following
vector-loop equation:
RAO2 + RBA - RBO2 = 0

RAO2

O2
RBO2

Note that vector RBO2 will have a variable

magnitude when the links move. The
magnitude of this vector represents the
distance of the slider block, point B, from
the ground reference point; i.e., point O2.

RBA

Rule: When there is a sliding joint in a mechanism, we must define a variable-length

vector along or parallel to the axis of the joint.

P. Nikravesh, AME, U of A

Vector loop

Fundamentals of Analytical Analysis

2

Vector Loop For An Offset Slider-Crank

The ground link, the three moving links, the
three pin joints (A, B, and O2), and the sliding
joint form a closed chain.
The following four vectors form a loop:
Two fixed-length vectors:

One variable-length and one fixed vector:

A
RAO2

RBA

O2
RO2Q

RBO2
Q

RBQ

The four vectors form the following vector-loop

equation:
RAO2 + RBA - RBQ + RO2Q = 0
Can we replace vectors RBQ and RO2Q with a

vector from O2 to B
which yields the
following vector-loop equation?
Useless!
RAO2 + RBA - RBO2 = 0

Answer: NO! Remember the rule!
RAO2 + RBA - RBQ + RO2Q = 0
P. Nikravesh, AME, U of A

Rule: When there is a sliding

joint in a mechanism, we must
define a variable-length vector
along or parallel to the axis of
the joint.

Vector loop

Fundamentals of Analytical Analysis

2

Vector Loop For An Inverted Slider-Crank

The ground link, the three moving links,
the three pin joints (A, O2, and O4), and
the sliding joint form a closed chain.
The following vectors form a loop:

Two fixed-length vectors

RAB

One variable-length and variable-angle

vector

RAO2
O2

Two fixed vectors (or one vector) for the

ground

RO2Q

The vectors form the following vector-loop

equation:

RAO2 - RAB - RBO4 - RO4Q + RO2Q = 0

Can we replace vectors RAB and RBO4 with

a vector from O4 to A
which yields
the following vector-loop equation?
RAO2 - RAO4 - RO4Q + RO2Q = 0
Answer: NO! Remember the rule!

P. Nikravesh, AME, U of A

Useless!

RAO4

RBO4
RO4Q

O4