Theory of Machines

LECTURE NOTES- MECE 303 Theory of Machines 4- Kinematic Analysis of Mechanisms (2) Fall Semester 2010/2011 Halil Orhan YILDIRAN, MS

Theory of Machines
Analytical solution- Loop Closure Equation of a Mechanism Assumption of rigidity results in following conclusions: 1-The plane motion of a rigid body is completely described if two points within the rigid body are known

Assumption of rigidity
2-Since the actual boundaries of the body does not influence the kinematics the rigid body in plane motion is to be regarded as a large plane

Assumption of rigidity
3-The particles lying on a straight line have equal velocity components in the direction of this line since the distance between any two points along this line remains constant

vA=vB

r v B' r v
' A

r vB r vA

Theory of Machines
Instantly Coincident points. At one position of mechanism one point P can be coincident as P1, P2, P3, P4 but at any other position, they will be at different positions Permanently Coincident points. Some points are permanently coincident at all positions such as A2, A3 and B3, B4 Joint variables are a natural set of position variables. The F (dof of mechanism) joint variables which are selected as input variables (specified) are the independent variables. The rest of the position variables dependent variables.

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Position of a point

Theory of Machines

Position can be expressed in:

Rectangular coordinates; x,y Polar coordinates; r, where r = x 2 + y 2 and tan =y/x

The position of a particle point- is given by the vector r

r = x i + y j = r cos i + r sin j = r u r where u r is a unit vector along r

Complex numbers
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Complex Numbers

Consider r = x i + y j

z=x+iy: complex number representation of r z=rcos + r i sin =r(cos + i sin ) Eulers Equation ei =cos +isin Therefore z=r e is the exponential form of complex number representation of r
i

Complex Numbers
Using Euler Equation the. following is found. ei =(cos + i sin ) and e-i=(cos - i sin ) 2 cos = ei + e-i 2 i sin = ei - e-i z=r ei dz & & z= = r e i + r &.e i .i dt d 2z & & && = z = &&e i + 2 r &.i.e i + r &.i.e i r& 2 e i r 2 dt (Find more about complex numbers in the following lecture notes)

Theory of Machines Considering assumptions of rigidity it is sufficient to represent positions of each link , by describing the position of any two points on that link. One way of selecting these two points on a link is to use permanently coincident points (center of joints).

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Theory of Machines
Open Loop System If there are no closed loops in a mechanical system it is called an open loop system. Dof of system=sum of the dof of all joints=total # of joint variables Loop Closure Equation (LCE) In a mechanism there are one or more closed loops, we imagine to be formed from an open loop system. Due to the closed loop formations, two of the joint variables become dependent.

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Theory of Machines-LCE
*First obtain an open loop system, by disconnecting arbitrary joints *Assign the joint variables of the open loop system (choose R joints) *By connecting each disconnected joints the LCEs can be written. The LCEs relate the dependent variables to the independent ones.
Let the disconnected joint be an R joint at point A between links i and j LCE: PA i = PA j (since Ai and Aj are permanently coincident points)
PA i : position vector of point Ai

PA j : position vector of point Aj

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Theory of Machines .

13 14 12

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Theory of Machines
Example;Four bar Mechanism
So if we write Loop Closure Equation after disconnecting joint B where we have B3 and B4 points as above slide.

A0 A + AB 3 = A0 B0 + B0 B 4 expressing with variables

(a 2 cos 12 i + a 2 sin 12 ) + (a3 cos 13 i + a3 sin 13 ) = a1i + (a 4 cos 14 i + a 4 sin 14 ) j j j

Writing i and j components a2cos12+a3cos 13=a1+ a4cos 14 (i components) a2sin12+a3sin 13= a4sin 14 (j components) Joint variables are: 12 input (known), 13, 14 (unknown). We have 2 equations and 2 unknowns.
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Theory of Machines
Example: Offset Slider Crank mechanism

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Disconnect R at A Joint variables: 12, 13, s14

PA 2 = PA3

A0 A2 = A0Q + QB + BA3
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Theory of Machines
Number of Loops in a Mechanism The connection of each disconnected joint in an open system yields an independent closed loop formation. Consider a mechanism with l links j joints Let L # of independent loops L = # of joint that must be disconnected to obtain open loop system. In an open loop system with l links : # of joints=l-1 j- L = l-1 L=j-l+1 In an open loop system all joint variables are independent. Because of the loop formation some joint variables become dependent. Since each LCE gives two scalar equations, the # of dependent joint variables must be 2L. the total # of joint variables must be 2L+F 16

Theory of Machines
Example: Fig 2.9 in the Textbook l=6, j=7 So from the equation L=7-6+1=2. Therefore we have two independent loops in this mechanism

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Theory of Machines
Example: Fig 2.9 in text book: Disconnect at D and E

16 14 3 5 12 15

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Theory of Machines
Disconnect R at D and E Reconnect D (keeping E disconnected)

PD 6 = PD 5 A0 A + AB + BD6 = A0 D0 + D0 D5 (1)
reconnect R at E (keeping D disconnected)

PE 4 = PE 5 A0 A + AC + CE 4 = A0 D0 + D0 E5 (2)
If while connecting E, D was considered connected then we could also write

A0 A + AC + CB + BD + DE5 = A0 A + AC + CE 4 CB + BD + DE5 = CE 4 (3)

But the third equation is a linear combination of first two i.e. not independent Add second and third we get

A0 A + AC + CE 4 + CB + BD + DE5 = A0 D0 + D0 E5 + CE 4
(we get first equation with A0A+AC+CB=A0A+AB and D0E5=D0D5+D5E5)
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