Scribd
Upload
105 views4 pages

Engineering Mechanics Analysis

This document provides analytical solutions for determining the position of a four-bar linkage mechanism. It begins by presenting an equation relating the known lengths of the linkage bars and the input angle to the desired output angle. It then shows the steps to transform this equation into a form involving the cosine of the difference between the output angle and a defined angle φ. This allows uniquely solving for the output angle given the input. Remarks are provided on properly defining φ and potential multiple solutions for the output angle. The document also includes example MATLAB code for implementing the Newton-Raphson method presented in class lectures to numerically solve the positioning equation.

Uploaded by

Mandar Chikate
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
105 views4 pages

Engineering Mechanics Analysis

This document provides analytical solutions for determining the position of a four-bar linkage mechanism. It begins by presenting an equation relating the known lengths of the linkage bars and the input angle to the desired output angle. It then shows the steps to transform this equation into a form involving the cosine of the difference between the output angle and a defined angle φ. This allows uniquely solving for the output angle given the input. Remarks are provided on properly defining φ and potential multiple solutions for the output angle. The document also includes example MATLAB code for implementing the Newton-Raphson method presented in class lectures to numerically solve the positioning equation.

Uploaded by

Mandar Chikate
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 4

APPENDIX 2

A.1 - analytical position solution for four-bar


In Section 2 of the lecture notes, we arrived at the following equation in our attempt to
find the position solution for the mechanism:

2r1r4 cos 4 + 2r2 r4 cos( 2 4 ) = r22 + r42 + r12 2r1r2 cos 2 r32

where r1, r2 , r3 and r4 are known vector lengths and 2 is the (known) input angle for the
mechanism. Our goal is to determine the value(s) of 4 that satisfies the above equation.

The next step in this solution process is to convert the left-hand-side of the above

equation to the form of: Acos( 4 ) . To this end, we will write the left-hand-side of the

above as1:

2r1r4 cos 4 + 2r2 r4 cos( 2 4 ) = 2r1r4 cos 4 + 2r2 r4 (cos 2 cos 4 + sin 2 sin 4 )

= 2( r1r4 + r2 r4 cos 2 ) cos 4 + 2( r2 r4 sin 2 ) sin 4


2( r r + r r cos 2 )

2( r r sin 2 )
= A 1 4 2 4
cos 4 + 2 4
sin 4
A
A

where

A=2

( r1r4 + r2 r4 cos 2 )

+ ( r2 r4 sin 2 )

If we make the following definition,

cos =

2( r1r4 + r2 r4 cos 2 )
A

then we see that2:

sin =

A sin

2( r2 r4 sin 2 )
A

A cos

With the above, we now have:

2r1r4 cos 4 + 2r2 r4 cos( 2 4 ) = A[cos cos 4 + sin sin 4 ]


= Acos( 4 )
1

In the first line of this equation, we have used the trigonometric identity of:
cos( a b) = cos acosb + sin asinb .
Use the trigonometric identity of cos2 + sin 2 = 1 to verify this.

where3:
tan =

2( r2 r4 sin 2 ) / A
sin
=
cos 2( r1r4 + r2 r4 cos 2 ) / A

= atan2( r2 r4 sin 2 , r1r4 + r2 r4 cos 2 )


Therefore, our original equation above takes on the desired form of:

Acos( 4 ) = r22 + r42 + r12 2r1r2 cos 2 r32


Solving this for 4 gives:

r 2 + r 2 + r 2 2r1r2 cos 2 r32


4 = + cos1 2 4 1

r22 + r42 + r12 2r1r2 cos 2 r32

= atan2( r2 r4 sin 2 , r1r4 + r2 r4 cos 2 ) + cos


2 r r + r r cos 2 + r r sin
(24
2)
2)
(14 2 4
1

Remarks
1. Usage of the atan2 function will always give a unique value for the angle . If
you do not have the atan2 function at your disposal, then you will need to
determine the correct quadrant for the old-fashioned way -- if is written as
N
= atan , then the correct quadrant for is determined by considering the signs
D
of N and D using the following figure:

N >0, D < 0

N >0, D > 0

N < 0, D < 0

N < 0, D > 0

atan2 is a common function in most programming languages that allows one to


obtain the correct quadrant of the angle when finding the inverse tangent of an
x
argument. Here, = atan2( x, y ) corresponds to tan = .
y

2. Depending on the size of the argument B found in the bracket, a real value for the
cos1 ( B) function in the above expression for 4 might not exist, and if it does, it
might not be unique. In particular, cos1 ( B) will give either: i) no solution, ii) one
solution or iii) two solution:
i) If B > 1, then there are no realvalues of cos1 ( B) . This says that the
mechanism cannot take on a position corresponding to this input angle 2 .

ii) If B = 1, then there is a single value of cos1 ( B) = 0 . Similarly, if B = 1 ,


there is a single value of cos1 (
B) = . Physically, the coupler link 3 and

output link 4 are aligned in these two cases as shown below.

iii)

For B < 1, there are two values of cos1 ( B) . If B > 0 , then the two values
of cos1 ( B) are in the first and fourth quadrants. If B < 0 , then the two
values of cos1 ( B) are in the second and third quadrants. Therefore, two
position mechanism positions,
1 and
2 below, are possible for B < 1

position 1

3
4

2
3

4
position 2

A.2 Matlab code for Newton Raphson example in lecture


Main program for Newton-Raphson solution:
clear
tol=1.e-8;
% make initial guess x0 a COLUMN vector
x0(1,1)=0.5;
x=newton_raphson(x0,tol);

Function newton_raphson for solving:

f ( x ) = x 3 6x 2 + 11x 6 = 0
function [x]=newton_raphson(x0,tol)

x=x0;
err=1.e10;
% in the loop make f a COLUMN vector and J a SQUARE matrix
while err > tol
f(1,1)=x.^3-6*x.^2+11*x-6;
J(1,1)=3*x.^2-12*x+11;
dx=-inv(J)*f;
err=max(abs(dx));
x=x+dx;
[err,x]
end

You might also like