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MECE_303_Lecture3_Kinematic Analysis of Mechanisms (Graphical Method)

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MECE_303_Lecture3_Kinematic Analysis of Mechanisms (Graphical Method)

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hazem.ya17
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LECTURE NOTES

MECE 303 Theory of Machines

3 – Kinematic Analysis of Mechanisms


(Graphical Methods)

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We’ll study motion characteristics of known mechanisms by making
– Position analysis

– Velocity analysis

– Acceleration analysis

POSITION ANALYSIS
We can determine position of mechanisms by using,
– Graphical Methods

– Analytical Methods

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SLIDER-CRANK MECHANISM

In graphical solutions we write vector equations (Loop Closure Equations  LCE) and solve them graphically.
Assume we have a slider-crank mechanism with known link lengths and input angle θ12. Using position vectors,
loop-closure-equation of the mechanism is:

A0 A  A0 B  BA Position vector LCE

A0 A : Magnitude (a2) and direction (θ12) known

A0 B : Magnitude (s14) unknown, direction (0) known

BA : Magnitude known (a3) direction (θ13) unknown


In this vector equation we have two unknowns (θ13 , s14); vectors are in two dimensional space, hence two
scalar equations from the vector equation can be written (i.e. x-components of the left hand side and right
hand side of the vector LCE yields the first scalar equation, the second scalar equation is obtained from y-
components)

So the vector position LCE can be solved for the unknowns and θ13 and s14can be found.

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A0 A  A0 B  BA

θ13

θ12 θ12

Draw A0A. From point A draw a circle with radius a3. It’s intersection with x axis gives point B as shown above.

4
FOUR BAR MECHANISM

Similarly we can draw a four bar mechanism graphically with given link lengths and the input angle. If we write
the vector equation (LCE):

A0 A  AB  A0 B 0  B0 B

A0A: Magnitude and direction known

AB: Magnitude known , direction unknown

A0B0: Magnitude known, direction known

B0B: Magnitude known , direction unknown

In this equation we have two unknowns and two scalar equation.

So it can be solved. (θ13 and θ14 can be found.)

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θ13

θ12 θ14
θ12

Draw A0A. From point A draw a circle with radius a3. Draw A0B0. From point B0 draw a circle with radius a4
Intersection of two circles gives B as shown above.

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Following examples are drawn on a computer using a drawing software.
Solution thus obtained is very close to analytical solution of the same
problem.

• Example1: Draw the given mechanism with the dimensions as below.

• Numerical example:
• AoA=20 cm, AoBo=50 cm, AB= 35 cm, BoB=40 cm,
• AC=BC=20 cm, CD=110 cm, (AoE)x=95 cm, (AoE)y=6 cm,
• θ=65 degrees,

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Solution to Example1: Draw the given mechanism with the dimensions as below.
• Draw a line starting from Ao with length AoA with the given angle, find A
• Draw a line starting from Ao with length AoBo horizontally to find point Bo.
• Draw a circle with radius BoB center at Bo
• From point A draw a circle with radius AB. Find point B at the intersection of
the circles. As you see there a two points of intersection, giving two assembly
configuration.
• YOU HAVE DRAWN A FOUR BAR LINKAGE (open configuration).
• Find point C by the intersection of two circles with radius AC and BC from
points A and B
• Find point E and draw slot centerline with the given angle of 60 degrees.
• Draw a circle from point C with radius CD and find point D on the intersection
of this circle with slot’s centerline.
• Determine position s. (For the numerical values given below s = 60.28 cm)

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Numerical example:
• AoA=20 cm, AoBo=50 cm, AB= 35 cm, BoB=40 cm,
• AC=BC=20 cm, CD=110 cm, (AoE)x=95 cm, (AoE)y=6 cm,
• θ=65 degrees,

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• You can try to find the same position, if the four bar mechanism
is in cross configuration as below with dimensions AB’= 35 cm,
BoB’=40 cm, AC’=B’C’=20 cm, C’D=110 cm, other dimensions
being same as above

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Example 2: Find positions B and C of the following mechanism.
( This is a multi loop mechanism. In such mechanism trial and error type
drawing may be necessary.)

Numerical example:
• OAo= 80 cm, AoA=35 cm,
BC=180 cm, θ=25 degrees,
• Determine AoB and OC.

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Example 2: Find positions B and C of the following mechanism.
Numerical example:
• OAo= 80 cm, AoA=35 cm,
BC=180 cm, θ=25 degrees,
• Determine AoB and OC.

Solution to Example 2:
• Draw X and Y axis as shown.
• From point O find point OAo.
• From point Ao draw a line with length
Ao A and with given angle, find point A.
• Draw line BC with the given length,
passing from point A. For this you can
make a trial and error solution.
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• For the values given above and using trial and error:
• BC= 180.000 mm
• AoB= 92.631 cm
• OC= 50.976 cm
• Trial and error: Draw a line starting from point B passing from A,
ending on X axis. Check if the length BC is as given. If not try
another point B which will give the correct length of BC by
changing dimension AoB.

Note:
For this example, you can make drawings on a paper with pencil, compass, ruler,
and protractor. As in software usage you may need to draw with certain scale if
the dimensions are too large. Also in such a case, for trial and error solution, use
of a transparent paper, draw the line to be fit on it and try to fit the line on to the
appropriate points on the drawing .
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