Kuwait University

College of Engineering and Petroleum

Mechanical Engineering Department
ME 311 Theory of Machines

Dr. Khaled Al-Ghanem

Project
Design of a Linkage Mechanism

Nayef Nazih Ftouni

206216827

Contents
List of Figures ................................................................................................................................................ 3
List of Tables ................................................................................................................................................. 4
Results ........................................................................................................................................................... 5
Discussion ..................................................................................................................................................... 9
Trails and results ......................................................................................................................................... 10
Appendix ..................................................................................................................................................... 15

List of Figures
Figure 1: Linkage mechanism ....................................................................................................................... 5
Figure 2: Distance x vs. angle theta ............................................................................................................. 6
Figure 3: Speed x' vs. angle theta ................................................................................................................ 6
Figure 4: Angle phi vs. angle theta............................................................................................................... 7
Figure 5: Angular velocity vs. angle theta ................................................................................................... 7
Figure 6: First iteration ............................................................................................................................... 10
Figure 7: Second iteration .......................................................................................................................... 10
Figure 8: Third iteration ............................................................................................................................. 11
Figure 9: Last iteration ............................................................................................................................... 13

List of Tables
Table 1: Results from Matlab ..................................................................................................................... 15

Results
Degree of freedom = 1
For:

= 5[. ]

= 20[. ]

= 30[. ]

= 1 [/]

Starting from initial position = 0

Initial angle = 50.4

Initial distance = 49.6 [. ]

Figure 1: Linkage mechanism

Displacement equations:

cos + cos ( + ) = 0
3

sin + sin ( + ) = 0
3
cos + cos + cos = 0
sin + sin sin = 0
Velocity equations:

sin sin ( + ) = 0
3

cos + cos ( + ) = 0
3
sin sin sin = 0
cos + cos cos = 0

Figure 2: Distance x vs. angle theta

Figure 3: Speed x' vs. angle theta

Figure 4: Angle phi vs. angle theta

Figure 5: Angular velocity vs. angle theta

The minimum length L for which the stroke of the slider in no less that 42 cm, and angle
is within 35 is L = 43.587 cm.
L to the nearest centimeter = 44 cm.

Discussion
The design specifications for length L are as follows:

Stroke of the slider no less than 42 cm.

The angle is within 35.

The minimum length L that meets the design specifications is L = 43.587 cm.
From figure (2), the maximum displacement = 79.006 cm. at angle theta = 330
And the displacement = 32.735 cm. at angle theta = 146
The stroke of the slider
= = 46.271 .

Theta forward equals to = 184 and the time ratio = 360

= 1.045

From figure (3) the slider speed equals to zero when the slider displacement reaches its
maximum and minimum value. The average forward speed of the slider
= 14.295 [/]
and the average backward speed of the slider
= 15.063 [/]

From figure (4) the maximum angle = 34.999 at angle theta = 210 and = 330
and the minimum angle = 13.263 at angle theta = 90

From figure (5) the angular velocity equals to zero when the angle reaches its maximum and
minimum value.

Trails and results

First of all I started to calculate the range of the minimum L that satisfy the design
specification by using Matlab with range of L starts from 1 to 50 with increment of 1 as shown
in figure

Figure 6: First iteration

And the results as follows

L=
44
45
46
47
48
49
50
As indication that range of minimum L is around 44 cm. Then I use the same code but
with more accurate results by shrinking the range of L between 40 and 45 with increment of 0.1
as shown in figure

Figure 7: Second iteration

10

L=
43.6
43.7
43.8
43.9
44
44.1
44.2
44.3
44.4
44.5
44.6
44.7
44.8
44.9
45
From the second results the minimum L that satisfy the design specifications changed
from 44 cm to 43.6. Starting from 40 till 45 with increment of 0.1 and the result was 43.6 thats
shrink the next iteration range between 43 and 44 with increment of 0.01 to obtain more accurate
results as shown in figure

Figure 8: Third iteration

11

L=
43.59
43.6
43.61
43.62
43.63
43.64
43.65
43.66
43.67
43.68
43.69
43.7
43.71
43.72
43.73
43.74
43.75
43.76
43.77
43.78
43.79
43.8
43.81
43.82
43.83
43.84
43.85
12

43.86
43.87
43.88
43.89
43.9
43.91
43.92
43.93
43.94
43.95
43.96
43.97
43.98
43.99
44

From the third iteration the result for minimum length of link L is 43.59 cm.
To obtain more accurate result again shrink the range between 43.58 and 43.59 with increment of
0.001 as shown in figure

Figure 9: Last iteration

13

The results were as follows

L=
43.587
43.588
43.589
43.59
So the minimum length of link L that satisfy the design specification is 43.587 cm.

14

Appendix
Table 1: Results from Matlab

Theta
()
[Deg]

Psi ()
[Deg]

Phi ()
[Deg]

Distance
x [cm]

Distance
y [cm]

Psi dot
[Rad/s]

Phi dot
[Rad/s]

Slider Speed
[cm/s]

Joint speed
inside the
slot [cm/s]

0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33

-50.406
-51.081
-51.755
-52.428
-53.099
-53.768
-54.435
-55.1
-55.763
-56.424
-57.082
-57.738
-58.392
-59.043
-59.691
-60.337
-60.979
-61.619
-62.255
-62.888
-63.517
-64.143
-64.765
-65.383
-65.998
-66.608
-67.214
-67.816
-68.413
-69.006
-69.594
-70.177
-70.755
-71.328

-32.031
-31.837
-31.637
-31.433
-31.224
-31.01
-30.792
-30.569
-30.341
-30.11
-29.874
-29.635
-29.392
-29.145
-28.895
-28.641
-28.384
-28.125
-27.863
-27.598
-27.33
-27.061
-26.789
-26.515
-26.24
-25.963
-25.685
-25.405
-25.124
-24.843
-24.561
-24.278
-23.995
-23.712

76.072
75.873
75.668
75.456
75.238
75.013
74.782
74.545
74.301
74.051
73.794
73.532
73.263
72.988
72.707
72.419
72.126
71.827
71.521
71.21
70.893
70.571
70.243
69.909
69.569
69.225
68.875
68.52
68.159
67.794
67.424
67.049
66.669
66.285

49.58
49.634
49.678
49.711
49.734
49.747
49.749
49.741
49.723
49.695
49.657
49.609
49.551
49.483
49.405
49.318
49.221
49.114
48.998
48.872
48.737
48.593
48.44
48.278
48.107
47.927
47.738
47.541
47.336
47.123
46.901
46.671
46.434
46.189

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-13.378
-13.82
-14.253

15

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35
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61
62
63
64
65
66
67
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69
70
71
72
73
74

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65.897
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63.065
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49.486
49.06
48.637

45.936
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45.41
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44.855
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43.974
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43.038
42.715
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37.733
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36.203
35.816
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34.651
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33.871
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31.926

-0.56482
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16

0.28293
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-14.677
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75
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81
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83
84
85
86
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90
91
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93
94
95
96
97
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99
100
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102
103
104
105
106
107
108
109
110
111
112
113
114
115

-88.508
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48.218
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31.539
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17

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116
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35.44
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-33.394
-33.51
-33.623
-33.734
-33.841
-33.945
-34.045
-34.141
-34.233
-34.321
-34.404
-34.483
-34.556
-34.625
-34.688

70.946
71.252
71.553
71.85
72.141
72.427
72.708
72.984
73.255
73.52
73.779
74.033
74.281
74.523
74.759
74.99
75.214
75.432
75.644
75.85
76.049
76.243
76.429
76.61
76.784
76.952
77.113
77.267
77.415
77.557
77.692
77.82
77.942
78.057
78.166
78.267
78.363
78.452
78.534
78.609
78.678

20.505
20.94
21.382
21.83
22.284
22.744
23.208
23.678
24.152
24.63
25.112
25.597
26.085
26.575
27.068
27.562
28.058
28.554
29.051
29.548
30.045
30.541
31.036
31.531
32.023
32.514
33.002
33.487
33.97
34.449
34.925
35.397
35.865
36.329
36.788
37.241
37.69
38.133
38.571
39.003
39.428

-0.2039
-0.22285
-0.24142
-0.25959
-0.27734
-0.29466
-0.31153
-0.32794
-0.34389
-0.35937
-0.37437
-0.3889
-0.40296
-0.41654
-0.42966
-0.44231
-0.4545
-0.46625
-0.47756
-0.48843
-0.49888
-0.50892
-0.51856
-0.52781
-0.53667
-0.54517
-0.55331
-0.56111
-0.56856
-0.5757
-0.58251
-0.58903
-0.59524
-0.60118
-0.60684
-0.61223
-0.61737
-0.62226
-0.62691
-0.63133
-0.63552
22

-0.069857
-0.075807
-0.081482
-0.086866
-0.091945
-0.096706
-0.10114
-0.10524
-0.10899
-0.11239
-0.11544
-0.11814
-0.12048
-0.12246
-0.12408
-0.12535
-0.12627
-0.12684
-0.12708
-0.12697
-0.12654
-0.12578
-0.1247
-0.12331
-0.12163
-0.11964
-0.11738
-0.11483
-0.11201
-0.10894
-0.10561
-0.10204
-0.098237
-0.094208
-0.089963
-0.085511
-0.080862
-0.076023
-0.071004
-0.065814
-0.060463

17.663
17.394
17.118
16.836
16.549
16.255
15.955
15.65
15.339
15.022
14.701
14.374
14.043
13.707
13.367
13.023
12.676
12.324
11.97
11.612
11.252
10.889
10.524
10.156
9.7869
9.4159
9.0435
8.6697
8.2949
7.9191
7.5425
7.1654
6.7877
6.4096
6.0313
5.6529
5.2744
4.896
4.5176
4.1395
3.7615

24.732
25.122
25.493
25.844
26.175
26.484
26.772
27.038
27.282
27.503
27.702
27.878
28.031
28.161
28.269
28.355
28.418
28.46
28.48
28.478
28.456
28.413
28.349
28.266
28.163
28.04
27.9
27.741
27.564
27.369
27.158
26.93
26.686
26.426
26.151
25.862
25.557
25.239
24.907
24.562
24.204

321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360

-24.111
-24.753
-25.398
-26.046
-26.698
-27.353
-28.011
-28.671
-29.334
-30
-30.668
-31.338
-32.009
-32.683
-33.358
-34.035
-34.713
-35.392
-36.073
-36.754
-37.436
-38.119
-38.803
-39.487
-40.171
-40.856
-41.541
-42.225
-42.91
-43.595
-44.279
-44.963
-45.646
-46.329
-47.011
-47.692
-48.372
-49.051
-49.729
-50.406

-34.746
-34.798
-34.844
-34.885
-34.919
-34.948
-34.97
-34.986
-34.996
-34.999
-34.996
-34.986
-34.97
-34.946
-34.917
-34.88
-34.837
-34.786
-34.73
-34.666
-34.595
-34.518
-34.434
-34.343
-34.246
-34.142
-34.032
-33.915
-33.791
-33.661
-33.525
-33.383
-33.234
-33.08
-32.919
-32.753
-32.581
-32.403
-32.219
-32.031

78.741
78.796
78.846
78.888
78.924
78.954
78.977
78.993
79.003
79.006
79.003
78.993
78.977
78.954
78.924
78.888
78.846
78.797
78.742
78.68
78.611
78.536
78.455
78.367
78.272
78.171
78.064
77.95
77.829
77.702
77.568
77.428
77.281
77.128
76.968
76.802
76.629
76.45
76.264
76.072

39.848
40.26
40.666
41.065
41.457
41.841
42.218
42.587
42.948
43.301
43.646
43.983
44.311
44.63
44.941
45.243
45.535
45.819
46.093
46.358
46.614
46.86
47.096
47.323
47.54
47.747
47.944
48.131
48.308
48.475
48.632
48.778
48.914
49.04
49.156
49.262
49.357
49.442
49.516
49.58

-0.6395
-0.64327
-0.64684
-0.65021
-0.6534
-0.6564
-0.65922
-0.66187
-0.66435
-0.66667
-0.66883
-0.67084
-0.67269
-0.67441
-0.67598
-0.67741
-0.6787
-0.67987
-0.6809
-0.68181
-0.6826
-0.68326
-0.6838
-0.68423
-0.68454
-0.68473
-0.68482
-0.68479
-0.68465
-0.6844
-0.68405
-0.68359
-0.68302
-0.68235
-0.68157
-0.68069
-0.6797
-0.67861
-0.67742
-0.67612

23

-0.054959
-0.04931
-0.043527
-0.037617
-0.03159
-0.025455
-0.019219
-0.012893
-0.0064834
2.56E-10
0.0065491
0.013156
0.019811
0.026507
0.033237
0.039991
0.046762
0.053543
0.060325
0.067102
0.073865
0.080609
0.087325
0.094008
0.10065
0.10724
0.11379
0.12027
0.12668
0.13303
0.13929
0.14548
0.15158
0.15758
0.16349
0.16929
0.17499
0.18057
0.18604
0.19139

3.3839
3.0065
2.6295
2.2528
1.8764
1.5005
1.1248
0.74957
0.37463
1.12E-09
-0.37434
-0.74842
-1.1223
-1.4959
-1.8694
-2.2428
-2.616
-2.9892
-3.3624
-3.7355
-4.1087
-4.4819
-4.8552
-5.2286
-5.6021
-5.9757
-6.3494
-6.7232
-7.0971
-7.4711
-7.8451
-8.2191
-8.5932
-8.9671
-9.3409
-9.7146
-10.088
-10.461
-10.834
-11.206

23.833
23.45
23.056
22.65
22.234
21.807
21.37
20.922
20.466
20
19.525
19.042
18.551
18.052
17.546
17.032
16.512
15.985
15.452
14.913
14.369
13.819
13.265
12.706
12.142
11.575
11.004
10.43
9.8522
9.2719
8.6891
8.1041
7.5173
6.9288
6.339
5.7482
5.1567
4.5647
3.9726
3.3806

24

%
%
%
%

Nayef Nazih Ftouni

206216827
ME-311 Theory of Machines
Project

clear all
close all
clc
format short g
d = 30;
r = 20;
S = 42;
h = 5;
w1 = 1;
j = 0;
%
%
%
%
%
%
%
%

x(1)
x(2)
x(3)
x(4)
w(1)
w(2)
w(3)
w(4)

is
is
is
is
is
is
is
is

psi
phi
x
y
psi dot
phi dot
x dot
y dot

for L0=43.58:0.001:43.59
i = 0;
clear A
x0 = [-50.4 -15 60 49.6];
for theta = 0:1:360
i=i+1;
k = @(x)[r*cosd(theta)+d*cosd(x(1)+60)-x(4)
r*sind(theta)+d*sind(x(1)+60)-h
r*cosd(theta)+d*cosd(x(1))+L0*cosd(x(2))-x(3)
r*sind(theta)+d*sind(x(1))-L0*sind(x(2))];
b =
psi
phi
x =
y =

fsolve(k,x0);
= b(1);
= b(2);
b(3);
b(4);

T = [-d*sind(psi+60) 0 0 -1
d*cosd(psi+60) 0 0 0
-d*sind(psi) -L0*sind(phi) -1 0
d*cosd(psi) -L0*cosd(phi) 0 0];
M = [r*w1*sind(theta)
-r*w1*cosd(theta)
r*w1*sind(theta)
-r*w1*cosd(theta)];

25

w = inv(T)*M;
w = w';
A(i,:) = [theta psi phi x y w(1) w(2) w(3) w(4)];
x0 = b;
end
xmax = max(A(:,4));
xmin = min(A(:,4));
phimax = max(abs(A(:,3)));
if xmax-xmin >=S & phimax <=35
j=j+1;
L(j,1)=L0;
end
end
L0 = min(L)
clear
clear
clear
clear
clear
clear
clear

A
w
T
M
k
x0
b

x0 = [-50.4 0 0 49.6];
i=0;
for theta = 0:1:360
i=i+1;
k = @(x)[r*cosd(theta)+d*cosd(x(1)+60)-x(4)
r*sind(theta)+d*sind(x(1)+60)-h
r*cosd(theta)+d*cosd(x(1))+L0*cosd(x(2))-x(3)
r*sind(theta)+d*sind(x(1))-L0*sind(x(2))];
b =
psi
phi
x =
y =

fsolve(k,x0);
= b(1);
= b(2);
b(3);
b(4);

T = [-d*sind(psi+60) 0 0 -1
d*cosd(psi+60) 0 0 0
-d*sind(psi) -L0*sind(phi) -1 0
d*cosd(psi) -L0*cosd(phi) 0 0];
M = [r*w1*sind(theta)
-r*w1*cosd(theta)

26

r*w1*sind(theta)
-r*w1*cosd(theta)];
w = inv(T)*M;
w = w';
A(i,:) = [theta psi phi x y w(1) w(2) w(3) w(4)];
x0 = b;
end
L
A
max(A(:,3))
min(A(:,3))
A(:,9)
p=0;
for i = 146:1:330
p=p+1;
vf(p)=abs(A(i,8));
end
vf_avg = sum(vf)/(p)
p=0;
for i = 330:1:360
p=p+1;
vb(p)=abs(A(i,8));
end
for i = 1:1:145
p=p+1;
vb(p)=abs(A(i,8));
end
vb_avg = sum(vb)/(p)
figure
subplot(211);plot(A(:,1),A(:,4),'Linewidth',2)
grid on
xlabel('\Theta [deg]','FontSize',13)
ylabel('Distance x [cm.]','FontSize',13)
subplot(212);plot(A(:,1),A(:,8),'Linewidth',2)
grid on
xlabel('\Theta [deg]','FontSize',13)
ylabel('x''[cm/s]','FontSize',13)

figure
subplot(211);plot(A(:,1),A(:,3),'Linewidth',2)
xlabel('\Theta [deg]','FontSize',13)
ylabel('\Phi [deg]','FontSize',13)
grid on

27

subplot(212);plot(A(:,1),A(:,7),'Linewidth',2)
xlabel('\Theta [deg]','FontSize',13)
ylabel('\phi'' [rad/s]','FontSize',13)
grid on
figure
plot(A(:,1),A(:,4),'Linewidth',2)
grid on
xlabel('\Theta [deg]','FontSize',13)
ylabel('Distance x [cm.]','FontSize',13)
figure
plot(A(:,1),A(:,8),'Linewidth',2)
grid on
xlabel('\Theta [deg]','FontSize',13)
ylabel('x''[cm/s]','FontSize',13)
figure
plot(A(:,1),A(:,3),'Linewidth',2)
xlabel('\Theta [deg]','FontSize',13)
ylabel('\Phi [deg]','FontSize',13)
grid on
figure
plot(A(:,1),A(:,7),'Linewidth',2)
xlabel('\Theta [deg]','FontSize',13)
ylabel('\phi'' [rad/s]','FontSize',13)
grid on

28