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Mechanism and Machine Theory Vol. 19. No. 6, pp. 459- 466, 1984 0094- 114X184 $3.

00+ ,
Printed in the U , Pergamon Press LId,

OPTIMizATION OF
PATH GENERATION USING AN ATLAS OF COUPLER
CURVES OF GEARED FIVE- BAR LINKAGES
c, ZHANGt, R. L. NORTON , p, E, t and T,
Worcester Polytechnic Institute, Worcester, MA 01609, U,
(Received November 1982; in revised form 13 August 1983)

Abstract-An atlas containing 732 coupler curves traced by the symmetric geared five-bar linkage has been
drawn by the authors, Gear. ratios of + I , - 1, , - 2 , have been used. The data are presented either
six or twelve curves to a page , arranged in axonometric projection to illustrate the envelope of a family
of curves of that particular linkage
represent uniform intervals of input crank angular displacement in order to provide coupler point velocity
information. Other curves for parameters lying between those illustrated can be visually interpolated,
Optimization techniques can be applied to modify the geometric parameters of a linkage from
the atlas as an approximate solution to the path motion desired. The original
sheets in four colors with a Benson-Varian xy
conjunction with the atlas of linkage coupler curves to refine an initial selection of a desired motion path
to achieve a particular motion with minimum deviation. The geared five- bar linkage is used as an example
and a straight line generator is

1. INTRODuctION GFBM is to consider it a modification of the five- bar


Geared five- bar mechanisms (GFBM:) have been binary chain , which is a two degree of freedom device
known for many years. Reuleaux(l) requiring two simultaneous inputs for constraint (see
ous inversions of the GFBM in Fig. 2a), By coupling two of the links together with
a gearset , a single input to
applications of that era
needle mechanisms , straight line inotions, steering
coupled input to a second link through the gearset
thus reducing the degree-of- freedom (DOF) to
mechanisms and stamping
(Fig. 2b).
authors have discussed and analyzed this device, Tao
Ifthe gearset possesses a ratio of plus 1 , requiring
and Hall(2) analyzed the symmetrical geared five- bar
linkage for various gear ratios and an idler , (Fig,
Freudenstein and Primrose(3, 4) have derived the become identical to those generated by another fotir-
equations for the coupler curves generated by the bar linkage which is not necessarily a Grashoff crank
rocker, For a ratio of , the coupler curves
joint between the two floating links and
general properties the coupler curve for any geared
of
generated will differ from those of a four- bar
five- bar linkage, The GFBM can be considered to be similar geometry, For ratios

a modification of Stephenson s 6- link one freedom coupler curve will be of higher order than sixth and
will have multiple loops
chain in which one binary link (link 6 in Fig, Ia) is
replaced by a two- freedom joint in the form of a gear application of multi- loop GFBM coupler
mesh, The gear the design of multiple dwell
respectively (Fig. Ib), A cams, Rose(6) discusses the design of GFBM
is shown in Fig, I(c) in which complete gears contain- tions to problems of pseudo-straight line generation
ing joints and precision point curve generation,
links 2 and 5, with input provided to either, In most While the commonly used four- bar linkage(I6) has
of the GFBM literature , the joint 134 great versatility in terms of the
coupler point , although any points on the two cou- function generation obtainable, the geared five- bar
pler planes formed by link 3 and 4 extended can serve introduces
as a source of output motion, namely: gear ratio , phase angle and additional link
Another ratio, In addition , it is not
ratio be a constant. Non- circular gears , or their drag
link 4- bar equivalent , can be used to couple the
geared" links , thus allowing the displacement
tVisiting Scholar. Also , Assistant Professor , Hebei Institute velocity profile of the coupler point to
of Mining and varied over that obtained with constant ratio, In the
Republic of China,
case of a drag link coupling, the linkage reverts to a
tAssociate Professor of Mechanical
~Professor of Mechanical Engineering, Stephenson s 6:- bar (Fig, Ia).
459
, y-

-::;,t~ if' ~~~;,ri

460 C, ZHANG et a/,

r34
134
r34

123
123
123

5\
(0) (b) (c) .
Fig, t, Relation between s 6-bar mechanism.

(0)

Fig. 2, Non- geared and geared five- bar mechanisms,

2. ARRANGEMENT OF THE ATLAS intended to be used to identify a starting design which


For simplicity in plotting and appears close to the path and/or

a concise atlas is desired. The


combinations of parameters , the following measures an , or

have been taken: (1) only POWELL(lG-15) to change any or


considered; (2) only the pin
parameters and improve the
couplers is taken as the tracer-point; (3) only the symmetric linkage is used as the

integers :!: 1 :1:2 are used as the usually an unsymmetric linkage is obtained after the
optimization process , with the tracer- point not neces-
consideration is given to symmetry and repeatability
of the curves in determining the range of phase angles sarily still being the pin between the two couplers
displayed. Based on these simplifications , the number
of basic parameters of a
generator is reduced to 4 gear ratio,
ex-ratio of length of the floating couplets over that of
the cranks, p-ratio of length of the center distance
connecting the two fixed
cranks phase angle,
The
designed to show the " envelope " of a
coupler curves when a single design parameter such
as phase angle is varied, It is quite likely that a curve
lying between those displayed may be more nearly
optimal for a given , the Fig, 3, Symmetric GFBM,
.....: .!-
. --. -.. .. ". .-...._. ,." /"" . - '.'..""'
,.... ~. (. . ,~ .. ' ,""' ~" '.. , .. ;'"
. " ., ...
:".
" ~...., ...-. --"""'"
= -
.. , .... ;.:";"--- :"_";"::

- e

461
Optimization of parameters for

Approximately 732 coupler curves are accurately or " envelope , is implied and the trend of variation
plotted for ' a of the curves can be observed.
The maximum curve between two given curves by interpolation and
Benson-Varian plotter is about 0. 005 ins. Each cou- use it as a better starting design,

pler curve has 30 dots, or nodes, Figures 4-7 are


= + 1,
(Fig, 4), the coupler curves
tween adjacent nodes measured along the curve is the atlas, for the case

displacement of the tracer- point for a are symmetric about the centerline , which is a straight
angular displacement of the driving crank. The family line with LI 13 /2. With different phase angle

of curves generated by a linkage with the same value different curves are generated, For the case

(Fig. 5), with ')', the


of 0: 13, A but different phase

same page of the atlas and put in J( -


planes parallel generated are of the same shape but mirro r images.
to each other, The origins of these coordinate The :t curves are

frames are arranged along a third skew axis , which ')' = 1800 , For the case = :t2 , with phase angle

can be phase angle axis . In such a (')' + 12n/AI), the curve generated
three- dimensional representation , a curved' surface generated with angle

1tJ'K\- z.s
IIP"- z.s
lJ8M - 1.

(a)

'AWVtRS
M.ItM- z.s
.fA-
~-I.

I'
t.... . . '
'Ao . ~. . . . . . .0

. II.-
'.1...- , -
"" II.' .J&
L .

Ja.

AI' 1,.;-, I

(b)

1, 1800 0:::: 'Y 0:::: 3600


Fig, 4 (a) A sample with A = 0:::: 'Y 0:::: 1800
462 C. ZHANG et ai,
,MMEIDI
KJA- 1.'
1..II8M- .1.

l-.
I.r-

L-L, l-", , i -

Fig, 5, A A.

PWKTDIS
AIJ'K\. ..,
IEtA. 12
LA/IIIIA.2.1
I,
~.c
I,'

l- l- (..

Fig, 6, A sample with A. = + 2,

increment of 150 , the combinations of )I used A scale diagram of the linkage is shown , and the
ill the atlas are three basic parameters 0( , p and
Combinations of parameters page, The value of pha.se angle is labeled near the first
mined such that the mechanism will point of each curve, A small
when L = BD (Fig, 3), the condition of mobility is , node on the those nodes which cot-
rrespond to rotation angle (J = 60 n (n = 0, ,

L = BD (XD2 - Xi) +
(YD - Yi)

The combinations of Table 2, Combinations of Ci and

listed in Table 2,

Table 1. Combinations of A. and

RANGE OF Y INCREMENT NUMBER OF CURVES

'J - 360

Q - l~n
0 - 180
;;"":'~ ,"".~ ., _. -
~-'----"~._ ''' -'~~' ::, "~"''':'-~.',"", ,.,...
, '' ,, ,, ,, ":_.;."......,.....

IJC!\li(, :II\ "I . , lJ:,L;i~;, ' ;!C. I.' , . ~i.(, (,;J' ;IJ(.l~rpc ,
........ "\1"' 1 ~-

Optimization of parameters for


463

t.!I
In,,- 20'
LI8iIo- .oz..

E?\
Fig, 7. A sample with ,t = -

symbols of larger size and different shape , such as a


4, OPTIMUM DESIGN
triangle or a square , are used, By these symbols , a
user can identify The design of mechanisms can be formulated as a
distribution of velocity along the path , for example problem in nonlinear
when seeking a path with constant velocity or a path ready become a very powerful method in mechanism
with fast return, The atlas is arranged by first varying design, During the last twenty years , a great amount
of work has been carried out in this 13),
the gear ratio because the curves generated with
The general mathematical model of a
different gear ratio possess entirely
and nature. In a group of curves with the programming problem can be stated in the following
ratio , parameters form:
are varied in increasing
order.
Minimize F(X)
3, SUGGEStIONS ON PRACTICAL APPLICATION
where (X) is the vector of the design variables subject
Besides those applications suggested by previous
to the inequality constraints
researchers , the following are also
should be given further investigation:
gj(X) -( 0 = 1, 2
(1) Certain regions of some
to a straight line , and the velocity on the straight line
and the equality constraints
part does not vary very much, Straight line motions
both with and without a constant
hiX) = 0 j = 1,
very useful in industrial devices,
(2) On some Usually, in path- generating
along the path and the motion has a fast return,
mechanism
problems , a relation exists between the rotation angle
(3) Non-unity gear ratio GFBM' s wiU give multi- of the input crank and the
loop coupler curves which can be used for multiple point. The maximum absolute value or the mean root
frequency outputs (i.e, double strike per input revolu- value of the error between the desired and the actual
tion or multiple dwell
positions is usually used as the objective function to
The GFBM can be be minimized, In the case where no
bar path- generator(16) is used , and a design with
exists , an area criterion should be
more tailored performance can be obtained with it area between the
due to its more minimized,
authors ' opinion that GFBM have not been For the geared five- bar linkage (GFBM), the de-
widely in machine design as they perhaps should be sign variable vector (X) contains the following 12
used, The purpose of this atlas is then to independent variables (Fig, 8):
resource to machine designers to aid in the design and
Lj, L2' L3' Lc length of the links,
selection of potential GFBM for specific applications.
XA, YA, XE, Yreoordinatesofthe two

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.~ ..~- ..... ---~' ,.-':_ --'.'
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Optimization of parameters for 465

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c~,
CURVE'l-Z
III

k-

. L-
t"..
IiII .

~- L-
. L-
Fig, 9, A sample

geared five- bar linkage is expected to generate a The mechanism can trace out a straight line with
straight line Yo = 2. 5 as the. input crank rotates over

1500 , In the other , the tracer- point min = max = 2, 756 in,
returns at a lower average
should be parallel to the center- line connecting the The travel length of the tracer- point
two fixed pivots. max - min = 1.499
The maximum error
The maximum absolute error
() = max (Iy
() = 0, 0042 in,
is taken as objective function to be
It is clear from the atlas that the best The relative error
straight line parallel to the center- line is the
anism with gear ratio = 1, In this particular case Il = 6/L = 0, 0029, or 0,
the design variable vector is reduced to
If the travel does not satisfy the requirement , all the
(Lh L2, A , XII' YII, (JOh
sizes can be changed proportionally,
If the straight line is desired to
rotation angle of 2100
Curve #
curve # 2 in
design. It is very interesting that two very
LI = 1.0 = 4, 0 in" = 5, 0 in.,
L2 straight- line generators will be
XII = 0, YA = 0. 33 in., with nearly adjacent similar designs from the same
= 285, (Jo l = 2380 (The point 0 is taken as the first atlas set. Note that each of the two
point , as shown in Fig. 9), a similar path position function but the
markedly different in each case , one being a " quick
Generally speaking, the objective function in the return " and the otherbeirtg a " slow return " mech-
optimum design of a path- generating mechanism is a anism , due to the velocity pattern differences between
multi-extremum function, To obtain a better design curves 1 and 2 which differ only in phase
a random would be very difficult to find each of
method. The optimization process gives the following minima I by
niques, The existence of an atlas to provide
result:
starting designs for optimization is then very useful.
L, = 0.4716 in" L2 = 3, 569 in. = 4, 571 in" REFERENCES
XII 265 in. YII 0.178 in" 1. F. Reuleaux The Kinematics of Machinery, 574-
= 2640 , (Joh = 250. 80. Dover , New York
p,~. ---'----- -..-.- - --.
..
--~'-----~ .. -,_. ,-- ::~;;;~;;;;;;,,:~;:.::..',';:;~::,.::;;;:::.';:"~,-'
. :: :.,. ::~: -.-- --- --.-"'

C"-

-- _e.__

466 C. ZHANG et ai,

Engng 23 , 175- 177 10, R, L. Fox , and K, C, Gupta J, Engng Ind, , 657
2, 0, C, Tao
201 , 203 , 205 (1982),
3, F, Freudenstein and E, j, F, Primrose
Product

J, Appl, Mech. II. R, R,


(1973), J, Engng Ind, , 1036
161 (1963), ( 1976),
4, E, j, F, J, Appl, Mech" 12, j, N, Siddall J, Mech. Design 101 , 674 (1979),
170 (1963), 13, C. H, Suh and C. W, Radcliffe Kinematics and Mech-
5, 0, C. Applied Linkage pp, 84-85, anisms Design, Wiley, New York
Addison- Wesley, Reading, Massachusetts (1964), 14, R, L. Fox Optimization Methods for Engineering De-
6, S, E, Rose Machine Design , 189 (1961), sign, Addison- Wesley, Reading, Massachusetts
7, R, L. Fox and K, 0, Willmert J, Engng Ind, , 144 15, S, S, Rao Optimization: Theory and
(1967), Wiley, New York
8, j, Tomas , 119 (1968), 16, j, A. Hrones and G, L. Nelson Analysis of the Four- Bar
9, A, H, Youssef, K, Oldham and L. Maunder , Optimal Linkage, Wiley, New York
kinematic 17, C. Zhang, R, L. Norton and T, Hammond An atlas of
Proc, 5th World Congress on Machine and Mechanism coupler curves of the symmetrical geared five- bar link-
Theory, age, Worcester Polytechnic Institute , Worcester , Massa-
chusetts (1982),

OPTIMISATION DES PARAMETRES D' UN MECANISME PENTA LATERAL AUX


ENGRENAGES POUR LA GENERATION DE TRAJECTOIRES UTILlSANT UN ATLAS DE
COURBES,

Resume- Les auteurs presentent un atlas de tnyectoires tracees par un point relie it un organe d'
mecanisme pentalateral symetrique commande
ises sont + I , - I, + 2 et - 2, ou douze courbes par page, arranges
en projection axonometrique pour illustrer I' enveloppe de la famille des courbes qu on obtient en

sur la trajectoire,
faisant varier la phase entre les engrenages, Des points sur les courbes representent les de
angulaires equidistants des manivelles motrices et fournissent ainsi I' information sur la vitesse du point

Les courbes originales sont tracees en quatre couleurs sur des feuilles de II
des algorithmes d' optimisation sont utilises pour obtenir la trajeetoire desiree avee un
17 pouees. Ensuite,

deviation, Comme exemple on utilise Ie


erreur de position de

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