Ryan Sullenberger

MECH324 Oct 17, 2008

7.4b, open circuit only: The link lengths, coupler point location, and the values of θ2 , ω2 and α2 for
the same fourbar linkages as used for position and velocity analysis in Chapters 4 and 6 are
redefined in Table P7-1, which is the same as Table P6-1 (p. 371). The general linkage configuration
and terminology are shown in Figure P7-1. For the row(s) assigned, draw the linkage to scale and
graphically find the accelerations of points A and B. Then calculate α3 and α4 and the acceleration
of point P.

Repeat this problem solving by the analytical vector loop method of Section 7.3.

Link1 := 7 Link2 := 9 Link3 := 3 Link4 := 8 θ2 := 85deg ω2 := −12

α2 := 5 R PA := 9 δ3 := 25deg

R 1 := Link1 R 2 := Link2 R 3 := Link3 R 4 := Link4

R 2 + R 3 − R4 − R1 = 0

a := Link2 b := Link3 c := Link4 d := Link1

INPUTS
Intermediate Var Intermediate Var (cont)
d d
K1 := K1 = 0.778 K4 := K4 = 2.333
a b

K2 :=
d
K2 = 0.875 K5 :=
( c 2 − d 2 − a 2 − b 2) K5 = −1.389
c 2 ⋅ a⋅ b

K3 :=
(a2 − b2 + c2 + d2) K3 = 1.285
2a⋅ c

( )
A := cos θ2 − K1 − K2⋅ cos θ2 + K3( ) A = 0.518 ( ) ( )
D := cos θ2 − K1 + K4⋅ cos θ2 + K5
 D = −1.876
( )
B := −2 ⋅ sin θ2 B = −1.992

( )
C := K1 − ( K2 + 1 ) ⋅ cos θ2 + K3 C = 1.899 ( )
E := −2 ⋅ sin θ2 E = −1.992

2
B − 4 ⋅ A⋅ C = 0.036 ( )
F := K1 + ( K4 − 1 ) ⋅ cos θ2 + K5
2 F = −0.495
E − 4 ⋅ D⋅ F = 0.256

OUTPUTS
θ31 := 2 ⋅ atan
(
 −E − E2 − 4 ⋅ D⋅ F 

) θ31 = −0.755
 2⋅ D 
180
θ31DEG := θ31⋅ θ31DEG = −43.232
π

 (
θ32 := 2 ⋅ atan22 ⋅ D , −E +
2 )
E − 4 ⋅ D⋅ F  = 5.109 θ32 = 5.109

180
θ32DEG := θ32⋅ θ32DEG = 292.696
π

( 2
θ41 := 2 ⋅ atan2 2 ⋅ A , −B − B − 4 ⋅ A⋅ C ) θ41 = 2.099

180
θ41DEG := θ41⋅ θ41DEG = 120.247
π

(
θ42 := 2 ⋅ atan2 2 ⋅ A , −B +
2
B − 4 ⋅ A⋅ C ) θ42 = 2.255

180
θ42DEG := θ42⋅ θ42DEG = 129.217
π

O2X := 0

O2Y := 0

( )
AX := a⋅ cos θ2

( )
AY := a⋅ sin θ2

( )
B X1 := d + c⋅ cos θ41 ( )
B X2 := d + c⋅ cos θ42
 ( )
B Y1 := c⋅ sin θ41 ( )
B Y2 := c⋅ sin θ42

O4X := d

O4Y := 0

 O2X   O2X 
   0     0 
   
 AX   AX 
X1 :=   X1 =  0.784 
X2 :=   X2 =  0.784 
 2.97   1.942 
 BX1   BX2 
 O4   7   O4   7 
   
 X  X

 O2Y   O2Y 
   0     0 
 AY   AY 
Y1 = 
8.966 
Y1 = 
8.966 
Y1 :=   Y2 :=  
 6.911   6.911 
 BY1   0   BY2   0 
 O4     O4   
 Y  Y

Open Crossed
10

8 8

6 6
Y1 Y2
4 4

2
2

0
0 2 4 6 0
0 2 4 6
X1
X2

VELOCITY ANALYSIS

(
a⋅ ω2 sin θ41 − θ2 )
ω3 := ⋅ = 73.06
(
b sin θ31 − θ41 )
 (
a⋅ ω2 sin θ2 − θ31 )
ω4 := ⋅ = −37.292
(
c sin θ41 − θ31 )

( ( )
VA := a⋅ ω2 ⋅ cos θ2 i − sin θ2 ( ))
VA = 107.589 − 9.413i

VA = 108

(
VB := c⋅ ω4 ⋅ −sin θ42 + cos θ42 i( ) ( ))
VB = 231.135 + 188.623i

VB = 298.332

CONTINUED ANALYSIS
θ1 := 0deg

i⋅ θ2 i⋅ θ31 i⋅ θ41 i⋅ θ1
a⋅ e + b⋅ e − c⋅ e − d⋅ e =0

i⋅ θ2 i⋅ θ31 i⋅ θ41
i ⋅ a⋅ ω2 ⋅ e + i ⋅ b ⋅ ω3 ⋅ e − i ⋅ c⋅ ω4 ⋅ e =0

 i⋅ θ2 2 i⋅ θ2 
 +  b⋅ α3 ⋅ i⋅ e 31 − b ⋅ ω3 2⋅ e 31
i⋅ θ i⋅ θ  i⋅ θ41 2 i⋅ θ41
a⋅ α2 ⋅ i ⋅ e − a⋅ ω2 ⋅ e −  c⋅ α4 ⋅ i ⋅ e − c⋅ ω4 ⋅ e  =0
     

Guesses

α3 := 1 α4 := 1

Given

2 2 2
( ) ( ) ( ) ( )
−a⋅ α2 ⋅ sin θ2 − a⋅ ω2 ⋅ cos θ2 − b ⋅ α3 ⋅ sin θ31 − b ⋅ ω3 ⋅ cos θ31 + c⋅ α4 ⋅ sin θ41 + c⋅ ω4 ⋅ cos θ41 = 0 ( ) ( )

2 2 2
( ) ( ) ( ) ( )
a⋅ α2 ⋅ cos θ2 − a⋅ ω2 ⋅ sin θ2 + b ⋅ α3 ⋅ cos θ31 − b ⋅ ω3 ⋅ sin θ31 − c⋅ α4 ⋅ cos θ41 + c⋅ ω4 ⋅ sin θ41 = 0 ( ) ( )
ACCELS := Find α3 , α4( )
 −2.983 × 104 
ACCELS =   4
α3 := ACCELS = −2.983 × 10
 4  0
 1.139 × 10 
4
α4 := ACCELS = 1.139 × 10
1

Find the acceleration of point P:

p := RPA

Ap = AA + APA

i⋅ θ2 i⋅ θ2
AA := −e ( ) 2 + i⋅ e
⋅ a⋅ ω2 ⋅ a⋅ α2 AA = −157.783 − 1.287i × 10
3

APA := p ⋅ ACCELS ⋅ i ⋅ e
(
i⋅ θ31+ δ3 ) − p⋅ ω ( )
2 i⋅ θ31+δ3 5 5
0 3 ⋅e APA = −1.296 × 10 − 2.399i × 10

Ap := AA + APA

5 5
Ap = −1.298 × 10 − 2.412i × 10

Ap = 2.739 × 10
5 ( 5
atan2 −2.412⋅ 10 , −1.298⋅ 10
5 ) = −151.713⋅deg
linkage configuration