Mechanics of Machines

MDB3043

Lecture 05:
Position Analysis
Outline of Lecture 05
Position Analysis:
Graphical Method
Analytical Method
Example: Reclining Truck Bed
Graphical Method
Analytical Method
Mechanism Analysis

Position
Analysis

Velocity Acceleration Force

Analysis Analysis Analysis
 Position Analysis
To determine the location of all links of a
mechanism as they move.
Possible purpose:
To ensure motion path of output links are as
desired
To set proper clearance between moving parts
For a mechanism with single DOF, displacing
a link will cause other links to take up new
positions.
Position Analysis
Graphical Method
Analytical Method
 Position Analysis
C
If Link 2 is 3
rotated CCW B
15o ……
… what are the
new positions
2 4 of Links 3 & 4,
Joints B & C?
A D
1
 Position Analysis : Graphical Method
o
possible path
Link 2 rotated 15 CCW C’ Radius L2 with B’ as centre
C
B’

B 3
final possible path
configuration
Link 2 rotated Radius L3 with
2 CCW 15O
4 D as centre

initial configuration
A D
1
For mechanism with DOF = 1, this analysis will determine the
positions of all joints, links and points of interest in the mechanism.
 Position Analysis : Graphical Method

Link 2 rotated 15o CCW C’

C
B’
3
B initial configuration

final
configuration 4
The new angular
2 position of link CD
shall be measured e.g.
Link CD has turned
A D counterclockwise by
10˚.
1
For mechanism with DOF = 1, this analysis will determine the
positions of all joints, links and points of interest in the mechanism.
 Position Analysis: Slider-Crank

If Link 2 is
rotated CCW
90o …… … how far does the
slider moves?
B
2 3
4
A 30o C
D
1
 Position Analysis: Slider-Crank

45 mm
100 mm

90o

Measure the distance d for the d

slider displacement.
 Position Analysis: Slider-Crank

45 mm
100 mm

90o

Measure the distance d for the

d
slider displacement.
Position Analysis
Graphical Method
Analytical Method
 Position Analysis : Analytical Method

Uses laws of trigonometry on triangles

Yield a higher degree of accuracy compared to the
graphical method
Can alter dimensions and recalculate new positions
quickly
Can be done by using spreadsheet e.g. Microsoft
Excel
 Position Analysis : Analytical Method
Triangular Laws of Trigonometry
c
a Z
a b
Y X
b c
X + Y + Z = 180o
c2 = a2 + b2
sine
a = b = c
rule
sin X sin Y sin Z

2 2 2 cosine
c = a + b – 2ab cos Z rule
 Position Analysis: Slider-Crank

If Link 2 is
rotated CCW
90o …… … how far does the
slider moves?
B
2 3
4
A 30o C
D
1
 Position Analysis: Slider-Crank (1)

sin c = 45 x sin 30o / 100 = 0.225

c = 13o
b = 180o - 30o - 13o = 137o
L = sin 137o x 100 / sin 30o = 136.4

b
30o c

L
 Position Analysis: Slider-Crank (2)

sin c’ = 45 x sin 120o / 100 = 0.39 slider displacement d

c’ = 22.9o
b’ = 180o - 120o – 22.9o = 37.1o = L - L’
L’ = sin 37.1o x 100 / sin 120o = 69.6 = 136.4 - 69.6
= 66.8
b’

120o
c’

L’ d
Example of Position Analysis:
Reclining Truck Bed
 Position Analysis of a Reclining Truck Bed
The hydraulic cylinder is to retract
by 0.15m. What is the angular
displacement of the truck bed?

truck bed

hydraulic
cylinder
 G
5
N=6 E 6
J=7 3 F
2 D
F=1 A 4 B C
1

The hydraulic cylinder (AE) is to retract by

0.15m. What is the angular displacement of the
truck bed (GC)?
Position Analysis: Graphical
Sketch the kinematic diagram to scale
Reposition the driving link
Redraw the kinematic diagram
Measure the displacement
 Draw an arc of radius 1400 centred at A
Draw another arc of
The intersection is joint E, the pin joint at radius 300 centred at B
the end of the hydraulic cylinder rod. G
The piston is sliding along link 2 5
F E 6
3
2 D 4
A B C
1
Draw an arc of radius 420 centred at B
Draw another arc of radius 300 centred at E
Draw an arc of radius 850 centred at C
The intersection is joint F. Draw another arc of radius 350 centred at F
Joints B, E and F are on the same link, Link 4
The intersection is joint G.
Link 5 connects joints F and G.
 G
5
F E 6
3
2 D 3
A B C
1

LAE = 1400 is to be shortened to 1250

Analysis by graphical method
Measure angular
displacement

initial position

final position
after cylinder
has been
retracted
 Position Analysis of a Reclining Truck Bed

The hydraulic cylinder is to retract

by 0.15m. What is the angular
displacement of the truck bed?
truck bed

hydraulic
cylinder
 Position
Analysis by
analytical
method
Start with a sketch
of the kinematic
diagram.
 Analytical Method (Initial Position)

G As LAE is shortened by 0.15m,

what is the displacement of the
truck bed, i.e. what is the change
F E
in <GCB
B
A C
E
1400 <EBA = cos-1(14002+3002-14002)
300
2(1400)(300)
= 83.8O
A B
1400
300 E <EBF = cos-1(4202+3002-3002)
F
300 2(420)(300)
420
A = 45.6O
B
<FBA = 83.8-45.6 =38.3O
 Analytical Method (Initial Position)(cont.)
G
<FBA = 38.3O
F E
<FBC = 180-38.3 = 141.7O
B
A C
G LFC = ( 4202+6502-2(420)(650)cos(141.7O)) = 1013.7
350
sin <FCB = 420 sin(141.7)
F 850 1013.7
<FCB = 14.9O
420
C <FCG = cos-1(1013.72+8502-3502)
B 650
2(1013.7)(850)
= 19.2O
<GCB = <FCB + <FCG
= 14.9+19.2
= 34.1O is the truck bed angle at the original configuration
 Analytical Method (Final Position)

G
Use the same set of
calculations to determine the
F E new value of <GCB i.e. the
new truck bed angle
B
A C
E
1250 <EBA = cos-1(14002+3002 - 12502)
300
2(1400)(300)
A B = 54.5O
1400
300 E <EBF = cos-1(4202+3002-3002)
F
300 2(420)(300)
420
A = 45.6O
B
<FBA = 54.5 - 45.6 = 8.9O
 Analytical Method (Final Position)(cont.)
G

F E <FBA = 8.9O
<FBC = 180-8.9 = 171.1O
B
A C
G LFC 2 = 4202+6502-2(420)(650)cos(171.1O) = 1066.9
350
sin <FCB = 420 sin(171.1)
F 850 1066.9
<FCB = 3.5O
420
C <FCG = cos-1(1066.92+8502-3502)
B 650
2(1066.9)(850)
= 16.6O
<GCB = <FCB + <FCG
= 3.5+16.6
= 20.1O the new truck bed angle

Change in truck bed angle: 34.1-20.1 = 14.0O CCW

Lab 1: Analytical Method

Learn how to use a spreadsheet to

perform position analysis.
Study the preceding 4 slides to prepare
for Lab 1.