Mechanics of Machines

MDB3043

Lecture 08: Linkage Point Synthesis

Outline

Mechanism Design
 Synthesis vs Analysis
 Slider-Crank Design (Inline & Offset)

 Rocker Design

 Linkage Point Synthesis

Motion Plots
Linkage Point Synthesis

 2-point synthesis of a pivoted link

 2-point synthesis of a coupler

 3-points synthesis of a coupler

 2-point and 3-point Syntheses
Position 1
Position 2

A design tasks might require the

designer to allow movement of an
object between two positions.
Position 3
Another design tasks might require
the designer to allow movement of
an object between three positions.

These movements can be achieved by attaching

the object to a rotating link. The link might be
constrained to be on the output link of a 4-bar
linkage..
Copyright © 2004, 2006 by Azman Zainuddin

Output Link

In an application using 4-bar

linkage, the output link might be
the coupler or the pivoted link.

Pure Rotation Pivoted

coupler Link
(floating link)
Combined Coupler
Translation &
Rotation

pivoted pivoted link

link

frame
 2-point Synthesis of a Pivoted Link
Position 1 B1
Position 2
A2
A1 B2
Firstly, the location of the centre
Generally, the object experiences of rotation must be established.
combined translation and rotation. To
produce pure rotation for the motion, Locate two points on the object
the object can be can be considered in the initial and final positions.
as attached to a rotating link. Draw a line from the initial
position of each point to its final
position .
Locate the midpoint of each line and then
draw a new line perpendicular to the
previous line.
The intersection is the centre of rotation of the link.
 2-point Synthesis of a Pivoted Link

Position 1
B1 Position 2
A2
A1 B2

If the object has to oscillate

between the two positions
continuously, an efficient way
of driving the motion is by
attaching the object to the
output link of a 4-bar linkage.
The crank turns continuously
without reversing.
 2-point Synthesis of a Coupler

Position 1
B1
A2 Position 2

A1 B2
The design steps are
almost similar as
similar lines need to
be constructed
There are two pivots attached to
the object. The pivots can be
placed anywhere on the
There are applications when it is perpendicular bisector as shown.
impractical to attached the object to The actuator has to turn the link at
the link pivoted to a frame. So, the a certain angle and reverse its
object has to be fixed to the coupler. motion to return to the initial
position.
 2-point Synthesis of a Coupler

Position 1 B1
A2 Position 2

A1 B2

Alternative positions of the pivots.

Advantage: The mechanism is more
compact
Disadvantage: Greater angular
displacements of the links and possibly
greater joint forces in this case compared
to the previous configuration.
 3-point Synthesis of a Coupler

Position 2
A2 B2
B1
Position 1
A3 Position 3

B3
A1

There are applications The design steps are almost

when the object need to
pass through 3 positions.
The object has to be
fixed to the coupler.
similar to the previous as similar
lines need to be constructed
However the pivot locations are
now fixed as shown.
Example
A link containing points A and B is to be displaced from
Position 1 to Position 2.
Position 1: A [-10,-60], B [60,-30]
Position 2: A [-40,20], B [36,20]

a. Graphically design a 4-bar linkage with a coupler that

exhibit the motion from Position 1 to Position 2. Both
pivoted links of this linkage are 100 mm long.
b. Determine the amount that the pivot links must be
rotated in executing the move.
Motion Plots
Motion Plot Generation
Displacement Diagram
Graphical vs Numerical Differentiation
Velocity Curve
Richardson Methods
Acceleration Curve
Motion Plots

 Position, velocity and acceleration analyses are normally

performed at certain configuration or instance throughout
its motion cycle
 Useful to trace the position, velocity and acceleration of
a point or link in a mechanism through its cycle
 Plots of velocity and acceleration can be generated from
a displacement diagram by appreciating that velocity and
acceleration are derivatives of displacement.
Plot Generation

Position Curve “Displacement

Diagram”
Methods of
Differentiation

Velocity ds s
Curve v 
dt t
Graphical Numerical

Acceleration dv v
Curve a 
dt t
Displacement Diagram

20
18
16
14
Position (mm)

12
10
8
6
4
2
0
0 0.5 1 1.5 2 2.5 3
Time (s)
Graphical Differentiation

 Sketch a line tangent to the position curve

 Calculate slope s1 2
v
t1 2
20
18

s12
16
14 Tedious
Position (mm)

12
10 Slow
8
6 Inaccurate
4
2
0
0 0.5 1 1.5 2 2.5 3
Time (s)

t12
 Numerical Differentiation 0
t s
0
0.1 1.7
0.2 3.9
0.3 6.8
0.4 9.3
20
0.5 11.8
18
0.6 13.2
16
0.7 14.7
14
Position (mm)

0.8 15.9
12
0.9 17.1
10
1 18
8
1.1 18.7
6
1.2 18.8
4
1.3 19
2
1.4 18.6
0
1.5 17
0 0.5 1 1.5 2 2.5 3
1.6 15
Time (s) 1.7 12
1.8 8.5
The numerical data of the position must be available. A 1.9 6
spreadsheet can be used to perform the numerical 2 3.9
differentiation. 2.1 2.6
The Richardson Method

t  t1  t0  t2  t1  t3  t2  ......
t s v a
t0 s0 v0 a0 s3  s1 s4  2s3  2s1  s0
v2  
t1 s1 v1 a1 2t 12t
t2 s2 v2 a2
Can be simplified further, with small s3  s1
t3 s3 v3 a3 amount of error, into: v2 
2 t
t4 s4 v4 a4
Apply the same method to calculate the
t5 s5 v5 a5 acceleration values by differentiating the velocity
t6 s6 v6 a6 values against time.
v3  v1
a2 
2t
Sample Calculations 0 0
t s
0
v a

1 0.1 1.7
2 0.2 3.9

s5  s3 11.8  6.8 3 0.3 6.8

v4    25.0 4 0.4 9.3 25.0
2t 0.2 5 0.5 11.8 -52.5
6 0.6 13.2 14.5

s7  s5 14.7  11.8 7 0.7 14.7

v6    14.5 8 0.8 15.9
2t 0.2 9 0.9 17.1
10 1.0 18

v6  v4 14.5  25.0 11 1.1 18.7

a5    52.5 12 1.2 18.8

2t 0.2 13 1.3 19

14 1.4 18.6
15 1.5 17
16 1.6 15
17 1.7 12
18 1.8 8.5
19 1.9 6
20 2 3.9
Displacement Diagram

20
18
16
14
Position (mm)

12
10
8
6
4
2
0
0 0.5 1 1.5 2 2.5 3
Time (s)
Velocity Curves

Velocity A – s3  s1 s4  2s3  2s1  s0

Richardson Method v2  
2t 12t
Velocity B –
s3  s1
Simplified v2 
Richardson Method 2 t
Velocity Curves

30

20

10

0
0 0.5 1 1.5 2 2.5 3

-10
Velocity A – Richardson
Method
-20
Velocity B – Simplified
Richardson Method
-30

-40

Displacement Velocity A Velocity B

Acceleration Curves
100

80

60

40

20

0
0 0.5 1 1.5 2 2.5 3
-20

-40
Velocity A & Acceleration A –
-60 Richardson Method
-80 Velocity B & Acceleration B –
-100
Simplified Richardson Method

-120

Displacement Velocity A Velocity B Acceleration A Acceleration B