170 Chapter 3 Analytical Linkage Analysis 35 ANALYTICAL EQUATIONS FOR SLIDER-CRANK MECHANISMS Next to the four-bar linkage, the slider-crank is probably the most commonly used mecha nism. It appears in all internal combustion engines (Fig. 3.11) and in numerous industrial (Fig. 3.12) and household devices (Fig, 3.13). A general slider-crank mechanism is repre= sented in Fig. 3.14. To develop the closure equations, locate vectors rz and ry as was done in the regular four-bar linkage. To form the other part of the closure equation, draw two vectors, one in the direction of the slider velocity and one perpendicular to the velocity Figure 3.11 Internal combustion engine, An example of a slider-crank mechanism where the crank is the output link. (Courtesy of Caterpillar, Ine. Peoria, IL.)35 Analytical Equations for Slider-Crank Mechanisms 171 Figure 3.12 Hydraulic shaft puller. An example of a slider-crank mecbanism where the slider is the input link. (Courtesy of Power Team, Owatonna, MN.) direction. The variables associated with the problem are then located as shown in Fig. 3.14. The loop closure equation is then the same as that for the regular four-bar linkage: nontanntn (any ot ee sal eave jy + ew tlsingsy) O50 where aa +nn a) Rewriting 2, (361) in its component equations gies 008 Bt 9008 = 708 B +4608 a.) ras Os + 1psin B= sin B+ asin ss Equations (3.62)~(3.64) must be satisfied throughout the motion of the linkage. The base vector, n, will ary in magnitude but be constant in direction. The vector r wil be constant ‘Therefore, ra, ry ray 81, and 8 are constants. If Oy is given, itis necessary to solve Eqs. (G.63) and (3.64) for 05 and ry in terms of dp. Ifr is given, itis necessary to solve the same equations for 6, and 65. Finally if is given, it is necessary to solve the equations472 Chapter 3 Analytical Linkage Analysis igure 3.13 Ping-Pong table linkage. An example of a slider- ‘crank mechanism where the coupler is the input link. for 6, and r,. Once these expressions are obtained, the unknown velocities and accelerations ‘can be computed in terms of the knowns by differentiation 3.5.1 Solution to Position Equations When @; Is Input ‘The analytical solution procedure follows the same major steps as in the four-bar linkage case. To eliminate 9, first isolate it in using Eqs. (3.63) and (3.64) as follows 175008 8) = ry COS 8 + F4 COS By ~ 72 605 B (3.65) rysin =r, Sin 8 + rain @ ~ rsin By (3.66) Figure3.14 Vector closure condition for aslider-crank mecha- nism. The position of point P obtained by adding the vectors zy and ry is the same as that obtained by adding vectors 7, and re3.5. Analytical Equations for Slider-Crank Mechanisms 173 Notice that the angle @ is a known constant, but r varies and is unknovin. Now square bath sides of both equations and add. This gives Fi(cos? Bs + sin? 83) = (r; COS B, + re COS By — 2.008 8) + (7 sin 8; + ra Sin By — rp Sin B) Expansion and simplification using the trigonometric identity in Eq, (3:30) give P=} + B41 + Irra(o0s 8, 005 8, + sin 0 sin 8.) ~2rur( 608 8 2088s + sin 6 sin 82) ~2rara(cOs 83 €08 + sin Bsin ) — 8” Equation (3.67) gives r in a quadratic expression involving 8 and the other known variables. To obtain a solution, collect together the coefficients of the different powers of 11 follows: rit An + B=0 3.68) where A = 2r4{e08 8, €08 O, + sin 6; sin 6) ~ 2re(cos 8, cos B; + sin 6, sin 8) Pht rh = Ph ~ 2rros 85008 6 + sin Oy sin 8.) co Solving forr gives nate 70) where @ = +1 is a sign variable identifying the assembly mode. There are two assembly ‘modes corresponding to the two configurations shown in Fig. 3.5. {As in the case of the four-bar linkage, once we pick the value for e corresponding to the desired mode, the sign in an actual linkage stays the same for any value of 6. Because of the square root in Eq. (3.70), the variable r; can be complex (A < 4B). If this happens, the mechanism cannot be assembled in the position specified. ‘The assembly would then appear as one of the configurations shown in Fig, 3.16. Once a value for r, is determined, Eqs. (3.65) and (3.66) can be solved for 84. Dividing Eq, (3.66) by Eq. (865) and solving for 6 gives sin 6, + resin 8 = rosin 8 Fy COB, + reCOS 8, ~ 71005 8; y= tan | em AS in the case of the four-bar linkage, itis essential that the sign of the numerator and denominator in Eq. (3:71) be maintained to determine the quadrant in which the angle 45 lies. Once all of the angular quantities are known, itis relatively straightforward to compute the coordinates of any point on the vector loops used in the closure equations. In particular, Figure 3.15 The two possible positions (P and P') of the point P for a given value of 6, in a slider-crank mechanism474 Chapter 3 Analytical Linkage Analysis igure 3.16 Configurations giving complex solutions for slidet-crank position problem, the coordinates of Q and P are given by Fo = Fa {008 GH + sin BJ) @n) and rp nit r= 1008 Oi + sin Bj) + ry(608 AF + sin Bj) TB) 3.5.2 Solution to Position Equations When ry Is Input The analytical solution procedure follows the same major steps as in the previous case Again we start by eliminating 8) from Eqs. (3.63) and (3.64) to get Eq. (367). Then we simplify Eq. (3.67) as follows: Acos 6+ B sin 0: + C 3.7) where: A= ~2rrs008 8 ~ 274 6088 B 2ryra sin 8 = 2rara sin By (3.75) C= r+ B+ A + 2r(cos 8, c08 A+ sin sin 63) To solve Eq. (3:74), the trigonometric half-angle identities given in Eqs, (333-334) can be used. Using these identities in Eq, (3.74) and simplifying gives All - ®) + BQN + C+) =0 som(t (C- A) + 2B + (A +0) =0 where ‘Simplifying gives Solving for ¢ gives B+ oVEB~ AC ANCF A) _ -B + oVB CFA YC= Ay C-A 3.76) and 6; = Dita! 7),35° Analytical Equations for Slider nk Mechanisms 175 Figure 317 Two possible assembly modes when the position, 1, of the slider is given as an input where o = +1 is a sign variable identifying the assembly mode. Once again, because tan! 1 has a valid range of values ~1/2 = tant 1 = 2, will have the range ~3 5 8 Typically, there are two solutions for 8 corresponding to the two values of o, and they are both valid. These correspond to the two assembly modes shown in Fig. 3.17. Once we pick the value for « corresponding to the desired mode, the sign in an actual linkage stays the same for any value of r Because of the square root in Eq, (3:76), the variable « can be complex (A? + B%) < C2 If this happens, the mechanism cannot be assembled for the specified value of r.. The assembly configurations would then appear as shown in Fig. 3.18. Equations (3.65) and (3.66) can now be solved for 8). The resulting equation is Eq (0.71), Asin the previous cases, itis essential that the sign of the numerator and denominator in Bq, (3.71) be maintained to determine the quadrant in which the angle @, lies. Note thatthe positions of re and rare symmetric about the line OP. Once all of the angular quantities are known, it is relatively straightforward to compute the coordinates of any point on the vector loops used in the closure equations. ‘The coordinates of Q and P are again given by Eqs. (3.63) and (3.68. 3.5.3 Solution to Position Equations When @ Is Input When the coupler is the input link, values for 8; and its derivatives will be known, The analytical procedure for solving the position equations follows the same major steps as ‘when 8is the input. Therefore, we will simply outline the procedure and tabulate the results In the procedure, we can assume that 0, 8, 63, and @s are known and 8;, 8:, 82, "1, ‘and Fy ate to be found. The link lengths r2 and 75 and & are constants. For the position Figure 3.18 Slider-crank mechanisms that eennot be assem: bled in the position chosen for r). The variable ¢ would be complex in these cases176 Chapter 3 Analytical Linkage Analysis re 3.19 Two possible assembly modes when the coupler is the input fink. analysis, again begin with Eqs, (3.63) and (3.64) and isolate the terms with either @ or 4,. Ih s advantageous to select 6, for the reasons given below. The resulting equations are 1,008 8: = ry C05 6 + re COS @ ~ P5008 85 3.78) rsin 8, =r, sin 6, + ry sin Oy ~ ry sin 6 79) A comparison of Eqs. (3.78) and (3.79) with Eqs, (3.65) and (3.66) indicates that they are of the same form except that the indices 2 and 3 are interchanged. Therefore, we can use directly the position solution derived in Section 3.5.1 if we interchange the indices 2 and 3, When the coupler is the driver, there is an assembly-mode ambiguity similar to that observed whten.link 2 is the driver. This is illustrated in Fig. 3.19. It is necessary to know the appropriate mode before the analysis can be completed; however, once the assembly mode is selected, itis the same for all positions of the input. 3.5.4. Velocity Equations for Slider-Crank Mechanism ‘The analytical form of the velocity equations can be developed by differentiating Eq, (3.60). The result is that 3.80) ‘When this equation is written in component form, the result is the same as differentiating Eqs. (3.63) and (3.64), Recognizing that r,s, re, 61, and 0 are constants, the resulting component equations are 19 Bs — P30, Sin 8) =F, Os B G81) 1264 608 8: + 385608 8) = Asin @ 82) The solution procedure depends on whether f, 02, or 85 is known. If 6: (or 8) is input, then F, and & (or d,) will be unknown. Therefore, the matrix equation to be solved is cos rysindy |i] _ [rad sin Ou - 283) [ee rane te} (rsa 383) where M = 2 and J = 3 for a link 2 asthe input, and M = 3 and J = 2 for link 3 asthe input. If Fis inout, then @; and 6, will be unknown. The mattix equation to be soved : [re ene} ee) os35. Analytical Equations for Slider-Crank Mechanisms 177 ‘The terms in the matrix and in the vector on the right-hand sides of Eqs. (3.83) and (3.84) will be known, The equation can therefore be solved manually, on a programmable calculator, or with the matrix solvers in programs such as MATLAB, Once the angular velocities are known, it is a simple matter to compute the linear velocities of any of the points on the vector loop. The velocities of points Q and P are given by robx(-sin 2 1 + cos 0) (3.85) fo and fp = fy + fy = (rads sin 8 — m8 sin 84) + (8) COs 6, + 1483 605 83)) (386) 3.5.5 Acceleration Equations for Slider-Crank Mechanism ‘The analytical form of the acceleration equations can be developed by differentiating Eq, (3.80). The result is prt hon eH When this equation is written in component form, the result is the same as differentiating Eqs. (3.81) and (3.82). The resulting component equations are =raflssin 2 ~ ra Ecos Bs ~ rs sin Bs ~ 1365 c08 Os = 1 £08 64 os 1r2b2008 62 ~ ro63 sin 8, + rs6s cos 85 ~ 7588 sin 8s = Fy sin @ 3.88) ‘As was the case for velocities, the Solution procedure depends on whether Up, bs, oF fis known. If 8, (or @) is input, then and 45 (or 63) will be unknown, and the matrix equation to be solved is [= & rysin & Al {wise 814 — Fie 008 Oxy ~ 163 COs * (89) sin 6 —rycos 4 tang COS Og — rag Sil Ong ~ 1) 65 Sin By, If Fis input, then 6 and &, will be unknown, and the matrix equation to be solved is then {2} _ [ident A cosy + F605 6 By, rifisin 8, + rsdisin 8, + F, sin 6, ‘The terms in the matrix and in the vector on the right-hand sides of Eqs. (3.89) and (6.90) will be known. The equation can therefore be solved manually, on a programmable calculator, of with the matrix solvers in programs such as MATLAB, Notice again that the coefficient matrix is the same for both the velocities ( Eqs. 383 and 3.84) and for the accelerations (Eqs. 3.89 and 3.90). ‘Once the angular accelerations are known, it is a simple matter to compute the linear acceleration of any point on the vector loop. The accelerations of points Q and P are given by =resin By —rysin 0s ry005 8, 13608 0 } 3.90) Ho = P= (~rbrsin 8 ~ P28 cos &)F + (r@2008 8 ~ re@lsin &)f BN). and fp = By + By = ~(radh sin By + 6.008 H, + ryDysin By + r03 008 03)i © (148008 0, — rflsin 8, + 7983608 — ry0isin Bf oe Now that the equations have been developed, itis relatively simple to write a computer program for the analysis of a slider-crank linkage. To aid in this, the equations required are summarized in Tables 34 and 3.5, MATLAB programs for analyzing slider-crank linkages are included on the disk with this book178 Chapter 3 Analytical Linkage Analysis ‘Table 3.4 Summary of Position, Velocity, and Acceleration Equations for a Slider-Crank Mechanism When Either the Crank or the Coupler is the Input. Link 2 is the Input Link When M = 2 and J = 3. Link 3 is the Input Link When M = 3 and J = 2. The Link Numbers and Points are Defined in Fig. 3.14 ‘A= 2ry(00s 0 c0s O4 + sin 6, sin 8) ~ 2rn(C0s 0 £0 Cay + sin 6 sin Oy) B= ry + A= Fj ~ rural 0s By COs 8s + sin Oy sin 81) =A + VAT B 2 + [sin 6+ asin 4 ~ rin ata 008 8, + ra COS Ba — Fag COS Ory. ro m= rilcos 61+ sin hd) Fp = hy + ry = r{(cos 6,4 + sin Bj) + r3(COS Oy/ + sin BJ) TE le cee) rn b(—sin 824+ cos Bf) fo f= (-rafasin By ~ ryBssin 8) + (7282008 6 + 7985c05 83)f ‘Accelerations 8) ~ rad cos Ou ~ rate sin Oy ~ 183 sin 8 rads sin 82 — m0 00 03) + (128008 Bs ~ rin 62)f Fe = ~(rBa sin 0; + 763605 8, + 198ysin 8s + 963 c08 83) + (rb cos by ~ rbsin y+ 10,605 8) ~ rBsin 6)) (me ahah Cobteccee gon) EXAMPLE 3.4 (Kinematic Analysis of Slider-Crank Mechanism with Crank Input) PROBLEM In the slider-crank mechanism shown in Fig. 320, 6 = 45°, 6, = 10 ¥ad/s, and 8 ~ 0. The link lengths, 7p and ry, are as shown, and the line of motion of point Cy is along the line AC. Find the position, velocity, and acceleration of Cy and the angular velocity and acceleration of link 3 SOLUTION For this problem, the erank is the input, and the analysis can be conducted using the equations in Table 34 with M = 2 and J = 3, The knowa input information is: O=0 = 45" Oy Bin re Drad/s & n=Sin + Figure 320 The slider-crank linkage to be analyzed in Exam- ple 34.2 xty a 3.5. Analytical Equations for Slider-Crank Mechanisms 179 ‘Table 35 Summary of Position, Velocity, and Acceleration Equations for a Slider-Crank Mechanism When the Slider (Link 4) is the Input Link. The Link Numbers and Points are Defined in Fig. 3.14 Pos 4 B= =2ryr sin 8, ~ 2rarsin B 2ryP2 605 8 ~ 2rary 608 Bs Cah + B+ ri + 2ryr(cos 6,008 8, + sin 4, sin 6) y= 2tan ee 7008 8, + 7.0058 su(cos 634+ sin 6.4) 4 my = ry(o0s 81+ sin 84) + 9(c05 81+ sin B54) ro Velocity [rane ~nsin 8, {eh -{vrs] rycos 6 —rycos 6 || 6s, Fysin 6 ig = rbs(-sin a3 +08 bj) r= (rai B= 985i BIE + (98 605 6 + 985 605 67 ‘Acceterations [ree ran] (O} fica ntine econ) ryc0s > ryc0s 6 |L8s) ~ | reéBsin ds + rOsin @s + A sin 6, Fo = (-ridasin ~ rc0s 1+ (rBa cos 8 ~ rb} sin 8h (rate Sin B, + r463. cos 82 + rsBssin Bs + rsd cos @)i + (rab 608 — rs 8, + 18,608 0, ~ ry BRsin 6) Start with the position analysis, and first compute the constants A and 8 from Eq. (3.69): A (60S 8, C05 B+ sin 8 Sin 4) ~ 2ry(c0s 8, c0s 8, + sin 2 sin 6) -2(5)(c0s(0) cos(45) + sin(0) sin(A5)) = —7.70711 + rh =} — 2rar(c0s 8; 60s B+ sin Bein 8) 39 ‘The desired configuration of the linkage corresponds o the position ofthe slider withthe larger x coordinate. Therefore, o = +1. Then, _rA+ VAR HB _ ~(-77011) + VET = =), 2 2 jon ‘Then 0 is given by bes [ammrancrsh ty sate] For the velocities, solve the linear set of velocity equations [= rans Jf). [rata [ tet a2 fa) sinh ~r5c0sJL6) ~ Lrabreosé J °° Lo -8eos(-26.228)I14, _ [a0oame} © | s(a0) c0s(a5)180 Chapter 3 Analytical Linkage Analysis [ 288°} [ees] {*} [2 0 -r1764} La} ~L asasssJ Last | -as2r, “Therefore, = ~52.774 in/s and 0, = ~4927 rad/s CCW oF 4927 radls CW. For the accelerations, slve the linea set of acceleration equations, (ee ole aco tane oon then [ -3. s](e _ {iamenteo ~ 8(-4.5266) cos(~26 z} _ (mes o 7.1764} La) ~ |-s(10y? sin(4s) - 8(—4.9266)" sin(—26.228) J ~ | -267.7398. then {3} -{e2} a J” L 37.309, ‘Therefore, F; = —395.83 in/s*, and 8, = 37.30 rad/s* CCW. The results can be checked with the graphical analysis in Example 33. 1 EXAMPLE 3,5 (Kinematic Analysis of a Slider-Crank Mechanism with a Slider Input) PROBLEM Reanalyze the slider-crank mechanism shown in Fig, 320 when ry = 10.75 in, % = 50 in/s, and », = 400 in/S?. The link lengths, r2 and rs, are the same as in Example 3:4, and again the line ‘of action of point Cy is along the line AC. Find the position, angular velocity, and angular acceleration of link 2 and of link 3, SOLUTION ‘This is essentially the same problem as in Example 3.4 except that now the slider is the input link and link 2 is the output. The analysis can be conducted using the equations in Table 3.5. ‘The known input information is =O = 1079 = S0in/s r= 400inis* =Sin n=8in = 0in ‘Start with the position analysis, and first compute constants A, B, and C A= ~2ryrge0s 6) ~ Prargcos B= ~2(10.75)(8) = -1075 ~2rarasin 6; ~ 2rarasin Oe = 0 C= 1+ + A— 3 + Aryraloos 8, COS Oe + sin 6 sin 6) = (10.75)? + (5)? — (8)? = 76.56 For the configuration in Fig, 320, ¢ = 1. Then, 0 =2 tan [SESE ram | ORES | 44,5850" and ] ban [ =Ssin(44585)_] __asope a= wan TO75 = Scos(44.585) 7, €08 0 + 74608 By ~ rp C08 Op3.6 Analytical Equations for the Slider-Crank Taversion 181 For the velocities, solve the linear set of velocity equations [eats ~nsin 6; 2} foros) [ence enema) noose: 0088s SLA!” LnsinaS | seos(a4.s8s) 8eos(~26.02) }L 4, -{%} ° [om 3.5008" (-} (}-[22] ss610 7.189 Jlos~ Lol * Lal” | ans. ‘Therefore, 4, = ~9.527 rad/s COW or b, = 9.527 rad/s CW, and 45 = 4.719 rad/s COW. For the accelerations, solve the linear set of acceleration equations [se “sing (8) [nce + ntlen tesa} 0056; rsc05& JAS ~ Lr sin o, + rs05sin 85 + 7 sin 8, then or ~3.5098 3.5098] [0h] _ [5(9.527)? eos(44.585) + 8(4.719)? cas(—26.02) + 400) [isso 210 lol [°Spsmamatsoyseunorancaeay | . so} “Cos Then {°} . [rsa J” | 105.726, “Therefore, y = ~145 933 rads COW or By = 145.935 radls? CW, and 8, = 105.726 radi? cew. . 3.6 ANALYTICAL EQUATIONS FOR THE SLIDER-CRANK INVERSION ‘The slider-crank inversion is a common mechanism when linear actuators are involved (eg, Figs. 135 and 3.21). Itis also used in various pump mechanisms. As discussed in Chapter 1, for low-load conditions, the slider is often replaced by a pin-in-a-slot joint, The resulting mechanisms can be analyzed using the equations developed in this section by modeling the pin-in-a-slot joint as a revolute joint and slider joint connected by a link. A device that could be analyzed using this procedure is the waiking toy shown in Fig. 3.22. To develop the closure equations, first locate vectors r; and ry as was done in the previous linkage. To form the other part of the closure equation, draw two vectors, one (3) in the direction of the slider velocity from P to Q and one (r,) perpendicular to the vel direction. The variables associated with the problem are then located as shown in Fig, 3.23, and the loop closure equation is given by manent tn 8.93) or ri(cos 2 § + sin 62 j) = (cos 6d + sin 67) + (cos @ # + sin jf) + ra(cos Oi + sin AJ) G94) where 0 = 0) ~ wi 95) Note that r, can be negative.