MTE412: Kinematics and Assignment No. 4 Dr.
Hassan Diab (Saida)
Dynamics of Machines (Solution)
AMERICAN UNIVERSITY OF SCIENCE & TECHNOLOGY
FACULTY OF ENGINEERING
DEPARTMENT OF MECHATRONICS ENGINEERING
MTE 412: Kinematics and Dynamics of Machines
Spring Term 2019-2020
Assignment No. 4 - Solution
Name:
ID number:
Q1:
A four-bar slider crank has the following dimensions:
𝐵𝐶 = 4 cm, 𝐵𝐷 = 3 cm and 𝑂1𝐵 = 2 cm.
a) Following the linkage configuration and terminology used in class, draw the linkage to
scale and graphically find both open and crossed solutions for the angular position 𝜃2 of
link 2 and slider position 𝐿0 .
b) Repeat the analysis using the vector loop method.
c) Find the position vectors of the points 𝐵, 𝐶 and D.
___ Solution included in Assignment 5 ___
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MTE412: Kinematics and Assignment No. 4 Dr. Hassan Diab (Saida)
Dynamics of Machines (Solution)
Q2:
A four-bar linkage has the following dimensions:
𝐿0 = 6, 𝐿1 = 2, 𝐿2 = 7, 𝐿3 = 9, 𝜃1 = 30°
a) Following the linkage configuration and terminology used in class, draw the linkage to
scale and graphically find both open and crossed solutions for the angular positions 𝜃2 and
𝜃3 of links 2 and 3.
b) Repeat the analysis using the vector loop method.
c) Find the position vectors of the points 𝐵 and 𝐶.
Solution:
a)
1. Lay out an xy-axis system. Its origin will be the link 1 pivot, O1.
2. Draw link 1 to some convenient scale at its given angle.
3. Draw a circle with center at the free end of link 1 and a radius equal to the given length of
link 1.
4. Locate pivot O3 on the x-axis at a distance from the origin equal to L0.
5. Draw a circle with center at O3 and a radius equal to the given length of link 3.
6. The two intersections of the circles (if any) are the two solutions to the position analysis
problem, crossed and open. If the circles don't intersect, there is no solution.
7. Draw links 2 and 3 in their two possible positions (shown as solid for open and dashed for
crossed in the figure) and measure their angles 𝜃2 and 𝜃3 with respect to the x-axis.
From the solution below,
Open
𝜃21 = 88.837°;
𝜃31 = 117.286°
Crossed
𝜃22 = 360 − 115.21 = 244.79;
𝜃32 = 360 − 143.66 = 216.34°
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MTE412: Kinematics and Assignment No. 4 Dr. Hassan Diab (Saida)
Dynamics of Machines (Solution)
b)
The solution of 𝜃3
𝜃3 𝜃3
𝐴 tan2 ( ) + 𝐵 tan ( ) + 𝐶 = 0
2 2
Where
𝐿0 𝐿0 6 𝐿21 − 𝐿22 + 𝐿23 + 𝐿20
𝐾1 = = 3; 𝐾2 = = = 0.6667 ; 𝐾3 = =2
𝐿1 𝐿3 9 2𝐿1 𝐿3
𝐴 = cos 𝜃1 − 𝐾1 − 𝐾2 cos 𝜃1 + 𝐾3 = −0.7113
𝐵 = −2 sin 𝜃1 = −1
𝐶 = 𝐾1 − (𝐾2 + 1) cos 𝜃1 + 𝐾3 = 3.5566
−𝐵 − √𝐵2 − 4𝐴𝐶
𝜃31 = 2 arctan ( ) = 477.286 = 477.286 − 360 = 117.286
2𝐴
−𝐵 + √𝐵2 − 4𝐴𝐶
𝜃32 = 2 arctan ( ) = 216.34
2𝐴
The solution of 𝜃2
𝜃2 𝜃2
𝐷 tan2 ( ) + 𝐸 tan ( ) + 𝐹 = 0
2 2
Where
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MTE412: Kinematics and Assignment No. 4 Dr. Hassan Diab (Saida)
Dynamics of Machines (Solution)
𝐿0 6 𝐿23 − 𝐿20 − 𝐿21 − 𝐿22
𝐾4 = = = 0.8571 ; 𝐾5 = = −0.2857
𝐿2 7 2𝐿1 𝐿2
𝐷 = cos 𝜃1 − 𝐾1 + 𝐾4 cos 𝜃1 + 𝐾5 = −1.6774
𝐸 = −2 sin 𝜃1 = −1
𝐹 = 𝐾1 + (𝐾4 − 1) cos 𝜃1 + 𝐾5 = 2.5906
−𝐸 − √𝐸 2 − 4𝐷𝐹
𝜃21 = 2 arctan ( ) = 448.837 = 448.837 − 360 = 88.837
2𝐷
−𝐸 + √𝐸 2 − 4𝐷𝐹
𝜃22 = 2 arctan ( ) = 244.789
2𝐷
c) For the open solution:
𝑹𝐵 = 𝑹𝑂1 𝐵 = 𝑹1 = 𝐿1 𝑒 𝑗𝜃1 = 2𝑒 𝑗30° = 2(cos 30° + 𝑗 sin 30°) = 1.732 + 𝑗 0.5
𝑹𝐶 = 𝑹𝑂1 𝑂3 + 𝑹𝑂3 𝐶 = 𝑹0 + 𝑹3 = 𝐿0 𝑒 𝑗0 + 𝐿3 𝑒 𝑗𝜃3 = 6 + 9𝑒 𝑗117.286°
= 6 + 9(cos 117.286° + 𝑗 sin 117.286°) = 1.5 + 𝑗8
Q3:
A four-bar linkage has the following dimensions:
𝐵𝐶 = 6 cm, 𝐵𝐷 = 4 cm, 𝐷𝐶 = 3 cm, 𝑂1𝐵 = 2 cm, 𝑂3𝐶 = 3 cm, 𝑂1 𝑂3 = 5 cm and 𝜃1 = 60°.
a) Following the linkage configuration and terminology used in class, draw the linkage to
scale and graphically find both open and crossed solutions for the angular positions 𝜃2 and
𝜃3 of links 2 and 3.
b) Repeat the analysis using the vector loop method.
c) Find the position vectors of the points 𝐵, 𝐶 and D.
___ Solution included in Assignment 5 ___
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MTE412: Kinematics and Assignment No. 4 Dr. Hassan Diab (Saida)
Dynamics of Machines (Solution)
Extra Question:
An inverted four-bar slider crank has the following dimensions:
𝐿0 = 6, 𝐿1 = 2, 𝐿3 = 4, 𝜃1 = 30°, 𝛾 = 90°
a) Following the linkage configuration and terminology used in class, draw the linkage to
scale and graphically find both open and crossed solutions for the angular positions 𝜃2 and
𝜃3 of links 2 and 3 and the position of point 𝐶 (𝑹𝑪 , 𝐿2 ).
b) Repeat the analysis using the vector loop method.
Solution:
a)
1. Lay out an xy-axis system. Its origin will be the link 1 pivot, O1.
2. Draw link 1 to some convenient scale at its given angle.
3. If 𝛾 = 90°, locate O3 on the x-axis at a distance equal the length of link 0 from the origin.
Draw a circle with center at O3 and radius equal to the length of link 3. From point B, draw
two lines that are tangent to the circle. The points of tangency define the location of the
points C for the open and crossed circuits.
( When 𝛾 is not 90°, there are two approaches to a graphical solution for link 2 and the location
of point C :
1) Establish the position of link 3 and the angle 𝛾 by trial and error, or
2) Calculate the distance from point B to point C (the instantaneous length of link 2). Use the
expression of 𝐵𝑂3 from triangles 𝐵𝑂1 𝑂3 and 𝐵𝐶𝑂3 .
)
4. Draw the complete linkage for the open and crossed circuits, including the slider. The
results from the graphical solution below are:
Open
𝜃21 = −127.333° or 232.667°; 𝜃31 = 142.667°; 𝐿21 = 1.793
𝑹𝑪𝟏 : 3.719 at 40.708°;
Crossed
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MTE412: Kinematics and Assignment No. 4 Dr. Hassan Diab (Saida)
Dynamics of Machines (Solution)
𝜃22 = 100.96° ; 𝜃32 = −169.04° or 190.96°; 𝐿22 = 1.793
𝑹𝑪𝟐 : 2.208 at − 20.146°
b)
The solution of 𝜃3
𝜃3 𝜃3
𝑆 tan2 ( ) + 𝑇 tan ( ) + 𝑈 = 0
2 2
Where
𝑃 = 𝐿1 sin 𝜃1 sin 𝛾 + (𝐿1 cos 𝜃1 − 𝐿0 ) cos 𝛾 = 1
𝑄 = −𝐿1 sin 𝜃1 cos 𝛾 + (𝐿1 cos 𝜃1 − 𝐿0 ) sin 𝛾 = −4.268
𝑅 = −𝐿3 sin 𝛾 = −4
𝑆 = 𝑅 − 𝑄 = 0.268, 𝑇 = 2𝑃 = 2, 𝑈 = 𝑄 + 𝑅 = −8.268
−𝑇 + √𝑇 2 − 4𝑆𝑈
𝜃31 = 2 arctan ( ) = 142.667°
2𝑆
−𝑇 − √𝑇 2 − 4𝑆𝑈
𝜃32 = 2 arctan ( ) = −169.04° or 190.96°
2𝑆
The solution of 𝜃2
𝜃21 = 𝜃31 + 𝛾 = 232.667°
𝜃22 = 𝜃32 − 𝛾 = 190.96° − 90 = 100.96°
Two solutions for crossed and open solutions.
The solution of 𝐿2
𝐿1 sin 𝜃1 − 𝐿3 sin 𝜃31
𝐿21 = = 1.793
sin 𝜃21
𝐿1 sin 𝜃1 − 𝐿3 sin 𝜃32
𝐿22 = = 1.793
sin 𝜃22
The vector 𝑹𝑪
𝑹𝑪𝟏 = 𝐿1 𝑒 𝑗(𝜃1) − 𝐿2 𝑒 𝑗(𝜃21)
𝑹𝑪𝟐 = 𝐿1 𝑒 𝑗(𝜃1) − 𝐿2 𝑒 𝑗(𝜃22)
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