Consider a six-bar mechanism consisting of a F

slider-crank and a crank-rocker that will be driven

by a motor attached to link AO2. The purple link 1.5 P5 1.5
carries a point load of 5000 N, as shown. One end 0.75 G5 θ5x
of this link is pin-connected at C to link CO4; the C
D x
other end to a slider at point D that is constrained 3.0
1.0
P2 P3
to move in a 30-deg frictionless slot. The slider is
0.5
connected to a linear compression spring. The P4
1.0
spring is unstrethed when the slider is at the θ3x
highest position in the slot. The driver link AO2 HL
30o 5.24o
A x
B P1 G3
rotates at a constant angular velocity of 2.4 rad/s θ2x
G2 120o
(CW). Other than the purple link, all links are G4
HL
slender uniform rods. The diagram on the right x
O2
shows one of the instants of the mechanism. 2 rad/s

You are required to do a comprehensive kinematic and kinetic

analyses of this mechanism for one complete cycle starting from 79.52o
θ4x
θ2x = 0 to 360o. The angle θ2x is the angle link AO2 makes 30o 48.33o
measured CCW from the horizontal x-axis. x
O4

The goal here is to develop a tool that can be used for the parametric All dimensions are in meters
study and optimization and to quickly calculate the forces at all the pins Mass of all the straight links = 3 kg/m
and the input torque needed to drive the mechanism as a function of all Mass of the purple link = 6 kg
the parameters involved. Mass of the slider = 2 kg
See next page for more information. Spring Stiffness = 2 kN/m
Required Submissions 105 points

1. Begin by writing a computer code to do the position analysis (Ch. 4) for this mechanism. This part of the code will calculate the angles all the links make and
the position of the slider as a function of θ2x for θ2x ranging from 0 to 360o. For the records, you need to submit a copy of your code (but your code will not be
debugged or graded).
2. For the verification of your code, use the instant shown in Figure 1 and make sure that the angles and the slider position (i.e. θ3x, θ4x, θ5x, and d) calculated
by your code are in agreement with what is shown in Figure 1.
3. Show the comparisons of the calculated values with those shown in Figure 1 in a table: (20 points)
θ2x = 120o θ3x θ4x θ5x d
Figure 1
Code
Before you proceed beyond this point, make sure that there is a match between these two sets of values.
4. Also report the extreme positions of the roller, i.e. dtop and dbottom corresponding to the top and the bottom positions of the slider, and the angles θ2x at
which they occur. (20 points)
dtop = dbottom =
θ2x at dtop = θ2x at dbottom =
5. Plot θ3x, θ4x, θ5x, as a function of θ2x for θ2x ranging from 0 to 360o. These are three separate plots. Use the same x and y-scales for all the three plots. (15 points)
6. Plot the slider position d as a function of θ2x for θ2x ranging from 0 to 360o. This is just one plot. (5 points)
7. Plot the absolute values of transmission angle (i.e. ∠ABO4) as a function of θ2x for θ2x ranging from 0 to 360o. This is just one plot. (10 points)
8. Verify that the extreme values of the transmission angles (µmin, µmax) obtained from the code agree with those calculated from equations for a crank-rocker
mechanism. Show the work related to the calculations of µ𝑚𝑚𝑚𝑚𝑚𝑚 and µmax. (10 points)

µmin (deg) µmax (deg)

Code
Equation
9. Calculate the Quick-Return (or Quick Forward) ratio TR for the crank-rocker part of the Mechanism. (10 points)
10. Plot the paths described by points P1, P2, P3, P4, and P5 for one complete cycle. These are five separate plots. (15 points)
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 70 points
11. After the position analysis is programmed and verified, you need to add the Velocity Analysis (Ch. 6) to your code.

12. Add the velocity analysis into your code to calculate the angular velocities of all the links (i.e. ω3, ω4, andω5) and slider velocity (i.e. 𝑑𝑑)̇ for θ2x ranging from
0 to 360o.

13. For the verification of the velocity analysis part of your code, you will do the Graphical Velocity Analysis. Use the Vector Polygon Method and calculate the
angular velocities of all the links and the slider velocity at the angle θ2x=120o. Submit all the detailed drawings of the graphical velocity analysis and the
associated calculations. No freehand sketches. (30 points)

14. Report the comparison of velocity values from the two methods (Graphical and Analytical) in the following table. Also report the directions
of the velocities, i.e. CW or CCW. Your Code should calculate the CCW angular velocities as positive and CW as negative. (20 points)

θ2x = 120o ω3 (rad/s) ω4 (rad/s) ω5 (rad/s) 𝒅𝒅̇ (m/s)

Graphical

Code
Before you proceed any further, make sure that there is a match between these two sets of values.

15. Plot ω3, ω4, ω5, as a function of θ2x for θ2x ranging from 0 to 360o. These are three separate plots. Use the same x and y-scales for all the three plots. (15 points)

16. Plot the slider velocity 𝑑𝑑̇ as a function of θ2x for θ2x ranging from 0 to 360o. This is just one plot. (5 points)

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 80 points
17. After the velocity analysis is programmed and verified, you will add the acceleration analysis (Ch. 7) to your code.

18. Add the Acceleration Analysis (Ch. 7) to your code to calculate the angular accelerations of all the links (i.e. α3, α4, α5, and 𝑑𝑑)̈ for θ2x ranging from 0 to 360o.

19. For the verification of the acceleration analysis part of your code, you will do the Graphical Acceleration Analysis. Use the Vector Polygon Method and
calculate the angular accelerations of all the links (i.e. α3, α4, α5 , and 𝑑𝑑)̈ at angle θ2x =120o. Submit all the detailed drawings of the graphical acceleration
analysis and the associated calculations. No freehand sketches. (40 points)

20. Report the comparison of acceleration values from the two methods (Graphical and Code) in the following table. Also report the directions of the
angular accelerations, i.e. CW or CCW. Your Code should calculate the CCW angular accelerations as positive and CW as negative. (20 points)

θ2x = 120o α3 (rad/s2) α4 (rad/s2) α5 (rad/s2) 𝒅𝒅̈ (m/s)

Graphical

Code
Before you proceed any further, make sure that there is a match between these two sets of values.

21. Plot α3, α4, α5, as a function of θ2x for θ2x ranging from 0 to 360o. These are three separate plots. Use the same x and y-scales for all the three plots. (15 points)

22. Plot the slider acceleration 𝑑𝑑̈ as a function of θ2x for θ2x ranging from 0 to 360o. This is just one plot. (5 points)

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 110 points
23. Derive the vector expressions for accelerations of centers of masses (i.e. 𝑎𝑎𝐺𝐺2 , 𝑎𝑎𝐺𝐺3 , 𝑎𝑎𝐺𝐺4 , 𝑎𝑎𝐺𝐺5 , and 𝑎𝑎𝐺𝐺6 ) of all links and then program the acceleration
components of these vectors (i.e.𝑎𝑎𝐺𝐺2𝑥𝑥 , 𝑎𝑎𝐺𝐺2𝑦𝑦 , 𝑎𝑎𝐺𝐺3𝑥𝑥 , 𝑎𝑎𝐺𝐺3𝑦𝑦 , 𝑎𝑎𝐺𝐺4𝑥𝑥 , 𝑎𝑎𝐺𝐺4𝑦𝑦 , 𝑎𝑎𝐺𝐺5𝑥𝑥 , 𝑎𝑎𝐺𝐺5𝑦𝑦 , 𝑎𝑎𝐺𝐺6𝑥𝑥 , 𝑎𝑎𝐺𝐺6𝑦𝑦 ) into your code for θ2x ranging from 0 to 360o. Use the
second time derivative of the position vectors to derive the expressions of the accelerations. For example, the acceleration of point G3 can be expressed as:
𝑑𝑑 2
𝑎𝑎𝐺𝐺3 = 𝑎𝑎𝐴𝐴 + 𝑎𝑎𝐺𝐺3𝐴𝐴 = 2 𝑅𝑅𝐴𝐴𝑂𝑂2 + 𝑅𝑅𝐺𝐺3 𝐴𝐴 , where 𝑅𝑅𝐴𝐴𝑂𝑂2 = 𝐴𝐴𝑂𝑂2 𝑒𝑒 𝑗𝑗𝜃𝜃2𝑥𝑥 and 𝑅𝑅𝐺𝐺3 𝐴𝐴 = 𝐴𝐴𝐴𝐴3 𝑒𝑒 𝑗𝑗𝜃𝜃3𝑥𝑥
𝑑𝑑𝑑𝑑
Take the derivative and then split the exponential term in sine and cosine as: 𝑒𝑒 𝑗𝑗𝜃𝜃 = 𝑐𝑐𝑐𝑐𝑐𝑐𝜃𝜃 + 𝑗𝑗𝑗𝑗𝑗𝑗𝑗𝑗𝑗𝑗 and simplify. Then the 𝑎𝑎𝐺𝐺3𝑥𝑥 term will be the part of the
expression without the j term and the 𝑎𝑎𝐺𝐺3𝑥𝑥 term will be the part of the expression with the j term. Show all of derived expressions. (40 points)
24. For the verification of the acceleration components of centers of masses, you will calculate these components by hand for the position shown in Figure 1. You
will be using a different method to calculate these accelerations. Instead of using the second time derivative as you did in the previous step, you will calculate
the accelerations using their normal and tangential components. For example, for the position shown in Figure 1, the part of the procedure of calculating the
acceleration components of point G3 is shown below:
𝑎𝑎𝐺𝐺3 = 𝑎𝑎𝐴𝐴 + 𝑎𝑎𝐺𝐺3𝐴𝐴 = 𝑎𝑎𝐴𝐴𝑛𝑛 + 𝑎𝑎𝐴𝐴𝑡𝑡 + 𝑎𝑎𝐺𝐺𝑛𝑛3𝐴𝐴 + 𝑎𝑎𝐺𝐺𝑡𝑡 3𝐴𝐴 Thus, 𝑎𝑎𝐺𝐺3𝑥𝑥 = 𝑎𝑎𝐴𝐴𝑛𝑛𝑥𝑥 + 𝑎𝑎𝐴𝐴𝑡𝑡 𝑥𝑥 + 𝑎𝑎𝐺𝐺𝑛𝑛3 𝐴𝐴𝑥𝑥 + 𝑎𝑎𝐺𝐺𝑡𝑡 3 𝐴𝐴𝑥𝑥 and 𝑎𝑎𝐺𝐺3𝑦𝑦 = 𝑎𝑎𝐴𝐴𝑛𝑛𝑦𝑦 + 𝑎𝑎𝐴𝐴𝑡𝑡 𝑦𝑦 + 𝑎𝑎𝐺𝐺𝑛𝑛3𝐴𝐴𝑦𝑦 + 𝑎𝑎𝐺𝐺𝑡𝑡 3 𝐴𝐴𝑦𝑦

𝑎𝑎𝐺𝐺𝑛𝑛3𝐴𝐴 = 𝐴𝐴𝐺𝐺3 𝜔𝜔32 = 0.75𝜔𝜔32 5.24o ⇒ 𝑎𝑎𝐺𝐺𝑛𝑛3𝐴𝐴𝐴𝐴 = 0.75𝜔𝜔32 𝑐𝑐𝑐𝑐𝑐𝑐𝑐.24

Similarly, calculate all the other parts of the above equation and show all of your work for the position shown in Figure 1. (40 points)

25. Report the comparison of the acceleration components from the two methods (steps 30 and 31) in the following table. (30 points)

θ2x =120o aG2x aG2y aG3x aG3y aG4x aG4y aG5x aG5y aG6x aG6y

Hand
Calculations
Code
Before you proceed any further, make sure that there is a match between these two sets of values.
This completes the kinematic part of the analysis. Note, that even if there is minor error in your kinematic part, the results for your next parts (kinetics) will
not be correct. So, even if you didn’t make any additional mistakes in the kinetics part, you will NOT get credit for the incorrect results, because it is not
possible for the grader or me to debug your code. So, it is VERY important that before go to the next part, your kinematics part MUST be error-free.
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 80 points

26. Before you add the kinetics part to your code, you must do a few more things – derive the expressions for all the position vectors that will be
needed in setting up the force matrix.

27. Derive the analytical expressions of all the position vectors Rij as a function of angle θ2x. For example, the expression for the vector 𝑅𝑅𝐺𝐺2 𝑂𝑂2 (or 𝑅𝑅12 ) can be
written as: 𝑅𝑅12 = 𝐴𝐴𝑂𝑂2 𝑒𝑒 𝑗𝑗𝜃𝜃𝑅𝑅12 . Then when you split the exponential term into sine and cosine, the expressions for 𝑅𝑅12𝑥𝑥 and 𝑅𝑅12𝑦𝑦 can be written as:

𝑅𝑅12𝑥𝑥 = 0.5𝑐𝑐𝑐𝑐𝑐𝑐𝜃𝜃𝑅𝑅12 = 0.5𝑐𝑐𝑐𝑐𝑐𝑐 𝜃𝜃2𝑥𝑥 + 180 and 𝑅𝑅12𝑦𝑦 = 0.5𝑠𝑠𝑠𝑠𝑠𝑠𝜃𝜃𝑅𝑅12 = 0.5𝑠𝑠𝑠𝑠𝑠𝑠 𝜃𝜃2𝑥𝑥 + 180
Report the expressions for the x and y components of all the position vectors. Program these expressions into your code. (50 points)

28. Also, hand-calculate the values of these position vectors for the position shown in Figure 1. For the hand calculation, just examine these position vectors at
θ2x = 120o, and see what angle these vectors make from the x-axis going CCW. You can then calculate the x and y components of these vectors by taking the
cosine and sine of these angles multiplied by the length of the vectors. Compare the hand-calculated values with those obtained from the code. Report this
comparison in a table below. Make sure that these values match. (30 points)

θ2x=120o R12x R12y R32x R32y R23x R23y R43x R43y

Hand

Code

θ2x=120o R14x R14y R34x R34y R54x R54y R45x R45y R65x R65y

Hand

Code
Before you proceed any further, make sure that there is a match between these two sets of values and that the values make sense with what is shown in Figure 1.
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29. The next thing is to add the Dynamic Force Analysis part to the code. 129 points

30. Draw the F.B.D. of each link and write the force and moment equilibrium equations. (30 points)
31. Set up the force matrix in your code and solve the matrix to calculate the all the forces, i.e. F12x, F12y, F32x, F32y, F43x, F43y, F14x, F14y, F54x, F54y, F65x, F65y, F16x,
F16y, and T12 as a function of θ2x for θ2x ranging from 0 to 360o.
32. In your code, calculate the magnitude of forces at all the pins, i.e. |FO2|, |FA|, |FB|, |FO4|, |FC|, |FD|, |F16|, the input driving torque T12, and the spring Force
|FS| and as a function of θ2x for θ2x ranging from 0 to 360o.

33. Plot the magnitude of all the forces |FO2|, |FA|, |FB|, and |FO4| as a function of θ2x for θ2x = 0 to 360o. These are four separate plots. Use the same x and y-
scales for all the four plots. (20 points)
34. Plot the magnitude of all the forces |FC|, |FD|, and |F16| as a function of θ2x for θ2x = 0 to 360o. These are three separate plots. Use the same x and y-scales as
used in item 33 above. (15 points)
35. Plot the magnitude of the input torque T12 as a function of θ2x for θ2x = 0 to 360o. This is just one plot. (5 points)

36. Plot the magnitude of the spring force |FS| as a function of θ2x for θ2x = 0 to 360o. These is just one plot. (5 points)
37. Report the peak values of the Pin Forces, Input Torque, the spring force and the corresponding angle θ2x at which they occur. (36 points)

FO2 (N) FA (N) FB (N) FO4 (N) FC (N) FD (N) F16 (N) T12 (N.m) FS (N)

Magnitude

θ2x

38. Rerun the code for ω2 = 4 rad/s and recalculate the table shown in item 37 above. Do the force values double when doubling the input speed? Comment.
(18 points)

Total Points: 554 ************ END************