Synthesis of Linkages
Types of Synthesis Based on the desired output motion, there are
three types of synthesis.
Function Generation: The desired
output motion is the relative
position of the links connected to
ground (links 2 and 4), = f ().
Path Generation: The desired output
motion is the path followed by the
tracer point, [x, y]= f ().
Motion Generation: The desired
output motion is the position and
orientation of the coupler link,
Precision Points is the number
[x, y, ]= f ().
of exact positions that relate the
input to the output motion.
MSE 491 Design of Mechanisms
Motion Generation
Two Precision Points
1.
Draw the link AB in its two
desired positions, A1B1 and A2B2
2.
Connect A1 to A2 and B1 to B2.
3.
Draw two lines perpendicular to
A1 A2 and B1B2 at the midpoint
(midnormals).
4.
5.
Select two ground pivot points,
O2 and O4, anywhere along the
two midnormals.
Measure the length of all links,
O2A = link 2, AB = link 3,
O4B = link 4 and O2 O4 = link 1
B1
A2
A1
B2
O2
O4
Midnormals
Six orders of infinite of possible designs
- Selection of point A, O()2
- Selection of point B, O()2
- Selection of point O2, O()
- Selection of point O2, O()
MSE 491 Design of Mechanisms
Motion Generation
Three Precision Points
Same procedure as for two positions.
1.
2.
3.
4.
A2
Draw the coupler link AB in
three desired positions.
Draw the midnormals to A1A2 and
A2A3, the intersection locates the
ground pivot O2. Same for point B to
obtain second ground pivot O4.
Check the accuracy of the mechanism:
the length of link 2 is O2Ai (any of them)
and the length of link 4 is O4Bi.
Check Grashof condition and
transmission angle.
B1
A1
A3
O2
O4
B2
B3
Four orders of infinite of designs
- Selection of point A, O()2
- Selection of point B, O()2
MSE 491 Design of Mechanisms
Motion Generation
B
A
A*
E*
A234
A123
B123
B234
OA*
C123
C234
D234
OE*
E123
D123
E234
Two orders of infinite of designs
- Selection of point A along coupler, O()
- Selection of point E along coupler O() MSE 491 Design of Mechanisms
Motion Generation: Rocker as Output
Two positions Grashof 4-Bar mechanism with rocker as the output
1.
Draw link CD in its two desired
positions, C1D1 and C2D2
2.
Connect C1 to C2 and D1 to D2,
draw two midnormals to C1C2
and D1D2
Intersection of two midnormals
is the ground pivot O4.
3.
4.
5.
6.
D1
C2
C1
O2
A2
Select point B1 anywhere on link
O4C1 and locate B2 so O4B1= O4B2
Connect B1 to B2 and extend.
Select any location on this line for
the ground pivot point O2.
Draw a circle with radius B1B2 / 2,
point A2 is the intersection of the
circle with the B1 B2 extension.
B1
B2
O4
7.
D2
O2A2 = B1B2 / 2
Measure the length of all links,
O2A2 = link 2,
A2B2 = link 3,
O4CD = link 4, and
O2 O4 = link 1
MSE 491 Design of Mechanisms
Types of Four-Bar Mechanisms
Inversion
Crank Rocker
Shortest Link: Input
Criteria: s + l < p + q
Crank Rocker
Shortest Link: Follower
Criteria: s + l < p + q
Double Crank or Drag-Link
Shortest Link: Frame
Criteria: s + l < p + q
Double Rocker
Shortest Link: Coupler
Criteria: s + l < p + q
Rocker link is fixed.
Change
The Point
above mechanism has the same lengths in every case, justTriple
a different
Shortest Link: Any
Link: Any
Shortest
Although
the
absolute
motion
in
every
case
is
different,
the
relative
Criteria:motion
s + l > p between
+q
Criteria: s + l = p + q
links is the same in every case.
The concept of inversion will be used to synthesize mechanisms.
MSE 491 Design of Mechanisms
Motion Generation with Ground Pivots
Three Precision Points (Coupler) with Specified Ground Pivots
O4
1.
2.
3.
Draw link CD in its
three desired positions,
C1D1, C2D2 and C3D3
and locate the ground
pivots O2 and O4.
Draw an arc from C1
with radius O2C2 and
another arc from D1 with
radius O2D2. Locate the
intersections, O2.
Draw an arc from C1
with radius O4C2 and
another arc from D1 with
radius O4D2. Locate the
intersections, O4.
O2
C2
D1
D2
D3
C1
C3
O2
O2
O4
O4
Segments O2O4 same
length as frame O2O4
(inversion of frame)
MSE 491 Design of Mechanisms
Motion Generation with Ground Pivots
Three Precision Points (Coupler) with Specified Ground Pivots
O4
4.
5.
Draw an arc from C1
with radius O2C3 and
another arc from D1 with
radius O2D3. Locate the
intersection, O2.
Draw an arc from C1
with radius O4C3 and
another arc from D1 with
radius O4D3. Locate the
intersection, O4.
O2
O4
C2
D1
D2
O2
D3
C1
C3
O2
O2
O4
O2
O4
O4
Segments O2O4 same
length as frame O2O4
(inversion of frame)
MSE 491 Design of Mechanisms
Motion Generation with Ground Pivots
Three Precision Points (Coupler) with Specified Ground Pivots
O4
6.
7.
Connect O2 to a O2and O2 to
a O2 . Draw two midnormals
and locate the intersection, G.
Connect O4 to a O4and O4
to a O4 . Draw midnormals O2
and locate the intersection, H.
C1
8.
O2G is link 2 and O4H is link 4.
9.
Construct a coupler link (3)
containing GH and CD.
O2
O4
C2
D1
D2
H
D3
G
O2
C3
O4
10. Verify the solution by constructing
the mechanism in three position
MSE 491 Design of Mechanisms
Motion Generation Summary
Number of choices based on the number of precision points:
- Two precision points has O()6 of design choices.
- Three precision points has O()4 of design choices.
- Four precision points has O()2 of design choices.
- Five precision points has a finite number of design choices
One can easily add a dyad to a non-Grashof mechanism, resulting
in a six-bar mechanism
Graphical solution is fast but parameters cannot be changed
Be careful while tracing lines and circles, can be tricky!
The presentation shown here is not precise, it was developed with
the power point graphic toolbox.
MSE 491 Design of Mechanisms
Path Generation
Three Precision Points (Coupler Point)
Design a four-bar mechanism in such a way that a tracer point P (a point
on the coupler) passes through three specified points
P1
1.
2.
Draw the three desired
points, P1, P2, and P3.
Select the location of the
fixed pivot points, O2 and O4.
P2
P3
A1
A2
1
3.
Select the length of the crank
O2A (radius of the circle) and
the coupler side AP, draw arcs
from P1 to find location of A1.
4.
With A1P1 established, locate A2
and A3, A1P1 = A2P2 = A3P3.
5.
Measure angles 1 (O2A1P1), 2 and 3.
2 A3
3
O2
O4
MSE 491 Design of Mechanisms
Path Generation
Three Precision Points (Coupler Point)
O4
O4
6.
Rotate A1O2 about A1 by
(2 1) to O2 . Same
direction as mech. motion.
P3O4
P1
P2
P3
7.
Draw an arc from O2 with
radius O2O4 , draw another
arc from P1 with radius P2O4,
locate the intersection, O4 .
O4
A1
O4
O2
O2
O2
8.
Rotate A1O2 about A1 by
(3 1) to O2 .
9.
Draw an arc from O2 with
radius O2O4 , draw another arc
from P1 with radius P3O4 ,
locate the intersection, O4 .
P2O4
O4
O2O4
O2O4
MSE 491 Design of Mechanisms
Path Generation
Three Precision Points (Coupler Point)
10. Connect O4 to a O4 and O4
to O4 and draw the
midnormals. Locate the
intersection, B.
O4
O4
P1
P2
P3
O4
11. Verify the mechanism.
A1
O2
O4
O4
MSE 491 Design of Mechanisms
