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The main difference between freely moving bodies and the moving links in a
mechanism is that they have a constrained motion due to the joints in
between the links. The links connected by joints form closed polygons that
we shall call a loop. The motion analysis of mechanisms is based on
expressing these loops mathematically.
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Each link can be defined by a vector fixed on that link, let us select the
permanently coincident points between the links as the tips of these vectors
and define vector A0A (for link 2), AB (for link 3), B0B (for link 4) and A0B0
(for link 1). Except A0B0 , the other three vectors will be a function of time
(since the distances between the two points on the same link are fixed, the
magnitudes will remain constant but the directions of these vectors will
change in time). Since the mechanism contains revolute joints only, The
magnitude of the vectors are constant link lengths(A0A=a2, AB=a3, A0B0=a1
ve B0B=a4). The angular orientation of these vectors will be rotation variables
( 12 , 13 ve 14 ). When the joint at B is disconnected, B3 and B4 may not
be coincident. For the open kinematic chain, the position of point B may be
defined in two different forms as:
However, at every instant the revolute joint between links 3 and 4 must exist
and point B must remain a permanently coincident point for different values of
the position variables if the system we are considering is a mechanism.
Therefore the vector A0B3 and A0B4 obtained from the two equations using
the two open kinematic chains must be equal and this results with the vector
equation::
This vector equation must be valid for all positions due to the permanetly
coincident points. If this vector equation can nott be satisfied for a given input
angle, then that position cannot exist (mechanism cannot be assembled at
that position).
In a four-bar mechanism there is a single loop formed and the vector equation
describes the closure of this loop mathematically.The equation(s) that
describes the closure of the loop(s) formed in the mechanism are known as
loop closure equation(s). The variables in the loop closure equations are
always related by the joint freedoms and we can solve for two position
variables from any loop equation. In plane the vector equation will correspond
to two scalar equations. In the four-bar example there are three variables (
12, 13 and 14) which we shall call "position variables". If one of the
position variable ( say 12 ), the other position variables ( 13 and 14) can
be solved from this vector loop equation. The number of independent
parameters that are required will always be equal to the degree-of-freedom of
the mechanism. The relation between the position variables is a nonlinear,
trigonometric relation.
One simple and concise form of writing the vector loop equations is to use
complex numbers. for example, If the length of the vector A0A is a2 and if the
vector makes an angle 12:
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In a similar fashion if the link lengths are denoted as ai olarak ( a1= A0B0 , a2=
A0A, etc.) the vector loop equation in complex numbers can be written as:
a2 +a3 =a1+a4
In case of a four-bar, the vectors in the loop closure equation have fixed
magnitudes. However, the angular inclinations of the three vectors
representing the moving links will change. Hence, there are three position
variables ( 12, 13 and 14). If one of these variables is defined, the
remaining two variables can be solved from the vector equation. If we refer to
the definition of the degree-of-freedom of a mechanism, the variable that must
be defined is the input variable and for a constrained motion the number of
input variables must be equal to the degree-of-freedom of the joints involved.
In case of a four-bar, since all the connections are revolute joints, the
variables are all rotation variables. In case of a prismatic joint, the variable will
be the magnitude of a vector or a vector component. Consider a slider-crank
mechanism as shown in Fig. A.. Let us disconnect the revolute joint at B
(Fig.B). In order to determine the positions of links 2 and 3 we must define
12and 13. To locate the position of link 4 its displacement along the slider
axis must be known and the position variable s14 must be defined. The
resulting loop closure equation is:
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AoA + AB = AoB
Again there are 3 variables ( 12, 13 and s14) one of which must be specified
as the input. In this case the vectors AoA and AB have fixed magnitudes and
varying directions. The vector AoB has a fixed y component (length c) and a
changing x component (s14). Depending on the applications either 12 (i.e. in
pumps) or s14 (i.e. internal combustion engines) is the input.In complex
numbers the vector loop equation will be:
a2 +a3 = s14 + ic
The vectors defined and the variables used in the loop closure equations are
not unique. For example, for the slider crank mechanism, rather than
disconnecting the revolute joint at B, one can as well disconnect the revolute
joint at A between links 2 and 3 (Fig C). We must now define the angle 13'=
xBA instead of the angle 13 o determine the position of link 3. Note that
the angles. 13 and 13' differ by a constant angle (In this case by 180o).
The resulting loop equation is:
AoA = AoB + AB
or in complex numbers:
'
a2 = s14 + ic +a3
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Referring to the four-bar mechanism above, one can write a vector equation in
the form::
AoA + AC = AoC ve AB + BC = AC
In the later case, all three vectors are on the same link and they have a fixed
orientation with respect to each other. If the origin and the angular orientation
of one of the vectors is known, due to rigidity the orientation of the other
vectors will be known.
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or in complex numbers:
The vector CA changes both its magnitude and direction. However its
orientation with respect to the vector B0C will be fixed, and no new variable is
needed. If the orientation of the vector B0C is whown by the variable 14
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measured from the positive x-axis of our reference, the orientation of the
vector CA with respect to positive x axis is 14+ 4 and angle 4 is a
constant angle measured on link 4 between two lines BoC and CP (point P is
any point on the slider axis on link 4) The position variables in the loop
equation will be 12, 14 and s43 .
Note that the same vector loop equation can be derived for the swinging block
mechanism shown above. Therefore, the inverted slider crank mechanism is
the same as the swinging block mechanism although their construction is
different. Although it is a different construction, If the link dimensions (a2, a4,
4) are the same, the motion of the two mechanisms will be the same.
When writing the vector loop equations one must be sure that the equations
are valid for every position of the mechanism. The mechanism may be at a
special position such that one or more of the links are collinear as shown
above. (Although links 2 and 1 are collinear, they will have different
orientations at some other instant). In such a case you may redraw the
mechanism slightly offset from the critical position or show the variable angle
12 , as shown. In some cases if the constant link angles between two
vectors are of a certain simple value (such as 900), then it is advisable to
simplifiy the equations accordingly. For example if the angle 4 of the
inverted slider crank mechanism is a right angle, The loop closure equation
must be written as:
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The solution to the loop equations may not exist for every value of the
independent parameter. This will mean that for that particular link lengths the
mechanism cannot be assembled at the requested position.
-How will you determine the number of independent loops from the
number of joints and links?-
In planar mechanisms we can write vector loop equations for each loop of the
mechanism. This corresponds to L (L= number of independent loops) vector
equations or 2L scalar equations, if we equate the x and y components of
vectors. The number of parameters involved in these equations will be 2L+ F,
where F is the degree of freedom of the mechanism. If we now define F
number of variables (independent variables or input parameters (variables)),
then theoretically, we must be able to solve for the other variables (dependent
position parameteres). We can change the input variable within a given range
in certain increments and obtain the values for the dependent variables. For
example if the input variable corresponds to the angle that defines the
angular position of an input crank, we change this angle from 0 to 360o. If the
input is the movement of a piston inside a cylinder, then we change this
length of the piston starting from the closed position to the most extended
position (the difference is the stroke of the piston).
One need not draw the mechanism with dismantled joints to write
the loop equations. After some practice one can conceptually disconect
the joints, identify the loops and the write the necessary loop equations.
Initially of course, as a visual aid, we have shown the joints are shown
disconnected.
In recent years different package programs are available for the analysis of
mechanisms. When using these programs, you must input these loops by
telling the program which link is connected to which link by what kind of a
joint (i.e. what kind of freedom is permitted by that joint). If you are using
mathematical packages such as matlab or mathcad, you must type these
equations in one form or another. A slight mistake in the loop equations
results with erroneous results. Please keep in mind that these equations
define the mathematical model of an existing mechanism. This mathematical
model can be solved in different ways as we shall see in the coming sections.
Example I.
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A0A + AB + BC = A0C
Example II.
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Example III.
Due to the gear pair: r3 13= -r2( 12- 2) (when 13=0; 12= 2)
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