127

Chapter 9

Spatial Mechanisms
9.1

Use the Kutzbach criterion to determine the mobility of the GGC linkage shown in the
figure. Identify any idle freedoms and state how they can be removed. What is the
nature of the path described by point B?
n = 3 , j2 = 3 , j3 = 1 , j1 = j4 = j5 = 0

m = 6 ( 3 1) 4 (1) 3 ( 2 ) = 2

Ans.

There is one idle freedom, the rotation of link 3 about its own axis. This idle freedom may
be eliminated by employing a two freedom pair, such as a universal joint, in place of one of
the two spheric pairs, either at B or at O3.
Ans.
The path described by point B is the curve of intersection of a cylinder of radius BA about
the y axis and a sphere of radius BO3 centered at O3.
Ans.
9.2

For the GGC linkage shown express the position of each link in vector form.
R O3O = 75i mm , R BA = 75cos 2 i + 75sin 2k = 64.952i + 37.500k mm ,
R AO = RAO j mm , RBO3 = 150 mm .

Ans.

Substituting these into R O3O + R BO3 = R AO + R BA gives

R AO = 11 250 ( cos 2 + 1)j = 144.889j mm , Ans.

R BO3 = 75 ( cos 2 1) i + 11 250 ( cos 2 + 1)j + 75sin 2k

= 10.048i + 144.889j + 37.500k mm

9.3

Ans.

With VA = 50j mm/s , use vector analysis to find the angular velocities of links 2 and 3
and the velocity of point B at the position specified.
The velocity of point B is given by VB = VBO3 = VA + VBA , or
V = R = 50j + R
B

BO3

BA

Assuming that the idle freedom is not active we have 3 iR BO3 = 0 , where 2 = 2 j and
= x i + y j + z k .
3

Expanding these and using the position data from Problem P9.2 gives four simultaneous
equations:

128

10.048 144.889 37.500 2 0

0
37.500
0
37.500 144.889 3x 0

=
0
37.500
0
10.048 3y 50.000

0
64.952 144.889 10.048
3 0
Ans.
Solving these gives = 2.576j rad/s
2

3 = 1.161i 0.086j + 0.644k rad/s ,

3 = 1.330 rad/s
VB = 96.592i 50.000j + 167.302k mm/s , VB = 0.200 m/s

Ans.
Ans.

9.4

Solve Problem P9.3 using graphical techniques.

9.5

For the spherical RRRR shown in the figure, use vector algebra to make complete
velocity and acceleration analyses at the position given.
R AO2 = 75i mm ,

R O4O2 = 50i 175k mm ,

R BO4 = 225j mm .

Substituting these into R AO2 + R BA = R O4O2 + R BO4 gives

R BA = 125i + 225j 175k mm ,
RBA = 311.25 mm
The velocity analysis proceeds as follows:
VA = VAO2 = 2 R AO2 = 60k rad/s 75i mm = 4500j mm/s
VB = VBO4 = 4 R BO4

(
) (
)
= ( i ) ( 225j mm ) = 225 k
4

129

Since the two revolutes at A and B have axes which intersect at O, this is a spherical
linkage; therefore triangle AOB rotates about O as a rigid link with point O stationary.
From this we see that the axis of rotation of link 3 passes through O and is perpendicular
to both VA and VB . Therefore 3 = 3i and
V = R = i 125i + 225j 175k = 175 j + 225 k
BA

BA

Substituting these into VB = VA + VBA or 2254k = 4500j + 1753j + 2253k , and

equating components gives
3 = 4 = 4500 175 = 25.714i rad/s ,
VBA = 4500j 5785k mm/s ,
and
V = 5785k mm/s .
B

To find accelerations we first calculate

A nAO2 = 22 R AO2 = 270i m/s 2 ,
A n = 2 R = 148.775j m/s 2 ,
BO4

BO4

A tAO2 = 2 R AO2 = 0

A tBO4 = 4 R BO4 = 225 4k

Remembering that link 3 rotates about point O we also find

A nAO = 3 ( 3 R AO ) = 115.725k m/s 2 ,
A t = R = 175 y i (175 x + 75 z ) j + 75 y k
AO

AO

A nBO = 3 ( 3 R BO ) = 148.775j m/s 2 ,

A tBO = 3 R BO = 225 3z i + 50 3z j + ( 225 3x 50 3y ) k

Substituting these into A A = A nAO2 = A nAO + A tAO

equating components gives
270 =
0.175 3y
,
0=

0.175 3x

0.075 3z ,

and A B = A nBO4 = A nBO + A tBO , and

0=

0.225 3z ,

148.775 = 148.775

+ 0.050 3z ,

+ 0.075 3y , and
0.225 4 =
0.225 3x
From these we solve for 3 = 1 543j rad/s 2 and 4 = 343i rad/s 2 .
0 = 115.725

9.6

Solve Problem P9.5 using graphical techniques.

0.050 3y .

130

To avoid confusion, the position and velocity solutions are shown in a separate figure on
the previous page. The acceleration solution is shown below. The results agree with those
of the previous analytic solution of Problem P9.5.

9.7

Solve Problem P9.5 using transformation matrix techniques.

Following the conventions of Sec. 9.6 and Fig. 9.11, the Denavit-Hartenberg parameter
values are:
i,j
ai , j
i, j
i, j
si , j
1,2
2,3
3,4
4,1

0
0
0
0

Using Eqs. (9.12) and (9.15) we find

0
0
0
1
0 0.91914 0.39394 0

T12 =
0 0.39394 0.91914 0

0
0
1
0

-23.20
-94.90
-77.47
-90.00

1 = 0
2 = 101.54
3 = 67.30
4 = 90.00

0
0
0
0

131

0.20005 0.08369 0.97620 0

0.97979 0.01709 0.19932 0
,
T23 =

0.99635 0.08542 0
0

0
0
0
1

0.20005 0.08369 0.97620 0

0.90056 0.37679 0.21685 0
,
T13 =
0.38598 0.92252
0
0

0
0
0
1

0.38591 0.20015 0.90057 0

0 1 0 0
0.92254 0.08372 0.37671 0

, T14 = 0 0 1 0 .
T34 =

1 0 0 0
0.97618 0.21695 0
0

0
0
0
1

0 0 0 1
Next, from Eqs. (9.22) and (9.25),
0
0.91914 0.39394 0
0 1 0 0

1 0 0 0
0.91914
0
0
0

, D2 =
D1 =
,
0 0 0 0
0.39394
0
0
0

0
0
0
0
0 0 0 0

0
0.21685 0
0
0 0 1 0
0

0 0 0 0
0.97620 0
0

.
, D4 =
D3 =
0.21685 0.97620
1 0 0 0
0
0

0
0
0
0
0 0 0 0
Now, from Eq. (9.26), D11 + D22 + D33 + D44 = 0 , we get the following set of equations:
0.97620 0 2 0
0
0
0.39394 0.21685 1 = 0 = 0 rad/s

3 1
0.91914
60
0
0 4 1
From these we find 2 = 65.275 rad/s , 3 = 0 , and 4 = 25.714 rad/s . From these
Eq. (9.27) we find the velocity matrices
0 25.714 0
0 25.714
0 60 0 0
0
0
0

60 0 0 0
0
0
0
0
0
0
rad/s, 3 =
rad/s, 4 =
2 =
0 0 0 0
25.714 0
25.714 0
0
0
0

0
0
0
0
0
0 0 0 0
0
0
These can be used with Eq. (9.28) to find the velocities of all moving points.
Acceleration analysis follows similar steps. From Eq. (9.29) we get the following
equations:

and
0
0
rad/s.
0

0
set of

132

0.97620 0 2 1 543
0
0.39394 0.21685 1 = 0 rad/s 2

0.91914
0
0 4 0
From these we find 2 = 0 , 3 = 1 580 rad/s 2 , and 4 = 343 rad/s 2 . From these and Eq.
(9.30) we find the acceleration matrices
0
0
0 0 0 0
0 0
0 0 343 0
0 0 0 0
0 0 0 0
0 0 1 543 0
2

rad/s2.

rad/s , 4 =
2 =
, =
343 0 0 0
0 0 0 0 3 0 1 543
0
0

0
0
0 0
0 0 0 0
0 0 0 0
These can be used with Eq. (9.31) to find the accelerations of all moving points.

9.8

Solve Problem P9.5 except with 2 = 90 .

The position vectors for this new position are:
x
y
z
R AO2 = 75j mm ,
R BA = RBA
i + RBA
j + RBA
k,
R = 225sin j + 225cos k .
BO4

R O4O2 = 50i 175k mm ,

Substituting these into R AO2 + R BA = R O4O2 + R BO4 and separating components gives
x
y
z
RBA
= 50 , RBA
= 225sin 4 + 75 , RBA
= 225cos 4 175 , and squaring and adding these
gives
2
502 + 2252 3150 cos 4 + 1752 + 1350sin 4 + 752 = RBA
= 3875

If we now define = tan ( 4 2 ) and use the identities cos 4 = (1 2 ) (1 + 2 ) and

sin 4 = 2 (1 + 2 ) , then the above equation can be reduced to

2850 2 + 2700 3450 = 0

The root of interest here is = 0.72419 which corresponds to 4 = 71.823 . With this
the four position vectors are
R AO2 = 75j mm ,
R BA = 50i + 288.755j 104.8k mm ,
R O4O2 = 50i 175k mm ,
R = 213.7751j + 70.2k mm
BO4

The velocity analysis proceeds as in problem P9.5:

VA = VAO2 = 2 R AO2 = 60k rad/s 75j mm = 4500i mm/s

VB = VBO4 = 4 R BO4

(
) (
)
= ( i ) ( 213.775j + 70.2k mm ) = 70.2 j + 213.775 k
4

Since the two revolutes at A and B have axes which intersect at O, this is a spherical
linkage; therefore triangle AOB rotates about O as a rigid link with point O stationary.
From this we see that the axis of rotation of link 3 passes through O and is perpendicular
to both VA and VB . Therefore 3 = 0.950103j + 0.311953k and
V = R = 189.65 i + 15.6 j 47.5 k
BA

BA

133

Substituting these into VB = VA + VBA and equating components gives 3 = 23.726 rad/s
and = 5.273 rad/s , and from these we get = 22.542j 7.401k rad/s ,
4

4 = 5.273i rad/s , VBA = 4500i 370j + 1127k mm/s , and VB = 370j + 1127k mm/s .

To find accelerations we first calculate

A nAO2 = 22 R AO2 = 270j m/s 2 ,
A n = 2 R = 5943j 1951k mm/s 2 ,
BO4

BO4

A tAO2 = 2 R AO2 = 0 ,

A tBO4 = 4 R BO4 = 70.2 4 j + 213.775 4k

Remembering that link 3 rotates about point O we also find

A nAO = 3 ( 3 R AO ) = 33.3j 101.45k m/s 2 ,
A t = R = (175 y + 75 z ) i 175 x j 75 x k ,
AO

n
BO

AO

= 3 ( 3 R BO ) = 28.15i m/s ,
2

A tBO = 3 R BO = ( 70.2 3y 213.775 3z ) i + ( 70.2 3x + 50 3z ) j + ( 213.775 3x 50 3y ) k

Substituting these into

A A = A nAO2 = A nAO + A tAO

equating components gives

0=
175 3y +75 3z , 0
270, 000 = 33,300 175 3x
0 = 101, 450 75 3x

and A B = A nBO4 = A nBO + A tBO , and

+70.2 3y

= 28150

5943 70.2 4 =

70.2 3x

1951 + 213.775 4 =
+213.775 3x 50 3y
From these we solve for 3 = 1 302i + 49j 115k rad/s 2 and 4 = 1 304i rad/s 2 .

9.9

212.775 3z ,
+50 3z ,
.

Determine the advance-to-return time ratio for Problem P9.5. What is the total angle of
oscillation of link 4?

Time ratio = 181.1/178.9 = 1.012

4 = 46.5

Ans.
Ans.

134

9.10

For the spherical RRRR linkage shown, determine whether the crank is free to turn
through a complete revolution. If so, find the angle of oscillation of link 4 and the
advance-to-return time ratio.

Ans.
Ans.

Time ratio = 187/173 = 1.081

4 = 38

9.11

Use vector algebra to make complete velocity and acceleration analyses of the linkage at
the position specified.
The position vectors were found from a graphical analysis done on a CAD software
system; (see problem P9.12). For the position 2 = 120 they are as follows:
R
= 225i 150k mm ,
R = 236.975j 111.744k mm ,
O4O2

BO4

R AO2 = 18.750i + 32.476j mm ,

R BA = 243.750i + 204.499j 261.744k mm .

The velocity analysis for this position, with 2 = 36k rad/s , proceeds as follows:
VA = 2 R AO2 = 1.169i 0.675j m/s , VB = 4 i R BO4 = 0.111744 4 j + 0.236975 4k ,
Since all revolute axes intersect at O, this is a spherical mechanism and triangle AOB
(link 3) rotates about O. Thus the axis of rotation of link 3 passes through O and is
perpendicular to VA and VB . Calling this axis u , ( 3 = 3u ) ,
u = ( V V ) V V = 0.462932i + 0.801731j 0.378051k
B

VBA = 3 R BA = 0.1325373i 0.2133203j 0.2900913k

Substituting these into VB = VA + VBA , equating components, and solving gives

3 = 8.820 rad/s and 4 = 10.797 rad/s . From these
= 4.083i 7.071j + 3.334k rad/s , and = 10.797i rad/s .
3

For acceleration analysis we first calculate

A nAO2 = 2 2 R AO2 = 24.300i 42.089j rad/s 2 , A tAO2 = 2 R AO2 = 0 ,

135

A nBO4 = 4 4 R BO4 = 27.626j + 13.027k rad/s 2 ,

A tBO4 = 4 i R BO4 = 0.111744 4 j + 0.236975 4k
Remembering that link 3 rotates about point O we also find
A nAO = 3 ( 3 R AO ) = 2.251i 3.898j 11.023k rad/s 2 ,
A n = ( R ) = 22.117i 10.447j + 4.926k rad/s 2 ,
BO

t
AO

BO

= 3 R AO = ( 0.150 3y 0.032 3z ) i ( 0.019 3z + 0.150 3x ) j + ( 0.032 3x + 0.019 3y ) k ,

A tBO = 3 R BO = ( 0.112 3y + 0.237 3z ) i + ( 0.225 3z + 0.112 3x ) j + ( 0.237 3x 0.225 3y ) k

Next, from A A = A nAO2 + A tAO2 = A nAO + A tAO and A B = A nBO4 + A tBO4 = A nBO + A tBO , we
separate components and obtain
24.300 = 2.251 + 0.150 3y 0.032 3z ;

0 = 22.117 0.112 3y 0.237 3z ;

42.089 = 3.898 0.150 3x 0.019 3z ; 27.626 + 0.112 4 = 10.447 + 0.112 3x + 0.225 3z ;

0 = 11.023 + 0.032 3x + 0.019 3y ; 13.027 + 0.237 4 = 4.926 + 0.237 3x 0.225 3y ;
From these = 273i + 115j 148k rad/s 2 and = 130i rad/s 2 .
3

9.12

Solve Problem P9.11 using graphical techniques.

The position and velocity solutions are shown here with the acceleration solution on the
next page. The results verify those of the analytical solution in problem P9.11.

136

9.13

Solve Problem P9.11 using transformation matrix techniques.

The Denavit-Hartenberg parameters are:
a12 = 0, 12 = 14.04, 12 = 1 = 60.00, s12 = 0,
a23 = 0, 23 = 104.41, 23 = 2 = 69.52, s23 = 0,
a34 = 0, 34 = 49.34, 34 = 3 = 93.18, s34 = 0,
a41 = 0, 41 = 90.00 41 = 4 = 64.75 s41 = 0.
From Eqs. (9.12) and (9.15) the transformation matrices are:
0.50000 0.84015 0.21005 0
0.86603 0.48506 0.12127 0

T12 =

0
0.24260 0.97014 0

0
0
0
1

0.61206 0.39312 0.68618 0

0.75747 0.04214 0.65151 0

T13 =
0.22720 0.91852 0.32356 0

0
0
0
1

0.42650 0.90449 0 0
0
0
1 0

T14 =
0.90449 0.42650 0 0

0
0 1
0
Next, from Eqs. (9.22) and (9.25),

137

1 0 0
0
0.97015 0.12127 0

0 0 0
0.97015
0
0.21005 0
D2 =
0.12127 0.21005
0 0 0
0
0

0 0 0
0
0
0
0

0
0.32357 0.65151 0

0 0 1 0
0.32357

0 0 0 0
0
0.68618 0

D3 =
D4 =
0.65151 0.68618
1 0 0 0
0
0

0
0
0
0
0 0 0 0

and from Eq. (9.26) we get the following set of equations

0.21005 0.68618 0 2
0
0

0.12127 0.65151 1 = 0 = 0 rad/s

3
1

0.97015 0.32357 0 4
1
36
0
1
D1 =
0

from which we find 2 = 33.670 rad/s , 3 = 10.307 rad/s , and 4 = 10.798 rad/s .
With these values and Eqs. (9.27) we find the velocity matrices
0 10.798 0
0 36 0 0
0 3.335 4.083 0
0
36 0 0 0
3.335

0
7.072 0
0
0
0
0

.
=
,
=
,
=
2

4
0 0 0 0 3 4.083 7.072
10.798 0
0
0
0
0

0
0
0
0
0
0
0
0 0 0 0
0
These can be used with Eq. (9.28) to find the velocities of all moving points.
The acceleration analysis follows parallel steps using Eqs. (9.29) and (9.30)
2 = 152 rad/s 2
0.21005 0.68618 0 2 183.0
0.12127 0.65151 1 = 254.6 rad/s 2 ;
3 = 220 rad/s 2

0.97015 0.32357 0 4 76.4

4 = 130 rad/s 2
1

0 0 0 0
0 0 130 0
0 148 273 0
0 0 0 0
148 0 115 0
0 0 0 0

.
2 =
3 =
,
, 4 =
130 0 0 0
0 0 0 0
273 115 0 0

0
0 0
0 0 0 0
0 0 0 0
0
These results correlate with and verify those of Problems P9.11 and P9.12.

9.14

The figure shows the top, front, and auxiliary views of a spatial slider-crank RGGP
linkage. In the construction of many such mechanisms provision is made to vary the
angle ; thus the stroke of slider 4 becomes adjustable from zero, when = 0, to twice
the crank length, when = 90. With = 30, use vector algebra to make a complete
velocity analysis of the linkage at the given position.
The position vectors were found from a graphical analysis done on a CAD software
system; (see problem P9.15). For the position 2 = 240 they are as follows:
R = 21.65i + 37.5j 25 000k mm ,
R = 164.72i mm ,
AO

BO

138

R BA = 143.07i 37.5j + 25k mm .

The velocity analysis for this position, with 2 = 24 rad/s , proceeds as follows:
= 20.784610i 12.0j rad/s , V = R = 300i + 519.61j + 1039.23k mm/s ,
2

VBA = 3 R BA

AO

= ( + 37.5 ) i + (143.073z 3x ) j + ( 37.53x 143.073y ) k , VB = VB i .

y
3

z
3

Substituting these into VB = VA + VBA and separating into components,

VB = 300
0.0 = 519.6

3y + 37.5

3x

+ 143.073z

3z

0.0 = 1039.2 37.53x 143.073y

However, this is a set of only three equations and there are four unknown variables. This
results from the fact that the linkage has two degrees of freedom and the connecting rod
is free to rotate about the axis AB. If we assume that this second idle freedom is
inactive, then 3 iR BA = 0 .
0.0 = 143.073x 37.53y + 253z
The four equations can now be solved to give
3 = 2.309 401i + 6.658 519j 3.228 373k rad/s and VB = 345.4i mm/s

9.15

Solve Problem P9.14 using graphical techniques.

139

9.16

Solve Problem P9.14 using transformation matrix techniques.

One choice for the Denavit-Hartenberg parameters gives:
a12 = 0 ,
12 = 90 ,
12 = 1 = 30 ,
s12 = 0 ,
a14 = 0 ,
14 = = 30 ,
14 = 0 ,
s14 = 4 .
From Eqs. (9.12) and (9.11) we obtain
cos 1 0 sin 1 0
0 2sin 1
0 2 cos
sin 0 cos 0
1
1
1

;
RA = T12 =
,
T12 =
2 0
0 1
0
0

0
1
1 1
0 0
0
0
0
1 0

0 sin
0 cos sin sin
4
.
,
RB = T14 = 4
T14 =
0 4 cos
0 sin cos 4 cos

0
1
1
1

0 0

From these and the length of the connecting rod we write

t
2
2
2
2
RBA
= ( RB RA ) ( RB RA ) = ( 2sin 1 ) + ( 2 cos 1 4 sin ) + (4 cos ) = 1502
This reduces to 42 44 sin cos 1 32 = 0 which has a solution

4 = 2sin cos 1 + 4sin 2 cos 2 1 + 32

By differentiating the above equation with respect to time we obtain
244 44 sin cos 1 + 414 sin sin 1 = 0
which has for a solution
24 sin sin 1
4 =

( 2sin cos 1 4 ) 1
and, from Eqs. (9.22), (9.23), (9.25), and (9.27),
0
0 0 0
0 1 0 0
0 0 0 sin
1 0 0 0
;
,
D1 =
D4 =
0 0 0 cos
0 0 0 0

0
0 0 0
0 0 0 0
0 1

0
2 = 1
0 0

0 0

0 0

0 0
,
0 0

0 0

0
4 =
0

0 0 sin 4

0 0 cos 4
.

0 0

0 0
0

140

= 30 , 1 = 30 , and 1 = 24 rad/s , the above formulae give

4 = 164.7 mm , 4 = 345.4 mm/s , and

Now, with
25 mm
43.3 mm
,
RA =

1039.2 mm/s
600 mm/s
82.35 mm
,

RB =
, RA =

142.65 mm
0

0
1

172.7 mm/s
.
RB =
299.125 mm/s

These results agree with those of Probs. P9.14 and P9.15 once the Denavit-Hartenberg
coordinate directions are considered. Note, however, that the loop-closure equation was
never used. No coordinate system was fixed to link 3 and no velocity of link 3 was
found. This is because of our lack of information about the degree of freedom
representing the spin of link 3 about the line AB.

9.17

Solve Problem P9.14 with = 60 using vector algebra.

The position vectors were found from a graphical analysis done on a CAD software
system; (see problem P9.18). For the position 2 = 240 they are as follows:
R = 37.5i + 21.65j 25k mm ,
R = 183.8i mm ,
AO

BO

R BA = 146.3i 21.65j + 25k mm .

The velocity analysis for this position, with 2 = 24 rad/s , proceeds as follows:
= 12.0i 20.784 610j rad/s , V = R = 519.6i + 300j + 1039.23k mm/s ,
2

VBA = 3 R BA

AO

= ( + 21.65 ) i + (146.33z 3x ) j + ( 21.653x 146.33y ) k , VB = VB i .

y
3

z
3

Substituting these into VB = VA + VBA and separating into components we get

3y + 21.653z

VB = 519.6 +

0.0 = 300

3x

+ 146.33z

0.0 = 1039.23 21.653x 146.33y

However, this is a set of only three equations and there are four unknown variables. This
results from the fact that the linkage has two degrees of freedom and the connecting rod
is free to rotate about the axis AB. If we assume that this second idle freedom is
inactive, then 3 iR BA = 0 .
0.0 = 146.33x 21.653y + 3z
The four equations can now be solved to give
3 = 1.333 333i + 6.905 692j 1.822 629k rad/s and VB = 652.82i mm/s

141

9.18

Solve Problem P9.14 with = 60 using graphical techniques.

9.19

Solve Problem P9.14 with = 60 using transformation matrix techniques.

One choice for the Denavit-Hartenberg parameters gives:
a12 = 0 ,
12 = 90 ,
12 = 1 = 30 ,
s12 = 0 ,
a14 = 0 ,
14 = = 60 ,
14 = 0 ,
s14 = 4 .
From Eqs. (9.12) and (9.11) we obtain
cos 1 0 sin 1 0
0 2sin 1
0 2 cos
sin 0 cos 0
1
1
1

;
T12 =
RA = T12 =
,
2 0
0 1
0
0

0
1
1 1
0 0
0
0
0
1 0

0 cos sin sin

0 sin
4
.
,
T14 =
RB = T14 = 4
0 4 cos
0 sin cos 4 cos

0
1
1
1

0 0

From these and the length of the connecting rod we write

t
2
2
2
2
RBA
= ( RB RA ) ( RB RA ) = ( 2sin 1 ) + ( 2 cos 1 4 sin ) + (4 cos ) = 1502

This reduces to 42 44 sin cos 1 32 = 0 which has a solution

4 = 2sin cos 1 + 4sin 2 cos 2 1 + 32

142

By differentiating the above equation with respect to time we obtain

244 44 sin cos 1 + 414 sin sin 1 = 0
which has for a solution
24 sin sin 1
4 =

( 2sin cos 1 4 ) 1
and, from Eqs. (9.22), (9.23), (9.25), and (9.27),
0
0 0 0
0 1 0 0
0 0 0 sin
1 0 0 0
;
,
D1 =
D4 =
0 0 0 cos
0 0 0 0

0
0 0 0
0 0 0 0
0 1

0
2 = 1
0 0

0 0

0 0

0 0
,
0 0

0 0

0
4 =
0

0 0 sin 4

0 0 cos 4
.

0 0

0 0
0

= 60 , 1 = 30 , and 1 = 24 rad/s , the above formulae give

4 = 183.8 mm , 4 = 652.8 mm/s , and

Now, with

25 mm
43.3 mm
,
RA =

159.175 mm
,
RB =
91.9 mm

1039.225 mm/s
600 mm/s
,
RA =

565.35 mm/s
.
RB =
326.4 mm/s

These results agree with those of Probs. P9.17 and P9.18 once the Denavit-Hartenberg
coordinate directions are considered.

9.20

The figure shows the top, front, and profile views of an RGRC crank and oscillatingslider linkage. Link 4, the oscillating slider, is rigidly attached to a round rod that rotates
and slides in the two bearings. (a) Use the Kutzbach criterion to find the mobility of this
linkage. (b) With crank 2 as the driver, find the total angular and linear travel of link 4.
(c) Write the loop-closure equation for this mechanism and use vector algebra to solve it
for all unknown position data.
a)

The RGRC linkage has n = 4, j1 = 2, j2 = 1, j3 = 1. The Kutzbach criterion gives

143

m = 6 ( n 1) 5 j1 4 j2 3 j3 = 6(4 1) 5(2) 4(1) 3(1) = 1

Ans.

Since vectors do not show the rotation 4, matrix methods were necessary and are
shown in problem P9.23. See c) for the vector solution. Together, they show:
135 < 4 < 45 ;
4 = 90 .
Ans.
182.85 mm < yB < 382.85 mm ;
yB = 200 mm .
Ans.
R B + R AB = R Q + R AQ
y j + x i + y j + z k = 100i 100sin j + 100 cos k

b)

c)

AB

AB

AB

Separating components,
x AB = 100 ,
yB + y AB = 100sin 2 ,
and, from the length of link 3,
2
2
2
x AB
+ y 2AB + z AB
= RAB

( 100 ) + ( 100sin 2 yB ) + (100 cos 2 )

2

z AB = 100 cos 2

= 3002

yB2 + 200sin 2 yB 2800 = 0

9.21

yB = 100sin 2 + 100 175 + sin 2 2

Ans.

R AB = 100i 100 175 + sin 2 2 j + 100 cos 2k

For 2 = 40 , R B = yB j = 208j mm , R AB = 100i 272.275j + 76.6k mm .

Ans.
Ans.

Use vector algebra to find VB, 3, and 4 for Problem P9.20.

First we identify for 2 = 40 , that R Q = 100i in , R AQ = 64.275j + 76.6k mm ,
R B = 208j mm , and R AB = 100i 272.275j + 76.6k m .
Next we note that the rotation axis of the revolute at B is j R = 76.6i + 100k and,
AB

normalizing this, we can express the apparent angular velocity 3/ 4 axis by

3/ 4 = 0.608i + 0.794k . Then the angular velocity of link 3 can be written as:

3 = 4 + 3/ 4 = 0.6083/ 4 i + 4 j + 0.7943/ 4k .
With this done, we can find
V = R = 3677j + 3085.375k mm/s ,
V = V j ,
and
A

AQ

VAB = 3 R AB = (76.64 + 216.153/ 4 )i 125.9753/ 4 j + (1004 165.5753/ 4 ) k . Now,

setting VB + VAB = VA and separating components, we get the following equations
76.64 + 216.153/ 4 = 0

VB

125.9753/ 4 = 3677

1004 165.5753/ 4 = 3085.375

which can be solved to give 4 = 19.444 rad/s , 3/ 4 = 6.891 rad/s , VB = 2808.95 mm/s .
= 4.190i + 19.444j 5.471k rad/s , = 19.444j rad/s , V = 2808.95j mm/s . Ans.
3

Note that, if 3 were written as 3 = i + 3y j + 3z k , then the above set of simultaneous

equations would have would have four unknowns and could not be solved.
x
3

144

9.22

Solve Problem P9.21 using graphical techniques.

9.23

Solve Problem P9.21 using transformation matrix techniques.

The Denavit-Hartenberg parameters from the global coordinate system to joint A are:

a12 = 0 ,

12 = 0 ,

12 = 2 = 40 ,

s12 = 100 mm ,

and, proceeding in the other direction around the loop, to joint A, they are:
a16 = 0 ,
16 = 90 ,
16 = 0 ,
s16 = 0 ,
a65 = 0 ,
65 = 0 ,
65 = 0 ,
s65 = yB ,
a54 = 0 ,
54 = 0 ,
54 = 4 ,
s54 = 0 ,
a43 = 0 ,
43 = 90 ,
43 = 0 ,
s43 = 0 ,

145

a3 B = 0 ,
3B = 0 ,
3B = 3 ,
s3 B = 0 ,
aBA = 300 mm ,
BA = 0 ,
BA = 90 ,
sBA = 0 .
From Eqs. (9.12) we obtain for the first path to A:
cos 2 sin 2 0 0
sin
cos 2 0 0
2

T12 =
,
0
0
1 4

0
0 1
0
and along the other path to joint A, from Eqs. (9.12) and (9.15), we get:
1 0 0 0
0 0 1 0
,
T16 =
0 1 0 0

0 0 0 1
1
0
T65 =
0

0
1
0
0

cos 4
sin
4
T54 =
0

0
1
0
T43 =
0

0
0
,
yB

0
0
1
0

sin 4
cos 4
0
0

0 0
0 1
1 0
0 0

1 0
0 0
T15 =
0 1

0 0
0
0
1
0

cos 4
0
T14 =
sin 4

0
0
,
0

cos 4
0
T13 =
sin 4

0
0
,
0

cos 3
sin
3
T3 B =
0

sin 3
cos 3
0
0

0
1
TBA =
0

0 0
sin 3 cos 4

cos
0 12
3
, T1 A =
sin 3 sin 4
1 0

0
0 1

1
0
0
0

0
0
1
0

0
0
,
0

cos 3 cos 4

sin 3
T1B =
cos 3 sin 4

0
1
0
0

0
yB
,
0

0
1
0
0

0
yB
,
0

0 sin 4
1
0
0 cos 4
0
0

0
yB
,
0

sin 4
0
cos 4
0

sin 3 cos 4
cos 3
sin 3 sin 4
0

cos 3 cos 4
sin 3
cos 3 sin 4
0

sin 4
0
cos 4
0

sin 4
0
cos 4
0

0
yB
,
0

12sin 3 cos 4
yB 12 cos 3
.
12sin 3 sin 4

At the terminations of these two paths, the position of point A must agree. Therefore

146

cos 2 sin 2 0 0 4 sin 3 cos 4

sin
cos 2 0 0 0 cos 3
2

=
0
0
1 4 0 sin 3 sin 4

0
0 1 1
0
0
4 cos 2 12sin 3 cos 4
4sin y 12 cos
2
3

= B
4 12sin 3 sin 4

1
1

cos 3 cos 4
sin 3
cos 3 sin 4
0

sin 4
0
cos 4
0

12sin 3 cos 4 0
yB 12 cos 3 0
12sin 3 sin 4 0

1
1

Noting from the figure that 90 < 3 < 0 and 180 < 4 < 0 , we can solve these three
equations for the position results

3 = sin 1

4 = tan

(1 cos 2 )

1 + cos 2 2 3

yB = 4 7 + sin 2 2 4sin 2

and, at 2 = 40 , these give 3 = 24.83 , 4 = 52.55 , and yB = 208 mm .

For velocity analysis we begin by using Eqs. (9.22) and (9.25) to find
0 1 0 0
0 1 0 0
1 0 0 0
1 0 0 0

,
,
Q1 =
D1 = Q1 =
0 0 0 0
0 0 0 0

0 0 0 0
0 0 0 0
0
yB cos 4
0 1 0 0
0 cos 4
1 0 0 0
cos

0
0
sin 4
4
1

,
,
D3 = T13Q3T13 =
Q3 =
0 0 0 0
0
sin 4
0
yB sin 4

0
0
0
0 0 0 0
0

0
1
Q4 =
0

1
0
0
0

0
0
Q6 =
0

6
0
0
0

0
0
0
0

0
0
0
0

0
0
,
0

0
0
0
,
1

0
0
D4 = T14Q4T141 =
1

0
0
0
0

1
0
0
0

0
0
,
0

0
0
1
D6 = T16Q6T16 =
0

0
0
0
0

0
0
0
0

0
1
.
0

147

Next we write from Eq. (9.27)

0 2 0 0

2 0 0 0

2 = D2 2 =
0 0 0 0

0 0 0 0
and, along the other path,
0
cos 4 3
4
yB cos 4 3

sin 4 3
yB
cos 4 3
0

3 = D6 yB + D4 4 + D3 3 =
4
yB sin 4 3
sin 4 3
0

0
0
0
0

0
4 = D6 yB + D4 4 =
4

0 4 0

0 0 yB
0 0 0

0 0 0

Since the velocity of point A must agree along the two paths
4 cos 2
4 cos 2
4sin
4sin
2
2

= 3
2
4
4

1
1

4sin 2 2 4sin 2 cos 4 3 + yB cos 4 3 4 4

4 cos 2 2 = 4 cos 2 cos 4 3 + 4sin 4 3 + yB

4 cos 2 4 4sin 2 sin 4 3 yB sin 4 3

0

0
0

At the position where 2 = 40 , 3 = 24.83 , 4 = 52.55 , yB = 208 mm , and

2 = 48.0 rad/s , these equations can be solved for 3 = 6.891 rad/s , 4 = 19.444 rad/s ,
and yB = 2808.95 mm/s . With these values we can evaluate
4.191 19.444 34.865
0 19.444
0
0
0
4.191

0
5.471 112.357
0
0
0
112.357
and 4 =
3 =
from
19.444 5.471
19.444 0
0
45.513
0
0

0
0
0
0
0
0
0
0
which we write the vector forms of the results:
VB = 2808.95j mm/s , 3 = 5.471i + 19.444j + 4.191k rad/s , and 4 = 19.444j rad/s .Ans.
Note that the global x1 and z1 axis orientations in this solution differ from those of
problem P9.21 because of the conventions of the Denavit-Hartenberg parameters. This is
the reason that the components of 3 seem switched.