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MCE 328 Dynamic Systems

Project #2
Modeling Project
A Four-Bar Mechanism
Project Due Date 3 January, 2016

We have a four-bar mechanism experimental setup at the Mechatronics lab shown in Figs. 1 and 2. It
would be nice if we can measure all the data we want, however there are quantities that are not
measureable and hard to measure due to cost and availability. In order to study the system shown in Figs.
1 and 2, Adam/view has been used to study the dynamics of the system. Adams/view is powerful dynamic
simulation software. Based on the simulated data available on iLearn, answer the followings.
Joint with clearance

Link 3

Link 2

Accelerometer in D

Link 4

Figure 1. Experimental setup for a four-bar mechanism.


1) Derive the equivalent moment of inertia symbolically consisting of link 2 (crank), link 3 (coupler),
and link 4 (follower) with respect to crank angular velocity. Use the right combinations of
following predefined symbols.
Jeq = equivalent moment of inertia
Jm = moment of inertial of motor (2.6644e-4 kgm2)
Jcr = moment of inertia of crank (0.00023e-3 kgm2)
Jco = moment of inertia of coupler (4.65e-6 kgm2)
Jfo = moment of inertia of follower (3.16e-6 kgm2)
N = Gear/Pulley ratio (3) (Nm: Number of teeth on motor side, Nc: Number of teeth on crank side)
Tm = Motor torque
Tl = Load torque (given data in N/mm)
cr = cranks angular velocity (given data in deg/s)
co = couplers angular velocity (given data in deg/s)
fo = followers angular velocity (given data in deg/s)

2
fo = followers angular acceleration (given data in deg/s )

2) Derive the equivalent moment of inertia consisting of link 2 (crank), link 3 (coupler), and link 4
(follower) with respect to link 4 (follower) angular velocity.

Fall 15

Prepared by Dr. J. Lee

MCE 328 Dynamic Systems

Project #2

3) Neglecting the friction and the stiffness of the system, derive the governing equation for the
mechanical system.
4) Based on 3), plot the motor torque, Tm. In order to plot this, use the calculated data based on the
simulation of Figure 3. Use SI units of [Nm] for torque when calculating and plotting.

Belt

DC Motor

Data Acquisition
system

Flywheel

Spring

Power
supply

Figure 2. Entire experimental setup for a four-bar mechanism.

coupler

crank
follower

Figure 3. Adams four-bar mechanism model.

Fall 15

Prepared by Dr. J. Lee

MCE 328 Dynamic Systems

Project #2

5) Based on the motor specification available on iLearn used in the four-bar mechanism setup,
calculate the torque constant, Kt and Kb using formulas given in the textbook.
6) The motor torque has been calculated using Tm K t i and plotted shown in Figure 4. All the
values are positive. Compare this against the plot obtained in 4) and comment your observation
based on this comparison.

0.5
0.45

Motor torque, Kt*i(t)

0.4
0.35
0.3
0.25
0.2
0.15
0.1
0.05

1000

2000

3000

4000

5000
6000
Data points

7000

8000

9000

10000

Figure 4. Motor torque calculated from the experimental data.

Comments)
1.
2.
3.
4.

Fall 15

Type all the work for neatness.


Do your own work.
Be careful regarding units:
Plotting graph, label correctly and use legend.

Prepared by Dr. J. Lee