Kinematics and Dynamics of Machinery SOLUTION MANUAL 4-6a-1

PROBLEM 4-6a
Statement: The link lengths and value of 2 for some fourbar linkages are defined in Table P4-1. The linkage
configuration and terminology are shown in Figure P4-1. For row a, draw the linkage to scale and
graphically find all possible solutions (both open and crossed) for angles 3 and 4. Determine
the Grashoff condition.
Given: Link 1 d
152.4
mm Link 2 a
50.8
mm
Link 3 b
177.8
mm Link 4 c
228.6
mm 2
30
deg

Solution: See figure below for one possible solution. Also see Mathcad file P0406a.

1. Lay out an xy-axis system. Its origin will be the link 2 pivot, O2.
2. Draw link 2 to some convenient scale at its given angle.
3. Draw a circle with center at the free end of link 2 and a radius equal to the given length of link 3.
4. Locate pivot O4 on the x-axis at a distance from the origin equal to the given length of link 1.
5. Draw a circle with center at O4 and a radius equal to the given length of link 4.
6. The two intersections of the circles (if any) are the two solutions to the position analysis problem, crossed and
open. If the circles don't intersect, there is no solution.

7. Draw links 3 and 4 in their two possible positions (shown as solid for open and dashed for crossed in the
figure) and measure their angles 3 and 4 with respect to the x-axis. From the solution below,
OPEN 31
88.84
deg

41
117.29
deg

CROSSED 32
360
deg 115.21
deg 32 244.790 deg

42
360
deg 143.66
deg 42 216.340 deg

8. Check the Grashof condition. y B

Condition( a
bc
d)
S min ( a
bc
d)
OPEN
L max (a
bc
d)
SL S L 3
PQ a b c d SL 4

return "Grashof" if SL PQ
return "Special Grashof" if SL = PQ 88 .837
117.28 6
return "non-Grashof" otherwise A
2
x
O2 O4
115.211
Condition( a
bc
d ) "Grashof"
143.660

CROSSED

B'
Kinematics and Dynamics of Machinery SOLUTION MANUAL 4-7a-1

PROBLEM 4-7a
Statement: The link lengths and value of 2 for some fourbar linkages are defined in Table P4-1. The linkage
configuration and terminology are shown in Figure P4-1. For row a, find all possible solutions
(both open and crossed) for angles 3 and 4 using the vector loop method. Determine the
Grashof condition.
Given: Link 1 d 152.4 mm Link 2 a
50.8
mm
Link 3 b
177.8
mm Link 4 c
228.6
mm
30
deg
Two argument inverse tangent
atan2 (x
y) if x = 0 y 0
return 0.5
if x = 0 y 0
return 1.5

y if x 0
return atan
x


atan

x
y
otherwise


Solution: See Mathcad file P0407a.
1. Determine the values of the constants needed for finding 4 from equations 4.8a and 4.10a.
2 2 2 2
d d a b c d
K1
K2
K3

a c 2
ac

K 1 3.0000 K 2 0.6667 K 3 2.0000

A
cos K 1 K 2
cos K3 A 0.7113

B
2
sin B 1.0000

K 1
C K2 1
cos K 3 C 3.5566

2. Use equation 4.10b to find values of 4 for the open and crossed circuits.

Open:
2atan2 2
AB B 4
AC
2 477.286 deg

360
deg 117.286 deg

Crossed:
2atan2 2
A
B B 4
AC
2 216.340 deg

3. Determine the values of the constants needed for finding 3 from equations 4.11b and 4.12.
2 2 2 2
d c d a b
K4
K5
K 4 0.8571
b 2
ab
K 5 0.2857
D
cos K 1 K 4
cos K 5 D 1.6774

E
2
sin E 1.0000

K 1
F K4 1
cos K 5 F 2.5906
Kinematics and Dynamics of Machinery SOLUTION MANUAL 4-7a-2

4. Use equation 4.13 to find values of 3 for the open and crossed circuits.

Open:
2atan2 2
DE E 4
DF
2 448.837 deg

360
deg 88.837 deg

Crossed:
2atan2 2
DE E 4
DF
2 244.789 deg

5. Check the Grashof condition.

Condition( a
bc
d)
S min ( a
bc
d)
L max (a
bc
d)
SL S L
PQ a b c d SL
return "Grashof" if SL PQ
return "Special Grashof" if SL = PQ
return "non-Grashof" otherwise

Condition( a
bc
d ) "Grashof"
Kinematics and Dynamics of Machinery SOLUTION MANUAL 4-12a-1

PROBLEM 4-12a

Statement: The link lengths and the value of 2 and for some inverted fourbar slider-crank linkages are
defined in Table P4-3. The linkage configuration and terminology are shown in Figure P4-3. For
row a, using the vector loop method, find both open and closed solutions for 3 and 4 and
vector RB .
Given: Link 1 d
152.4
mm Link 2 a
50.8
mm
Link 4 c
101.6
mm
90
deg
30
deg
Two argument inverse tangent
atan2 (x
y) if x = 0 y 0
return 0.5
if x = 0 y 0
return 1.5

y if x 0
return atan
x


atan

x
y
otherwise


Solution: See Mathcad file P0412a.
1. Determine the values of the constants needed for finding 4 from equations 4.8a and 4.10a.
P
a
sin
sin a
cos
cos d P 25.400 mm

Q
a
sin
cos
a
sin
cos d Q 108.406 mm

R sin
c R 101.600 mm T
2
P T 50.800 mm

S
R Q S 6.806mm U
Q R U 210.006 mm

2. Use equation 4.22c to find values of 4 for the open and crossed circuits.

OPEN
2
atan2 2
ST T 4
SU
2 142.667 deg

CROSSED
2
atan2 2
ST T 4
SU
2 169.041 deg

3. Use equation 4.18 to find values of 3 for the open and crossed circuits.

OPEN
232.667 deg

CROSSED
259.041 deg

4. Determine the magnitude of the instantaneous "length" of link 3 from equation 4.20a.

a
sin c
sin
OPEN b1
b1 45.546 mm
sin

a
sin c
sin
CROSSED b2
b2 45.546 mm
sin

Kinematics and Dynamics of Machinery SOLUTION MANUAL 4-12a-2

5. Find the position vector RB from the definition given in the text.

OPEN RB1
acos j
sin b 1cos j
sin
RB1
RB1 RB1 94.473 mm

arg
RB1 40.707 deg

CROSSED RB2
acos j
sin b 2cos j
sin
RB2
RB2 RB2 56.084 mm

arg
RB2 20.145 deg
Kinematics and Dynamics of Machinery SOLUTION MANUAL 4-13a-1

PROBLEM 4-13a
Statement: Find the transmission angles of the linkage in row a of Table P4-1.
Given: Link 1 d
152.4
mm Link 2 a
50.8
mm
Link 3 b
177.8
mm Link 4 c
228.6
mm
30
deg
Two argument inverse tangent
atan2 (x
y) if x = 0 y 0
return 0.5
if x = 0 y 0
return 1.5

y if x 0
return atan
x


atan

x
y
otherwise


Solution: See Mathcad file P0413a.
1. Determine the values of the constants needed for finding 4 from equations 4.8a and 4.10a.
2 2 2 2
d d a b c d
K1
K2
K3

a c 2
ac

K 1 3.0000 K 2 0.6667 K 3 2.0000

A
cos K 1 K 2
cos K3 A 0.7113

B
2
sin B 1.0000

K 1
C K2 1
cos K 3 C 3.5566

2. Use equation 4.10b to find 4 for the open circuit.

2atan2 2
AB B 4
AC
2 477.286 deg

360
deg 117.286 deg

3. Determine the values of the constants needed for finding 3 from equations 4.11b and 4.12.
2 2 2 2
d c d a b
K4
K5
K 4 0.8571
b 2
ab
K 5 0.2857
D
cos K 1 K 4
cos K 5 D 1.6774

E
2
sin E 1.0000

K 1
F K4 1
cos K 5 F 2.5906

4. Use equation 4.13 to find 3 for the open circuit.

2atan2 2
DE E 4
DF
2 448.837 deg

360
deg 88.837 deg
Kinematics and Dynamics of Machinery SOLUTION MANUAL 4-13a-2

5. Use equations 4.28 to find the transmission angle.

trans
t

return t if t 0.5

t otherwise

trans 28.449 deg

6. It can be shown that the triangle ABO4 in Figure 4-17 is symmetric with respect to the line AO4 for the crossed
branch and, therefore, the transmission angle for the crossed branch is identical to that for the open branch.
Kinematics and Dynamics of Machinery SOLUTION MANUAL 4-14-1

PROBLEM 4-14
Statement: Find the minimum and maximum values of the transmission angle for all the Grashof crank-rocker
linkages in Table P4-1.
Given: Table P4-1 data: i
1
2
14
Row
d
a
b
c

i i i i i

"a" 152.4 50.8 177.8 228.6

"b" 177.8 228.6 76.2 203.2
"c" 76.2 254.0 152.4 203.2
"d" 203.2 127.0 177.8 152.4
"e" 203.2 127.0 203.2 152.4
"f" 127.0 203.2 203.2 228.6
"g" 152.4 203.2 203.2 228.6
"h" 508.0 254.0 254.0 254.0
"i" 101.6 127.0 50.8 127.0
"j" 508.0 254.0 127.0 254.0
"k" 101.6 152.4 254.0 177.8
"l" 228.6 177.8 254.0 177.8
"m" 228.6 177.8 279.4 203.2
"n" 228.6 177.8 279.4 152.4

Solution: See Table P4-1 and Mathcad file P0414.

1. Determine which of the linkages in Table P4-1 are Grashof.
Condition( a
bc
d)
S min ( a
bc
d)
L max (a
bc
d)
SL S L
PQ a b c d SL
return "Grashof" if SL PQ
return "Special Grashof" if SL = PQ
return "non-Grashof" otherwise

Row a
1 1 1 1"Grashof"
Condition a
b
c
d
Condition
2 2 2 2
Row b a b
c d "Grashof"
Condition
3 3 3 3
Row c a b
c d "Grashof"
Condition
4 4 4 4
Row d a b
c d "Special Grashof"
Condition
5 5 5 5
Row e a b
c d "Grashof"
Condition
6 6 6 6
Row f a b
c d "Grashof"
Condition
7 7 7 7
Row g a b
c d "Grashof"
Condition
8 8 8 8
Row h a b
c d "non-Grashof"
Condition
9 9 9 9
Row i a b
c d "Grashof"
Condition
10 10 10 10
Row j a b c d "non-Grashof"
Condition
11 11 11 11
Row k a b c d "non-Grashof"
Condition
12 12 12 12
Row l a b c d "non-Grashof"
Kinematics and Dynamics of Machinery SOLUTION MANUAL 4-14-2

Row m
13 b13 c 13 d 13"non-Grashof"
Condition a
Condition
14 14 14 14
Row n a b c d "non-Grashof"

2. Determine which of the Grashof linkages are crank-rockers. To be a Grashof crank-rocker, the linkage must be
Grashof and the shortest link is either 2 or 4. This is true of rows a, d, and e.

3. Use equations 4.28 and 4.29 to calculate the maximum and minimum transmission angles.

b 2 c 2 d a 2
Row a i
1
acos
i i i i
2 bc
i i

if




58.412 deg
2
b 2 c 2 d a 2

acos
i i i i 25.209 deg
2 bc
i i

b 2 c 2 d a 2
Row d i
4
acos
i i i i
2 bc
i i

if




1.207 10
6
deg
2
b 2 c 2 d a 2

acos
i i i i 25.209 deg
2 bc
i i

b 2 c 2 d a 2
Row e i
5
acos
i i i i
2 bc
i i

if




44.049 deg
2
b 2 c 2 d a 2

acos
i i i i 18.573 deg
2 bc
i i