International Journal of Mechanical and Production Engineering Research and Development (IJMPERD ) ISSN 2249-6890 Vol.

2, Issue 2 June 2012 11-19 TJPRC Pvt. Ltd.,

RIGID DYNAMICS ANALYSIS OF FOUR BAR MECHANISM IN ANSYS AND C++ PROGRAMME
MANISH MEHTA1 P M GEORGE2
1 2

Research Scholar, SICART, Vallabh Vidyanagar, Gujarat, India.

HOD, Mech. Engg, BVM (Engineering College), Vallabh Vidyanagar, India.

ABSTRACT
In the present paper, a systematic approach is mention for dynamic force analysis of four bar linkage by considering rigid link. Of course , methods use for dynamic force analysis are important, not only because they introduce concepts and approaches that can be built upon and extended to none equilibrium situations. Program was developing for position analysis and force analysis of four bar mechanism in C language. Also result developed from this programme was compared with rigid dynamic analysis done in ANSYS Workbench for same linkage.

KEY WORDS: Rigid dynamics, ANSYS WB, Pin joint forces INTRODUCTION
Encyclopedia Britannica (1980) defines kinematics as: Branch of physics and subdivision of classical mechanics, concerns the description of moton of objects without considering the forces that cause or result from the motion. It is an abstract study of motion that aims to provide a description of the spatial position of points in moving (velocity), and the rate at which their velocity is changing (acceleration). When the causative forces are disregarded, motion descriptions are possible only for points having constrained motion; i.e., moving on determine paths. In unconstrained or free motion the forces determine the shape of the main path. The study of mechanical systems has two distinct aspects: synthesis and analysis. The synthesis involves the prescription of sizes, shapes, materials, etc. so that the mechanism performs the functions for which it was designed. The analysis is the collection of scientific tools at the designers disposal to analyze the suitability of the design. In this paper, the analysis of a four-bar mechanism is undertaken. The geometrical data of the mechanism are assumed to be known a priori. In the analysis and design of mechanisms, kinematic quantities such as velocities and accelerations are of great engineering importance. Velocities and displacements give an insight into the functional behavior of the mechanism. The accelerations, on the other hand, are related to forces by Newtons principle which themselves are related to stresses and deformations in the mechanisms components. In the kinematic analysis, the mechanism is assumed to be made up of rigid bodies.

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Actually the machine member is moving and the applied forces are not always constant for different configurations of the machine, as in case of four bar mechanisms. However, these forces can be considered as constant forces acting on the respective links for a particular configuration. The force analysis is carried out with external forces acting on the machine members. However, since the machine members are dynamic, the additional forces due to their motion are to be taken into account. According to Newtons second law of motion if a body has linear or angular acceleration, there must be a force or couple acting on the body to cause the corresponding acceleration. In other words, the machine which drives its several members having a cyclic variation of acceleration required to supply more power than required for its purpose, the inertia forces become more prominent for higher speed of machine members. A combination of static and inertia force analysis leads to an important aspect of the estimation of the load carried by different links and pin joints force of the mechanism. For example, if a complete force analysis of a four bar mechanism is carried out in 10, 20 or 30 degree intervals of the crank link in 360 0 rotation, important data, such as complete history of loading on the all the pin joints force can be obtained for design purposes. Further, such an analysis leads to an understanding of the actual type of input require for drive the mechanism.

Fig. 1 : The linkage and dimensions [2] The problem formulation given here for the mechanism in Fig. 1, is based on the assumptions, that all parts of the mechanism are rigid and mechanism in a state of dynamic equilibrium. Specify the length of all the links and check for Groshof condition. Also specify the angular velocity and acceleration of actuator. Calculate the position of coupler and output link with respect to position of actuator. Once the position analysis is over next step is to calculate the acceleration of all links at CG of each link and angles. Force act at all pin joints as shown in Fig. 2. DAlemberts principle is used for force analysis

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Rigid Dynamics Analysis of Four Bar Mechanism in ANSYS and C++ Programme

and torque. Write three equations for each moving link. It means total number of equation for the mechanism is nine and unknown parameters are also nine. These nine equations write in form of matrix and solve matrix for calculating the unknown parameters.

METHODOLOGY
Procedures for kinematic and dynamic analysis of a four bar mechanism are as follow. The angular velocities w3 and w4 of the coupler and rocker are obtained by eqn. 1 and 2 are given below:

w3 =
w4 =

aw2 sin( 4 2 ) ...........(1) b sin( 3 4 )

aw2 sin( 2 3 ) c sin( 4 3 )

.( 2)

Fig. 2 : Free-body diagrams with notations [2] By differentiation of eqn. 1 & 2 with respect to time, the angular accelerations 3 and 4 of the coupler and rocker respectively and given by eqn. 3 & 4 as follows:

3 = 4 =

CD AF ........(3) AF BD CE BF ........( 4) AE CD

Where, A = c sin 4 B = b sin 3

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C = a 2 sin 2 + a w22 cos 2 + b w32 cos 3 - c w42 cos 4 D = c cos 4 F = a 2 cos 2 - a w22 sin 2 - b w32 sin 3 + c w42 sin 4 The angular accelerations of all the links are found than calculate the acceleration of any point on any link for any input position of the linkage by following eqn. The acceleration of point S on crank is As = S 2[-sin (2 + 2)+j cos (2 + 2)]-Sw22[cos (2 + 2)+j sin (2 + 2)] The acceleration of point u on rocker or output link is Au = u 4 [-sin (4 + 4)+j cos (4 + 4)]-uw42 [cos (4 + 4)+j sin (4 + 4)] The acceleration of point p on coupler is Ap = AA + APA Where, AA = a2 (-sin 2+j cos 2) aw22 ( cos 2 +j sin 2) Ap = p 3 [-sin (3 + 3)+j cos (3 + 3)]- pw32[ cos (3 + 3)+j sin (3 + 3)]

Fig. 3 : Free-body diagrams [2]

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Rigid Dynamics Analysis of Four Bar Mechanism in ANSYS and C++ Programme

1 0 R12Y 0 0 0 0 0 0

0 1 R12 X 0 0 0 0 0 0

1 0 R32Y 1 0 R23Y 0 0 0

0 1 R32 X 0 1 R23 X 0 0 0

0 0 0 1 0 R43Y 1 0 R34Y

0 0 0 0 1 R43 X 0 1 R34 X

0 0 0 0 0 0 1 0 R14Y

0 0 0 0 0 0 0 1 R14 X

0 F12 X m2 a G 2 x F 0 12Y m2 a G 2 y 1 F32 X I G 2 2 0 F32Y m3 aG 3 x FPx 0 F43 X = m3 aG 3 y FPy 0 F43Y I G 3 3 RPx FPy + RPy FPx 0 F14 X m4 a G 4 x 0 F14Y m4 a G 4 x T 0 12 I G 4 4 T4

DESIGN PROBLEM
A specification of four bar linkage for analysis is as follows:

Parameters Length (mm) C/S Area (mm2) Area moment of Inertia (mm4)

Fixed link (1) 250 -

Crank (2) 110 108 160

Coupler (3) 280 40 9

Follower (4) 260 40 9

Modulus of Elasticity, E = 7.10 x 104 MPa Density = 2770 kg/m3 Crank speed = 32.3 rad/sec

RESULTS AND CONCLUSIONS

Program is run for given mechanisms parameter and calculates the angular velocity, angular acceleration of coupler link and output link and pin joints forces at different position of crank for one revolution. Result of the program or analysis of the mechanism saves in separate output file. Prepare a graph of angular velocity, angular acceleration of coupler link and pin joints forces versus time using output file generated by programme and M.S.Excel. Those graphs are representing in Fig. 4 to Fig. 6. Same analysis has done in ANSYS Workbench software and results are plotted. Results of ANSYS are representing in Fig. 7 to Fig. 9. From both method results are same for angular velocity, angular acceleration of coupler link and output link. Some difference found in the result of pin joints force. Pattern of graph for pin joints are same. To create a model in ANSYS, at the ends of link eyes are required and due to this reason mass of links in ANSYS is more than mass calculate by density volume in C progamme.

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Fig. 4

Fig. 5

Fig. 6

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Rigid Dynamics Analysis of Four Bar Mechanism in ANSYS and C++ Programme

Fig. 7

Fig. 8

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Fig. 9

Fig. 10

FUTURE SCOPE OF STUDY

The present study is carried out by assuming links of mechanism are rigid. The links of mechanism can also be considered as a elastic for force analysis or stresses produce in links of mechanism.

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Rigid Dynamics Analysis of Four Bar Mechanism in ANSYS and C++ Programme

REFERENCES
For Book : 1. 2. 3. 4. 5. 6. 7. 8. G.N.Sandor and A.G.Erdman; Advanced Mechanism Design;Vol.2 , Prentice-Hall Inc. R.L.Norton; Design of Machinery, McGraw-Hill International Editions. Kreisig: Advanced Engineering Mathematics, PHI Vicker J.J.,Pennock G.R. and Shigley J.E.; Machines & Mechanism, Oxford University Press David H. Myszka; Machines & Mechanism, Pearson Education Asia E. Balaguruswami; Programming in ANSI C,Tata McGraw-Hill Publishing Company Limited. Article in a Journal: A.G.Erdman and G.N. Sandor; Kineto-Elastodynamics A review of the state of the art and trends, Mechanism & Machine Theory, Vol. 7. 9. A. Midha, A.G.Erdman and D.A.Frohrlb; Finite element approach to mathematics modeling of highspeed Elastic linkages, Mechanism & Machine Theory, Vol. 13. 10. I.Imam and G.N. Sandor; A general method of kineto-Elastodynamic Design of High-speed Mechanisms, Mechanism & Machine Theory, Vol. 8. 11. Manish Mehta and Dr Anurag Verma, A study of physical parameter of links on pin joints forces in four bar linkage. National conference on Emerging trends in Mechanical Engineering (ETME 2010) during 5th- 6th March 2010, organized by G H Patel college of Engineering & Technology, V V Nagar 12. Manish Mehta and Dr Anurag Verma, Effect of physical parameters of actuator and coupler links on torque requirement of an actuator in four bar linkage. Journal of engineering & Technology, S P University, Vol. 22, December 2009.