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Mechanisms
Four bar Linkage
Analytical Synthesis
Freudenstein’s Method
r3
q3
r2 r4
q2 q4
r1
q2=Input angle
q4=Output angle
r2 r3 r1 r4
r2 cos q 2 r3 cos q 3 r1 r4 cos q 4
r2 sin q 2 r3 sin q 3 r4 sin q 4
r2 r3 r1 r4
r2 cos q 2 r3 cos q 3 r1 r4 cos q 4
r2 sin q 2 r3 sin q 3 r4 sin q 4
r3 cos q 3 r1 r4 cos q 4 r2 cos q 2
r3 sin q 3 r4 sin q 4 r2 sin q 2
squaring and adding
r32 r12 r42 r22 2r1r4 cos q 4 2r2 r1 cos q 2 2r2 r4 cos(q 2 q 4 )
dividing both sides by 2r2 r4 and rearrangin g the equation
K1 cos q 4 K 2 cos q 2 K 3 cos(q 2 q 4 )
r1 r1 r12 r42 r22 r32
K1 , K 2 , K 3
r2 r4 2r2 r4
Synthesis of Function Generator
Suppose the mechanism is designed to generate a given function or to trace a
given curve. An exact solution is often not available. The design is approximately
accomplished by allowing the mechanism generating an approximate
version of the curve that fits a finite number of pre-defined
points called the precision or accuracy points. Here we consider the
problem selecting the spacing of accuracy points within the specified interval to
minimize the errors between the accuracy points.
Spacing of Accuracy Points
Let a function f(x) is to be approximated by F(x,qk), where qk,
k=1…n are n design parameters of the mechanism. The
structural error is defined as
R( x) f ( x) F ( x; qk )
General nature of the
structural error is shown
in figure aside where the
center of interval is at x=a
and the width of interval,
is 2h. Note that error is
zero at the accuracy
points a1, a2 and a3 and
reaches a series of
maxima and minima in
General nature of structural error between.
Chebychev Spacing of Accuracy Points
Structural error can be minimized if the accuracy points are chosen in
the following way
1
y
x
over the range
1 x 2
For n accuracy points (Precision positions) over the range
xo x xn 1
Chebychev accuracy points are calculated as
x j xn 1 x0 xn 1 x0 cos
1 1 2 j 1
2 2 2n
j 1,2,....n
j xj yj
n=3 1 1.067 0.9372
x4=2 2 1.5 0.6667
r2=r1/K1=3.32 unit
r4=r1/K2=3.19 unit
r3=0.697 unit
The Designed Mechanism
Input
output
The Designed Mechanism
Synthesis of slider-crank Mechanism
a1 a 2 a 3 a 4
a2 cos q a1 cos s
a2 sin q a1 sin a3
Squaring and adding the above two
equations one obtains
K1s cos K 2 sin K 3 s 2
where
Let i , si for i 1,2,3 are the three accuracy points. Then one obtains
Example
Design a slider crank mechanism such that the slider
displacement is proportional to the square of the crank
rotation:
2
s ss s
s f ss f s
f finish
s starting
Take
s 45o , f 750
ss 8 cm., s f 12 cm.
Chebychev spacing:
1 490 , 2 750 , 3 1010
2
1 s
s1 ss ( s f ss ) 8.02 cm.
f s
s 2 9.00 cm.
s 3 11.48 cm.
K1 11.7, K 2 84, K 3 189.1