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MDB3043
Lecture 05:
Position Analysis
Outline of Lecture 05
Position Analysis:
Graphical Method
Analytical Method
Example: Reclining Truck Bed
Graphical Method
Analytical Method
Mechanism Analysis
Position
Analysis
B 3
final possible path
configuration
Link 2 rotated Radius L3 with
2 CCW 15O
4 D as centre
initial configuration
A D
1
For mechanism with DOF = 1, this analysis will determine the
positions of all joints, links and points of interest in the mechanism.
Position Analysis : Graphical Method
final
configuration 4
The new angular
2 position of link CD
shall be measured e.g.
Link CD has turned
A D counterclockwise by
10˚.
1
For mechanism with DOF = 1, this analysis will determine the
positions of all joints, links and points of interest in the mechanism.
Position Analysis: Slider-Crank
If Link 2 is
rotated CCW
90o …… … how far does the
slider moves?
B
2 3
4
A 30o C
D
1
Position Analysis: Slider-Crank
45 mm
100 mm
90o
45 mm
100 mm
90o
2 2 2 cosine
c = a + b – 2ab cos Z rule
Position Analysis: Slider-Crank
If Link 2 is
rotated CCW
90o …… … how far does the
slider moves?
B
2 3
4
A 30o C
D
1
Position Analysis: Slider-Crank (1)
b
30o c
L
Position Analysis: Slider-Crank (2)
120o
c’
L’ d
Example of Position Analysis:
Reclining Truck Bed
Position Analysis of a Reclining Truck Bed
The hydraulic cylinder is to retract
by 0.15m. What is the angular
displacement of the truck bed?
truck bed
hydraulic
cylinder
G
5
N=6 E 6
J=7 3 F
2 D
F=1 A 4 B C
1
initial position
final position
after cylinder
has been
retracted
Position Analysis of a Reclining Truck Bed
hydraulic
cylinder
Position
Analysis by
analytical
method
Start with a sketch
of the kinematic
diagram.
Analytical Method (Initial Position)
G
Use the same set of
calculations to determine the
F E new value of <GCB i.e. the
new truck bed angle
B
A C
E
1250 <EBA = cos-1(14002+3002 - 12502)
300
2(1400)(300)
A B = 54.5O
1400
300 E <EBF = cos-1(4202+3002-3002)
F
300 2(420)(300)
420
A = 45.6O
B
<FBA = 54.5 - 45.6 = 8.9O
Analytical Method (Final Position)(cont.)
G
F E <FBA = 8.9O
<FBC = 180-8.9 = 171.1O
B
A C
G LFC 2 = 4202+6502-2(420)(650)cos(171.1O) = 1066.9
350
sin <FCB = 420 sin(171.1)
F 850 1066.9
<FCB = 3.5O
420
C <FCG = cos-1(1066.92+8502-3502)
B 650
2(1066.9)(850)
= 16.6O
<GCB = <FCB + <FCG
= 3.5+16.6
= 20.1O the new truck bed angle