ME 3212: Mechanisms

Course Notebook
Instructor:
Jeremy S. Daily, Ph.D., P.E.
Fall 2013

Contents
1 Syllabus
1.1 Course Bulletin Description . . . . . . . . . . . . . .
1.2 Objectives . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Course Outline . . . . . . . . . . . . . . . . . . . . .
1.4 Course Policies . . . . . . . . . . . . . . . . . . . . .
1.4.1 Safety . . . . . . . . . . . . . . . . . . . . . .
1.4.2 Text Books . . . . . . . . . . . . . . . . . . .
1.4.3 Grading Procedures . . . . . . . . . . . . . . .
1.4.4 Exam Policy . . . . . . . . . . . . . . . . . .
1.4.5 Computer Usage . . . . . . . . . . . . . . . .
1.4.6 Late Submission and Absences . . . . . . . . .
1.4.7 Class Conduct . . . . . . . . . . . . . . . . .
1.4.8 Academic Misconduct . . . . . . . . . . . . .
1.4.8.1 Purpose . . . . . . . . . . . . . . .
1.4.8.2 Policy . . . . . . . . . . . . . . . .
1.4.8.3 Definition of Academic Misconduct
1.4.8.4 Prompt Attention . . . . . . . . . .
1.4.8.5 Procedures . . . . . . . . . . . . . .
1.4.8.6 Sanctions . . . . . . . . . . . . . . .
1.4.8.7 Appeals . . . . . . . . . . . . . . .
1.4.9 Center for Student Academic Support . . . . .
2 Introduction To Mechanisms
2.1 Mechanisms Vocabulary . . . . . . . .
2.2 Common Mechanisms . . . . . . . . .
2.3 Kinematic Pairs (a.k.a. Joints) . . . . .
2.3.1 Low Order Pairs . . . . . . . .
2.3.2 High Order Pairs . . . . . . . .
2.4 Degrees of Freedom . . . . . . . . . . .
2.4.1 Mobility . . . . . . . . . . . .
2.4.2 Kutzbach Criteria . . . . . . . .
2.5 Grashofs Law for Four-bar Mechanisms
2.5.1 Special Cases . . . . . . . . . .
2.5.2 Inversions . . . . . . . . . . . .

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Contents
2.6

3
Homework Problem Set 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3 Position Analysis
3.1 Loop Closure Equations . . . . . . . . . . . .
3.1.1 Derivation of the Law of Cosines . . .
3.1.2 Derivation of the Law of Sines . . . . .
3.1.3 Inverted Slider Crank . . . . . . . . . .
3.1.4 Offset Slider Crank . . . . . . . . . . .
3.1.5 Four Bar Mechanism . . . . . . . . . .
3.1.5.1 Open Closure . . . . . . . .
3.1.5.2 Cross Closure . . . . . . . .
3.2 Coupler Curves . . . . . . . . . . . . . . . . .
3.2.1 Matlab Implementation . . . . . . . . .
3.2.2 Excel Implementation . . . . . . . . .
3.2.2.1 Standard Algebraic Solution .
3.2.2.2 Use Excel Solver . . . . . .
3.2.2.3 SolidWorks Implementation .
3.3 Homework Problem Set 2 . . . . . . . . . . . .
3.4 Newton-Raphson Method . . . . . . . . . . . .
3.4.1 Rocking Slider Crank . . . . . . . . . .
3.5 Homework Problem Set 3 . . . . . . . . . . . .
3.6 Multi Loop Mechanisms . . . . . . . . . . . .
3.7 Toggle and Limit Positions . . . . . . . . . . .
3.8 Transmission Angle . . . . . . . . . . . . . . .
3.9 Homework Problem Set 4 . . . . . . . . . . . .

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4 Mechanism Synthesis
63
4.1 Geometric Constraint Programming . . . . . . . . . . . . . . . . . . . . . . . . 63
4.2 Homework Problem Set 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5 Velocity Analysis
5.1 Vector Operations . . . . . . . . . . . . .
5.1.1 Dot Product . . . . . . . . . . . .
5.1.2 Cross Product . . . . . . . . . . .
5.1.3 Derivatives of Vector Products . .
5.2 Velocity with a Rotating Reference Frame
5.3 Graphical Analysis . . . . . . . . . . . .
5.3.1 Inverted Slider Crank . . . . . . .
5.3.2 Four-Bar Mechanism . . . . . . .
5.4 Analytical Analysis . . . . . . . . . . . .
5.4.1 Inverted Slider Crank . . . . . . .
5.4.2 Four Bar Mechanism . . . . . . .

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Contents
5.5

4
Homework Problem Set 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

6 Acceleration Analysis
97
6.1 Accelerations in Four-bar Mechanisms . . . . . . . . . . . . . . . . . . . . . . . 97
6.2 Inverted Slider Crank . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
6.3 Homework Problem Set 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
7 Cams
7.1 Types of Cam Followers . . . . . . . . . .
7.1.1 Flat Faced Radial . . . . . . . . . .
7.1.2 Offset Roller Follower . . . . . . .
7.1.3 Barrel Cam with Roller Follower . .
7.1.4 Heavy Truck Brake Cams (S-Cams)
7.2 Cam Follower Motion . . . . . . . . . . . .
7.2.1 Displacement . . . . . . . . . . . .
7.2.2 Velocity . . . . . . . . . . . . . . .
7.2.3 Acceleration . . . . . . . . . . . .
7.2.4 Jerk . . . . . . . . . . . . . . . . .
7.3 Cam Follower Profiles . . . . . . . . . . .
7.3.1 Constant Acceleration (Parabolic) .
7.3.2 Harmonic Motion . . . . . . . . . .
7.3.3 Cycloidal Motion . . . . . . . . . .
7.4 Cam Design . . . . . . . . . . . . . . . . .
7.5 Homework Problem Set 8 . . . . . . . . . .
8 Gears
8.1 Introduction . . . . . . . . . . . . . .
8.1.1 Cog and Lantern Gears . . . .
8.1.2 Common Types of Gears . . .
8.2 Fundamental Law of Gearing . . . . .
8.3 Conjugate Profiles and Involutometry
8.3.1 The Involute Curve . . . . . .
8.3.2 Cycloidal Profiles . . . . . . .
8.3.3 Gear Sizing and Terminology
8.4 Homework Problem Set 9 . . . . . . .
8.5 Gear Train Analysis . . . . . . . . . .
8.5.1 Taxonomy of gear trains: . . .
8.5.2 Gear Train Ratio . . . . . . .
8.5.3 Idler Gears . . . . . . . . . .
8.5.4 Compound Gear Trains . . . .
8.6 Homework Problem Set 10 . . . . . .

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Contents
8.7
8.8

8.9

5
Reverted Gear Train Design . . . . . . . . . . . . . . . .
8.7.1 Design Considerations . . . . . . . . . . . . . . .
Planetary Gear Trains . . . . . . . . . . . . . . . . . . . .
8.8.1 Advantages . . . . . . . . . . . . . . . . . . . . .
8.8.2 Vector Approach to Planetary Gear Train Analysis
8.8.3 Tabular Planetary Gear Train Analysis . . . . . . .
8.8.4 Compound Planetary Gear Trains . . . . . . . . .
8.8.5 Plotting Planetary Gears . . . . . . . . . . . . . .
Differential Gear Trains . . . . . . . . . . . . . . . . . . .
8.9.1 Ackerman Steering . . . . . . . . . . . . . . . . .

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1 Syllabus
Instructor: Dr. Jeremy S. Daily
E-mail: [email protected]
Phone: 918-631-3056
Office: 2080 Stephenson
Office Hours: Tuesday and Thursday 1:30 - 3:00. Otherwise, drop in or schedule an appointment.
Classroom: U4
Days: Tuesday and Thursday
Time: 12:30 - 1:20 PM
This course notebook is required for the course and costs $20. It includes a 3-ring binder. While
the pages in here are designed to help you take notes, additional writing space will be required.
Therefore, loose-leaf paper is recommended to augment the notebook.
This notebook can also be accessed (but not printed) in electronic format at
http://personal.utulsa.edu/~jeremy-daily/ME3212/MechanismsCourseNotebook.
pdf

1.1 Course Bulletin Description

Displacement, velocity and acceleration analysis of linkages, cams, and gear trains. An introduction to synthesis. Computer simulation and design of planar mechanisms using modern
engineering software culminating in a design project. Prerequisites: ES 2023 (Dynamics).
This required two-credit hour course is offered once a year, typically at the beginning (fall
semester) of the junior year.

1.2 Objectives
This section of the syllabus is designed to give the student a larger picture of the purpose of
this class. This course is designed to provide the students the analytical skill necessary for

1.3 Course Outline

analyzing mechanism motion analysis. In addition to analysis, student will learn mechanism
synthesis using geometric constraint programming techniques. It is important for the student to
learn to use modern computer tools to aid in mechanism design and analysis. The familiarity
with rigid body analysis in modern computer analysis programs will give students a competitive
advantage in the current marketplace. The course covers position, velocity, and acceleration
analysis of planar linkages and slider crank mechanisms. Grashofs laws, Kutzbach criterion,
and the Newton-Raphson method. Cam profiles and cam follower motion is studied along with
gears and gearing including epicyclic gear trains.

1.3 Course Outline

The following is a dynamically updated schedule for the class. It is a shared Google calendar
http://www.google.com/calendar (Search for ME 3212)
and can be integrated into your own personal calendaring system. While the calendar can be
updated and changed as the course goes on, the schedule will remain fairly rigid during the
semester. All changes and details concerning specific events and items on the schedule will be
updated through the Google calendar for this course.
The calendar ID is [email protected]

1.4 Course Policies

1.4.1 Safety
Some projects in class may require the use of hand tools to build mechanims. Many mechanisms
are dangerous and may have pinch ponts that can severly injure someone. Always exercise
caution when handling a mechanism or machine. Design mechanisms in such a way to guard or
prevent pinch points.
During the first week of classes, every student must read and sign the rules and safety procedures
to be eligible to work in the laboratory or shop environment. This sheet will be provided the first
lab lesson.
Failure to comply with these rules may result in termination of your privilege to work in the
Mechanical Engineering Shops and Laboratories.
In the event of a minor emergency:

Dial extension

5555 for campus security

1.4 Course Policies

8
In the event of a major emergency:
Dial 9-911 for EMS

1.4.2 Text Books

In addition to this course notebook the following books are useful.
Required: Mechanics of Machines by W. L. Cleghorn, Oxford University Press, 2005, ISBN
0195154525
Reference: Theory of Machines and Mechanisms, 3rd Edition by J.J. Uicker, G.R. Pennock,
and J.E. Shigley, Oxford University Press, ISBN 019515598
Other Resources: http://kmoddl.library.cornell.edu/index.php

1.4.3 Grading Procedures

The following table gives the weights of the different aspects of the graded material for this class:
Homework: 15%
Design Project: 35%
Exam 1: 20%
Exam 2: 20%
Final Exam: 20%
90-100 = A, 80-89 = B, 70-79 = C, 60-69 = D, < 60 = F
The instructor reserves the right to lower the minimum requirements for each letter grade.
Grades will be kept on WebCT and will be updated on a regular basis.

1.4.4 Exam Policy

Exams are open book and open notes; closed computer.

1.4.5 Computer Usage

Matlab and other specialty software will be used for labs and homework for data analysis and
plotting. These programs are available in the undergraduate computer lab. SolidWorks and Ansys
should be available in the computer labs as well.
SolidWorks is available to all ME students for installation on there personal computer. The media
is available under the TU shared space at S:\ENS\Mechanical Engineering\SolidWorks.

1.4 Course Policies

1.4.6 Late Submission and Absences

Late submission of homework will receive no score. Late computer projects will receive no score.
Exams have mandatory attendance. Make-up exams will be offered only under very exceptional
circumstances provided prior permission from the instructor is obtained. Neatness and clarity of
presentation will be given due consideration while grading homework, computer projects, and
exams.

1.4.7 Class Conduct

Please do whatever necessary to maintain a friendly, pleasant and business-like environment so
that it will be a positive learning experience for everyone. Please turn off all cell phone ringers
or any other device that could spontaneously make noise.

1.4.8 Academic Misconduct

All students are expected to practice and display a high level of personal and professional integrity. During examinations each student should conduct herself or himself in a way that avoids
even the appearance of cheating. Any homework or computer problem must be entirely the
students own work. Consultation with other students is acceptable; however, copying homework from one another will be considered academic misconduct. Any academic misconduct
will be dealt with under the policies of the College of Engineering and Natural Sciences. This
could mean a failing grade and/or dismissal. The policy of the University regarding withdrawals
and incompletes will be strictly adhered to. Language in the POLICIES AND PROCEDURES
RELATING TO ACADEMIC MISCONDUCT OF UNDERGRADUATES COLLEGE OF ENGINEERING & NATURAL SCIENCES dated August 2013 is included below.
1.4.8.1 Purpose
In keeping with the intellectual ideals and educational mission of the University of Tulsa, all
members of the University of Tulsa community are expected to maintain their intellectual integrity at all times, to conduct themselves properly in all academic activities, and to adhere to
all academic policies. Cheating, plagiarism and other forms of academic dishonesty violate both
individual honor and the life of the community. The purpose of this document is to encourage
members of the academic community to conduct themselves responsibly toward one another, to
ensure that complaints of academic misconduct are treated fairly and in a timely fashion, and to
maintain the high standards of conduct required at the University of Tulsa.

1.4 Course Policies

1.4.8.2 Policy
A. This policy prohibits any form of inappropriate conduct that constitutes academic misconduct and applies to all participants in academic courses or programs offered by the College of
Engineering & Natural Sciences.
B. The College of Engineering & Natural Sciences and the University of Tulsa will take appropriate actions to prevent, correct, and discipline conduct that violates this policy.
C. This policy shall not preclude faculty, academic administrators or a college from proceeding
summarily in appropriate cases.
D. This policy does not preclude anyone from pursuing complaints with any external agency or
other entity, such as other institutions when a student participates in an internship, field placement, academic course or program at such institution; when criminal or civil laws may have been
violated; and other appropriate situations.
1.4.8.3 Definition of Academic Misconduct
A. Academic misconduct includes any conduct pertaining to academic courses or programs that
evidences fraud, deceit, dishonesty, an intent to obtain an unfair advantage over other students, or
violation of the academic standards and policies of the university. It includes, but is not limited to,
plagiarizing; cheating or otherwise violating the procedures for tests and examinations; turning
in counterfeit reports, tests, papers or other work; stealing tests or other academic material;
falsifying academic records or documents; turning in the same work to more than one instructor
without informing the instructors involved; vandalism, unauthorized or inappropriate use of data
files or equipment; violation of proprietary agreements, theft or tampering with the programs and
data of other users; or assisting others in such activities.
B. Academic misconduct also includes any inappropriate behavior that unreasonably interferes
with the educational process and the rights of others to pursue their academic goals. It includes,
but is not limited to, disorderly or disruptive conduct during classroom or other academic activity;
actual or threatened misuse or destruction of equipment or other academic resources; actual or
threatened interference with the right of others to participate fully in academic activities and
failure to respect and adhere to reasonable standards of conduct while participating in academic
activities.
1.4.8.4 Prompt Attention
A. All credible accusations of academic misconduct will be taken seriously and will be investigated promptly, thoroughly and fairly.
B. NOTIFICATION BY INSTRUCTOR TO ASSOCIATE DEAN FOR ACADEMIC AFFAIRS.
All instructors shall notify, in writing and/or email, the Associate Dean for Academic Affairs

10

1.4 Course Policies

promptly upon learning, directly or indirectly, about any case of academic misconduct, even in
cases where the instructor intends to investigate and address a complaint directly.
1.4.8.5 Procedures
A. INITIATING A COMPLAINT. A complaint may be initiated by an instructor, administrator,
staff member, student or anyone else who has reason to believe that academic misconduct has
occurred.
B. ACTION BY AN INSTRUCTOR. An instructor may investigate and address any complaint
of academic misconduct in the instructors course or program.
1. In lieu of addressing a complaint directly, an instructor may choose to refer a complaint to
the associate dean for academic affairs of the college.
2. A decision by an instructor shall be final and binding when the instructor has notified the
student in writing and/or email of that decision. (See Section VII, APPEALS)
C. ACTION BY THE ASSOCIATE DEAN FOR ACADEMIC AFFAIRS. The associate dean
for academic affairs may initiate or pursue any case of academic misconduct in order to enforce
academic policies and to maintain the academic integrity of the college and university.
1. Even when sanctions have been imposed by an instructor for a particular case of academic
misconduct, additional sanctions may be pursued by the associate dean for academic affairs in appropriate cases, such as when a student has committed academic misconduct
previously or when the academic misconduct is serious enough to warrant additional sanctions.
2. In cases where a student has been accused of academic misconduct in a course or program
offered outside of the students college of enrollment, action may be initiated and pursued
by either or both the dean of the college in which the academic misconduct occurred and
the dean of the students college of enrollment.
3. A decision by the associate dean for academic affairs shall be binding when the associate
dean has notified the student in writing of that decision. (See the APPEALS Section)
1.4.8.6 Sanctions
A. SANCTIONS IMPOSED BY INSTRUCTOR. An instructor may impose sanctions for academic misconduct that include, but are not limited to, oral and/or written reprimand, counseling,
reduced or failing grades for specific assignments or the entire course or program, additional
assignments or requirements relating to the course or program, or any combination thereof.
B. SANCTIONS IMPOSED BY THE ASSOCIATE DEAN FOR ACADEMIC AFFAIRS OR
COLLEGE COMMITTEE ON ACADEMIC MISCONDUCT. In addition to any sanctions imposed by an instructor, the associate dean for academic affairs or college committee may impose

11

1.4 Course Policies

sanctions for academic misconduct that include, but are not limited to, oral and/or written reprimand, counseling, reduced or failing grades for a course or program, suspension, probation,
dismissal, notations on a students official records and transcript, revocation of academic honors
or degrees, and any other appropriate sanction or combination thereof.
1.4.8.7 Appeals
A. APPEAL TO THE ASSOCIATE DEAN FOR ACADEMIC AFFAIRS OF DECISION OF
AN INSTRUCTOR
1. A student who believes that a decision made by an instructor is unjust may appeal on that
ground in writing to the Associate Dean for Academic Affairs in the College of Engineering & Natural Sciences.
2. An appeal must be submitted within 7 days after the final decision of an instructor.
3. A decision by the Associate Dean for Academic Affairs shall be binding when the student
is notified in writing and/or email of that decision.
B. APPEAL TO THE COLLEGE COMMITTEE ON ACADEMIC MISCONDUCT FROM DECISION OF THE ASSOCIATE DEAN FOR ACADEMIC AFFAIRS
1. A student who believes that the decision made by the associate dean for academic affairs
is unjust may appeal on that ground in writing to the College of Engineering& Natural
Sciences Committee on Academic Misconduct
2. An appeal to the college committee must be submitted within 7 days after the final decision
of the Associate Dean for Academic Affairs.
3. The College of Engineering & Natural Sciences Committee on Academic Misconduct consists of three faculty members elected from the faculty at large and chaired by the Associate
Dean for Academic Affairs who sits without voice or vote.
4. Appeals must be in writing and should include all facts and circumstances that have any
bearing on the case, together with all relevant documents, evidence, and names of witnesses.
5. A student shall have the right to request a hearing before the college committee.
6. The Committee on Academic Misconduct shall have the right to conduct a hearing, to
request additional information, and to receive and give such weight to evidence as the
college committee sees fit.
7. A student has the right to present personal testimony and evidence and to have the assistance of a friend or other advisor of his or her choosing in the appeal proceedings. Those
providing assistance to the student may only offer advice to the appellant. Advisors &
advocates do not otherwise participate in the proceedings.

12

1.4 Course Policies

8. A decision of the College Committee on Academic Misconduct shall be binding when
the college committee has notified the student in writing of that final decision, except as
specifically stated below:
a) If the college committee recommends suspension, probation, dismissal, revocation of
academic honors or degrees, or any combination thereof, such recommendation shall
be forwarded to the Dean of the College for final action.
b) If the college committee is unable to reach a majority decision, the case will be referred to the Dean of the College for further review and decision.
C. FINAL APPEAL TO THE PROVOST
In the unusual circumstance that the student can make a case that the concept of fundamental
fairness has been violated in the appeal process itself, a final appeal may be made to the Provost,
who may either consider it or decline to do so depending on the Provosts assessment of the
evidence presented. In all such cases, student appeals on academic issues will be final when a
decision is rendered by the provost.
This policy is not a contract. Policies and interpretation by the administration are subject to
change as circumstances warrant. Please check with the Associate Dean for updates and current
application of any policy.

1.4.9 Center for Student Academic Support

Students with disabilities should contact the Center for Student Academic Support to self-identify
their needs in order to facilitate their rights under the Americans with Disabilities Act. The center
for Student Academic Support is located in Lorton Hall, Room 210. All students are encouraged
to familiarize themselves with and take advantage of services provided by the Center for Student
Academic Support such as tutoring, academic counseling, and developing study skills. The
Center for Student Academic Support provides confidential consultations to any student with
academic concerns as well as to students with disabilities.

13

2 Introduction To Mechanisms
Mechanisms is a the study of rigid body motion. The concepts in this course are restricted to
analyzing the motion and does not consider the cause of motion. In the field of dynamics, there
are a few broad categories as shown in Fig. 2.1.

Figure 2.1: Hierarchy of Mechanics

2.1 Mechanisms Vocabulary

Fill in the appropriate definitions for the following terms.
Kinematics:

2.2 Common Mechanisms

Kinetics:

Mechanism:

Machine:

Linkage:

Link:

Joint:

Skeleton Diagram:

2.2 Common Mechanisms

Slider Crank
Example: Air compressor
Four-Bar

15

2.3 Kinematic Pairs (a.k.a. Joints)

16

Example: Washing Machine Rocker

Belts and Gears
Example: Transmission
Cams
Example: Internal combustion engine valve train

2.3 Kinematic Pairs (a.k.a. Joints)

2.3.1 Low Order Pairs
Spherical (G)

Revolute (R)

Cylindrical (C)

Prismatic (P)

See
Cleghorns
Section
1.4

2.3 Kinematic Pairs (a.k.a. Joints)

Helical or Screw (S)

Planar or Flat (F)

Revolute 2

2.3.2 High Order Pairs

Rolling-no slip

Rolling/rotating with slip

Cams, Link against plane

Pin-In-Slot

Rotating Pairs
Gears, Friction Drives

17

2.4 Degrees of Freedom

18

Wrapping Pairs
Example: Belt on Pulley (sheave)

2.4 Degrees of Freedom

The number of inputs needed to get an output.

For planar links there are:

For spatial links there are:

2.4.1 Mobility
Calculating the number of degrees of freedom for a mechanism is determining its mobility.

2.4.2 Kutzbach Criteria

The formula to calculate mobility is
m = 3(n 1) 2 j1 j2
where

n. . .
j1 . . .
j2 . . .

if m 1, then
if m = 0, then
if m 1, then
Remember, rolling pairs count as a 2 d.o.f. joint.
Example: Consider the planar slider crank mechanism shown in Fig. 2.2a. Determine the mobility using the Kutzbach Criteria. Determine the number of links, the number of single degree of
freedom joints, and the number of 2 d.o.f. joints.

See
Cleghorns
Section
1.5

2.4 Degrees of Freedom

19

2
3

O2

(a) Planar Slider Crank Mechanism

(b) Four-bar slider

(c) Four-bar linkage

Figure 2.2: Determine the mobility of the mechanisms shown above.

2.5 Grashofs Law for Four-bar Mechanisms

20

2.5 Grashofs Law for Four-bar Mechanisms

Grashofs law is a method to categorize four-bar mechanisms based on the ability for a link to
make a complete rotation compared to the other links. In a four-bar mechanism there are four
possible link lengths:
s. . .
l. . .
p. . .
q. . .
s+l < p+q

(2.1)

If Eq. 2.1 is satisfied, then

If s is the input link, then
If s is the frame (base) link, then
If s is the coupling link, then
Example: Can the shortest link make a full revolution in a four-bar mechanism where s = 4,
l = 9, p = 6, and q = 6?

2.5.1 Special Cases

Change point mechanism

Parallelogram four-bar mechanisms

2.5 Grashofs Law for Four-bar Mechanisms

21

2.5.2 Inversions
Every mechanism has a ground or base or frame link that is fixed.

Lets do an example to find the inversions for a four-bar mechanism where s = 1, l = 8, p = 6,

and q = 6 using the grids shown in Fig. 2.3.
Check Grashofs Criteria:
6

0
(a) Crank Rocker

(b) Crank Rocker

0
(c) Double Crank

(d) Double Rocker

Figure 2.3: Inversions of a four-bar mechanism.

See
Cleghorns
Section
1.7

2.6 Homework Problem Set 1

2.6 Homework Problem Set 1

1. The link lengths of a planar four-bar linkage are 1, 3, 5, and 5 inches.
a) Assemble the links in all possible combinations and sketch (with a ruler and compass
on engineering graph paper) the four inversions of each.
b) Describe each inversion by name (e.g., crank-rocker, drag-link, rocker-rocker, changepoint)
c) Do these linkages follow Grashofs Law?
2. Book Problem P1.1.
3. Book Problem P1.5.
4. Complete the Introduction to SolidWorks Tutorial. The tutorial can be found by accessing the SolidWorks Help Menu. Under the Getting Started Tutorial Category, perform the
Introduction to SolidWorks Tutorial. Turn in a print of the drawing you create.

22

2.6 Homework Problem Set 1

Due on: _____________________________

23

3 Position Analysis
The goal of a position analysis is to describe any position of any point in any mechanism configuration. The mechanical engineering skill from learning how to do a position analysis is to learn
the following concepts:
Vector analysis
Computer programming and mathematical modeling
Numerical methods for root finding
Develop the skill of abstracting physical objects using mathematics
A locus is defined as

3.1 Loop Closure Equations

The loop closure equations are fundamental to modeling mechanisms. The vectors that describe
the components must add to zero when the links form a loop:
n

~Ri = 0

i=1

where n. . .
Consider a loop of three fixed lengths: A, B, and C with angles , , and .

See
Cleghorn
Section
4.2

3.1 Loop Closure Equations

25

Lets define the x-axis to be along length B and the vectors defining the loop to go in a clockwise
direction.

C
y

B
Breaking these vectors into components gives the following six expressions. Keep in mind all
angles are defined from the positive x-axis and are positive when measure in a counterclockwise
direction.
Ax :
Ay :
Bx :
By :
Cx :
Cy :
Now all the components in the x direction can be summed to zero and all the y components can
be summed to zero:
x:
y:

Ax + Bx +Cx = 0
Ay + By +Cy = 0

or
x:
y:

3.1.1 Derivation of the Law of Cosines

In Section 3.1 the concept of the loop closure equations was presented. If two sides, say C and
B, are known and the angle between them is known, then the loop closure equations can be
solved for the length of A. The following procedures demonstrate solution techniques for the
loop closure equations.

3.1 Loop Closure Equations

26

1. Rewrite each component equation to move the unknown and unneeded angle as a single
term on one side:
x:
y:
2. Square each component equation and add them together. Invoking the relationship
sin2 + cos2 = 1
x:
y:
Sum:
3. Now the unknown angle has been eliminated and only the remaining length A is unknown. Expand the binomial terms:

4. Simplify and solve for A

A=

p
C2 + B2 2BC cos

C=

B=

Similarly
and

A2 + B2 2AB cos

A2 +C2 2AC cos

3.1.2 Derivation of the Law of Sines

If only one length is known and two angles are known, then the solution technique of the loop
closure equations requires a slightly different approach. This time, an unknown length needs to
be eliminated from the loop closure equations. The following procedure will derive the Law of
Sines from the loop closure equations. Lets say we know , and B. If two angles are known
in a triangle, then the other is also known because the sum of all the angles must be radians
(180 degrees).
1. Start by arranging the loop closure equations to eliminate C by moving all terms with C on
the left hand side.
x:
y:

3.1 Loop Closure Equations

27

2. Divide the x equation into the y equation:

y
:
x
3. Eliminate the unknown length and cross multiply:

4. Arrange so B sin is the only term on the left hand side:

5. Recall that = . Take the sine of both angles and recall a trigonometric identity:
sin
sin
sin
sin

=
=
=
=

sin( )
sin( ) cos( + ) cos( ) sin( + )
0 (1) sin( + )
sin( ) cos( ) + cos( ) sin( )

6. Notice the right hand side of the equation matches the term from the loop closure equations.
Make the appropriate substitution:
B sin = A sin
This is the law of sines. A similar formulation will give the familiar ratios:
sin
sin
sin
=
=
A
B
C

(3.1)

3.1.3 Inverted Slider Crank

An Inverted Slider-Crank is a mechanism that most used as an actuator. For example, a hydraulic
or pneumatic cylinder can be modeled as an Inverted Slider Crank. Fig. shows a photo of an
electric linear actuator and how it is modeled as an inverted Slider-Crank.
This section describes a simple mechanism to understand the concepts of position analysis.
Many texts will label the axis as real and imaginary instead of x and y. Either is valid.

See
Cleghorns
Section
4.3.2

3.1 Loop Closure Equations

28

(a) Retracted

(b) Extended

Figure 3.1: A pneumatic cylinder is an example of an inverted slider-crank where the stroke and
angle can change.
D

3
2

%C

x
d

%B

Figure 3.2: Inverted slider crank. Let a be the fixed length from A to C (the crank length).

3.1 Loop Closure Equations

What is the mobility of the inverted slider crank in Fig. 3.2?

Another way to set up the loop closure equations is to find two different paths to the same point
in the mechanism. This formulation may be a little easier depending on how the angles are
defined. Consider two different loop closure formulations shown in Fig. 3.3 on the next page.
Both formulations describe the same physical system, so they should ultimately produce the
same solution.

29

3.1 Loop Closure Equations

30

~a

~r

x
d~

(a) ~a +~r + d~ = 0

~a

~r

x
d~

(b) ~a = d~ +~r

Figure 3.3: Loop closure formulations for the inverted slider crank shown in Fig. 3.2.

3.1 Loop Closure Equations

For the inverted slider crank shown in Fig. 3.2, the following variables are known: a = 0.15 m,
d = 0.20 m and 2 = 35 . The goal of the position analysis is to find r and 3 .
1. Break the vectors into components
a) For the loop closure equation from Fig. 3.3a on the preceding page
x:
y:
b) For the loop closure equation from Fig. 3.3b on the previous page
x:
y:
2. Rearrange the loop closure equations to have all terms of 3 on one side. Notice that either
formulation will give the same results.
x:
y:
3. Square each equation and add them together to eliminate 3 :
4. Expand the squared terms:
5. Solve for r:
6. Divide the equations in Step 2 to eliminate r:
7. Compute the arctangent and adjust for the correct quadrant. Use the atan2 function.

The above example is also implemented in Mathematica and the Mathematica notebook can be
downloaded from
http://personal.utulsa.edu/~jeremy-daily/ME3212/InvertedSliderCrank.
nb

31

3.1 Loop Closure Equations

3.1.4 Offset Slider Crank

Given:

r2 =
r3 =
e=
2 =

Find:

3 and xB

1. Write the Loop equations:

2. Break into components
a) x :
b) y :
3. Rearrange y equation to solve for 3

4. Substitute into x expression and solve for xB

Note: For a standard slider crank. . .

32

3.1 Loop Closure Equations

33

3.1.5 Four Bar Mechanism

The four bar mechanism is a very versatile device and is the building block for many other
mechanisms. A four bar linkage in conjunction with a slider crank is frequently employed in
lifting mechanisms and construction equipment.
Consider the crank rocker in Fig. 3.4 where r1 = 10 cm, r2 = 4 cm, r3 = 12 cm, r4 = 8 cm, and
2 = 120 . The goal is to find 3 , 4 , and the transmission angle.
B

r3

r4

A
y
r2

%O

4
x

r1

%O

Figure 3.4: Crank rocker four-bar mechanism.

1. Consider the triangles formed by drawing a line from A to O4 and label it s.
2. Use the Law of Cosines (LOC) to determine s

3. Determine :

4. Solve for using LOC

5. Solve for using LOC

See
Cleghorns
Section
4.3.3

3.1 Loop Closure Equations

6. Solve for 3

7. Solve for 4

8. Determine the transmission angle, using LOC.

3.1.5.1 Open Closure

34

3.1 Loop Closure Equations

3.1.5.2 Cross Closure

See course website for a Mathematica notebook with the solutions to this example.
http://personal.utulsa.edu/~jeremy-daily/ME3212/4barPositions.nb

35

3.2 Coupler Curves

36

3.2 Coupler Curves

The goal of a coupler curve analysis is to determine the locus of some arbitrary point P on a
mechanism.
Physically a mechanism can have many different shapes for a single skeleton diagram.
Lets add onto the example of Section 3.1.4:

Point P is. . .
Analysis Steps:
1. Write down loop closure equations and solve for 3 .
2. Write the equations for the vector describing point P.

See
Cleghorns
Section
4.2

3.2 Coupler Curves

3.2.1 Matlab Implementation

A computer is useful to plot the curves with 2 as the independent variable. Make sure both axis
have the same scale to get the true shape of the coupler curve. Below is some example Matlab
code to generate the coupler curve.
1 %ME 3 2 1 2 : Mechanisms
%In c l a s s Example
3 %O f f s e t s l i d e r cr a n k d i r e c t s o l u t i o n
5 c l c %c l e a r s c r e e n
c l e a r a l l %c l e a r memory
7 c l o s e a l l %c l o s e a l l f i g u r e windows
9 %i n p u t known v a l u e s
r2 =0.5
11 r 3 = 1 . 2
r4 =1.3
13 e = 0 . 3
15 %d e f i n e t h e t a 2 f r o m 0 t o 360 i n 5 d e g r e e i n c r e m e n t s u s i n g r a d i a n s
t h e t a 2 =[0: pi / 3 6 : 2 pi ] ;
17
%s o l v e f o r t h e t a 3
19 t h e t a 3 = a s i n ( ( e+ r 2 s i n ( t h e t a 2 ) ) / r 3 ) ;
21 %s o l v e f o r xB
xB= r 2 c o s ( t h e t a 2 )+ r 3 c o s ( t h e t a 3 ) ;
23 yB= z e r o s ( s i z e ( xB ) ) ; %T h i s i s n e e d e d f o r t h e c o u p l e r c u r v e
25 %D e t e r m i n e C o u p l e r c u r v e
xp =
r2 cos ( t h e t a 2 ) r4 cos ( t h e t a 3 ) ;
27 yp = e + r 2 s i n ( t h e t a 2 ) + r 4 s i n ( t h e t a 3 ) ;
29 f o r n = 1 : l e n g t h ( t h e t a 2 ) %I t e r a t e t h r o u g h t h e v a l u e s o f t h e t a 2
31
33

%d e f i n e k e y p o i n t s on mechanism i n a
%f a s h i o n t o p l o t t h e c o n f i g u r a t i o n
p t s x = [ 0 , r 2 c o s ( t h e t a 2 ( n ) ) , xB ( n ) , xp ( n ) ] ;
p t s y =[ e , e+ r 2 s i n ( t h e t a 2 ( n ) ) , 0 , yp ( n ) ] ;

35
%p l o t t h e c o u p l e r c u r v e p o i n t s and one mechanism o r i e n t i a t i o n

37

3.2 Coupler Curves

37

F= f i g u r e ( 1 ) ; %open new f i g u r e window 1

39

p l o t ( xp , yp , . , p t s x , p t s y , o , xB , yB , y )

41

%m o d i f y t h e p l o t
axis equal
x l a b e l ( xp o s i t i o n (m) )
y l a b e l ( yp o s i t i o n (m) )
t i t l e ( [ C o u p l e r Curve : S l i d e r c r a n k shown w i t h . . .
num2str ( t h e t a 2 ( n ) 1 8 0 / p i ) d e g r e e i n p u t ] )
i f t h e t a 2 ( n )== p i / 3 %f i n d t h e p o s i t i o n when t h e t a 2 i s 60 d e g r e e s
s a v e a s ( F , [ C o u p l e r C u r v e _ num2str ( t h e t a 2 ( n ) 1 8 0 / p i ) . p d f ] )
end

43
45
47
49
51
53

%C a p t u r e t h e c u r r e n t p l o t t o make an a n i m a t i o n
s e t ( gca , P l o t B o x A s p e c t R a t i o , [ 5 1 2 384 7 2 0 ] )
M( n )= g e t f r a m e ( F , [ 0 0 512 3 8 4 ] ) ;

end
55 %C r e a t e a m o vi e f i l e :
m o v i e 2 a v i (M, O f f s e t S l i d e r C r a n k . a v i )
57
F= f i g u r e %open new f i g u r e window
59 p l o t ( t h e t a 2 1 8 0 / pi , xB , )
x l a b e l ( Crank Angle , \ t h e t a _ 2 ( deg ) )
61 y l a b e l ( S l i d e D i s t a n c e , x_B (m) )
t i t l e ( S l i d e p o s i t i o n as a f u n c t i o n of i n p u t angle )
63 g r i d on
axis tight
65 s a v e a s ( F , S l i d e P o s i t i o n . p d f )
The output generated by the above code is shown in Fig. 3.5 on the following page.

38

3.2 Coupler Curves

39

Slide position as a function of input angle

Coupler Curve: Slider crank shown with 60 degree input

1.6
1.5

1.5

1.4

Slide Distance, xB (m)

yposition (m)

0.5

1.3
1.2
1.1
1
0.9
0.8

0.5

0.7
1.5

0.5

0
xposition (m)

0.5

1.5

50

100

150
200
Crank Angle, 2 (deg)

(a)

250

300

350

(b)

Figure 3.5: Output graph from Matlab code for the coupler curves of an Offset slider crank mechanism.

3.2.2 Excel Implementation

Consider the following four-bar mechanism where
r1 =

,r2 =

, r3 =

Coupler Curve Equations:

xp =
yp =
Trigonometric Identities:

, r4 =

, r5 =

, r31 =

, 2 =

3.2 Coupler Curves

3.2.2.1 Standard Algebraic Solution

40

3.2 Coupler Curves

41

3.2.2.2 Use Excel Solver

Open Closure
A

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34

B
C
ME!3212:!Mechanisms
Four Bar!Linkage!Analysis
Parameter Value
Units
r1
10 in
r2
3 in
12 in
r3
r4
8 in

theta2
theta3
theta4

F
Plot!Coordinates
Upper!Leg
Vertex
X
1
0
2
1.5000
3 4.98362767

Radians
Degrees
2.094
120.000
1.000
57.296
2.000
114.592

Vertex
3*
4
Difference
residual

Lower!Leg
X
6.6708
10.0000

Y
0
2.5981
12.6957

Y
7.2744
0.0000

1.6872E+00 5.4213E+00
5.6778E+00

14
12
10
8
Upper!Leg
6

Lower!Leg

4
2
0
4

10

12

3.2 Coupler Curves

42

3.2 Coupler Curves

43

B
C
ME!3212:!Mechanisms
Four Bar!Linkage!Analysis
Parameter Value
Units
r1
10 in
3 in
r2
r3
12 in
r4
8 in

1
2
3
4
5
6
7
8
9
10 theta2
11 theta3
12 theta4
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
4
33
34

F
Plot!Coordinates
Upper!Leg
Vertex
X
1
0
2
1.5000
3 9.233836209

Radians
Degrees
2.094
120.000
0.464
26.557
1.667
95.496

Vertex
3*
4
Difference
residual

Lower!Leg
X
9.2338
10.0000
3.7786E 06
8.7571E 06

Y
0
2.5981
7.9632

Y
7.9632
0.0000
7.8999E 06

9
8
7
6
5
Upper!Leg
4

Lower!Leg

3
2
1
0
2

10

12

3.2 Coupler Curves

44

B
C
ME!3212:!Mechanisms
Four Bar!Linkage!Analysis
Parameter Value
Units
r1
10
in
r2
3
in
12
in
r3
r4
8
in

1
2
3
4
5
6
7
8
9
10 theta2
11 theta3
12 theta4
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
4
33
34

Cross Closure

F
Plot!Coordinates
Upper!Leg
X

Vertex

Radians
Degrees
=2*PI()/3
=DEGREES(B10)
0.4635153062=DEGREES(B11)
1.6667142836=DEGREES(B12)

1
2
3

0
=B5*COS(B10)
=F5+B6*COS(B11)

Y
0
=B5*SIN(B10)
=G5+B6*SIN(B11)

3*
4

Lower!Leg
X
=F11+B7*COS(B12)
=B4

Y
=B7*SIN(B12)
0

Vertex

Difference =F6 F10

=G6 G10
residual
=SQRT(F13^2+G13^2)

9
8
7
6
5
Upper!Leg
4

Lower!Leg

3
2
1
0
2

10

12

3.2 Coupler Curves

45

B
C
ME!3212:!Mechanisms
Four Bar!Linkage!Analysis
Parameter Value
Units
r1
10 in
3 in
r2
r3
12 in
r4
8 in

1
2
3
4
5
6
7
8
9
10 theta2
11 theta3
12 theta4
13
14
15
16
17
18
19
20
21
22
5
23
24
25
26
27
28
29
30
31
32
33
34

Radians
Degrees
2.094
120.000
0.500
28.648
1.000
57.296

F
Plot!Coordinates
Upper!Leg
Vertex
X
1
0
2
1.5000
3 9.030990743

Vertex
3*
4
Difference
residual

Lower!Leg
X
14.3224
10.0000

Y
0
2.5981
3.1550

Y
6.7318
0.0000

5.2914E+00 3.5767E+00
6.3869E+00

0
0

10

15

20
Upper!Leg

2
Lower!Leg
4

3.2 Coupler Curves

46

B
C
ME!3212:!Mechanisms
Four Bar!Linkage!Analysis
Parameter Value
Units
r1
10 in
3 in
r2
r3
12 in
r4
8 in

1
2
3
4
5
6
7
8
9
10 theta2
11 theta3
12 theta4
13
14
15
16
17
18
19
20
21
22
4
23
24
25
26
27
28
29
30
31
32
33
34

F
Plot!Coordinates
Upper!Leg
Vertex
X
1
0
2
1.5000
3 5.884873205

Radians
Degrees
2.094
120.000
0.908
52.019
2.111
120.957

Vertex
3*
4
Difference
residual

Lower!Leg
X
5.8849
10.0000
1.8606E 06
1.9300E 06

Y
0
2.5981
6.8604

Y
6.8604
0.0000
5.1288E 07

0
2

10

12
Upper!Leg

2
Lower!Leg
4

3.2 Coupler Curves

3.2.2.3 SolidWorks Implementation

47

3.3 Homework Problem Set 2

3.3 Homework Problem Set 2

1. An offset slider crank mechanism is driven by rotating the crank. The axis of the slider is
1 inch below the x-axis, the crank is 2.5 inches, and the connecting rod is 7 inches. Solve
for the position of the slider as a function of the crank angle 2 . Write a Matlab program
that plots the position of the slider for a complete revolution of the crank. Turn in your
hand analysis, Matlab program (the .m file) and a properly labeled plot.
http://personal.utulsa.edu/~jeremy-daily/ME3212/HW2Prob1.avi
2. Using the figure of book problem P4.10, plot the locus of Point C for a complete revolution
of link 2. Also, plot on the same graph the configuration of the mechanism when 2 = 10 .
For now, ignore the questions regarding velocity and acceleration. Be sure to use the command axis equal to plot the configuration of the mechanisms to scale.
http://personal.utulsa.edu/~jeremy-daily/ME3212/HW2Prob2.avi
3. In book problem P4.18a, plot the locus of point C for a complete revolution of link 2
for the open closure configuration. Also, plot on the same graph the configuration of the
mechanism when 2 = 30 . Draw the coupler as a triangle (BCD). For now, ignore
the questions regarding velocity and acceleration. A movie showing the positions of the
mechanism is available at:
http://personal.utulsa.edu/~jeremy-daily/ME3212/HW2Prob3.avi
4. Perform the Assembly Mates SolidWorks Tutorial under the Building Models Tutorial.
Turn in a print of your completed part.

48

3.3 Homework Problem Set 2

Due on: __________________________

49

3.4 Newton-Raphson Method

3.4 Newton-Raphson Method

What if you cant solve for the positions by trigonometry and algebra?

3.4.1 Rocking Slider Crank

Consider the following example:

Given: r2 , xo , R, 2
Find: r and 3
Write down the Loop closure equations:
x:
y:
Rearrange to eliminate r:

This equation has just 1 unknown 3 but no analytical solution. Therefore, well solve using the
Newton-Raphson method.

50

3.4 Newton-Raphson Method

51

The Newton-Raphson method

If we can rewrite an expression such that f (x) = 0, then the NR method can be used to find x.
It is an iterative scheme such that
(n+1)

(n)

=x

f (x(n) )
(n)
f (x )

where
n is
For this example,
f=
f =
The algorithm is as follows:
1. Initialize the criteria: let 3 = 1
(1)

2. Guess a value for 3

3. Do while |3 | > 0.000175

(n)

(n)

4. Calculate f (3 ) and f (3 )
5. 3 = f / f
(n+1)

6. 3

(n)

= 3 + 3

7. Increment n by 1 and loop back to step 3.

8. Continue to complete the solution by solving for
a) r =
or
r=
b) x =
9. Increment 2 and repeat.

3.4 Newton-Raphson Method

In Matlab, the algorithm for the example looks like the following:
1 %ME 3 2 1 2 : Mechanisms
%NewtonRahpson Method f o r s o l v i n g l o o p c l o s u r e e q u a t i o n s
3 %Dr . Jer em y D a i l y
%
5 clc ; clear all ; close al l
7 %knowns :
r 2 = 1 . 2 %m e t e r s
9 x0 = 1 . 8
R= . 4
11
t h e t a 2 = [ 0 : p i / 1 0 1 : 4 . p i ] ; %Two c y c l e s o f t h e c r a n k
13
t h e t a 3 = 0 ; %g u e s s a s o l u t i o n f o r f i r s t i t e r a t i o n
15 f o r n = 1 : l e n g t h ( t h e t a 2 )
d e l t a t h e t a 3 = 1 ; %s e t t h e l o o p c o n d i t i o n a l
17
%g u e s s t h e same s o l u t i o n a s t h e t i m e b e f o r e
19

w h i l e norm ( d e l t a t h e t a 3 ) > 0 . 0 0 0 1 7 5 %0 . 0 1 d e g r e e s
f = ta n ( t h e t a 3 ( n ) ) . ( x0+R t h e t a 3 ( n) r 2 c o s ( t h e t a 2 ( n ) ) ) . . .
r 2 s i n ( t h e t a 2 ( n ) ) ;
d f d t h e t a 3 = ( 1 . / ( c o s ( t h e t a 3 ( n ) ) . ^ 2 ) ) . ( x0+R t h e t a 3 ( n ) . . .
r 2 c o s ( t h e t a 2 ( n ) ) ) + R c o s ( t h e t a 3 ( n ) ) ;
d e l t a t h e t a 3 =f / d f d t h e t a 3 ;
%u p d a t e t h e s o l u t i o n u n t i l i t i s w i t h i n t o l e r a n c e
t h e t a 3 ( n )= t h e t a 3 ( n )+ d e l t a t h e t a 3 ;
end
t h e t a 3 ( n +1)= t h e t a 3 ( n ) ;

21
23
25
27
29
end
31

%S i n c e t h e l a s t command i n t h e l o o p c r e a t e d an e x t r a t h e t a 3 e n t r y
33 %we m u s t remove i t by a s s i g n i n g i t t o t h e em p t y s e t
theta3 (n +1)=[];
35
%S o l v e f o r t h e r e m a i n i n g unkowns
37 r _ s i n e s = r 2 s i n ( t h e t a 2 ) . / s i n ( t h e t a 3 ) ; %law o f s i n e s
r _ c o s i n e s = s q r t ( r 2 . ^ 2 + ( x0+R t h e t a 3 ) . ^ 2 . . .
39
2 r 2 . ( x0+R . t h e t a 3 ) . c o s ( t h e t a 2 ) ) ; %law o f c o s i n e s
x=R t h e t a 3 ;

52

3.4 Newton-Raphson Method

53

41 p l o t ( t h e t a 2 , t h e t a 3 , : , t h e t a 2 , r _ s i n e s , , t h e t a 2 , r _ c o s i n e s , . . .
, t h e t a 2 , x , . )
43 x l a b e l ( \ t h e t a _ 2 ( r a d i a n s ) )
ylabel ( Position variables )
45 l e g e n d ( \ t h e t a _ 3 ( r a d ) , r : s i n e s (m) , r : c o s i n e s (m) , x (m) )
The graph generated by the code is shown in Fig. 3.6.
3.5

3 (rad)
r:sines (m)
r:cosines (m)
x (m)

2.5

Position variables

1.5

0.5

0.5

1.5

2 (radians)

10

Figure 3.6: Output of Newton-Raphson example. What are the spikes from?

12

14

3.4 Newton-Raphson Method

How does Newton-Raphson work?

The N-R method requires a good first guess or:

How to make a good initial guess:

54

3.5 Homework Problem Set 3

3.5 Homework Problem Set 3

1. Use the Newton-Raphson method to solve for 3 by hand for the four-bar linkage shown
in Fig. 3.4 on page 33. Compare the result from the N-R method to the analytical solution
for 2 = 2 /3 radians (120 degrees). Then, create a Matlab program that implements the
N-R method and plots 3 against 2 for every 5 degrees of a complete revolution of the
crank. Plot the solution from the N-R method with a dot and the solution from the analytical method with a square. Generate two plots: one for the open closure configuration and
one for the cross closure configuration. The graphs you generate should look like the ones
in Fig. 3.7 on page 58. The Matlab code used to plot the results is as follows:
1 F= f i g u r e ( 1 ) ;
p l o t ( t h e t a 2 1 8 0 / pi , t h e t a 3 1 8 0 / pi , . , . . .
3
t h e t a 2 1 8 0 / pi , t h e t a 3 _ o p e n 1 8 0 / pi , s )
%No t e : t h e t a 3 _ o p e n m u s t be d e f i n e d i n o r d e r f o r t h i s t o work
5 l e g e n d ( NewtonRaphson , A n a l y t i c a l , L o c a t i o n , N o rt h Wes t )
x l a b e l ( I n p u t Crank Angle , \ t h e t a _ 2 [ deg ] )
7 y l a b e l ( C o u p l e r Angle , \ t h e t a _ 3 [ deg ] )
axis tight
9 s e t ( gca , XTick , [ 0 : 3 0 : 3 6 0 ] )
g r i d on
11 t i t l e ( C o u p l e r a n g l e i n t h e open c l o s u r e c o n f i g u r a t i o n )

55

3.5 Homework Problem Set 3

56

2. Eccentric Cam Analysis (See figure below):

a) Plot the locus of point P for a complete turn of the cam when r1 = 100 mm, r2 = 150
mm. e = 20 mm, and R = 40 mm. Hint: use N-R to determine 2 .
b) Plot the y position of point P as a function of 3 .
c) Determine the maximum and minimum of 2 by hand.
An animation of the motion of this mechanism is available at
http://personal.utulsa.edu/~jeremy-daily/ME3212/HW3Prob2.avi
Hints:

r and R form a right angle.

R and e do not form a right angle (the angle changes).

Due on:___________________

r2
R

r
y
e

%
O2

O3

r1

3. Perform the Advanced Design SolidWorks Tutorial. Turn in a print of your completed part.

3.5 Homework Problem Set 3

57

3.5 Homework Problem Set 3

58

Coupler angle in the open closure configuration

65
NewtonRaphson
Analytical
60

55

Coupler Angle, [deg]

50

45

40

35

30

25

20
0

30

60

90

120

150
180
210
240
Input Crank Angle, 2 [deg]

270

300

330

360

(a) Open Closure Configuration

Coupler angle in the cross closure configuration
NewtonRaphson
Analytical

20

25

Coupler Angle, 3 [deg]

30

35

40

45

50

55

60

65
0

30

60

90

120

150
180
210
240
Input Crank Angle, [deg]

270

300

330

360

(b) Cross Closure Configuration

Figure 3.7: Graphs for the Newton-Raphson and analytical solution for 3

3.6 Multi Loop Mechanisms

59

3.6 Multi Loop Mechanisms

Multi loop mechanisms are analyzed by constructing the loop closure equations for all the elementary loops. Open chains can also be considered.
Consider the following example:

Calculate the mobility using the Kutzbach Criteria:

Determine the known and unknown variables:

There are four equations after breaking up the loop closure equations:
x1 :
y1 :
x2 :
y2 :

See
Cleghorns
Section
4.2

3.7 Toggle and Limit Positions

60

3.7 Toggle and Limit Positions

Mechanical Advantage
Consider an offset slider crank in the dead center positions.
Top center:

Bottom center:

The criteria to find a toggle position are:

Loop Closure Equations:
x:
y:
Substitute 2 = 3 into the y equation:

See
Cleghorns
Section
2.6

3.8 Transmission Angle

61

Substitute 2 = 3 + into the y equation:

3.8 Transmission Angle

For a slider crank, the transmission angle is .

=
Goal: find the maximum and minimum and corresponding 2 .
Rewrite Loop equations:
x:
y:
but,
and,
so
x:
y:
To find extrema, find values of 2 when
x :
y :
Consider only the numerator:

2 =
So the transmission angles are:

d
d 2

= 0. Use implicit differentiation:

See
Cleghorns
Section
2.7

3.9 Homework Problem Set 4

3.9 Homework Problem Set 4

1. Using the offset slider-crank mechanism shown in Fig. 4.4 of Cleghorns text, determine
the extreme values of the transmission angle, . Hint: Write an expression for in terms
of 2 , differentiate with respect to 2 , and let d /d 2 = 0 for extremes.
2. For a four bar mechanism where r1 = 400 mm, r2 = 200 mm, r3 = 500 mm, and r4 = 400
mm,
a) Determine 2 , 3 , 4 , and for both limit positions.
b) Draw the mechanisms in each limit position to scale.
c) Determine the total rocking angle (4 ).
Ans: 78
3. Perform the Animation SolidWorks Tutorial. Turn in a print of your completed part.

Due on: ________________

62

4 Mechanism Synthesis
The design or creation of a mechanism to achieve the desired motion.
Type Synthesis:
Number Synthesis:
Dimensional Synthesis:
Classical Analysis:

4.1 Geometric Constraint Programming

Everyone should download their own copy of:
Kinzel et al., Kinematic synthesis for finitely separated positions using geometric constraint
programming. Journal of Mechanical Design (2006)
Meet in the Computer Lab (L1) to see the following demonstration:
Goal: pick up an object with a scoop and dump it at a point 3 higher and 4 over.
Approach: design a four bar mechanism that has a coupler that will follow 5 precision points and
directions.

4.1 Geometric Constraint Programming

To synthesize a mechanism that satisfies these constraints, follow these instructions:
1. Create a new Part in SolidWorks.
2. Change the document properties to the IPS system. This is found under the Tools, Options,
Document Properties menu.
3. Under the System Options tab (Tools Options), click on the Relations/Snaps branch and
make sure the Automatic Relations box is unchecked.

64

4.1 Geometric Constraint Programming

4. Create a new sketch on any plane.

65

4.1 Geometric Constraint Programming

5. Create 5 3-point arcs. They do not have to be the same size yet and placement is arbitrary
at this time. These arcs will represent the scoop.

66

4.1 Geometric Constraint Programming

6. Make all the arcs equal by selecting them while holding the Shift key. Then click on the
Equal button under the Add Relations Pane.

67

4.1 Geometric Constraint Programming

7. Create centerlines an connect each end of the arc.
8. Make the center of the arc coincident with the line.

68

4.1 Geometric Constraint Programming

9. Position and dimension the arcs in appropriate locations. The position will describe locations along the path of travel. Therefore, the arc must be facing up at the bottom location
and tilted at the drop off location. The other points are used to guide the path of travel.
Start by making the right edge of one of the arcs coincident with the origin and fixing its
location.

69

4.1 Geometric Constraint Programming

10. Draw congruent triangles from each of the arc endpoints. To ensure congruency, make all
corresponding legs of the triangle equal. The tip of the triangle will represent the connection to one of the links.

70

4.1 Geometric Constraint Programming

11. Draw a perimeter circle through three of the five tips of the triangles.
12. Make the points coincident with the circle.

71

4.1 Geometric Constraint Programming

13. Drag the other two points close to the circle and make them coincident. All five points
should be coincident with the circle.

72

4.1 Geometric Constraint Programming

14. Create another set of congruent triangles to represent the other connecting point for the
coupler.

73

4.1 Geometric Constraint Programming

15. Draw the other circle and maneuver the locations of the arc and the triangles to get a compact package. This may be difficult and you may have to delete some fixed constraints.

74

4.1 Geometric Constraint Programming

16. Once the position is where you like, Select All and make a Block (Tools Make Block).

75

4.1 Geometric Constraint Programming

17. Draw the frame (link 1) by connecting the two circle centers. Fix the ends. The draw
moving links 2 and 4. Trace the coupler. Add dimensions to keep the lengths fixed.

76

4.1 Geometric Constraint Programming

18. Drag the mechanism to check its motion.

All dimensions should be determined and the mechanism synthesis is completed. The mechanism can be actuated by a motor for continuous rotation or by a cylinder or cam to rock back and
forth.

77

4.2 Homework Problem Set 5

4.2 Homework Problem Set 5

Construct the headlight cover in Example 11.3 of Cleghorns book using SolidWorks. Demonstrate that it works by turning in three prints from SolidWorks: the open position, an intermediate
position, and the closed position. Clearly identify all relevant details of this design. These details
include: link lengths, rotation positions, and coupler angles.

78

5 Velocity Analysis
5.1 Vector Operations
5.1.1 Dot Product

5.1.2 Cross Product

5.1.3 Derivatives of Vector Products

5.2 Velocity with a Rotating Reference Frame

5.2 Velocity with a Rotating Reference Frame

Draw two vectors. The first vector, ~r1 , describes the position of a point at time t1 . The second
vector,~r2 , describes the position at time t2 . Draw tangent and normal unit vectors at each position.
~
Also, draw r.

To determine velocity, take the limit:

Relate inertial unit vectors to rotating unit vectors:

Determine the velocity based on the product rule:

But~r can also be written in terms of a tangent-normal system:

80

5.2 Velocity with a Rotating Reference Frame

Take the derivative with respect to time to get the velocity:

81

5.3 Graphical Analysis

82

5.3 Graphical Analysis

Start with a scale drawing of the mechanism.

5.3.1 Inverted Slider Crank

8

See
Cleghorns
Example
3.2

Example of an Inverted Slider Crank.

7
6
5
4
3
2
1
0

Relative velocity equivalence equations:

~vP =~vP/A +~vA =~vP/B +~vB
~vP/B =
with numbers:
~vP/A =
with numbers:
Break into components:
~vP =
Draw the velocity polygon:
1. Draw Construction Lines
2. Scale Known Velocity
3. Draw Perpendiculars

See
Cleghorns
Section
2.2

5.3 Graphical Analysis

83

4. Measure Magnitudes

x
0v

reference

Goal: Determine the angular velocity of link 4.

5.3.2 Four-Bar Mechanism

Example of a four-bar mechanism: Determine the angular velocities of link 3, link 4, and the
velocity of point C.
where r1 = 600 mm, r2 = O2 A = 140 mm, r3 = 690 mm, r4 = 400 mm, r5 = 200 mm, r6 = 200
mm, 2 = 240 , 3 = 44 , 4 = 116 , 2 = 2 = 50 rad/sec (constant).

See
Cleghorns
Section
3.3

5.3 Graphical Analysis

84

C
y

r5

r6

r4

r3

O2%
r1

O4%

3
A
Figure 5.1: Four-Bar Mechanism Example
Use the space allocated in Fig. 5.2 to construct the velocity polygon for this example. Recall
velocity equivalence:
~vB =~vA +~vB/A =~vO4 +~vB/O4
1. Determine the angles for the lines of action.
2. Draw v~A

3. Draw a construction line at the angle of vB through Ov .

4. Construct a line through vA perpendicular to r3 to show the line of action of vB/A
5. Find the intersection of the vB construction line and the vB/A construction line. Draw the
vector representing ~vB/A and measure its length.

5.3 Graphical Analysis

6. Determine angular velocities

7. Velocity of C:

8. Draw construction line for ~vC/B perpendicular to BC and going through vB

9. Draw construction line for ~vC/A

10. Check magnitudes

11. Measure to determine ~vC

85

5.4 Analytical Analysis

86

x
0v

reference

Figure 5.2: Workspace for graphical velocity determination for

the four-bar mechanism in Fig. 5.1.
Notes on velocity images:
The velocity image has a triangle...
The ratio...
If no angular velocity, then...
The point 0v ...
Determining absolute velocity ...

5.4 Analytical Analysis

Once the position vectors are known, then they can be differentiated with time to get the velocity
equations. A couple examples show this technique.

5.4 Analytical Analysis

87

5.4.1 Inverted Slider Crank

Determine 4 and r in the following inverted slider crank mechanism:
C
A
r

%O

4
4

O2

r1

r1 =
r2 =
r=
2 =
4 =
2 =

where

1. Loop Equations:
a) x :
b) y :
2. Differentiate with respect to time:
a)
b)

r2

5.4 Analytical Analysis

88

3. Arrange in matrix form:

4. Solve the linear equation.

a) On TI-89:
b) In Matlab:
c) By Hand:

Compare graphical solution to analytical solution:

Variable

Graphical

Analytical

We can write a computer program to solve the above system for various angles of 2 and a
constant angular velocity. An example in Matlab is as follows:
1 %ME 3 2 1 2 : Mechanisms
%I n v e r t e d S l i d e r Crank
3 %F i n d i n g t h e v e l o c i t i e s o f l i n k s
%Dr . Jer em y D a i l y
5
%c l o s e an i n i t i a l i z e s y s t e m
7 clc

5.4 Analytical Analysis

clear all
9 close all
11 %I n v e r t e d s l i d e r c r a n k mechanism
%knowns :
13 r 1 =45
r 2 =25
15 omega2 =20
17 t h e t a 2 = l i n s p a c e ( 0 , 2 pi , 1 5 0 ) ;
19 %p o s i t i o n s o l u t i o n :
r = s q r t ( r 1 ^2+ r 2 ^22 r 1 r 2 c o s ( pi t h e t a 2 ) ) ;
21 t h e t a 4 = a c o s ( ( r . ^ 2 + r 1 . ^ 2 r 2 . ^ 2 ) . / ( 2 r r 1 ) ) ;
t h e t a 4 = a ta n2 ( r 2 s i n ( t h e t a 2 ) , r 1 + r 2 c o s ( t h e t a 2 ) ) ;
23
%v e l o c i t y a n a l y s i s
25 f o r i = 1 : l e n g t h ( t h e t a 2 )
A=[ c o s ( t h e t a 4 ( i ) ) r s i n ( t h e t a 4 ( i ) ) ;
27
sin ( theta4 ( i ))
r cos ( t h e t a 4 ( i ) ) ] ;
C=[ r 2 omega2 s i n ( t h e t a 2 ( i ) )
r 2 omega2 c o s ( t h e t a 2 ( i ) ) ] ;
29
v=A \ C ;
r d o t ( i )= v ( 1 ) ;
31
omega4 ( i )= v ( 2 ) ;
end
33
%P l o t t h e r e s u l t s
35 F= f i g u r e ( 1 )
subplot (2 ,2 ,1)
37 p l o t ( t h e t a 2 1 8 0 / pi , t h e t a 4 )
x l a b e l ( \ t h e t a _ 2 ( deg ) )
39 y l a b e l ( \ t h e t a _ 4 ( r a d ) )
g r i d on
41 a x i s t i g h t
%s e t s t h e c u r r e n t a x i s t o h a ve t i c k s e v e r y 45 deg
43 s e t ( gca , X t i c k , [ 0 : 4 5 : 3 6 0 ] )
45 s u b p l o t ( 2 , 2 , 2 )
p l o t ( t h e t a 2 1 8 0 / pi , r )
47 x l a b e l ( \ t h e t a _ 2 ( deg ) )
y l a b e l ( s l i d e r p o s i t i o n (mm) )
49 g r i d on

89

5.4 Analytical Analysis

axis tight
51 s e t s t h e c u r r e n t a x i s t o h av e t i c k s e v e r y 45 deg
s e t ( gca , X t i c k , [ 0 : 4 5 : 3 6 0 ] )
53
subplot (2 ,2 ,3)
55 p l o t ( t h e t a 2 1 8 0 / pi , omega4 )
x l a b e l ( \ t h e t a _ 2 ( deg ) )
57 y l a b e l ( \ omega_4 ( r a d / s ) )
g r i d on
59 a x i s t i g h t
s e t ( gca , X t i c k , [ 0 : 4 5 : 3 6 0 ] )
61
subplot (2 ,2 ,4)
63 p l o t ( t h e t a 2 1 8 0 / pi , r d o t )
x l a b e l ( \ t h e t a _ 2 ( deg ) )
65 y l a b e l ( s l i d e r v e l o c i t y (mm/ s ) )
g r i d on
67 a x i s t i g h t
s e t ( gca , X t i c k , [ 0 : 4 5 : 3 6 0 ] )
69
saveas (F , In v ert ed Sl i d erCran k V el o c i t y . pdf )

90

5.4 Analytical Analysis

91
70
slider position (mm)

(rad)

0.5

60
50
40
30

0.5
0

45

90

135 180 225 270 315 360

(deg)

45

90

6
slider velocity (mm/s)

400

4
2
0

(rad/s)

135 180 225 270 315 360

(deg)

2
4

200
0
200
400

6
0

45

90

135 180 225 270 315 360

2 (deg)

45

90

135 180 225 270 315 360

2 (deg)

Figure 5.3: Output of the velocity analysis program of an inverted slider crank.

5.4.2 Four Bar Mechanism

Recall the four-bar mechanism from Section 5.3.2 on page 83.
1. To find 3 and 4 by starting with the loop closure equations:
a) x :
b) y :
2. Differentiate each equation with respect to time:
a) x :
b) y

5.4 Analytical Analysis

3. Arrange in matrix form:

4. Solve the linear equation.

a) On TI-89:
b) In Matlab:
c) By Hand:

For the velocity of point C:

5. Write a vector equation from O2 to C:
6. Break in to x and y components.
a) x :
b) y :
7. Differentiate with respect to time.
vc,x =
vc,y =
8. Substitute the appropriate values.

92

5.4 Analytical Analysis

93

5.5 Homework Problem Set 6

94

5.5 Homework Problem Set 6

This is a long homework problem set and should be started early.
1. For the slider-crank drawn below, solve for the angular velocity of the slider and the velocity of B when r1 = 125 mm, r2 = 75 mm, r3 = AB = 400 mm, 2 = 30 , 2 = 60 rad/sec.
Solve analytically and graphically by hand.
y
A

r
r2
x

r3

O2

O4

r1
Ans: r = 1452.4 mm/s and 3 = 22 rad/s
2. For the four-bar linkage below, solve for the angular velocities of links 3 and 4. Also
determine the magnitude and direction of the velocity of point C. Solve this problem analytically and check your answer using a CAD program. Given: r1 = 100 mm, r2 = 150
mm, r3 = AB = 250 mm, r4 = 250 mm, r5 = BC = 150 mm, r6 = AC = 300, 2 = 105 ,
and 2 = 56 rad/s (ccw). Note: you will have to do a position analysis first.

5.5 Homework Problem Set 6

95
B

r3
r5

r6

r2

C
r4
y

O4

O2%

%
r1

Ans: 4 = 45.51 rad/s, |vc | = 9.025 m/s and vc = 137.9

3. Determine the velocities of points B, C, and D along with the angular velocity of the connecting rod (ABC) in a double slider crank where r2 = 2 in., r3 = 10 in, CA = 4 in,
CD = 8 in., 2 = 120 , 2 = 2 = 42 rad/s cw, and O2 is at (3, 0).

5.5 Homework Problem Set 6

10

Ans: |vc | = 67.9 in/s and vc = 154

96

6 Acceleration Analysis
Graphical techniques are discussed in Cleghorns Chapter 3. This section is focused on analytical
techniques. Simply put, the acceleration is the time derivative of the velocity equations.
~ = m~a
Accelerations are needed to determine forces: F

6.1 Accelerations in Four-bar Mechanisms

Start with velocity equations from the example in Section 5.4.2 on page 91.
x:
y:
Differentiate with respect to time to get accelerations:
x:

y:

Arrange in matrix form:

2 =
Substitute numbers:

See
Cleghorns
Section
4.4.2

6.2 Inverted Slider Crank

Solve for 3 and 4 on a TI-85:

For the acceleration of point C:

Write down the velocity equations.
vc,x =
vc,y =
Differentiate for acceleration:
ac,x =
ac,y =
Substitute in the numbers:

6.2 Inverted Slider Crank

Continue with the example from Section 5.4.1 on page 87.
The velocity loop equations:
vx :
vy :
Differentiate with respect to time to determine acceleration:

98

6.2 Inverted Slider Crank

Arrange in matrix form:

Substitute the numbers with 2 =

Coriolis acceleration:

99

6.3 Homework Problem Set 7

100

6.3 Homework Problem Set 7

1. For the inverted slider crank shown below,
a) Differentiate the velocity equations to get the acceleration equations and put into
matrix form.
b) Solve for r and 3 .
c) Setup and differentiate the position equations to get the velocity of point B.
d) Finally, solve for the acceleration magnitude and direction of point B.
y

a2

a3

O4

O2

3
d

where a2 = 75 mm, a3 = 400 mm, d = 125 mm, r = 193.6 mm, 2 = 150 , 3 = 11.17 ,
and 2 = 60rad/sec (constant). The position equations are as follows:
a2 cos 2 + r cos 3 =d
a2 sin 2 r sin 3 =0
and the velocity equations are:
a2 2 sin 2 + r cos 3 r3 sin 3 =0
a2 2 cos 2 r sin 3 r3 cos 3 =0
Ans: 3 = 120 rad/s/s and r = 161.87 m/s/s

6.3 Homework Problem Set 7

101

2. For the 4-bar linkage shown below,

a) Differentiate the velocity equations to get the acceleration equations and put into
matrix form.
b) Solve for 3 and 4 .
c) Setup and differentiate the position equations to get the velocity of point C.
d) Finally, setup the equations for the velocity of point C and solve for the acceleration
of point C.
B

a3
a5

a6

a2

C
a4
y

O4

O2%

d
where a2 = 150 mm, a3 = 250 mm, a4 = 250 mm, d = 100 mm, a5 = 150 mm, a6 = 300
mm, 2 = 105 , 3 = 20.13, 4 = 67.47, = 29.93, 2 = 2 = 56 rad/sec (constant),
3 = 27.84 rad/s, and 4 = 45.51 rad/s. The position equations are as follows:
a2 cos 2 + a3 cos 3 a4 cos 4 =d
a2 sin 2 + a3 sin 3 a4 sin 4 =0
and the velocity equations are:
a2 2 sin 2 a3 3 sin 3 + a4 4 sin 4 =0
a2 2 cos 2 + a3 3 cos 3 a4 4 cos 4 =0
Ans: 3 = 73.02 rad/s/s and 4 = 625.8 rad/s/s

6.3 Homework Problem Set 7

3. Perform the SolidWorks Motion tutorial. Turn in a print of the time history of the contact
force.

102

7 Cams
A cam transmits rotary motion to another link by direct contact.
Vocabulary:
Cam:
Follower:
Cam Profile:
Trace Point:
Pitch Curve:
Base Circle:
Prime Circle:
Pressure Angle:
Rise:
Dwell:
Fall:
Cam systems are:

See
Cleghorns
Figure 7.1
for cam
types.

7.1 Types of Cam Followers

7.1 Types of Cam Followers

7.1.1 Flat Faced Radial
8
7
6
5
4
3
2
1
0

104

7.1 Types of Cam Followers

7.1.2 Offset Roller Follower

8
7
6
5
4
3
2
1
0

7.1.3 Barrel Cam with Roller Follower

8
7
6
5
4
3
2
1
0

105

7.2 Cam Follower Motion

7.1.4 Heavy Truck Brake Cams (S-Cams)

8
7
6
5
4
3
2
1
0

7.2 Cam Follower Motion

7.2.1 Displacement
y = f ( )

7.2.2 Velocity
v = y =

7.2.3 Acceleration
a = y =

7.2.4 Jerk
...
jerk = y =

106

7.3 Cam Follower Profiles

107

7.3 Cam Follower Profiles

Determine the geometric properties of the cam follower motion.
Kinematic properties require knowing ______________________.

7.3.1 Constant Acceleration (Parabolic)

A follower is to have the following motion:
Interval

Initial Angle

Fundamental Equations:

Final Angle

Type of Motion

Initial Displacement

Final Displacement

Parabolic

Const. Velocity

Parabolic

Dwell

Parabolic

Parabolic

0
See
Cleghorns
Section
7.5.2 and
7.5.3

7.3 Cam Follower Profiles

108

f ( )
60

40

20

30

60

90

120

150

180

210

240

270

300

330

360

f ( )

30

60

90

120

150

180

210

240

270

300

330

360

f ( )

30

60

90

120

150

180

210

240

270

300

330

360

7.3 Cam Follower Profiles

Parabolic Equation Derivations:

109

7.3 Cam Follower Profiles

110

7.3.2 Harmonic Motion

A follower is to have the following motion:
Interval

Initial Angle

Fundamental Equations:

Final Angle

Type of Motion

Initial Displacement

Final Displacement

Harmonic

Const. Velocity

Harmonic

Dwell

Harmonic

0
See
Cleghorns
Section
7.5.4

7.3 Cam Follower Profiles

111

f ( )
60

40

20

30

60

90

120

150

180

210

240

270

300

330

360

f ( )

30

60

90

120

150

180

210

240

270

300

330

360

f ( )

30

60

90

120

150

180

210

240

270

300

330

360

7.3 Cam Follower Profiles

Harmonic Equation Derivations:

112

7.3 Cam Follower Profiles

113

7.3.3 Cycloidal Motion

A follower is to have the following motion:
Interval

Initial Angle

Fundamental Equations:

Final Angle

Type of Motion

Initial Displacement

Final Displacement

Cycloidal

Dwell

Cycloidal

Dwell

Cycloidal

0
See
Cleghorns
Section
7.5.5

7.3 Cam Follower Profiles

114

f ( )
60

40

20

30

60

90

120

150

180

210

240

270

300

330

360

f ( )

30

60

90

120

150

180

210

240

270

300

330

360

f ( )

30

60

90

120

150

180

210

240

270

300

330

360

7.3 Cam Follower Profiles

Cycloidal Equation Derivations:

115

7.4 Cam Design

116

7.4 Cam Design

Given the following table for the cam follower function specification:
Interval

Initial Angle

Final Angle

Type of Motion

Initial Output

Final Output

1
2
3
4

0
90
210
300

90
210
300
360

Harmonic
Dwell
Cycloidal
Parabolic

0
0.4 rad
0.4 rad
0.1 rad

0.4 rad
0.4 rad
0.1 rad
0

The mechanism is a disk cam with a flat face pivoting follower.

From Cleghorns Figure 7-19 (top of pg 279):
6

X = 130 cm, Y = 100 cm, e = 50 cm, rb = 70 cm

See
Cleghorns
Example
7.1

f ( ), rad

The follower motion profile is as follows:

0.30
0.20
0.10

30

60

90

120

150

180

210

240

270

300

330

360

7.4 Cam Design

Derivation of polar profile of the disk cam.
1. Determine o
6

2. Write the Loop closure equations:

a) xc :
b) yc :
3. Take the derivative w.r.t.
a) xc :
b) yc :
4. Substitute and solve for c :

117

7.4 Cam Design

5. Determine the point of contact

a) xc =
b) yc =
6. Determine the radial length and orientation
a) rc =
b) c =
7. Determine the angle with respect to the disk cam:

118

7.4 Cam Design

119

8. Plot the cam profile in polar coordinates:

Cam profile in polar form

90

150
60

120

100
30

150
50

180

210

330

240

300
270

Figure 7.1: Cam profile in polar coordinates. The inner circle shows the base radius and the outer
circle shows the maximum dimensions.

7.4 Cam Design

9. The following program implements this example:
%Mechanisms : ME3212
2 %Dr . Jer em y D a i l y
%D i s k Cam P r o f i l e D e s i g n
4
%T h i s Program t a k e s t h e d e s i r e d cam f o l l o w e r m o t i o n and d e s i g n s
6 %a d i s k cam p r o f i l e f o r a r o t a t i n g f l a t f o l l o w e r . T h i s i s
%s i m i l a r t o e x a m p l e 7 . 1 i n Cl eg h o r n s t e x t . I t i s f o r
8 %a r o t a t i n g f l a t f o l l o w e r cam ( t o p o f pg 2 7 9 ) .
10 c l c %c l e a r s t h e command window
c l e a r a l l %c l e a r s memory
12 c l o s e a l l %c l o s e s a l l f i g u r e windows
14 %C o n s t r u c t cam f o l l o w e r p r o f i l e
16 %Harmonic r i s e f r o m 0 t o 100 d e g r e e s ( e v e r y d e g r e e )
L=.4
18 b e t a =100 p i / 1 8 0
t h e t a = [ 0 : p i / 1 8 0 : b e t a ] ; %m u s t be i n r a d i a n s
20 f =L(1 c o s ( p i t h e t a / b e t a ) ) / 2 ; %f o l l o w e r d i s p l a c e m e n t
f p r i m e = p i L s i n ( p i t h e t a / b e t a ) / ( 2 b e t a ) ; %f o l l o w e r m o t i o n s l o p e
22 f d o u b l e p r i m e = p i ^2L c o s ( p i t h e t a / b e t a ) / 2 / b e t a ^ 2 ; %f o l l o w e r a c c e l
24 %d w e l l f r o m 100 t o 160 deg
t h e t a s t a r = [ 0 : 1 : 6 0 ] pi / 1 8 0 ;
26 s s t a r =L o n e s ( s i z e ( t h e t a s t a r ) ) ;
f p r i m e s t a r =zeros ( si z e ( t h e t a s t a r ) ) ;
28 t h e t a =[ t h e t a t h e t a s t a r + t h e t a ( end ) ] ;
30 %b u i l d t h e f o l l o w e r m o t i o n p r o f i l e s by c o n c a t e n a t i n g f u n c t i o n s
f =[ f s s t a r ] ;
32 f p r i m e =[ f p r i m e f p r i m e s t a r ] ;
f d o u b l e p r i m e =[ f d o u b l e p r i m e z e r o s ( s i z e ( s s t a r ) ) ] ;
34
%C y c l o i d a l F a l l f r o m 160 t o 300 d e g r e e s
36 L2 = . 1
L=LL2
38 b e t a =140 p i / 1 8 0
t h e t a s t a r = [ 0 : p i / 1 8 0 : b e t a ] ; %m u s t be i n r a d i a n s
40 s s t a r =L2+L(1 t h e t a s t a r / b e t a + s i n ( 2 p i t h e t a s t a r / b e t a ) / ( 2 p i ) ) ;

120

7.4 Cam Design

f p r i m e s t a r = L / b e t a (1 c o s ( 2 p i t h e t a s t a r / b e t a ) ) ;
42 f d o u b l e p r i m e s t a r =2 p i L s i n ( 2 p i t h e t a s t a r / b e t a ) / b e t a ^ 2 ;
t h e t a =[ t h e t a t h e t a ( end )+ t h e t a s t a r ] ;
44
%b u i l d t h e f o l l o w e r m o t i o n p r o f i l e s by c o n c a t e n a t i n g f u n c t i o n s
46 f =[ f s s t a r ] ;
f p r i m e =[ f p r i m e f p r i m e s t a r ] ;
48 f d o u b l e p r i m e =[ f d o u b l e p r i m e f d o u b l e p r i m e s t a r ] ;
50 %P a r o b o l i c f a l l f r o m 300 t o 360 d e g r e e s
L=L2
52 b e t a =60 p i / 1 8 0
54 %p a r t 1
t h e t a s t a r = [ 0 : p i / 1 8 0 : b e t a / 2 ] ; %m u s t be i n r a d i a n s
56 s s t a r = L(1 2( t h e t a s t a r / b e t a ) . ^ 2 ) ;
f p r i m e s t a r =4L t h e t a s t a r / b e t a ^ 2 ;
58 f d o u b l e p r i m e s t a r =4L / b e t a ^2 o n e s ( s i z e ( t h e t a s t a r ) ) ;
60 %b u i l d t h e f o l l o w e r m o t i o n p r o f i l e s by c o n c a t e n a t i n g f u n c t i o n s
f =[ f s s t a r ] ;
62 f p r i m e =[ f p r i m e f p r i m e s t a r ] ;
f d o u b l e p r i m e =[ f d o u b l e p r i m e f d o u b l e p r i m e s t a r ] ;
64
%p a r t 2
66 t h e t a s t a r =[ b e t a / 2 : p i / 1 8 0 : b e t a ] ; %m u s t be i n r a d i a n s
s s t a r = L(2 4( t h e t a s t a r / b e t a ) + 2 ( t h e t a s t a r / b e t a ) . ^ 2 ) ;
68 f p r i m e s t a r =4L / b e t a + 4L t h e t a s t a r / b e t a ^ 2 ;
f d o u b l e p r i m e s t a r =4L / b e t a ^2 o n e s ( s i z e ( t h e t a s t a r ) ) ;
70
%remove r e p e a t e d e l e m e n t t o e n s u r e t h e a r r a y s a r e t h e same s i z e
72 s s t a r ( 1 ) = [ ] ;
fprimestar (1)=[];
74 f d o u b l e p r i m e s t a r ( 1 ) = [ ] ;
76 %b u i l d t h e f o l l o w e r m o t i o n p r o f i l e s by c o n c a t e n a t i n g f u n c t i o n s
f =[ f s s t a r ] ;
78 f p r i m e =[ f p r i m e f p r i m e s t a r ] ;
f d o u b l e p r i m e =[ f d o u b l e p r i m e f d o u b l e p r i m e s t a r ] ;
80
t h e t a s t a r = [ 0 : pi / 1 8 0 : beta ] ;
82 t h e t a =[ t h e t a t h e t a s t a r + t h e t a ( end ) ] ;

121

7.4 Cam Design

84 %P l o t t h e cam f o l l o w e r p r o f i l e
F= f i g u r e ( 1 )
86 s u b p l o t ( 3 , 1 , 1 )
p l o t ( t h e t a 1 8 0 / pi , f )
88 a x i s t i g h t
g r i d on
90 x l a b e l ( Cam a n g l e \ t h e t a , deg )
ylabel ( f ( t h e t a ) , rad )
92 t i t l e ( K i n e m a t i c c o e f f i c i e n t s f o r Cam F o l l o w e r R o t a t i o n )
subplot (3 ,1 ,2)
94 p l o t ( t h e t a 1 8 0 / pi , f p r i m e )
axis tight
96 g r i d on
x l a b e l ( Cam a n g l e \ t h e t a , deg )
98 y l a b e l ( f ^ \ p r i m e ( \ t h e t a ) )
subplot (3 ,1 ,3)
100 p l o t ( t h e t a 1 8 0 / pi , f d o u b l e p r i m e )
axis tight
102 g r i d on
x l a b e l ( Cam a n g l e \ t h e t a , deg )
104 y l a b e l ( f ^ { \ p r i m e \ p r i m e } ( \ t h e t a ) )
s a v e a s ( F , Cam Fo l l o w erM o t i o n . e p s )
106
%Now t h a t t h e cam f o l l o w e r k i n e m a t i c p r o f i l e s a r e known ,
108 %we can d e s i g n t h e d i s k p r o f i l e t h a t g e n e r a t e s t h a t m o t i o n .
110 %G i ven cam s y s t e m v a l u e s :
r b =70 %cm
112 X=130 %cm
Y=100 %cm
114 d =200 %cm ( t h i s i s t h e l e n g t h o f t h e f o l l o w e r
e =50 %cm
116
%Compute k e y p a r a m e t e r s f o r cam s y s t e m
118 a l p h a 0 = p i /2 a ta n2 (Y , X) a c o s ( ( r b +e ) / s q r t (X^2+Y^ 2 ) )
a l p h a = a l p h a 0 + f ; %c o n v e r t f t o r a d i a n s
120 d e l t a c =(X c o s ( a l p h a )Y s i n ( a l p h a ) ) . / ( 1 + f p r i m e ) ;
122 %d e t e r m i n e t h e p o i n t o f c o n t a c t b e t w e e n t h e cam and t h e f o l l o w e r
xc=Xd e l t a c . c o s ( a l p h a ) e s i n ( a l p h a ) ;
124 yc=Y+ d e l t a c . s i n ( a l p h a ) e c o s ( a l p h a ) ;

122

7.4 Cam Design

126 r c = s q r t ( xc . ^ 2 + yc . ^ 2 ) ;
gammac= a ta n2 ( yc , xc ) ;
128
%d e t e r m i n e t h e l o c a t i o n o f t h e r a d i a l i n r e l a t i o n t o a
130 %r e f e r e n c e on t h e r o t a t i n g cam :
b e t a =gammact h e t a ;
132
134 b i g R a d i u s =max ( r c )
136 F= f i g u r e ( 2 )
p o l a r ( beta , r c )
138 ho l d on
p o l a r ( beta , o n e s ( s i z e ( b e t a ) ) rb , g )
140 p o l a r ( beta , o n e s ( s i z e ( b e t a ) ) b i g R a d i u s , r )
ho l d o f f
142 t i t l e ( Cam p r o f i l e i n p o l a r form )
saveas (F , CamProfile_polar . eps )
144
F= f i g u r e ( 3 )
146 p l o t ( [ 0 r c . c o s ( b e t a ) ] , . . .
[ 0 r c . s i n ( b e t a ) ] , r b c o s ( b e t a ) , r b s i n ( b e t a ) , , . . .
148
bigRadius cos ( beta ) , bigRadius s i n ( beta ) , : )
ho l d on
150 i =1
p l o t ( [ X Xe s i n ( a l p h a ( i ) ) xc ( i ) . . .
152
Xe s i n ( a l p h a ( i )) d c o s ( a l p h a ( i ) ) ] ,
[Y Ye c o s ( a l p h a ( i ) ) yc ( i ) . . .
154
Ye c o s ( a l p h a ( i ) ) + d s i n ( a l p h a ( i ) ) ] , ok )
axis equal
156 ho l d o f f
x l a b e l ( x ( cm ) )
158 y l a b e l ( y ( cm ) )
saveas (F , CamSystemConfiguration . eps )
160
F= f i g u r e ( 4 )
162 a x i s ([ 100 160 120 1 8 0 ] )
axis equal
164 v= a x i s
%P l o t t h e m o t i o n o f t h e cam
166 f o r i = 1 : l e n g t h ( t h e t a )

123

7.4 Cam Design

168
170
172
174
176

p l o t ( [ 0 r c . cos ( beta + t h e t a ( i ) ) ] , . . .
[0 r c . s i n ( beta + t h e t a ( i ) ) ] , . . .
[X Xe s i n ( a l p h a ( i ) ) xc ( i ) . . .
Xe s i n ( a l p h a ( i )) d c o s ( a l p h a ( i ) ) ] , . . .
[Y Ye c o s ( a l p h a ( i ) ) yc ( i ) . . .
Ye c o s ( a l p h a ( i ) ) + d s i n ( a l p h a ( i ) ) ] , ok )
axis (v)
t i t l e ( S i m u l a t e d Cam Motion )
x l a b e l ( x ( cm ) )
y l a b e l ( y ( cm ) )
M( i )= g e t f r a m e ( ) ;

178 end
%make a m o vi e
180 m o v i e 2 a v i (M, CamMotion . a v i )
The graphs generated with this program are shown in Figs. 7.2-7.3
A movie of this cam system can be seen at:
http://personal.utulsa.edu/~jeremy-daily/ME3212/CamMotion.avi

124

7.4 Cam Design

125

Kinematic coefficients for Cam Follower Rotation

f(theta), rad

0.4
0.3
0.2
0.1
0

50

100

150
200
Cam angle , deg

250

300

350

50

100

150
200
Cam angle , deg

250

300

350

50

100

150
200
Cam angle , deg

250

300

350

f()

0.2
0
0.2

f()

0.5

0.5

Figure 7.2: Cam Follower Motion Profiles for the example.

7.4 Cam Design

126

100
80
60
40

y (cm)

20
0
20
40
60
80
100
100

50

50

100

x (cm)

Figure 7.3: Cam Follower Motion Profiles for the example. The dashed line represents the base
circle. The cam rotates counterclockwise.

7.5 Homework Problem Set 8

127

7.5 Homework Problem Set 8

1. Plot the acceleration profile from the displacement diagram in figure 7.21 of Cleghorns
text. Also, indicate the values of the jerk function at key points on the graph.
2. Given a base circle diameter of 4 cm, and angular velocity of 20 rad/s, an offset of 1.5 cm,
and the follower motion described in the table below:
Interval Initial Angle Final Angle Type of Motion Rise or Return
1
2
3
4

0
120
240
330

120
240
330
360

Cycloidal
Dwell
Harmonic
Dwell

1.2 cm
0
-1.2 cm
0

a) Plot the displacement, velocity, acceleration, and jerk profiles for a complete turn of
the cam.
b) Determine the disk cam profile. Plot this profile in rectangular (x, y) coordinates
using Matlab. Show the center of rotation.
c) Determine the minimum width of the cam follower face.
d) Determine the profile if the base diameter was 0.5 inches. Are there any issues with
this cam?

8 Gears
8.1 Introduction
8.1.1 Cog and Lantern Gears

8.1 Introduction

8.1.2 Common Types of Gears

Spur Gears
Helical Gears
Miter Gears
Herringbone Gears
Plain Bevel Gears
Spiral Bevel Gears
Hypoid Gears
Worm and Wheel Gears

129

8.2 Fundamental Law of Gearing

8.2 Fundamental Law of Gearing

8.3 Conjugate Profiles and Involutometry

130

8.3 Conjugate Profiles and Involutometry

131

8.3.1 The Involute Curve

For two gears in a mesh:

See
Cleghorns
Section
5.5
b

8.3.2 Cycloidal Profiles

8.3.3 Gear Sizing and Terminology

Know what the following terms mean and understand how to calculate them

8.3 Conjugate Profiles and Involutometry

Center to Center Distance
Addendum
Dedendum
Clearance
Circular Pitch
Diametrical Pitch
Module
Pressure angle
Contact Ratio
Backlash
Interference
Undercutting

132

8.4 Homework Problem Set 9

8.4 Homework Problem Set 9

1. (Book Problem 5.5) Two spur gears have a diametrical pitch of 5 /in, a magnitude of the
speed ratio of 0.20, and a center-to-center distance of 12 in. How many teeth do the gears
have?
2. (Book Problem 5.8) A gear with a diametrical pitch of 3 /in and 20 full depth involute
form has 35 teeth and meshes with a 70-tooth gear. The larger gear rotates at 300 rpm CW.
Both gears have external teeth. Determine
a) the pitch circle diameters
b) the base circle radius of the smaller gear
c) the circular pitch
d) the center-to-center distance
e) the rotational speed of the smaller gear
f) the contact ratio

133

8.5 Gear Train Analysis

8.5 Gear Train Analysis

8.5.1 Taxonomy of gear trains:
1. Ordinary
a) Simple
b) Compound
2. Planetary (Epicyclic)
a) Single Stage
b) Multiple Stage

134

8.5 Gear Train Analysis

135

8.5.2 Gear Train Ratio

8.5.3 Idler Gears

8.5.4 Compound Gear Trains

Example: Transmission

See
Cleghorns
Example
6.1

8.6 Homework Problem Set 10

8.6 Homework Problem Set 10

1. Book Problem P6.1
2. Book Problem P6.7
3. Book Problem P6.10
4. Book Problem P6.12
5. Book Problem P6.15

136

8.7 Reverted Gear Train Design

8.7 Reverted Gear Train Design

A reverted gear train is an in-line gear train.

8.7.1 Design Considerations

Dont go too small
Keep a hunting condition

137

8.8 Planetary Gear Trains

138

8.8 Planetary Gear Trains

Example: Rescue Winch Gears, Automatic Transmissions

8.8.1 Advantages
1.
2.
3.
4.
5.

8.8.2 Vector Approach to Planetary Gear Train Analysis

Define some Vectors:

~rA :

8.8 Planetary Gear Trains

~rP :
~rA/P :
~rB :
~rB/P :

139

8.8 Planetary Gear Trains

140

8.8.3 Tabular Planetary Gear Train Analysis

1.

2.

3.

See
Cleghorns
Section
4.4.2

8.8 Planetary Gear Trains

141

Example:
Ns = 34, NR = 78, N p = 22, the sun gear is the input, the ring gear is fixed, and the planet carrier
is the output. Build and analysis table:
Component

Gear 1 (Sun) 1

Crank (Carrier) arm

Gear 3 (Planet) 3

Gear 4 (ring) 4

All Turn at x
rpm
Crank is
Fixed, Sun
turns at y
Absolute
Speeds

Example:
Ns = 34, NR = 78, N p = 22, the sun gear is fixed, the ring gear is the output, and the planet carrier
is the input. Use the same analysis table as before.

8.8 Planetary Gear Trains

142

8.8.4 Compound Planetary Gear Trains

6
5
4
3
2
1
0
-1
-2
-3
-3

-2

-1

10

11

12

Example: an electric winch gear train where NS1 = 34, NP1 = 22, NS2 = 26, NP2 = 30, and
NR = 78.

See
Cleghorns
Section
6.5

Table 1: First Stage

Component

Gear 1 (Sun) 1

All Turn at x
rpm
Crank is
Fixed, Sun
turns at y
Absolute
Speeds

Table2: Second Stage

Crank (Carrier) arm

Gear 3 (Planet) 3

Gear 4 (ring) 4

8.8 Planetary Gear Trains

Component
All Turn at x
rpm
Crank is
Fixed, Sun
turns at y
Absolute
Speeds

Gear 1 (Sun) 1

143
Crank (Carrier) arm

Gear 3 (Planet) 3

Gear 4 (ring) 4

8.8 Planetary Gear Trains

144

8.8.5 Plotting Planetary Gears

The following program will draw the layout of a three-gear planetary gear train:
2
4
6
8
10
12
14
16
18

r 1 =3
r 2 =2
r 3 = r 1 +2 r 2
X1 = 3 ; Y1 = 7 ;
X2 = 9 ; Y2 = 7 ;
X3=X1 ; Y3=Y1 ;
t h e t a 1 =.5
t h e t a 2 =.6
t h e t a 3 =.7
t h e t a = l i ns pa ce (0 ,2 pi ) ;
x1 =[X1 X1+ r 1 c o s ( t h e t a 1 + t h e t a
y1 =[Y1 Y1+ r 1 s i n ( t h e t a 1 + t h e t a
x2 =[X2 X2+ r 2 c o s ( t h e t a 2 + t h e t a
y2 =[Y2 Y2+ r 2 s i n ( t h e t a 2 + t h e t a
x3 =[X3 X3+ r 3 c o s ( t h e t a 3 + t h e t a
y3 =[Y3 Y3+ r 3 s i n ( t h e t a 3 + t h e t a
p l o t ( x1 , y1 , x2 , y2 , x3 , y3 )
axis equal

)];
)];
)];
)];
)];
)];

8.8 Planetary Gear Trains

145

14

12

10

0
-4

-2

10

Figure 8.1: Output from the code listing to plot the configuration of a planetary gear train.

8.9 Differential Gear Trains

146

8.9 Differential Gear Trains

8.9.1 Ackerman Steering

See
Cleghorns
Section
6.5

8.9 Differential Gear Trains

147

Example:When a vehicle is in a turn, determine a) the speed of each wheel and b) the angular
velocity of the planet carrier, c) the driveshaft speed.