Ken Youssefi

Mechanical Engineering Dept.

2
A
2

2
B
2

1
B
3

3
K
1
cos(
1
) + K
2
cos(
1
) + K
3
= cos(
1

1
)
K
1
cos(
2
) + K
2
cos(
2
) + K
3
= cos(
2

2
)
K
1
cos(
3
) + K
2
cos(
3
) + K
3
= cos(
3

3
)
Three equations and three unknowns, solve for K
1
, K
2
, and K
3
Ken Youssefi
Mechanical Engineering Dept.
2
Function Generation Mechanism
Freudenstein Method
K
2
=
r
1
r
2
(r
3
)
2
(r
1
)
2

(r
2
)
2

(r
4
)
2
2r
2
r
4
K
3
=
K
1
=
r
1
r
4

Select r
1
and solve for r
2
, r
3
, and r
4
using the K values

Check accuracy of the mechanism, if needed, use different
precision points to fine tune the mechanism
Ken Youssefi
Mechanical Engineering Dept.
3
Chebyshev Spacing (continuous function)
The method determines the best initial guess for the precision points.
He discovered that the best linkage approximation to a function occurs
when the absolute value of the maximum structural error between
precision points and at both ends of the range is equalized. This
technique is often used as a first guess.
After the synthesis is completed, the structural error is determined and
the precision points are adjusted to improve the mechanism accuracy.
s
j
= (s
o
+ s
n+1
) (s
n+1
s
o
) cos[(2j 1)/2n]
j = precision point number, j = 1, 2, ..
n = total number of precision points
S
o
= start point

S
n+1
= end point

Ken Youssefi
Mechanical Engineering Dept.
4
Chebyshev Spacing
S
n+1
= end point
S
o
= start point
S
1
S
2
S
3
Inscribed polygon of sides 2n such that the two
sides are perpendicular to the x axis.
Projections of the vertices of the polygon on X-axis gives the location
of n spacing points
Graphically, the Cheveyshev spacing can be obtained by drawing a circle with
of radius (s
n+1
s
o
) with the center at a distance (s
o
+ s
n+1
) from
the origin O.
Number of precision points = n = 3
Ken Youssefi
Mechanical Engineering Dept.
5
Example Continuous Function
Synthesize a four bar mechanism to generate a function y = log x in the
interval 1 x 10. The input crank length should be 50 mm.
Select
Input link (crank) starting angle = 45
o
Input link (crank) rotation angle = 105
o
output link (link 4) starting angle = 135
o
output link (link 4) rotation angle = 225
o
Use Chebyshev spacing and three precision points
s
j
= (s
o
+ s
n+1
) - (s
n+1
s
o
) cos[(2j - 1)/2n]
x
1
= (1 + 10) (10 1) cos(/6) = 1.6029
x
2
= (1 + 10) (10 1) cos(3/6) = 5.50
x
3
= (1+ 10) (10 1) cos(5/6) = 9.3971
All angles are measured
with respect to x-axis
counterclockwise
Ken Youssefi
Mechanical Engineering Dept.
6
Example Continuous Function
Corresponding function values are:
y
1
= log x
1
= log (1.6029) = .2049
y
2
= log x
2
= log (5.5) = .7404
y
3
= log x
3
= log (9.3971) = .9730
Boundary condition; x = 1, = 45 and x = 10, = 105
o
= (20/3)(x) + 115/3
Assume linear relationship between (input angle) and x, and between
(output angle) and y. Where a, b, c and d are constants.
= a(x) + b,
= c(y) + d, Boundary condition; y = log(1) = 0, = 135
and y = log(10) = 1, = 225
o
= 90(y) + 135
Ken Youssefi
Mechanical Engineering Dept.
7
Example Continuous Function
pts
x y
1 1.00 45.00 0.00 135.00
2 1.6029 49.019 .2049 153.44
3 5.50 75.0 .7404 201.64
4 9.3971 100.98 .9730 222.57
5 10.00 135.00 1.00 225.00
= 20/3(x) + 115/3
= 90(y) + 135
Precision
points
y
1
= log x
1
= log (1.6029) = .2049
y
2
= log x
2
= log (5.5) = .7404
y
3
= log x
3
= log (9.3971) = .9730
Start
End
Ken Youssefi
Mechanical Engineering Dept.
8
Example Continuous Function
pts
x
y
1 1.00 45.00 0.00 135.00
2 1.6029 49.019 .2049 153.44
3 5.50 75.0 .7404 201.64
4 9.3971 100.98 .9730 222.57
5 10.00 135.00 1.00 225.00
K
1
cos (49.019) + K
2
cos (153.44) + K
3
= cos (49.019

153.44)
K
1
cos (75) + K
2
cos (201.64) + K
3
= cos (75

201.64)
K
1
cos (100.98) + K
2
cos (222.57) + K
3
= cos (100.98

222.57)
Freudenstein equation
K
1
cos(
1
) + K
2
cos(
1
) + K
3
= cos(
1

1
)
K
1
cos(
2
) + K
2
cos(
2
) + K
3
= cos(
2

2
)
K
1
cos(
3
) + K
2
cos(
3
) + K
3
= cos(
3

3
)
Solve for K
1
, K
2
, and K
3

Ken Youssefi
Mechanical Engineering Dept.
9
Design of a mechanical strip-chart recorder
Consider that a signal to a recorder is available as a shaft rotation having a
range of 0 90
o
clockwise. The rotation is to be converted into a
straight line motion of the recorder pin over the range of 0 s 4 with a
linear relationship between and s. The pin should move from left to right.
Chebyshev spacing (three precision points)
s
j
= (s
o
+ s
n+1
) - (s
n+1
s
o
) cos[(2j - 1)/2n]
where n = 3, s
o
= 0, s
n+1
= s
4
= 4
s
1
= (0 + 4) (4 0) cos(/6) = .268
s
2
= (0 + 4) (4 0) cos(3/6) = 2.000
s
3
= (0 + 4) (4 0) cos(5/6) = 3.732
= a(s) + b
Boundary condition; s = 0, = 0 and s = 4, = 90
o
=22.5 (s)

1
= 22.5 x .268 = 6.03
o
= 6.0
o

3
= 22.5 x 3.732 = 83.97
o
= 84
o

2
= 22.5 x 2.000 = 45.0
o
= 45
o
Ken Youssefi
Mechanical Engineering Dept.
10
y
x
O
2
O
4
A
1
C
1 B

r
2
r
4
r
3

1

A
2
C
2

3

A
3
C
3

3

Ken Youssefi
Mechanical Engineering Dept.
11
y
x
s
1
s
2
s
3
O
2
O
4
A
1
C
1 B

A
2
A
3
C
2
C
3
r
2
r
5
r
4
r
1
r
3

1

Ken Youssefi
Mechanical Engineering Dept.
12
y
x
s
1
s
2
s
3
O
2
O
4
A
1
C
1
B

A
2
A
3
C
2
C
3
r
2
r
5
r
4
r
1
r
3

3

2

1

1
st
closed loop (red)
r
1
+ r
2
+ r
3
= s
1
r
1
+ r
2

e
i (
2

1
)
+ r
3

e
i (
2
)
= s
2
r
1
+ r
2

e
i (
3

1
)
+ r
3

e
i (
3
)
= s
3
Subtract the first equation from 2
nd
and 3
rd
to eliminate r
1
r
2

[e
i (
2

1
)
1] + r
3

[e
i (
2
)
1] = s
2
- s
1
r
2

[e
i (
3

1
)
1] + r
3

[e
i (
3
)
1] = s
3
- s
1
6 unknowns (r
1
, r
2
,
2
, and
3
) but only 4 equations
Ken Youssefi
Mechanical Engineering Dept.
13
Select
2
= -20
o
and
3
= -50
o
then solve for r
2
and r
3
r
2
[e
i (- 45 + 6)
1] + r
3
[e
i (-20)
1] = s
2
- s
1
r
2
[e
i (- 84 + 6)
1] + r
3
[e
i (-50)
1] = s
3
- s
1
r
2
= 2.153 + 2.448 i ,
r
2
= 3.261

48.67
o
r
2
r
3
= - 5.725 + .952 i ,
r
3
= 5.804

170.56
o
r
3
r
1
= 5.129

41.53
o
r
1
r
1
= s
1
r
2
r
3
r
1
= 3.840 - 3.400 i ,

1
= - 6
o

2
= - 45
o

3
= - 84
o

s
1
= .268
s
2
= 2.000
s
3
= 3.732
Ken Youssefi
Mechanical Engineering Dept.
14
Select location of B at
the midpoint of r
3
,
AB = BC = .5r
3
y
x
s
1
s
2
s
3
O
2
O
4
A
1
C
1 B

A
2
A
3
C
2
C
3
r
2
r
5
r
4
r
3

3

2

r
5
+ r
4
+ .5r
3
= s
1
r
5
+ r
4

e
i (
2
)
+ .5r
3

e
i (
2
)
= s
2
r
5
+ r
4

e
i (
3
)
+ .5r
3

e
i (
3
)
= s
3
r
5
+ r
4
+ (-3.130 + .476 i) = 0

r
5
+ r
4
e
i (
2
)
+ (-4.527 +1.426 i) = 0

r
5
+ r
4

e
i (
3
)
+ (-5.207 + 2.499 i) = 0

r
3
= - 5.725 + .952 i , s
1
= .268, Substitute s
3
= 3.732 s
2
= 2.000, and
Three equations with 2
unknowns (r
4
and r
5
).
For a non-trivial solution to
exist, the determinate of the
coefficients has to be zero
Ken Youssefi
Mechanical Engineering Dept.
15
The determinate of the coefficients.
r
5
+ r
4
+ (-3.130 + .476 i) = 0

r
5
+ r
4
e
i (
2
)
+ (-4.527 +1.426 i) = 0

r
5
+ r
4

e
i (
3
)
+ (-5.207 + 2.499 i) = 0

1 1 (-3.130 + .476 i)
1 e
i(
2
)
(-4.527+ 1.426 i)
1 e
i(
3
)
(-5.207 + 2.499 i)
= 0
The equations
Ken Youssefi
Mechanical Engineering Dept.
16
e
i(
2
)
- (.5738 + .1013i) e
i(
3
)
+ (-.4262 - .1013i) = 0
Real part
Imag. part
cos (
2
) = .5738 cos (
3
) - .1013 sin (
3
) + .4262

sin (
2
) = .1013 cos (
3
) + .5738 sin (
3
) + .1013

Eliminate
2
by squaring and adding the two equations

(.4686) cos (
3
) .2026 sin (
3
) .4686 = 0

3
=
- .03
o
- 46.79
o
Select
3
= - 46.79
o

2
= - 26.76
o

r
4
= 1.299 + 3.411 i and r
5
= 1.831 3.887 i
r
5
= 4.297 at -65
o


r
4
= 3.65 at 69
o


Ken Youssefi
Mechanical Engineering Dept.
17
6 - Connect A to O and check accuracy, length
and direction of link 3.

r
3
= 5.804 at 170
o
3 - Draw r
5
= 4.297 at
-65
o
to locate O
4
O
4
2 - Draw r
1
= 5.129 at
-41.53
o
to locate O
2
O
2
O
1 - Select a point
5 - Draw r
4
= 3.65 at 69
o
B
4 - Draw r
2
= 3.261
at 48.67
o
A
Constructing the mechanism
Ken Youssefi
Mechanical Engineering Dept.
18
Animate to verify the design
Input
Output