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    Position Analysis - Analytical

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    muddassir razzaq
    Vector algebra forms the mathematical foundation for kinematic and dynamic analysis of mechanical systems. A vector is represented as an arrow with a magnitude and direction. Vector direction is measured as an angle between the vector and a horizontal reference line. Vectors in two-dimensions can be represented as complex numbers. The vector-loop method provides a set of vector equations for the kinematics of a planar mechanism by creating a closed vector loop around the links. This allows analytical solution of the four-bar mechanism by setting the sum of the vectors in the loop equal to zero and solving the resulting equations.

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    Position Analysis - Analytical

    Uploaded by

    muddassir razzaq
    185 views7 pages
    Vector algebra forms the mathematical foundation for kinematic and dynamic analysis of mechanical systems. A vector is represented as an arrow with a magnitude and direction. Vector direction is measured as an angle between the vector and a horizontal reference line. Vectors in two-dimensions can be represented as complex numbers. The vector-loop method provides a set of vector equations for the kinematics of a planar mechanism by creating a closed vector loop around the links. This allows analytical solution of the four-bar mechanism by setting the sum of the vectors in the loop equal to zero and solving the resulting equations.

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    Position Analysis- Analytical

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    Position Analysis- Analytical

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    Vector algebra forms the mathematical foundation for kinematic and dynamic analysis of mechanical systems. A vector is represented as an arrow with a magnitude and direction. Vector direction is measured as an angle between the vector and a horizontal reference line. Vectors in two-dimensions can be represented as complex numbers. The vector-loop method provides a set of vector equations for the kinematics of a planar mechanism by creating a closed vector loop around the links. This allows analytical solution of the four-bar mechanism by setting the sum of the vectors in the loop equal to zero and solving the resulting equations.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    185 views7 pages

    Position Analysis - Analytical

    Uploaded by

    muddassir razzaq
    Vector algebra forms the mathematical foundation for kinematic and dynamic analysis of mechanical systems. A vector is represented as an arrow with a magnitude and direction. Vector direction is measured as an angle between the vector and a horizontal reference line. Vectors in two-dimensions can be represented as complex numbers. The vector-loop method provides a set of vector equations for the kinematics of a planar mechanism by creating a closed vector loop around the links. This allows analytical solution of the four-bar mechanism by setting the sum of the vectors in the loop equal to zero and solving the resulting equations.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 7

    Analytical Position Analysis

    In planar mechanisms, position analysis can also be performed analytically. But


    before we embark on to doing analytical analysis. Lets refresh our memory about
    vectors.
    Vectors
    Vector algebra forms the mathematical foundation for kinematics and dynamics.
    Geometry of motion is at the heart of both the kinematics and the dynamics of
    mechanical systems. Full understanding of vector algebra is necessary in order to
    perform kinematic and dynamic analysis of mechanical systems.
    starting point
    A vector is presented as a directed line with a (tail)
    known length (magnitude). A vector is
    geometrically presented as an arrow. The starting
    point of a vector is called the tail, and the end
    point is called the tip. end
    A PBA point
    (tip)
    Naming Vectors: PBA is a vector connecting point B to B
    point A, where the tail is at A and the tip is at B.
    Vector direction: The direction of a vector is usually described by an angle. We always
    measure the angle between the vector and an horizontal line starting at the tail of the
    vector pointing to the right (positive x-axis). Counter-clockwise (ccw) direction is
    defined as positive 336°

    −73° 180°
    156°
    50°

    Complex Numbers as Vectors


    Vectors in two-dimensions can also be represented as complex numbers. In
    complex number notation, and taking advantage of Euler’s equation relating the
    component form to the exponential form for complex numbers, we can express
    the vector as:
    Vector-loop method
    The vector-loop method is a classical procedure that provides a set of vector
    equations that can be solved analytically for the kinematics of a planar
    mechanism. In this method a vector loop (or loops) around the linkage is
    created. The links are represented as position vectors that form a vector loop.
    This loop closes on itself making the sum of the vectors around the loop zero.

    Analytical Analysis of A Four-bar Mechanism

    The four vectors form a vector loop equation:

    complex number notation for each position


    vector:

    unknown zero
    Input, known

    We have two unknowns θ3, θ4. We need two equations


    By Substituting Euler equivalent
    Now square both sides and add them
    1

    𝑑
    𝑎

    Freudenstein’s Eq.
    Now consider Eq. 4.8b again. Assume θ2 and lengths are known.

    Substitute cosθ4 and sinθ4 for their expressions in terms of the half angle tangent

    The solution for angle θ3 is essentially similar to that for θ4. solution is
    If the solution is complex conjugate, the link lengths chosen are not capable of connection

    The solution will usually be real and unequal

    • Crossed (+)
    • Open (-)

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