HIGHER TECHNOLOGICAL INSTITUTE OF

COATZACOALCOS

Student name: Alondra García Sosa

ESSAY: Analyze plane mechanisms for determining position, speed and

acceleration using different methods and with the software application AND
Evaluate the advantages and disadvantages of the different methods.

MECHANISMS

Teacher's name: Eng. Juan Cruz Hernández Osorio.

Eng.
CAREER: Semester: Fifth Cluster: 5B
Mechanics
No. Control: 18080804 Start date: 30/11/2020 End date: 20/01/2020
 Introduction

There are several graphic and analytical procedures for the kinematic analysis of a

mechanism, the two methods are undoubtedly very useful, while one is carried out through

graphs where the problem is specified exactly, the other method works through mathematical

calculations. , as well as the use of specialized software in that field.

The graphic method works specifically on the direct measurement of magnitudes and angles

of the mechanism, given the position at the moment, with the help of geometric tools.

In this essay I will show how each system works, to calculate acceleration, speed and

displacement.
 A mechanism is a combination of rigid bodies, connected by joints that allow a defined

relative movement, focused on the transformation of movement.

The movement of a link is expressed in terms of angular displacements, angular velocities and

angular accelerations. Kinematics is used to study all these topics.

But what is kinematics?

“Kinematics is the branch of mechanics that describes the movement of solid objects without

considering the causes that give rise to the forces and is limited, mainly, to the study of the

trajectory as a function of time. To do this, it uses velocities and accelerations, which describe

how the position changes as a function of time. Velocity is determined as the quotient between

the displacement and the time used, while acceleration is the quotient between the change in

speed and the time used.

It is important to know that kinematics is the fundamental basis for the study of mechanisms,

each element or structure of a mechanism at a given time requires a study due to some

inconvenience that the element suffers, that is where this discipline comes in.

In the study of velocity, acceleration and displacement, application methods are used, which

are the graphic method and analytical method. Generally, in this system, specialized software is

used in that area, making the calculations and graphs much more precise when finding results.

The implementation of software that is responsible for the calculations and graphics area has

been of great help over the years, from the first computer that revolutionized the world of

engineering, to the construction of calculators that perform exact calculations in a certain time.

Graphic methods have been the oldest in their appearance and those traditionally used over

the years; Despite their relative ease, these methods were extremely tedious if it was necessary to
determine the entire kinematic analysis for the entire movement cycle of the mechanism, since

each new position requires a trace of a completely new system in vector diagrams.

The analytical method is a system that is considered modern, since it was used in the 1950s.

The method is continually supported by mathematics, such as the use of software on a computer,

specialized in solving difficult problems in a specific way. Quick and easy, the implementation

of this system has evolved engineering practice. These methods are reaching great development

at practical levels, displacing old graphical methods. Some of the main advantages of this

method are:

 They allow full cycle analysis

 They give quick solutions

 They allow general approaches

 Its precision is definitely higher than graphical methods

The most used analytical method is the Raven Method or Complex Algebra.

Position Analysis Graphic Method.

Position refers to the location of an object. The position of a point in a mechanism is the

spatial location of that point and can be defined through a position vector 𝑹 , from an origin or

reference to the location of the point.

 In the case of a planar or two-dimensional position of a point, it is enough to specify the

distance from the origin (magnitude) and the angle from the reference axis (direction). Its

position could also be identified through the rectangular components ( 𝑅 𝑥 𝑝 , 𝑅 𝑦 𝑝 ) of the

position vector in a coordinate reference system.

For linkages with one degree of freedom, the position of a single link or point can accurately

determine the position of the rest of the links or points. Consequently, the position of points and

links in a mechanism is neither arbitrary nor independent. Independent parameters are the

positions of certain links or points that are directly influenced by the actuators.

The graphic method in position uses the GRUEBLER formula, this theorem uses that, to find

the result of the position in some problem, one must first define the number of links that the

mechanism contains.

“To obtain a new configuration in a mechanism, it is necessary to relocate the links to their

new positions. Simple links that rotate about fixed centers can be relocated by drawing arcs with

their center on the fixed pivot through the movable pivot, with a specific angular displacement.

(H. Myszka, 2012) .

Position Analysis Analytical Method.

The analytical method is used in position analysis to obtain results with a higher degree of

precision. For the analytical method there are two parts that can be used, triangle method, closed

loop equations method, they are two very efficient forms that are used in the analytical form to

calculate position.
 The star method involves inserting reference lines into the mechanism and analyzing the

triangles based on the general laws of right and oblique triangles. This method implements

geometry and trigonometry and analytical geometry which is more precise in its result.

Closed loop equations method ; It says that with each link one can associate a vector so that a

closed chain is formed. The directions of the vectors taken are arbitrary and the magnitude of

each one represents the length of the respective link.

Displacement Analysis.

“The degrees of freedom of a mechanism determine the number of independent driving links.

In most common mechanisms (with one degree of freedom), displacement analysis consists of

determining the position of all links while one link is displaced. The position of all the links at a

given time is known as the configuration of the mechanism. (H. Myszka, 2012)

It is the final product of the movement. It is a vector that represents the distance between the

initial and final position of a point or link. There is both linear and angular displacement. Linear

Displacement,Linear displacement (∆ 𝑹𝒑 in the figure shown) is the linear distance between the

initial and final position of a point during the time interval under consideration.

Speed analysis.
“Velocity analysis involves calculating “how fast” certain points travel on the links of a

mechanism. “Velocity is important because it associates the movement of a point on a

mechanism with time.” (H. Myszka, 2012) .

The graphic method to determine speed is used as follows:

 Velocity vectors whose magnitude and direction are known are drawn.
  The relative velocity vectors are drawn; it must be taken into account that a relative

velocity vector is perpendicular to the line that joins the two points involved in the

relative motion.

This method for determining speed is tedious, since it requires a certain order and precision. If

you fail in any data or in the distribution of the points, all your work is wrong.

The analytical method can be used through software that is responsible for obtaining the

precision of the problem posed, as well as machines that have a system controlled by a

microprocessor. This system is called sensors, which monitor the movement of the moving link

and provide feedback to the controller; If a difference is detected between the desired movement

and the actual movement, the controller will modify the signal going to the motor and correct the

deviation.

Acceleration analysis.
“Acceleration analysis includes determining the way in which certain points on the links of a

mechanism “accelerate” or “decelerate.” Acceleration is a critical property due to the inertial

forces associated with it. In the study of forces, Sir Isaac Newton discovered that the inertial

force is proportional to the acceleration acquired by a body. This phenomenon is observed every

time you move your car quickly forward and apply the brakes very hard. (H. Myszka, 2012)

The context of acceleration is an important part in the design of mechanisms, since it

guarantees that the resistance of the links and joints is sufficient to withstand the forces to which

they are subjected.

 The graphical method of relative accelerations is very similar to that of relative velocities,

since in both systems a vector sum is carried out graphically.

The graphical method specifies that the strategy to determine the acceleration of a point

involves knowing the acceleration of another point on the same link. So this implies that you

must also know the speed of the point you want to calculate, as well as the relative speed

between the two points.

Relative acceleration analysis: analytical method.

The strategy to analytically determine the acceleration of several points on a mechanism is

identical to the graphical method, the difference is that the vector polygons only need to be

graphed in a way that is not as specific as the graph. The magnitude and angles are determined

using the star method and the method of closed-loop equations; these methods are also used to

calculate position or displacement analytically.

Conclusion.

To conclude this essay on the application methods to determine acceleration, displacement,

velocity, I can only add that the graphic methods used in the kinematic analysis of a mechanism

are based on the geometric relationships existing between the different mechanical magnitudes,

as well as important to know the importance of the analytical method; This method allows

calculations to be made more quickly and efficiently, giving exact calculations in a certain time.

I must also recognize that as engineers we must know how to apply both methods, since,

although the graphic method is tedious and difficult due to the details that you have, it is better to

use it when making graphs to find a solution.

.
Bibliography
H. Myszka, D. (2012). Máquinas y Mecanismos. En D. H. Myszka, Máquinas y Mecanismos
(pág. 384). Mexico: PEARSON EDUCACIÓN.
Lamadrid., A. (s.f.). CINEMATICA Y DINAMICA DE MAQUINAS. Madrid: Sección de
Publicaciones ETSII.
Nieto Quijorna , A. J. TEORÍA DE MÁQUINAS. Obtenido de TEORÍA DE MÁQUINAS:
https://previa.uclm.es/area/imecanica/AsignaturasWEB/Teoria_de_Maquinas/
Problemas/problemas_cinematica.pdf
Olmedo S., J. F., & Echeverría Y., J. F. (2018). Máquinas y mecanismos, implementación con
Wolfram Mathematica. En J. F. Olmedo S, & J. F. Echeverría Y., Máquinas y
mecanismos, implementación con Wolfram Mathematica (pág. 406). Sangolquí,
Ecuador.: Comisión Editorial de la Universidad de las Fuerzas Armadas ESPE.
Rico Martınez, J. M.. Metodos Graficos de Analisis Cinematico de Mecanismos. Obtenido de
Departamento de Ingenierıa Mecanica:
http://www.dicis.ugto.mx/profesores/chema/documentos/An%C3%A1lisis%20y%20S
%C3%ADntesis%20de%20Mecanismos/Metodos%20Graficos%20de%20Analisis%20y
%20Sintesis%20de%20Mecanismos/MetodosGraficosDeAnalisisCinematico.pdf