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Tutorial3 Questions PDF

This document contains two questions regarding kinematics analysis of mechanisms. Question 1 asks to determine the mobility of a mechanism, define vector loops, write vector loop equations, and identify unknown variables. Question 2 provides dimensions for a four-bar linkage and asks to find joint angles using closed form and Newton-Raphson solutions, and write a program to iteratively solve for the joint angles.

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124 views

Tutorial3 Questions PDF

This document contains two questions regarding kinematics analysis of mechanisms. Question 1 asks to determine the mobility of a mechanism, define vector loops, write vector loop equations, and identify unknown variables. Question 2 provides dimensions for a four-bar linkage and asks to find joint angles using closed form and Newton-Raphson solutions, and write a program to iteratively solve for the joint angles.

Uploaded by

elizabeth
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ENME 473: Fundamentals of Kinematics and Dynamics of Machines

Tutorial 3: Formulating and Solving Vector Loop Equations

Q1) For the mechanism shown below, Link 5 slides on Link 3 and Link 5 is connected to Link 6 by
a pin joint,
i. Determine the mobility 𝑚
ii. Define and draw vector loop(s) for a complete kinematic analysis.
iii. Mobility = 𝑚. Therefore, we have 𝑚 independent inputs.
Assume that the links 2, 3, …., 2 + 𝑚 − 1 are the input links. Write the vector loop
equations and identify the unknown variables. Write any additional constraint
equations required for a complete kinematic analysis.
Q2) A four-bar linkage has the following dimensions:

𝑅1 = 5
𝑅2 = 3
𝑅3 = 7
𝑅4 = 6
𝜃1 = 0
𝜃2 = 60 degrees

i. Find 𝜃3 and 𝜃4 using closed form solutions. Express your answer in degrees in the range
[0, 360].
ii. Using an initial estimate of 𝜃31 = 10 degrees and 𝜃41 = 100 degrees. Carry out first two
steps of Newton-Raphson iteration to obtain 𝜃33 and 𝜃43
iii. Write a general computer program to solve for 𝜃3 and 𝜃4 using Newton-Raphson
iteration given an initial estimate for these variables. The Newton-Raphson iteration
procedure should continue until they converge to within 0.01 degrees. Find the final
converged solutions for the following starting points: (a) 𝜃31 = 5 degrees and 𝜃41 =
200 degrees, and (b) 𝜃31 = 10 degrees and 𝜃41 = 100 degrees.

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