Machines and Mechanisms: Applied

Kinematic Analysis, 4/e, Myszka

Chapter 1
 Chap 1 Introduction

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1.1 Introduction

 Determine appropriate movement

of the wipers
 View range
 Tandem or opposite
 Wipe angle
 Location of pivots
 Timing of wipers
 Wiping velocity
 The force acting on the machine

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1.2 Machines and Mechanisms

 Mechanism
 Mechanical portion of a
machine that has the
function of transferring
motion and forces from a
power source to an output.

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1.3 Kinematics

To illustrate the importance of such analysis, refer to

the lift platform. Kinematic analysis provides insight into
significant design questions, such as:

 What is the significance of the length of the legs that

support the platform?
 Is it necessary for the support legs to cross and be
connected at their midspan, or is it better to arrange
the so that they cross closer to the platform?
 How far must the cylinder extend to raise the
platform to a certain weight.

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 Dynamics

As a second step, dynamic analysis of the platform

could provide insight into another set of important design
questions:
 What capacity (maximum force) is required of the
hydraulic cylinder?
 Is the platform free of any tendency to tip over?
 What cross-sectional size and material are required of
the support legs so they don’t fail?

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 Kinematics/Dynamics

 Kinematic analysis
 Determine
 Position, displacement, rotation, speed, velocity, acceleration

 Provide
 Geometry dimensions of the mechanism

 Operation range

 Dynamic analysis
 Power capacity, stability, member load

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 1.4 Mechanism Terminology
 Design synthesis is the process of developing mechanism to satisfy a set of
performance requirements for the machine.
 Analysis ensures that the mechanism will exhibit motion to accomplish the
requirements.
 Linkage or mechanism
 Link–rigid body
 Primary joint (full joint)
 Revolute joint (pin or hinge joint)–
pure rotation
 Translation joint (piston or prism
joint)– linear translation

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 Kinematic Joint in Mechanism

 Higher-order joint (half joint)

 Allow rotation and sliding
 Cam joint
 Gear connection

 Simple link
 A rigid body contains only two joints
 Complex link
 A rigid body contains more than two
joints
 Point of interest
 Actuator

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 1.5 Kinematic Diagram

Simple Link

Simple Link
(with point of
interest)

Complex Link

Revolute Joint
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 Kinematic Diagram

Translation Joint

Cam Joint

Gear Joint

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1.6 Kinematic Model
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1.7 Mobility

 Constrained mechanism: one degree of freedom

 Locked mechanism: zero degree of freedom
 Unconstrained mechanism: more than one degree of freedom

15
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1.8 Commonly Used Links and Joints
1.8.1 Eccentric Crank

1.8.2 Pin-in-a-Slot Joint

1.8.3 Screw Joint

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1.9 Special Cases of the Mobility Equation
Coincident Joints

• One degree of freedom actually if pivoted links are the same size

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1.10 Four-Bar Mechanism, 4-Bar Linkage

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 Crank/Rocker

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1.11 Slider-Crank Mechanism

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1.12.3 Quick-Return Mechanisms

1.12.4 Scotch Yoke Mechanism

26
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Chapter 4 Displacement Analysis
4.4 Displacement Analysis

 Locate the positions of all

links as driver link is
displaced
 Configuration
 Positions of all the links
 One degree of freedom
 Moving one link will
precisely position all
other links

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4.1 Vector Analysis of Displacement
Y Y1

r4
r2
r3
r5
X1

r1
r4
X

(1) r 1 + r 2 + r 3 + r 4 =0
   
 r1 cos θ1   r2 cθ 2   r3cθ3   −5.3 
 r sin θ  +  r sθ  +  r sθ  +  −3.2  =
0
1 1   2 2  3 3  
r1= 3, θ1= 90, r2= 4.9, r3= 3.3
2 equations for 2 unknowns θ 2 and θ3
(2) − r 3 + r 4 + r 5 =0
  
 r3cθ3   r4 cθ 4   x1 
−
 −r sθ  +  r sθ  +  =0
 3 3  4 4  −0.8 
r4 = 10.1
2 equations for 2 unknowns θ 4 and x1
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 Y

r1
r2 r4 X
r3

r 1 +r 2 +r 3 +r 4 =0
   
 −1.6   2.7cθ 2   r3cθ3   −2.3
 1.5  +  2.7 sθ  +  r sθ  +  0  =
0
   2  3 3  
=
r3 (3.92 + 1.22 )1/2
solve for θ 2 and θ3
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 Analysis of Mechanism Position

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 Y

r1
r2
X
r3

r 1 +r 2 +r 3 =0
  
50cθ1   40cθ 2   d1 
50 sθ  +  40 sθ  +   =
0
 1  2  
0
θ
=1 150°, solve for θ 2 and d1
when rotate 15°, θ
=1 165°
50cθ1   40cθ 2   d 2 
50 sθ  +  40 sθ  +   =0
 1  2  
0
solve for θ 2 and d 2
∆d = d1 − d 2

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 Y

r2
r1 r3
X
r4

r 1 +r 2 +r 3 +r 4 =0
   
12cθ1   20cθ 2  15cθ3   −25
12 sθ  +  20 sθ  + 15sθ  +  0  =0
 1  2  3  
(1) θ= 1 90°, 2 eqs. solve for θ 2 and θ3
(2) θ=
1 60°, 2 eqs. solve for θ 2 and θ3
Calculate the difference of θ 2 in (1) and (2).

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 Y

r1
X

r3
r2

r 1 +r 2 +r 3 = 0
  
0.5cθ1  1.75cθ 2  1 
0.5sθ  + 1.75sθ  +  y  =0
 1  2  
for θ= 1 θ2 , solve for θ1 and ymax
for θ=
1 θ 2 + π , solve for θ1 and ymin

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4.7 Limiting Positions and Stroke

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 Y
r1
X
r2
r 1 +r 2 +r 3 +r 4 =0
r4    
r3 for θ= 1 θ2 , solve for θ1 and θ3 ) max
for θ=
1 θ 2 + π , solve for θ1 and θ3 ) min

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 Y

r1
X

r4
r2

r3

r 1 +r 2 +r 3 +r 4 =0
   
for θ= 2 θ3 , solve for θ1 )max and θ 2
for θ=
2 θ3 + π , solve for θ1 )min

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Chapter 6 Velocity Analysis
6.2 Linear and Angular Velocity

6.2.2 Linear Velocity of a General Point

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 Y

X
r1 r1
r2

r4

r3

r 1 +r 2 +r 3 +r 4 =0
   
ω 2 ×r 2 +ω 3 ×r 3 +ω 4 ×r 4 =0
     
2 eqs for 2 unknowns ω3 and ω4

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 Y
X

r4
r1

r3

r2

r 1 +r 2 +r 3 =
0
  
0 
ω 1×r 1 +ω 2 ×r 2 +   =0
      5
2 eqs for ω1 and ω2
rE= r 1 +r 4
  
rE = ω 1×r 1 +ω 2 ×r 4
    
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 Y

r1

r2
X
r3

r 1 +r 2 +r 3 =0
  
solve for θ1 and θ 2
ω 1×r 1 +ω 2 ×r 2 + r2 =0
    
vcθ 
ω1 = 5 rad min , r2 =  2 
 vsθ 2 
2 eqs for 2 unknowns ω2 and v

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 Y

X
r1

r2
r3

r 1 +r 2 +r 3 =0
  
ω 1×r 1 +ω 2 ×r 2 + r2 =0
    
0 
r2 =  
 50 
2 eqs for 2 unknowns ω1 and ω2
 
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 r2
r1

Y
r3

r 1 +r 2 +r 3 =
0
  
 −1
r2= 6, θ 2= 340° , r 3=  
  −3
2 eqs for 2 unknowns r1 and θ1
r 1 +ω 1×r 1 +ω 2 ×r 2 =0
    
8cθ1 
r1 = 
 8sθ1 
2 eqs for 2 unknowns ω1 and ω2
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6.10 INSTANTANEOUS CENTER OF ROTATION

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6.12 Graphical Velocity Analysis:
Instant Center Method

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 Y

r1

r4 r2

r3

r 1 +r 2 +r 3 +r 4 =0
   
ω 1×r 1 +ω 2 ×r 2 +ω 3×r 3 =0
     
given ω3 , solve for ω1 and ω2

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 Y

r3
r2 r4
r1 r 1 +r 2 +r 3 +r 4 =0
X    
r4 ω 2 ×r 2 +ω 3 ×r 3 +ω 4 ×r 4 =0
     
ω=2 60 rpm. solve for ω3 and ω4
r6 r5 r 4 +r 5 +r6 = 0
  
0
ω 4 ×r 4 +ω 5 ×r 5 +   =0
      v
2 eqs for 2 unknowns ω5 and v

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 Y

r2 r1

r3
X
r4

r 1 + r 2 + r 3 + r4 =0
   
ω 1×r 1 +ω 2 ×r 2 +ω 3 ×r3 =0
     
given ω 1 find ω2 and ω3


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Chapter 7 Acceleration Analysis
7.2 Linear Acceleration
7.2.1 Linear Acceleration of Rectilinear Points

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 Y

r1
r2
r4
r3

r 1 +r 2 +r 3 +r 4 =0
   
ω 1×r 1 +ω 2 ×r 2 +ω 3×r 3 =
0
     
given ω 1 find ω2 and ω3
ω 1× (ω 1× r 1 ) + ω 2 ×r 2 +ω 2 × (ω 2 × r 2 ) + ω 3×r 3 +ω 3× (ω 3× r 3 ) = 0
            
solve for ω2 and
 ω 3
 
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 r5

rp


The displacement, velocity, and acceleration of

point P at the rocker
rp = r 1 + r 2 + r 3 + r 5
   
rp = ω 1×r 1 +ω 2 ×r 2 +ω 3× ( r 3 + r 5 )
      
p ω 1× ( ω 1× r 1 ) + ω 2 ×r 2 +ω 2 × ( ω 2 × r 2 ) + ω 3 × ( r 3 + r 5 ) + ω 3 × (ω 3 × ( r 3 + r 5 ) )
r=  
              

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 Y

r1 X

r2 r3

r 1 +r 2 +r 3 =
0
  
0 
ω 1×r 1 +ω 2 ×r 2 +   =0
     
v
solve for ω2 and v

0 
ω 1× r 1 +ω 1× (ω 1× r 1 ) + ω 2 × r 2 +ω 2 × (ω 2 × r 2 ) +   = 0
          a 
solve for ω 2 and a
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 Y

r2 r3

r1

r 1 +r 2 +r 3 = 0
  
solve for θ1 and θ 2
ω 1×r 1 + r 2 +ω 2 ×r 2 = 0
    
vcθ 
ω1 400, =
= r 2  2  , solve for ω2 and v
 vsθ 2 
ω 1× (ω 1× r 1 ) + 
r 2 +ω 2 ×r 2 +ω 2 ×r 2 +ω 2 × (ω 2 × r 2 ) + ω 2 ×r 2 =
0
            
 acθ 2 
⇒ ω 1× ( ω 1× r 1 ) +   + 2ω 2 ×r 2 +ω 2 ×r 2 +ω 2 × (ω 2 × r 2 ) =0
    2
asθ    
solve for ω 2 and a
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Chapter 9 Cams
9.1 Introduction

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Plate cam

Cylindrical cam

Linear cam

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9.2 Types of Cams

Follower motion

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 Follower Position

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9.3 Types of Followers

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9.11 The 4-Station Geneva Mechanism
Constant rotation producing index motion

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Chapter 13 Static Force Analysis
13.3 Moments and Torques

r
X

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13.5 Free-Body Diagrams
13.5.1 Drawing a Free-Body Diagram

13.5.2 Characterizing Contact Forces

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13.6 Static Equilibrium

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70
13.7 Analysis of a Two-Force Member

Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
71
Chapter 14 Dynamic Force analysis
Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
73
Machines and Mechanisms: Applied Kinematic Analysis, 4/e © 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. • All Rights Reserved.
74
 Mechanism Dynamics of a Slider Crank System

Consider link OB, BA, and piston each has mass m1, m2, and m3, and
mass moment of inertia I1, I2, I3.
In gravitational field,
(1) Define inertial coordinates and let the mass center of OB be at its
midpoint. Consider a torque Γ is applied at link OB. Draw the
free body diagram of all the rigid bodies by representing all
forces in X-Y components.
(2) Write the equation of motion of all the rigid bodies.
(3) Count the number of equations and the number of unknowns in
(2)

OB FyB

m1 ⋅ X1 = FxO + FxB

FxB
m1 ⋅ Y1 = FyO + FyB − m1 ⋅ g
FyO
L  L  L  L 
Γ
I1θ1 =FxO ⋅  1  ⋅ sin θ1 + FyO ⋅  1  ⋅ cos θ1 − FxB ⋅  1  ⋅ cos θ1 − FyB ⋅  1  ⋅ sin θ1 + Γ FxO
 2  2  2  2

m1 g
 AB FyA FxB

m2 ⋅ X2 = FxA − FxB G

FxA FyB
m2 ⋅ Y2 = FyA − FyB − m2 ⋅ g m2 g
 2L   2L   5L   5L 
I 2θ2 =FxB ⋅  2  ⋅ cos θ 2 + FyB ⋅  2  ⋅ sin θ 2 + FxA ⋅  2  ⋅ cos θ 2 − FyA ⋅  2  ⋅ sin θ 2
 7   7   7   7 

Piston A m3 g
m3 ⋅ X3 = N xA − FxA
NyA
m3 ⋅ Y3 = N yA − FyA − m3 ⋅ g
FxA
I 3θ3= N xA ⋅ 0 + N yA ⋅ 0 + FxA ⋅ 0 + FyA ⋅ 0 NxA

FyA

 , θ , X
 , Y
Unknown : X  , θ , X
 , Y  , θ , F , F , F , F , F , F , N , N (17)
 , Y
1 1 1 2 2 2 3 3 3 xO yO xB yB xA yA xA yA

Number of equations : 9
Computation of Multibody Kinematics And Dynamics
1.1 Multibody Mechanical Systems
2D Planar Mechanism

3D Spatial Mechanism

77
 Computer-Aided Design (CAD)

• Mechanics: statics and dynamics.

• Dynamics : kinematics and kinetics.

• Kinematics is the study of motion, i.e., the study of

displacement, velocity, and acceleration, regardless
of the forces that produce the motion.

• Kinetics or Dynamics is the study of motion and its

relationship with the forces that produce that motion.

78
 1.2 Coordinate Systems
A four-bar mechanism with generalized coordinates q.

d
4 Coordinates
r
q = [θ1 θ 2 θ3 φ ] T s

3 Constraints
l
(r 2 + l 2 + s 2 − d 2 ) − 2rl cos φ + 2ls cos θ1 − 2rs cos(φ − θ1 ) =
0
(r 2 + l 2 + s 2 − d 2 ) − 2rl cos φ + 2ds cos θ 2 =
0
φ + θ1 + θ 2 + θ3 − 2π = 0
degrees of freedom 4 – 3 = 1
79
 3 coordinates
φ1 
q = φ2 
φ3 

2 constraints
r cos φ1 + d cos φ2 + s cos φ3 − l =0
r sin φ1 + d sin φ2 + s sin φ3 =
0
dof = 3 − 2 = 1
80
 Generalized Coordinates
3 generalized coordinates,
2 algebraic constraint equations,
l1 cos φ1 + l2 cos φ2 − l3 cos φ3 − d1 =
0
l1 sin φ1 + l2 sin φ2 − l3 sin φ3 − d 2 =
0

four-bar mechanism.
81
 Cartesian Coordinates
9 coordinates and 8 kinematic constraints
q = [ x1 y1 φ1 x2 y2 φ2 x3 y3 φ3 ]
T

r
x1 − cos φ1 = 0
2
r
y1 − sin φ1 =0
2
r d
x1 + cos φ1 − x2 + cos φ2 =
0
2 2
r d
y1 + sin φ1 − y2 − sin φ2 =
0
2 2
d s
x2 + cos φ2 − x3 − cos φ3 =0
2 2
d s
y2 + sin φ2 − y3 − sin φ3 =0
2 2
s
x3 − cos φ3 − l =0 dof = 9 − 8 = 1
2
s
y3 − sin φ3 = 0 82
2
†

Coordinates Systems

Generalized Relative Cartesian

coordinates coordinates coordinates
Number of coordinates Minimum Moderate Large
Number of second-order Minimum Moderate Large
differential equations
Number of algebraic None Moderate Large
constraint equations
Order of nonlinearity High Moderate Low
Derivation of the Hard Moderate Simple
equations of motion hard
Computational Efficient Efficient Not as efficient
efficiency
Development of a Difficult Relatively Easy
general-purpose difficult
computer program

83
 1.3 Computation Kinematics
• A mechanism is a collection of links or bodies kinematically connected to one another.
• An open-loop mechanism may contain links with single joint.
• A closed-loop mechanism is a closed chain, wherein each link is connected to at least two other
links of the mechanism.

Figure (a) Open-loop mechanism－double pendulum

and (b) closed-loop mechanism－four-bar linkage.
Single and Multi-Loop Mechanism

Figure (a) Single-loop mechanism and (b) multi-loop mechanism.

84
 Redundant Constraint
• Kinematically equivalent.

A double parallel-crank mechanism and its kinematically equivalent.

Kinematics of Mechanism
Mainly composed of revolute joint and translation joint

Quick-return mechanism: (a) schematic presentation and (b) its

equivalent representation without showing the actual outlines.
85
 High and Low Pair of Kinematic Joint

Example of kinematic pairs: (a) revolute joint, (b) translational joint,

(c) gear joint, (d) cam follower joint, (e) screw joint, and (f) spherical ball joint.
86
 2.1 Planar Kinematics in Cartesian Coordinates
The column vector qi ≡ [ xc , yc , φc ]i is the vector of body-fixed coordinates
T

for body i in a plane.

siP
siP
ri P ri P
ri
ri

qi ≡ [ xc , yc , zc , φ1 , φ2 , φ3 ]i is the vector of body-fixed coordinates for body i

T

in three-dimensional space Position vector at global coordinates

Inertial coordinates X − Y ri P= ri + siP

Body-fixed coordinates ξ − η
ri P= ri + Ai si′P
Ai is coordinate transformation matrix

87
2.1 Planar Kinematics in Cartesian
Coordinates

ri = ri + s
P
i
P

sip
ri = ri + Ai si′
P P

 x   xc  cos φ − sin φ  ξ 
=    +  η 
p
ri φ φ
   c 
y y sin cos i  
ri
Coordinate transformation matrix

cos φ − sin φ 
Ai =  
sin φ cos φ  i

88
 2.2 Revolute Joint Constraint Model
ri + siP − r j − s Pj =
0

Φ ( r ,2) ≡ ri + Ai si′P − r j − A j s′jP =0

 xi + ξiP cos φi − ηiP sin φi − x j − ξ jP cos φ j + η Pj sin φ j  0 

Φ ( r ,2) ≡ = 
 yi + ξi sin φi − ηi cos φi − y j − ξ j sin φ j + η j cos φ j  0 
P P P P

Revolute joint at point P connecting body i and j .

89
 Constraint Equation
• A constraint equation describing a condition on the vector of coordinates of
a system can be expressed as follows: Φ ≡ Φ ( q ) = 0
• In some constraints and driving functions, the time variable may appear
explicitly: Φ ≡ Φ ( q, t ) =
0
• Constraint Jacobian Matrix by differentiating the constraint equations
m×1 n×1
Φ( q ) = 0 Φ∈ ,q∈
∂Φ m×n
q= 0, often denoted as Φq q= 0, Φq ∈ 
∂q
 ∂Φ 
∂ q 
∂Φ  ∂q 

q+ q = 0
∂q ∂q
also denoted as Φq q + (Φq q )q q =
0, or
q = −(Φq q )q q ≡ γ , γ ∈ 
Φq  m×1

90
Time Derivative of Revolute Joint Constraint
Φ1 ≡ xi + ξiP cos φi − ηiP sin φi − x j − ξ jP cos φ j + η Pj sin φ j =0

Φ2 ≡ yi + ξiP sin φi + ηiP cos φi − y j − ξ jP sin φ j − η Pj cos φ j =0

91
Time Derivative of Revolute Joint Constraint

92
Time Derivative of Revolute Joint Constraint
Φ1 ≡ xi + ξiP cos φi − ηiP sin φi − x j − ξ jP cos φ j + η Pj sin φ j =0

Φ2 ≡ yi + ξiP sin φi + ηiP cos φi − y j − ξ jP sin φ j − η Pj cos φ j =0

xi − (ξiP sin φi + ηiP cos φi )φi − (ξiP cos φi − ηiP sin φi )φi2 − 
 xj
+ (ξ jP sin φ j + η Pj cos φ j )φj + (ξ jP cos φ j − η Pj sin φ j )φj2 =
0

yi + (ξiP cos φi − ηiP sin φi )φi − (ξiP sin φi + ηiP cos φi )φi2 − 
 yj
− (ξ jP cos φ j − η Pj sin φ j )φj − (ξ jP sin φ j + η Pj cos φ j )φj2 =
0

or

93
Example of a four-bar linkage
Revolute joint at A y η2 B OA = 80mm
ξ2 AB = 260mm
φ2

φ3 BC = 180mm
A η3
ξ1 ξ3 OC = 180mm
φ1
η1 x1 + 40 cos φ1 − x2 + 130 cos φ2 =
0
C x y1 + 40 sin φ1 − y2 + 130 sin φ2 =
0
O

 −1 0 −40sin φ1 0 0 0 0 0 0 x1  
   40cos φ1 ⋅ φ12 
 0 −1 40cos φ 
    2 
 1 0 0 0 0 0 0
 
y1  40sin φ1 ⋅ φ1 
 1 0 −40sin φ1 −1 0 −130sin φ2 0 0 0  φ1   40cos φ1 ⋅ φ1 + 130cos φ2 ⋅ φ2 
  2  2

    
 0 1 40cos φ1 0 −1 130cos φ2 0 0 0 x2   40sin φ1 ⋅ φ12 + 130sin φ2 ⋅ φ22 
  
0 0 0 1 0 −130sin φ2 −1 y2  = 130cos φ2 ⋅ φ22 + 90cos φ3 ⋅ φ32 
0 −90sin φ3   
    
0 0 0 0 1 130cos φ2 0 −1 90cos φ3  φ2   130sin φ2 ⋅ φ22 + 90sin φ3 ⋅ φ32 
0 0 0 0 0 0 1 x3  
0 −90sin φ3    90cos φ3 ⋅ φ32 
    
0 0 0 0 0 0 0 1 90cos φ3   
y3   90sin φ3 ⋅ φ32 
0 0      
 1 0 0 0 0 0 0   φ3   0 
94
 Example of

 (ξiP cos φi − ηiP sin φi ) φi2 − (ξ jP cos φ j + η Pj sin φ j ) φj2 

γ=  
 − (ξi sin φi − ηi cos φi ) φi + (ξ j sin φ j + η j cos φ j ) φj 
P P 2 P P 2
 
 ( xiP − xi ) φi2 − ( x Pj − x j ) φj2 
=   = siPφi2 − s Pj φj2
( yiP − yi ) φi2 − ( y Pj − y j ) φj2 
 

 −1 0 −40sin φ1 0 0 0 0 0 0 x1  
   40cos φ1 ⋅ φ12 
    
 0 −1 40cos φ 0 0 0 0 0 0 y 40sin φ1 ⋅ φ12
 1  1  
 1 0 −40sin φ1 −1 0 −130sin φ2 0 0 0   φ1   40cos φ1 ⋅ φ1 + 130cos φ2 ⋅ φ2 
  2  2

    2 
 0 1 40cos φ1 0 −1 130cos φ2 0 0 0 
x φ ⋅ φ 2
+ φ ⋅ φ
 2  40sin 1 1 130sin 2 2 
0 0 0 1 0 −130sin φ2 y2  = 130cos φ2 ⋅ φ2 + 90cos φ3 ⋅ φ32 
−1 0 −90sin φ3      2 
    
0 0 0 0 1 130cos φ2 0 −1 90cos φ3  φ2   130sin φ2 ⋅ φ22 + 90sin φ3 ⋅ φ32 
0 0 0 0 0 0 1 0 −90sin φ3   x3   90cos φ3 ⋅ φ32 
    
0 0 0 0 0 0 0 1 90cos φ3    y3   90sin φ3 ⋅ φ32 
0 0   φ   
 1 0 0 0 0 0 0  3  0 

95
2.3 Translational Joint Constraint Model

Figure Different representations of a translational joint.

Translational Joint
niT d = 0
 x P
− x P

 xi − xi yi − yi   y P − y P  =
P R P R i j
0
 i j 

 +( xiP − x Pj )( yiP − yiQ ) + ( yiP − y Pj )( xiP − x Qj )  0 
Φ =   
 φ i − φ j − (φ i
0
− φ 0
j )  0 
Figure A translational joint between bodies i and j .
96
  xiP − x Pj   xiP − x Ri 
d = - P P
n= P R
 yi − y j   yi − y i 

 xiQ − x Pi 
s = - Q P
 yi − y i 

 x P
− x P

nT d =  yiQ − yiP
s (T ) d = xi − xi   P
Q P i j
P
=
0
 yi − y j 
= ( xiP − x Pj )( yiP − yiQ ) + ( yiP − y Pj )( xiP − xiQ ) =
0
97
 Constraint Jacobian Matrix

Φ (q ) = 0
∂Φ
q= 0, Denote as Φq q= 0
∂q
Φq q + (Φq q ) q q =
0
Φq q = −(Φq q ) q q ≡ γ

98
Time Derivative of Translational Joint Constraint

( xiP − xiQ )( y Pj − yiP ) − ( yiP − yiQ )( x Pj − xiP )  0 

Φ =   
 φ i − φ j − (φi
0
− φ 0
j )  0 

−2[( xiP − xiQ )( xi − x j ) + ( yiP − yiQ )( yi − y j )]φj 2 − [( xiP − xiQ )( yi − y j ) − ( yiP − yiQ )( xi − x j )]φi2
γ=

99
 AG = 200mm
GB = 300mm
BO = 200mm

 x1  cφ1 − sφ1   −100   x1 − 100cφ1 

B= y  +  sφ cφ   0  =  
 1  1 1   y1 − 100 sφ1 
η1 =  x − 100cφ1   x4 
d  1
− φ  − y 
 1
y 100 s 1  4
cφ4 − sφ4   0   +100 sφ4 
= n =    
 sφ4 cφ4   −100   −100cφ4 
n d B ξ1
 x1 − 100cφ1 − x4 
=
nT d [100sφ4 − 100cφ4 ]  
c  y1 − 100sφ1 − y4 
=Φ ( x1 − 100cφ1 − x4 )( +100sφ4 ) + ( −100cφ4 )( y1 − 100sφ1 − y4 )

100
 Driving Link

Figure (a) The motion of the slider is controlled in the x − direction

and (b) the motion of point P is controlled in the y − direction.

Φ ≡ xi − d (t ) =0

Φ ≡ yiP − d (t ) =0

101
A Matlab Program for
Kinematics Analysis

102
3.1 Kinematic Analysis

ground
Treat ground as a rigid
body

103
 Example of a four-bar linkage
8 constraint equations:
OA = 80mm
− x1 + 40 cos φ1 =0
AB = 260mm
− y1 + 40 sin φ1 =
0
BC = 180mm
x1 + 40 cos φ1 − x2 + 130 cos φ2 =
0
OC = 180mm
y y1 + 40 sin φ1 − y2 + 130 sin φ2 =
0
B
η2 x2 + 130 cos φ2 − x3 + 90 cos φ3 =
0
ξ2 y2 + 130 sin φ2 − y3 + 90 sin φ3 =
φ2 0
x3 + 90 cos φ3 − 180 =
0
φ3
A y3 + 90 sin φ3 =
0
ξ1 η3
ξ3 1 constraint from driving link
φ1
η1 φ1 − 2π t − π 2 =0

C x
O

To solve the 9 equations for 9 unknowns q T = [ x1 , y1 , φ1 , x 2 , y 2 , φ2 , x 3 , y3 , φ3 ]

104
 Jacobian matrix and velocity
equations

 −1 0 −40sin φ1 0 0 0 0 0 0   x1   0 
 0 −1 40 cos φ 0 0 0 0 0 0   y   0 
 1  1  
 1 0 −40sin φ1 −1 0 −130sin φ2 0 0 0   φ1   0 
    
 0 1 40 cos φ1 0 −1 130 cos φ2 0 0 0   x2   0 
0 0 0 1 0 −130sin φ2 −1 0 −90sin φ3   y 2  =  0 
    
0 0 0 0 1 130 cos φ2 0 −1 90 cos φ3  φ2   0 
0 0 0 0 0 0 1 0 −90sin φ3   x3   0 
    
0 0 0 0 0 0 0 1 90 cos φ3   y3   0 
0 0   φ   2π 
 1 0 0 0 0 0 0  3  

β for the velocity q

Let Φq ≡ J to solve Jq =

105
 Acceleration equations

 −1 0 −40sin φ1 0 0 0 0 0 0 x1  
   40cos φ1 ⋅ φ12 
    
 0 −1 40cos φ 0 0 0 0 0 0 y1   40sin φ ⋅ φ2

 1   1 1
 1 0 −40sin φ1 −1 0 −130sin φ2 0 0 0   φ1   40cos φ1 ⋅ φ1 + 130cos φ2 ⋅ φ2 
 2 2

    2 
 0 1 40cos φ1 0 −1 130cos φ2 0 0 0 
x φ ⋅ φ 2
+ φ ⋅ φ
 2  40sin 1 1 130sin 2 2 
0 0 0 1 0 −130sin φ2 y2  = 130cos φ2 ⋅ φ2 + 90cos φ3 ⋅ φ32 
−1 0 −90sin φ3    2

    
0 0 0 0 1 130cos φ2 0 −1 90cos φ3  φ2   130sin φ2 ⋅ φ22 + 90sin φ3 ⋅ φ32 
0 0 0 0 0 0 1 0 −90sin φ3   x3   90cos φ3 ⋅ φ32 
    
0 0 0 0 0 0 0 1 90cos φ3   y3  
 90sin φ3 ⋅ φ3  2

0 0   φ   
 1 0 0 0 0 0 0  3  0 

To solve Jq = γ for the acceleration q

106
 Solution procedure
Initialize and start at t = 0

Call nonlinear solver with initial position to solve q (t )

Determine Jacobian matrix and β with q (t ) to solve q (t )

Determine γ with q (t ) and q (t ) to solve q(t )

Assume q(t +∆t ) and set it as the new initial position of next iteration

Plot the time response of q (t ), q (t ) and q(t )

Determine the positions of the bars and animate them

107
 m.file (1)
1. % Set up the time interval and the initial positions of the nine coordinates
2. T_Int=0:0.01:2;
3. X0=[0 50 pi/2 125.86 132.55 0.2531 215.86 82.55 4.3026];
4. global T
5. Xinit=X0;
6.
7. % Do the loop for each time interval
8. for Iter=1:length(T_Int);
9. T=T_Int(Iter);
10. % Determine the displacement at the current time
11. [Xtemp,fval] = fsolve(@constrEq4bar,Xinit);
12.
13. % Determine the velocity at the current time
14. phi1=Xtemp(3); phi2=Xtemp(6); phi3=Xtemp(9);
15. JacoMatrix=Jaco4bar(phi1,phi2,phi3);
16. Beta=[0 0 0 0 0 0 0 0 2*pi]';
17. Vtemp=JacoMatrix\Beta;
18.
19. % Determine the acceleration at the current time
20. dphi1=Vtemp(3); dphi2=Vtemp(6); dphi3=Vtemp(9);
21. Gamma=Gamma4bar(phi1,phi2,phi3,dphi1,dphi2,dphi3);
22. Atemp=JacoMatrix\Gamma;
23.
24. % Record the results of each iteration
25. X(:,Iter)=Xtemp; V(:,Iter)=Vtemp; A(:,Iter)=Atemp;
26.
27. % Determine the new initial position to solve the equation of the next
28. % iteration and assume that the kinematic motion is with inertia
29. if Iter==1
30. Xinit=X(:,Iter);
31. else
32. Xinit=X(:,Iter)+(X(:,Iter)-X(:,Iter-1));
33. end
34.
35.end 108
 m.file (2)
36.% T vs displacement plot for the nine coordinates
37.figure
38.for i=1:9;
39. subplot(9,1,i)
40. plot (T_Int,X(i,:))
41. set(gca,'xtick',[], 'FontSize', 5)
42.end
43.% Reset the bottom subplot to have xticks
44.set(gca,'xtickMode', 'auto')
45.
46.% T vs velocity plot for the nine coordinates
47.figure
48.for i=1:9;
49. subplot(9,1,i)
50. plot (T_Int,V(i,:))
51. set(gca,'xtick',[], 'FontSize', 5)
52.end
53.set(gca,'xtickMode', 'auto')
54.
55.% T vs acceleration plot for the nine coordinates
56.figure
57.for i=1:9;
58. subplot(9,1,i)
59. plot (T_Int,A(i,:))
60. AxeSup=max(A(i,:));
61. AxeInf=min(A(i,:));
62. if AxeSup-AxeInf<0.01
63. axis([-inf,inf,(AxeSup+AxeSup)/2-0.1 (AxeSup+AxeSup)/2+0.1]);
64. end
65. set(gca,'xtick',[], 'FontSize', 5)
66.end
67.set(gca,'xtickMode', 'auto')
109
 m.file (3)
68.% Determine the positions of the four revolute joints at each iteration
69.Ox=zeros(1,length(T_Int));
70.Oy=zeros(1,length(T_Int));
71.Ax=80*cos(X(3,:));
72.Ay=80*sin(X(3,:));
73.Bx=Ax+260*cos(X(6,:));
74.By=Ay+260*sin(X(6,:));
75.Cx=180*ones(1,length(T_Int));
76.Cy=zeros(1,length(T_Int));
77.
78.% Animation
79.figure
80.for t=1:length(T_Int);
81. bar1x=[Ox(t) Ax(t)];
82. bar1y=[Oy(t) Ay(t)];
83. bar2x=[Ax(t) Bx(t)];
84. bar2y=[Ay(t) By(t)];
85. bar3x=[Bx(t) Cx(t)];
86. bar3y=[By(t) Cy(t)];
87.
88. plot (bar1x,bar1y,bar2x,bar2y,bar3x,bar3y);
89. axis([-120,400,-120,200]);
90. axis normal
91.
92. M(:,t)=getframe;
93.end

110
 Initialization
1. % Set up the time interval and the initial positions of the nine coordinates
2. T_Int=0:0.01:2;
3. X0=[0 50 pi/2 125.86 132.55 0.2531 215.86 82.55 4.3026];
4. global T
5. Xinit=X0;

1. The sentence is notation that is behind symbol “%”.

2. Simulation time is set from 0 to 2 with Δt = 0.01.
3. Set the appropriate initial positions of the 9 coordinates which are used to solve nonlinear solver.
4. Declare a global variable T which is used to represent the current time t and determine the
driving constraint for angular velocity.

111
 Determine the displacement
10. [Xtemp,fval] = fsolve(@constrEq4bar,Xinit);

10. Call the nonlinear solver fsolve in which the constraint equations and initial values are necessary. The
initial values is mentioned in above script. The constraint equations is written as a function (which can
be treated a kind of subroutine in Matlab) as following and named as constrEq4bar. The fsolve finds a
root of a system of nonlinear equations and adopts the trust-region dogleg algorithm by default.

a. function F=constrEq4bar(X)
b.
c. global T
d.
e. x1=X(1); y1=X(2); phi1=X(3);
f. x2=X(4); y2=X(5); phi2=X(6);
g. x3=X(7); y3=X(8); phi3=X(9);
h.
i. F=[ -x1+40*cos(phi1);
j. -y1+40*sin(phi1);
k. x1+40*cos(phi1)-x2+130*cos(phi2);
l. y1+40*sin(phi1)-y2+130*sin(phi2);
m. x2+130*cos(phi2)-x3+90*cos(phi3);
n. y2+130*sin(phi2)-y3+90*sin(phi3);
o. x3+90*cos(phi3)-180; The equation of driving constraint
p. y3+90*sin(phi3); is depended on current time T
q. phi1-2*pi*T-pi/2];
112
 Determine the velocity
14. phi1=Xtemp(3); phi2=Xtemp(6); phi3=Xtemp(9);
15. JacoMatrix=Jaco4bar(phi1,phi2,phi3);
16. Beta=[0 0 0 0 0 0 0 0 2*pi]';
17. Vtemp=JacoMatrix\Beta;

15. Call the function Jaco4bar to obtain the Jacobian Matrix depended on current values of
displacement.
16. Declare the right-side of the velocity equations.
17. Solve linear equation by left matrix division “\” roughly the same as J-1β. The algorithm adopts
several methods such as LAPACK, CHOLMOD, and LU. Please find the detail in Matlab Help.

a. function JacoMatrix=Jaco4bar(phi1,phi2,phi3)
b.
c. JacoMatrix=[ -1 0 -40*sin(phi1) 0 0 0 0 0 0;
d. 0 -1 40*cos(phi1) 0 0 0 0 0 0;
e. 1 0 -40*sin(phi1) -1 0 -130*sin(phi2) 0 0 0;
f. 0 1 40*cos(phi1) 0 -1 130*cos(phi2) 0 0 0;
g. 0 0 0 1 0 -130*sin(phi2) -1 0 -90*sin(phi3);
h. 0 0 0 0 1 130*cos(phi2) 0 -1 90*cos(phi3);
i. 0 0 0 0 0 0 1 0 -90*sin(phi3);
j. 0 0 0 0 0 0 0 1 90*cos(phi3);
k. 0 0 1 0 0 0 0 0 0];

113
 Determine the acceleration
20. dphi1=Vtemp(3); dphi2=Vtemp(6); dphi3=Vtemp(9);
21. Gamma=Gamma4bar(phi1,phi2,phi3,dphi1,dphi2,dphi3);
22. Atemp=JacoMatrix\Gamma;

21. Call the function Gamma4bar to obtain the right-side of the velocity equations depended on
current values of velocity.
22. Solve linear equation to obtain the current acceleration.

a. function Gamma=Gamma4bar(phi1,phi2,phi3,dphi1,dphi2,dphi3)
b.
c. Gamma=[ 40*cos(phi1)*dphi1^2;
d. 40*sin(phi1)*dphi1^2;
e. 40*cos(phi1)*dphi1^2+130*cos(phi2)*dphi2^2;
f. 40*sin(phi1)*dphi1^2+130*sin(phi2)*dphi2^2;
g. 130*cos(phi2)*dphi2^2+90*cos(phi3)*dphi3^2;
h. 130*sin(phi2)*dphi2^2+90*sin(phi3)*dphi3^2;
i. 90*cos(phi3)*dphi3^2;
j. 90*sin(phi3)*dphi3^2;
k. 0];

114
Determine the next initial positions
29. if Iter==1
30. Xinit=X(:,Iter);
31. else
32. Xinit=X(:,Iter)+(X(:,Iter)-X(:,Iter-1));
33. end

29.~33. Predict the next initial positions with assumption of inertia except the first time of the loop.

115
 Plot time response
37.figure
38.for i=1:9;
39. subplot(9,1,i)
40. plot (T_Int,X(i,:))
41. set(gca,'xtick',[], 'FontSize', 5)
42.end
43.% Reset the bottom subplot to have xticks
44.set(gca,'xtickMode', 'auto')
45.
46.% T vs velocity plot for the nine coordinates
47.figure
48.for i=1:9;
37.…

37. Create a blank figure .

39. Locate the position of subplot in the figure.
40. Plot the nine subplots for the time responses of nine coordinates.
41. Eliminate x-label for time-axis and set the font size of y-label.
44. Resume x-label at bottom because the nine subplots share the same time-axis.
47.~ It is similar to above.

116
 Animation
69.Ox=zeros(1,length(T_Int));
70.Oy=zeros(1,length(T_Int));
71.Ax=80*cos(X(3,:));
72.Ay=80*sin(X(3,:));
73.Bx=Ax+260*cos(X(6,:));
74.…

80.for t=1:length(T_Int);
81. bar1x=[Ox(t) Ax(t)];
82. bar1y=[Oy(t) Ay(t)];
83. bar2x=[Ax(t) Bx(t)];
84. bar2y=[Ay(t) By(t)];
85. bar3x=[Bx(t) Cx(t)];
86. bar3y=[By(t) Cy(t)];
87.
88. plot (bar1x,bar1y,bar2x,bar2y,bar3x,bar3y);
89. axis([-120,400,-120,200]);
90. axis normal
91.
92. M(:,t)=getframe;
93.end

69. Determine the displacement of revolute joint.

80. Repeat to plot the locations by continue time elapsing.
81. Determine the horizontal location of OA .
88. Plot OA, AB , BC , and OC .
89. Set an appropriate range of axis.

117
 Time response of displacement
x1

y 1

φ1

x2

y 2

φ2

x3

y 3

φ3

t
118
 Time response of velocity
x1

y 1

φ1

x 2

y 2

φ2

x3

y 3

φ3

t
119
 Time response of acceleration
x1

y1

φ
1

x2

y2

φ
2

x3

y3

φ
3

t
120
 A Slider Crank System
Kinematic Modeling
Ground
= =
x1 0.0, =
y1 0.0, φ1 0.0
Revolute joint
ξ 4A =
0.0, η4A =
0.0, ξ3A =
−200.0, η3A =
0.0
ξ3B =
300.0, η3B =
0.0, ξ 2B =
−100.0, η 2B =
0.0
=ξ 20 100.0,
= η20 0.0,
= ξ10 0.0,=η10 0.0

translational joint

ξ 4A =
0.0, η 4A =
0.0, ξ1B =
−100.0, η1B =
0.0,
=ξ 4C 100.0,
= η 4C 0.0,
= ξ10 0.0, =η10 0.0

driving constraint
rigid body C starts at 330° with 1.2 rad/sec speed.
φ2 − 5.76 + 1.2t =
0.0

Figure Kinematic modeling of a slider-crank mechanism.

121
 Translation Joint η1

n d B ξ1
c
 x1  cφ1 − sφ1   −100   x1 − 100cφ1 
B= y  +  sφ cφ   0  =  
 1  1 1   y1 − 100 sφ1 
 x − 100cφ1   x4 
=d  1  − y 
 1
y − 100 sφ1  4
cφ4 − sφ4   0   +100 sφ4 
=n =    
 sφ4 cφ4   −100   −100cφ4 
 x − 100cφ1 − x4 
= nT d [100 sφ4 − 100cφ4 ]  1 
 y1 − 100sφ1 − y4 
=Φ ( x1 − 100cφ1 − x4 )( +100 sφ4 ) + ( −100cφ4 )( y1 − 100 sφ1 − y4 )
∂Φ = +100 sφ4 
 ∂x1 
∂Φ 
 ∂y1 = −100cφ4 
 
∂Φ = −100 ( −100cφ4 ) cφ1 + 100 sφ4 sφ1 
 ∂φ1 
  
 
∂Φ = ( x1 − 100cφ1 − x4 )100cφ4 + ( y1 − 100 sφ1 − y4 )100 sφ4 = 0 
 ∂φ4 
122
 Kinematic Modeling
Ground
Φ1 ≡ x1 =
0.0
Φ2 ≡ y1 =
0.0
Φ3 ≡ φ1 =
0.0
revolute joints Φ4 ≡ x4 − x3 + 200 cos φ3 =
0
Φ5 ≡ y4 − y3 + 200sin φ3 =
0
Φ6 ≡ x3 + 300 cos φ3 − x2 + 100 cos φ2 =
0
Φ7 ≡ y3 + 300sin φ3 − y2 + 100sin φ2 =
0
Φ8 ≡ x2 + 100 cos φ2 − x1 =
0
Φ9 ≡ y2 + 100sin φ2 − y1 =
0

translational joint
Φ10 ≡+ ( x1 − 100 cos φ1 − x4 )(+100sin φ4 ) + (−100 cos φ4 )( y1 − 100sin φ1 − y4 )
=0
Φ11 ≡ φ4 − φ1 =
0
driving constraint
Φ12 ≡ φ2 − 5.76 + 1.2t =
0

Figure Kinematic modeling of a slider-crank mechanism.

123
 Jacobian Matrix

Figure The Jacobian matrix.

124
 Cont’d

125
 Example of a slider-crank mechanism
11 constraint equations:
x1 = 0
y1 = 0
φ1 = 0
x4 − x3 + 200 cos φ3 =
0
y4 − y3 + 200 sin φ3 =
0
x3 + 300 cos φ3 − x2 + 100 cos φ2 =
0
y3 + 300 sin φ3 − y2 + 100 sin φ2 =
0 AG = 200mm
x2 + 100 cos φ2 − x1 =
0 GB = 300mm
y2 + 100 sin φ2 − y1 =
0
BO = 200mm
100 cos φ4 ( y1 − y4 − 100 sin φ4 ) − 100 sin φ4 ( x1 − x4 − 100 cos φ4 ) =
0
φ4 − φ1 = 0
1 constraint  from the driving link
φ2 − 5.76 + 1.2t =0
To solve the 12 equations for 12 unknowns qT =  x1 , y1 , φ1, x2 , y2 , φ2 , x3 , y3 , φ3 , x4 , y4 , φ4 

T
  x   x  cos φ1 − sin φ1  100    cos φ4 − sin φ4   0  
Note that   1  −  4  −      =0
  y1   y4   sin φ1 cos φ1   0     sin φ4 cos φ4  100  
126
 Jacobian matrix and the velocity
equations
1 , 2 , 3 , 6 , 10 , 14 , 18 , 22 , 26 , 34 , 36 = 1 19 = 300 cos φ3
4 , 8 , 12 , 16 , 20 , 24 , 35 = −1 28 = −100 sin φ4
5 = −200 sin φ3 29 = 100 cos φ4
9 = 200 cos φ3 31 = − 28
13 , 23 = −100 sin φ2 32 = − 29
15 = −300 sin φ3 33 = 100[cosφ4 ( x4 − x1 ) + sin φ4 ( y4 − y1 )]
17 , 27 = 100 cos φ2

∂Φ1 ∂  1 0 0 0 0 0 0 0 0 0 0 0  0
0
∂Φ 2 ∂  0 2 0 0 0 0 0 0 0 0 0 0   
 
∂Φ 3 ∂  0 0 3 0 0 0 0 0 0 0 0 0  0
  0
∂Φ 4 ∂  0 0 0 0 0 0 4 0 5 6 0 0   
∂Φ 5 ∂  0 0 0 0 0 0 0 8 9 0 10 0  0
  0
∂Φ 6 ∂  0 0 0 12 0 13 14 0 15 0 0 0 
J= β = 
∂Φ 7 ∂  0 0 0 0 16 17 0 18 19 0 0 0  0
   
∂Φ 8 ∂  20 0 0 22 0 23 0 0 0 0 0 0  0
∂Φ 9 ∂  0 24 0 0 26 27 0 0 0 0 0 0  0
   
∂Φ10 ∂  28 29 0 0 0 0 0 0 0 31 32 33  0
∂Φ 11 ∂  0 0 34 0 0 0 0 0 0 0 0 35  0
   
∂Φ 12 ∂  0 0 0 0 0 36 0 0 0 0 0 0  1.2
127
 Acceleration equations
0 
0 
 
0 
 2 
 2 ⋅ 100 cos φ φ
3 3 
 2 ⋅100sin φ φ 2 
 3 3 
300 cos φ φ + 100 cos φ φ 
2 2

γ= 
3 3 2 2
 
300sin φ3φ3 + 100sin φ2φ2 
2 2

 2 
100 cos φ φ
2 2 
100sin φ φ 2 
 2 2 
 γ (10 ) 
 
 0 
0 
 

−100  200φ2 2 sin φ2 − 500φ3 cos φ3 + 500φ32 sin φ3 

where γ (10) =

128
Animation

129
 Time response of displacement
x2

y 2

φ2

x3

y 3

φ3

x4

y 4

φ4

t
130
 Time response of velocity
x 2

y 2

φ2

x3

y 3

φ3

x 4

y 4

φ4

t
131
 Time response of acceleration
x2

y 2

φ
2

x3

y 3

φ
3

x4

y4

φ
4

t
132
 3.2 Solution Technique
kinematic constraints Φ ≡ Φ (q) = 0
driving link Φ ( d ) ≡ Φ (q, t ) =
0
∂Φ
velocity equations q = 0 or Φq q = 0
∂q
∂Φ ( d ) ∂Φ
q + = 0 or Φq ( d ) q + Φt ( d ) = 0
∂q ∂t
 Φq   0 
Φ ( d )  q =  (d ) 
 q  −
 t  Φ
 ∂Φ 
∂ q 
∂Φ ∂q 
acceleration q +  q = 0 or Φq q + (Φq q ) q q = 0
∂q ∂q
Φq ( d ) q + (Φq ( d ) q ) q q + 2Φqt ( d ) q + Φtt ( d ) =
0

133
 Solution Technique
At any given instant t
(1) Solve Φq (q)q = 0
Φq( d ) (q, t )q = (the right hand side)

n equations for n unknowns q(t )

(2) Solve
Φq (q )q = 0
Φq( d ) (q, t )q = (the right hand side)

n equations for n unknowns q (t )

(3) Solve
Φq (q )q = γ
Φq( d ) (q )q = (the right hand side)

n equations for n unknowns q(t )

134
4.1 Planar Rigid Body Dynamics

xi = f xi
mi 
yi = f yi
mi 
µiφi = ni

 m 0 0    x   fx 
 0 m 0    y =f 
    y
 0 0 µ  φ  n  i

gi : all forces on the rigid body

135
 Illustration of Constraint Force
Pure rolling of a disk down the slope
mg
x
y
f
N −mgsθ + f
mx =  mx − f =−mgsθ
θ
−mgcθ + N
my = 
⇒ my − N = −mgcθ
1  I φ − fR =

I cφ = f ⋅ R, I c =mR 2  c 0
2
3 eqs. for 5 unknowns  y, φ, f , N
x, 
x + Rφ =
  0
2 geometric constraint equations 
y − R = 0
2  2g 1
x = − gsθ , y = 0, φ =
  sθ , N = mgcθ , f = mgsθ
3 3R 3
136
 Constraint Force
n×1
Kinematic constraint equation Φ (q=
, t ) 0, Φ ∈ 
There exists a Lagrange Multiplier λ , λ ∈  m×1
∂Φ
such that λ Φq ≡ λT T
is that constraint force.
∂q
The equations of motion can be written as
Mq= g + g ( c ) g :external applied force
g (c)
= −Φq λ
T
g ( c ) :constraint (reaction) force
Mq + ΦqT λ =
g representing constraint force by the
Lagrange multiplier

137
Generalized coordinate x, y, φ
x + Rφ= 0, y − R= 0
Constraint eq. 
⇒ − x − Rφ= 0, − y +R= 0
 −mgsθ 
 ∂Φ 
T
 −mgcθ 
M  q
 ∂q     
= 0 
 ∂Φ  λ   
 0   0 
 ∂q   0 
m 0 0 −1 0  
 x   −mgsθ 
0 
0 −1    
 m 0 
   −mgcθ 
y
 1 
0 0 mR 2 − R 0  φ  =  0 
 
 2  λ1   0 
 −1 0 −R 0 0  
λ   0 
0 −1 0   2   
 0 0
2 2g 1
5 eqs. for 5 unknowns  x = − gsθ ,  y = 0, φ = sθ , λ1 = mgsθ , λ2 = −mgcθ
3 3R 3
1 
 mgsθ 
 −1 0  3
∂Φ
T
   
The constraint force = λ  0 −1 λ =  mgcθ 
∂q 1 
 − R 0 
 mgRsθ 
3  3×1
is the friction force for pure rolling.
138
4.2 Physical meaning of constraint force
In Revolute Joint
 m 0 0   x  1 0   fx 
 0 m 0        λ1   
   y +  0 1   =
λ2   fy 

 0 0 µ  φ  i  −( yi − yi ) ( xi − xi ) 
P P   n  i

x=
mi i f xi − λ1
yi f yi − λ2
=
mi 

139
 Constraint Force in Translational Joint

For a translational joint between i and j,

the equation of motion for body i can be written as

xi = f xi + ( yiP − yiQ )λ1

mi 

yi = f yi + ( xiP − xiQ )λ1

mi 

µiφi =ni − [( x Pj − xi )( xiP − xiQ ) + ( y Pj − yi )( yiP − yiQ )]λ1 + λ2

140
4.3 Formulation of Multi-body Dynamic Systems

Mq + ΦqT λ =
g

Φq q = γ

n + m linear algebraic equations in n + m unknowns

for q and λ .

141
 A Matlab Program for
Dynamics of a four-bar linkage
OA = 0.08m M OA = 0.08kg I OA = 4.27 × 10 −5 kg ⋅ m 2

AB = 0.26m M AB = 0.26kg I AB = 1.46 × 10 −3 kg ⋅ m 2

BC = 0.18m M BC = 0.18kg I BO = 4.86 × 10 −4 kg ⋅ m 2

OC = 0.18m
g = 9.8 m s 2 ↓
B

T = 0.1N ⋅ m

C
O

142
 Mass matrix and external force vector
M OA = 0.08kg I OA = 4.27 × 10 −5 kg ⋅ m 2 g = 9.8 m s 2 ↓
M AB = 0.26kg I AB = 1.46 × 10 −3 kg ⋅ m 2 T = 0.1N ⋅ m
M BC = 0.18kg I BO = 4.86 × 10 −4 kg ⋅ m 2

0.08 0 0 0 0 0 0 0 0   0 
 0 0.08 0 0 0 0 0 0 0  0.08 × 9.8
   
 0 0 4.27 × 10 −5 0 0 0 0 0 0   0 . 1 
 0   0 
0 0 0.26 0 0 0 0 0  
 
M= 0 0 0 0 0.26 0 0 0 0  g = 0.26 × 9.8
 0   
0 0 0 0 1.46 × 10 −3 0 0 0   0 

 0 0 0 0 0 0 0.18 0 0   0 
   
0 . 18 × 9 . 8
 0 0 0 0 0 0 0 0.18 0   
 0 0 0 0 0 0 0 0 4.86 × 10 
−4
 0 

143
 Jacobian matrix and γ
OA = 0.08m
AB = 0.26m
BC = 0.18m
OC = 0.18m

 −1 0 −0.04sin φ1 0 0 0 0 0 0   0.04cos φ1 ⋅ φ1 2 
 0 −1   2 

0.04cos φ1 0 0 0 0 0 0
  0.04sin φ1 ⋅ φ1 
1 0 −0.04sin φ1 −1 0 −0.13sin φ2 0 0 0   0.05cos φ1 ⋅ φ1 + 0.13cos φ2 ⋅ φ2 
2 2


0.04cos φ1 0 −1 0.13cos φ2 0
  2 + 0.13sin φ ⋅ φ2 
J 8×9 = 
0 1 0 0   0.05sin φ ⋅ φ 2 
0 0 1 0 −0.13sin φ2 −1 0 −0.09sin φ3  γ = 1 1 2
0 0.13cos φ ⋅ φ + 0.09cos φ ⋅ φ2 
2
   2 2 3 3

0 0 0 0 1 0.13cos φ2 0 −1 0.09cos φ3   
 0.13sin φ2 ⋅ φ2 + 0.09sin φ3 ⋅ φ3 
2 2
0 0 0 0 0 0 1 0 −0.09sin φ3   
  0.09cos φ3 ⋅ φ32
 0 0 0 0 0 0 0 1 0.09cos φ3   
 2
0.09sin φ3 ⋅ φ3 

144
 Computation

M J T9×8  q
   g 
The objective is to solve the differential equation  9×9    =   for q ( t ) .
 J 8×9 O8×8   λ   γ 

 M J T9×8  q    g 
In numerial computing, the first step is to solve    =  
 J 8×9 O8×8   λ   γ 
 ( 0 )9×1 and λ ( 0 )8×1 with initial position q ( 0 ) and velocity q ( 0 ) .
for q

q ( 0 )  q ( Δt ) 
 , and use q ( Δt ) and q ( Δt )
Δt
Then integrate    → 
 
q ( 0 )   q ( Δt ) 
to repeat the above step for q  ( Δt ) and λ ( Δt ) .

Repeat t + Δt until.

145
A convenient way with Matlab solver
Solve initial value problems for ordinary differential equations with
ode45(commended), ode23, ode113…

The equations are described in the form of z‘=f(t,z)

 x 1 
 y 
 1

 
 ϕ3   q   q
=
Let z =  = , z′  
 x1   q   q 
 
 y1 

 
ϕ3 
146
 The syntax for calling solver in Matlab
A vector of initial
Solution array conditions
[T,Z] = ode45(@Func4Bar,[0:0.005:2],Z0);

column vector of A vector specifying the interval

time points of integration

A function that evaluates the right side of the

differential equations
function dz=Func4Bar(t,z)

global L1 L2 L3 L4 torque gravity

phi1=z(3); phi2=z(6); phi3=z(9);

dphi1=z(12); dphi2=z(15); dphi3=z(18);

M=diag([L1 L1 L1^3/12 L2 L2 L2^3/12 L3 L3 L3^3/12]);

J=[ -1 0 -0.5*L1*sin(phi1) 0 0 0 0 0 0;
0 -1 0.5*L1*cos(phi1) 0 0 0 0 0 0;
1 0 -0.5*L1*sin(phi1) -1 0 -0.5*L2*sin(phi2) 0 0 0;
0 1 0.5*L1*cos(phi1) 0 -1 0.5*L2*cos(phi2) 0 0 0;
0 0 0 1 0 -0.5*L2*sin(phi2) -1 0 -0.5*L3*sin(phi3);
0 0 0 0 1 0.5*L2*cos(phi2) 0 -1 0.5*L3*cos(phi3);
0 0 0 0 0 0 1 0 -0.5*L3*sin(phi3);
0 0 0 0 0 0 0 1 0.5*L3*cos(phi3)];
147
The syntax for calling solver in Matlab
J=[ -1 0 -0.5*L1*sin(phi1) 0 0 0 0 0 0;
0 -1 0.5*L1*cos(phi1) 0 0 0 0 0 0;
1 0 -0.5*L1*sin(phi1) -1 0 -0.5*L2*sin(phi2) 0 0 0;
0 1 0.5*L1*cos(phi1) 0 -1 0.5*L2*cos(phi2) 0 0 0;
0 0 0 1 0 -0.5*L2*sin(phi2) -1 0 -0.5*L3*sin(phi3);
0 0 0 0 1 0.5*L2*cos(phi2) 0 -1 0.5*L3*cos(phi3);
0 0 0 0 0 0 1 0 -0.5*L3*sin(phi3);
0 0 0 0 0 0 0 1 0.5*L3*cos(phi3)];

gamma=[ 0.5*L1*cos(phi1)*dphi1^2;
0.5*L1*sin(phi1)*dphi1^2;
0.5*L1*cos(phi1)*dphi1^2+0.5*L2*cos(phi2)*dphi2^2;
0.5*L1*sin(phi1)*dphi1^2+0.5*L2*sin(phi2)*dphi2^2;
0.5*L2*cos(phi2)*dphi2^2+0.5*L3*cos(phi3)*dphi3^2;
0.5*L2*sin(phi2)*dphi2^2+0.5*L3*sin(phi3)*dphi3^2;
0.5*L3*cos(phi3)*dphi3^2;
0.5*L3*sin(phi3)*dphi3^2];

g=[0 gravity*L1 torque 0 gravity*L2 0 0 gravity*L3 0]';

Matrix=[M J';
J zeros(size(J,1),size(J,1))];

d2q=Matrix\[g;gamma];

dz=[z(10:18,:); d2q(1:9,:)];
148
 Time response of displacement
x1

y 1

φ1

x2

y 2

φ2

x3

y 3

φ3

t
149
 Time response of velocity
x1

y 1

φ1

x 2

y 2

φ2

x3

y 3

φ3

t
150
 Time response of acceleration
× 103
x1

y1

φ
1

x2

y2

φ
2

x3

y3

φ
3

t
151
 Time response of λ
× 103
λ1

λ2

λ3

λ4

λ5

λ6

λ7

λ8
t
152
A slider-crank mechanism
B
T = 0.1N ⋅ m
G
A C
O

AC = 0.1m M AC = 0.1kg I slider = 6.67 × 10 −4 kg ⋅ m 2

AG = 0.2 m M AB = 0.5kg I AB = 1.04 × 10 −2 kg ⋅ m 2

GB = 0.3m M BO = 0.2 kg I BO = 6.67 × 10 −4 kg ⋅ m 2

BO = 0.2 m g = 9.8 m s 2 ↓

153
 Time response of displacement
x2

y 2

φ2

x3

y 3

φ3

x4

y 4

φ4

t
154
 Time response of velocity
x 2

y 2

φ2

x3

y 3

φ3

x 4

y 4

φ4

t
155
 Time response of acceleration
× 103
x2

y 2

φ
2

x3

y 3

φ
3

x4

y4

φ
4

t
156
 Time response of λ
× 103
λ1
λ2
λ3
λ4
λ5
λ6
λ7
λ8
λ9
λ10
λ11
t
157
 Example
For the four-bar linkage, the mass center of each link is located at the midpoint. Let
the mass (kg) and mass moment of inertia (kg-m2) of link OA, AB, and BC are m1 =
2 , I1 = 0.2 , m2 = 3, I2 =0.3, m3 = 4, I3 =0.4.
(1) Consider the mechanism has 4 rigid bodies (including the ground). Define
the inertia (global) and body-fixed (local) coordinates and determine the degree-of-
freedom.
(2) List the kinematic constraint equation of the revolute joints at point O, A, B,
and C.
(3) For kinematic analysis with the driving link BC rotating at 2 rad/s, list the
equations to solve for displacement, velocity and acceleration of all links at all time.
Also state the procedure/process in the numerical solution.
(4) For dynamic analysis with the driving link torque 100 (N-m), list the equations
to solve for the acceleration of all links at all time. Note that BC is no longer in
constant speed. Explain the physical meaning of the constraint force(s) and sketch
where they are located.

158
 Y
η3 Coordinates Y
ζ3 ζ3

ζ2 ζ4 ζ4

ζ2
ζ1
X ζ1
X

Φ = ( ri + A i si′ ) − ( r j + A j s′j )
0  −50  0   0 
revolute joint= ′
O s1 = ′
 s2  0  = s1′ =  s2′  −50 
 
0   0   
50   −130  0  0 
A s2′ =
revolute joint= ′
 3  0 
s =s2′ =  s3′ 130 
 
0    
50  
130   −90   0   0 
=
revolute joint ′
B s3 =  s4′  0  =s3
′ = ′
 −130  4  −90 
s
 0       
90  180  0 180 
revolute joint=C s4′ =  s1′  0  =s4
′ = ′
90  1  0 
s
0      
100 100
φ1 0,=
= φ2 127=
°
, φ3 sin −1 , φ4 270°
= φ1 =
0, φ2 =
37° , φ3 =
90° + sin −1 , φ159
4 =180°
260 260
 Constraint Equation
Revolute joint Φ = ( ri + A i si′ ) − ( r j + A j s′j )
 x1  0   x2   −50 
At O Φ =   + A1   −   − A 2 
O

 1
y    2
0 y  0 
 x1 − x2 − 50 cos φ2 
⇒  =0
 y1 − y2 − 50sin φ2 
 x2  50   x3   −130 
At A Φ =   + A 2   −   − A 3 
A

 2
y    3
0 y  0 
 x2 + 50 cos φ2 − x3 + 130 cos φ3 
=  0
 y2 + 50sin φ2 − y3 + 130sin φ3 
 x3 + 130 cos φ3 − x4 + 90 cos φ4 
At B Φ B
=  0
 y3 + 130sin φ3 − y4 + 90sin φ4 
 x4 + 90 cos φ4 − 180 
=At C Φ =
C
 0
 y4 + 90sin φ4  160
Driving Constraint and Time
Response

q = [ x1 y1 φ1 x2 y2 φ2 x3 y3 φ3 x4 y4 φ4 ]
T

 x1 
Φ G =
Ground Constraint = y1  0
φ1 
Revolute joint at point O, A, B, C.=
Φ O 0=
Φ A 0=
Φ B 0=
ΦC 0
Driving Constraint Φ = φ2 − 2t − 127° = 0
12 eqs. for 12 unknowns of displacement

161
 Velocity
Φg q = β
1 0 0  0
 1 0  0
   
 1  0
   
1 0 0 −1 0 50sin φ2  0
 1 0 0 −1 −50 cos φ2  0
   
 1 0 −50sin φ2 −1 0 −130sin φ3  q =  0 
 0 1 50 cos φ2 0 −1 130 cos φ3  0
   
 1 0 −130 cos φ3 −1 0 −90sin φ4  0
 0 1 130 cos φ3 0 −1 90 cos φ4  0
   
 1 0 −90sin φ4  0
   
 0 1 90 cos φ4  0
0 0 0 0 0 1 0 0 0 0 0 1   2 
12 eqs. for 12 unknowns in q 162
 Acceleration
 0 
 0 
 
 0 
   2
 +50 cos φ2φ2 + 130 cos φ3φ3 
2

 +50sin φ2φ22 + 130sin φ3φ32 

Φq q = γ =    2
 +130 cos φ3φ3 + 90 cos φ4φ4 
2

 +130sin φ φ2 + 90sin φ φ2 

 3 3 4 4

 +90 cos φ4φ4 2

 +90sin φ4φ42 
 
 0 
12 eqs. for 12 unknowns in q 163
 Dynamic Analysis

 M ΦqT   q  g 
   =  
Φq 0   λ   γ 
M =diag [ m1 m1 I1 m2 m2 I 2 m3 m3 I3 m4 m4 I 4 ]
g [0 -m1g 0 0 -m2g Γ 0 -m3g 0 0 -m4g 0]
Γ is the torque at the driving link.
initial conditions q (0), q (0)
The initial conditions have to satify the constraints.

164