Bansilal Ramnath Agarwal Charitable Trust’s

Vishwakarma Institute of Technology

‘Kinematic Analysis of Quick Return Mechanism’

Presented by:
Name G. R. No Roll no.
Lagad Omkar Ganesh 12420062 07
Kaiwalya Abhay Kale 12420210 24
Sayyed Aman Nizam 12420165 18
Arnav Santosh Shirole 12420194 22
Rutuja Hanmant Pawar 12420082 09
Nikalje Gaurav Bhausaheb 12420067 08
Khurram Murad 12420263 31

Under guidance of:

Prof. Dr. Umesh. S. Chavan

Department of Mechanical Engineering

VISHWAKARMA INSTITUE OF TECHNOLOGY

(An autonomous institute, affiliated to Savitri Bai Phule University)

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Table of Contents
Abstract : ................................................................................................................................................. 2
Introduction: ........................................................................................................................................... 2
Importance of Kinematic Analysis............................................................ Error! Bookmark not defined.
Kinematics of Manual Well Pump: .......................................................................................................... 2
Kinematic Analysis of Well Pump ........................................................................................................ 3
Excel Graphs .................................................................................................................................... 4
Conclusion : .............................................................................................. Error! Bookmark not defined.
References................................................................................................ Error! Bookmark not defined.

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 ASOM Course Project 2024-25

The primary objective of this study is to analyse the

Abstract: This project investigates the kinematic
position, velocity, and acceleration characteristics of each
behavior of a four-bar mechanism with a lever-driven
link and the slider, as well as the forces and torques
configuration, simulating the function of a well pump.
exerted throughout the mechanism’s cycle. By applying
Unlike traditional four-bar setups where a crank rotates
complex algebra and loop-closure equations, the angular
continuously, this mechanism features a lever that
oscillates about a fixed pivot. The study utilizes complex velocities, accelerations, and linear motions of each
algebraic methods to derive critical parameters, including component are determined for a range of lever positions.
link positions, velocities, and accelerations, as well as the This analysis provides a comprehensive understanding of
motion of a linear slider. Given specific link lengths, initial the system's behaviour and potential applications in
angles, and predefined angular velocities and engineering contexts where controlled oscillation is
accelerations, the MATLAB simulation computes and required.
visualizes key variables, such as piston velocity and
acceleration, turning moment, and cylinder pressure. This report details the kinematic and dynamic analysis
Graphical results, plotted against lever angle, provide steps, including the setup, assumptions, calculations, and
insights into the mechanism’s oscillatory motion and the MATLAB code used to simulate and visualize the
influence of lever-driven inputs on the slider’s motion. mechanism’s performance. Key output plots, such as link
These findings underscore the applicability of four-bar angles, slider velocity, and piston effort, illustrate the
mechanisms in real-world systems, especially in motion characteristics and help assess the operational
translating rotational or oscillatory motion into linear efficiency and effectiveness of the four-bar lever-driven
displacement, as seen in pumps and similar machinery. mechanism.
This work offers a comprehensive approach to
understanding and optimizing lever-driven mechanisms, Importance of Kinematic Analysis
supported by computational analysis and visualization in
MATLAB. Kinematic analysis is essential in mechanical engineering,
particularly for understanding and optimizing
Nomenclature
mechanisms that rely on precise motion, such as the four-
bar lever-driven mechanism analyzed in this project. The
Latin Letters
r₁ - Length of Link AD (ground link) primary purpose of kinematic analysis is to determine the
r₂ - Length of Link BA (lever link) motion of each component within a mechanism without
r₃ - Length of Link CB (coupler link) considering the forces causing that motion. This approach
r₄ - Length of Link CD (slider) is crucial in applications where control over movement,
Vp - Slider Velocity velocity, and acceleration is required, including systems
a - Linear Acceleration of Slider that drive pumps, linkages in engines, and various
automation processes.
Greek Letters
θ₁ - Angle of Link AD In this project, the kinematic analysis of the lever-driven
θ₂ - Angle of Link BA four-bar mechanism provides insights into the behavior of
θ₃ - Angle of Link CB each link and the resulting motion of the slider. By
θ₄ - Angle of Link CD calculating angles, velocities, and accelerations of the
ω₂ - Angular Velocity of Link BA links and slider, this analysis helps in identifying how
ω₃ - Angular Velocity of Link CB different lever positions influence the entire system's
α₂ - Angular Acceleration of Link BA output. Specifically, understanding the relationship
α₃ - Angular Acceleration of Link CB between input lever oscillations and output slider
movement enables engineers to fine-tune the mechanism
for desired performance.

Introduction: This project investigates the Additionally, kinematic analysis forms the basis for
kinematic and dynamic behaviour of a four-bar dynamic analysis, where the forces and torques acting on
mechanism with a unique lever-driven configuration, the mechanism are evaluated. Accurate kinematic
typically seen in applications such as well pumps and modelling is, therefore, a prerequisite for predicting and
optimizing dynamic behaviour, allowing for
certain types of mechanical linkages. Unlike traditional
improvements in efficiency, durability, and overall
crank-based mechanisms, this setup employs a fixed lever
effectiveness of the mechanism in practical applications.
as the driving link, creating a distinct oscillatory motion
that influences the connected slider component. Overall, kinematic analysis serves as a foundational step
in the design and evaluation of mechanical systems,

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contributing to their reliability, safety, and functionality Vₚ = P / Fₚ

across diverse engineering fields. Where:

Kinematics of Manual Well Pump : • P is the power generated by the lever-driven

The kinematics of the lever-driven four-bar mechanism mechanism,
involves the interaction between several links, including • Fₚ is the force acting on the slider.
the lever (AB), the coupler (CB), and the slider (CD). In
this mechanism, the fixed lever, instead of a crank,
provides the input motion that drives the oscillatory 3. Acceleration of Slider (fₚ):
motion of the slider. Analyzing the motion of the The acceleration of the slider is given by:
components, such as link angles, velocities, and fₚ = Fₚ / m
accelerations, is essential for understanding the system’s Where:
behavior and ensuring the desired performance of the • Fₚ is the force acting on the slider,
mechanism. • m is the mass of the slider.

Table 1. Specification of Well Pump 4. Angle of Link 2 (θ₂):

The angle of link 2 with respect to link 1 is
Capacity 200 mm
derived from complex algebra and is calculated
Length of Lever 1000 mm
as:
Length of Fixed Link AD -232.42 mm
θ₂ = -sin⁻¹(R / l * sin(θ₁))
Oscillation angle of lever -5° to 35°
Where:
Connecting Rod 300mm
• R is the length of the lever,
• l is the length of the connecting rod (link BC),
• θ₁ is the initial angle of the lever above
Kinematic Analysis of Well Pump horizontal.

5. Displacement of Slider (d):

The displacement of the slider is the distance it
travels from its initial to its final position. This
can be calculated as:
d = R * cos(θ₁) + l * cos(θ₂)
Where:
• θ₂ is the angle turned by the connecting rod
relative to the lever.

Cr 6. Angular Velocity of Lever (ω₁):

The angular velocity of the lever is given by:
Fig 1 Well Pump
ω₁ = Vₚ / (- (R * sin(θ₁) + l * ((R / l) * (cos(θ₁) /
cos(θ₂))) * sin(θ₂))))
1. Angular Acceleration of Link 2 (α₂): Where:
The angular acceleration of link 2, which • Vₚ is the slider velocity.
functions as the lever, can be described in
relation to the force transmitted to the slider. It 7. Angular Velocity of Connecting Rod (ω₂):
is given by: The angular velocity of the connecting rod can
α₂ = ω_CB * cos(θ₁) be described as:
ω₂ = - (R * cos(θ₁) / (l * cos(θ₂))) * ω₁
Where:
8. Angular Acceleration of Lever (α₁):
• α₂ is the angular acceleration of link 2, Angular acceleration of the lever, derived from
• ω_CB is the angular velocity of link CB, the complex algebra equations, is given by:
• θ₁ is the initial angle of the lever above α₁ = - (fₚ * cos(θ₂) + l * ω₂² + R * ω₁² * cos(θ₁ -
horizontal. θ₂)) / (R * sin(θ₁ - θ₂))
Where:
2. Velocity of Slider (Vₚ): • fₚ is the slider acceleration.
The velocity of the slider is derived from the
power and the force applied by the connecting
rod:

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9. Angular Acceleration of Connecting Rod (α₂):

Angular acceleration of the connecting rod, also
derived from complex algebra, is:
α₂ = (R * ω₁² * sin(θ₁) + l * ω₂² * sin(θ₂) + R *
((fₚ * cos(θ₂) + l * ω₂² + R * ω₁² * cos(θ₁ - θ₂)) /
(R * sin(θ₁ - θ₂))) * cos(θ₁)) / (l * cos(θ₂))

10. Force on Connecting Rod (F_c):

The force on the connecting rod due to the Fig no. 5 Piston Velocity vs Lever Angle
reciprocating motion of the slider is:
F_c = Fₚ / √(1 - (sin²θ / n²))
Where:

• n is the ratio l / R

Excel Graphs
Fig no. 6 Piston Effort vs Lever Angle

Fig no. 1 Alpha 2 vs Lever angle

Fig no. 7 Piston Stroke vs Lever Angle

Fig no. 2 Omega 2 vs Lever angle

Fig no. 8 Theta 2 vs Lever Angle

Fig no. 3 Turning Moment vs Lever Angle

Fig no 9 Alpha 1 vs Lever Angle

Fig no.4 Piston Acceleration vs Lever Angle

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Fig no.10 Omega 1 vs Lever Angle

Fig no. 11 Cylinder Pressure vs Lever Angle

Conclusion
The kinematic analysis of the lever-driven four-bar
mechanism highlights key relationships between the lever,
connecting rod, and slider. By applying complex algebra,
the study derived important parameters such as angular
accelerations, velocities, and forces. The results showed
how the motion of the lever and connecting rod, along
with the forces exerted by the piston and connecting rod,
directly influence the system's performance.

Reference
[1] Kinematic Analysis of the Crank Mechanism with
Rotating Cylinder Using MSC Adams/View-Peter
Frankovský Darina Hroncová.

[2] Modeling and Investigating the Effect of Offset

Distance on Slider-Crank Mechanism Peter Alfred

[3]Synthesis and Dynamic Simulation of an Offset Slider

Crank Mechanism- Mohammad F. Kh. A. Alenezi1 and
Ebrahim Mohammad Almufarrej2

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