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Chapter 6 - Suggested Problems

Mechanical System Design (Lebanese American University)

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DESIGN OF MACHINERY SOLUTION MANUAL 6-7a-1

PROBLEM 6-7a
Statement: The general linkage configuration and terminology for an offset fourbar slider-crank linkage are
shown in Fig P6-2. The link lengths and the values of  2 and 2 are defined in Table P6-2. For row
a, find the velocities of the pin joints A and B and the velocity of slip at the sliding joint using the
analytic method. Draw the linkage to scale and label it before setting up the equations.
Given: Link lengths:
Link 2 (O2 A) a  1.4 Link 3 (AB) b  4 Offset (yB ) c  1

Crank angle    45 deg Crank angular velocity    10

Solution: See Figure P6-2 and Mathcad file P0607a.

1. Draw the linkage to scale and label it.

d2 = d1 =
3.010 4.990

B' 3(CROSSED) A 3 (OPEN) B

2
45.000° 179.856° 1.000
0.144°
X
O2

2. Determine 3 and d using equations 4.16 and 4.17.

 a sin    c 
Crossed:    asin     0.144 deg
 b 
   
d2  a  cos    b cos   d2   3.010

 a  sin    c 
Open:    asin      180.144 deg
 b 
   
d1  a  cos    b cos   d1  4.990

3. Determine the angular velocity of link 3 using equation 6.22a:

a cos   
Open          2.475
 
b cos  

a cos   
Crossed          2.475
 
b cos  

4. Determine the velocity of pin A using equation 6.23a:

  
VA  a   sin    j cos    
VA   9.899  9.899i VA  14.000 arg VA  135.000 deg

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DESIGN OF MACHINERY SOLUTION MANUAL 6-7a-2

5. Determine the velocity of pin B using equation 6.22b:

Open    
VB1  a   sin    b   sin   VB1  9.875

Crossed    
VB2  a   sin    b   sin   VB2  9.924

The angle of VB is 0 deg if VB is positive and 180 deg if VB negative.

6. The velocity of slip is the same as the velocity of pin B.

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DESIGN OF MACHINERY SOLUTION MANUAL 6-9a-1

PROBLEM 6-9a
Statement: The general linkage configuration and terminology for an inverted fourbar slider-crank linkage are
shown in Fig P6-3. The link lengths and the values of  2 and 2 and  are defined in Table P6-3.
For row a , using an analytic method, find the velocities of the pin joints A and B and the velocity of
slip at the sliding joint. Draw the linkage to scale and label it before setting up the equations.
Given: Link lengths:
Link 1 d  6 Link 2 a  2
Link 4 c  4   90 deg    30 deg    10
Two argument inverse tangent atan2 (x  y )  return 0.5  if x = 0  y  0
return 1.5  if x = 0  y  0

return atan  
  y   if x  0

 x  
atan 
y 
    otherwise
  x 
Solution: See Mathcad file P0609a.
1. Draw the linkage to scale and label it.

B
y
90.0°

b 127.333°
c
A
142. 666°
a

30.000°
d x
02 04

B'
169. 040°
79. 041°

2. Determine the values of the constants needed for finding 4 from equations 4.8a and 4.10a.

     
P  a  sin    sin    a cos    d  cos   P  1.000
Q  a  sin    cos    a cos   d  sin   Q  4.268
R   c sin   R   4.000 T  2 P T  2.000
S  R  Q S  0.268 U  Q  R U  8.268
3. Use equation 4.22c to find values of 4 for the open and crossed circuits.

OPEN 
   2 atan2 2  S   T 
2 
T  4 S U    142.667 deg

 2 atan2 2  S   T  T  4 S U
2
CROSSED      169.041 deg

4. Use equation 4.18 to find values of 3 for the open and crossed circuits.

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DESIGN OF MACHINERY SOLUTION MANUAL 6-9a-2

OPEN           232.667 deg

CROSSED           259.041 deg

5. Determine the magnitude of the instantaneous "length" of link 3 from equation 4.20a.

   
a sin    c sin  
OPEN b1  b1  1.793
sin    

   
a  sin    c  sin  
CROSSED b2  b2  1.793
sin     

6. Determine the angular velocity of link 4 using equation 6.30c:


a   cos      
OPEN       10.292
b 1  c  cos 


a   cos      
CROSSED       3.639
b 2  c  cos 

7. Determine the velocity of pin A using equation 6.23a:

  
VA  a    sin    j  cos    
VA  10.000  17.321i VA  20.000  
arg VA  120.000 deg

8. Determine the velocity of point B on link 4 using equation 6.31:

OPEN  
VB4x1  c    sin   VB4x1  24.966

VB4y1  c   cos    VB4y1  32.734

2 2
VB41  VB4x1  VB4y1 VB41  41.168

 VB1  atan2 VB4x1  VB4y1  VB1  52.667 deg

CROSSED  
VB4x2  c    sin   VB4x2  2.767

VB4y2  c   cos    VB4y2  14.289

2 2
VB42  VB4x2  VB4y2 VB42  14.555

 VB2  atan2 VB4x2  VB4y2  VB2  79.041 deg

9. Determine the slip velocity using equation 6.30a:

    
a   sin      b 1 sin    c sin    
OPEN Vslip1  Vslip1  33.461
 
cos  

    
a   sin      b 2 sin    c sin    
CROSSED Vslip2  Vslip2  33.461
 
cos  

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DESIGN OF MACHINERY SOLUTION MANUAL 6-16c-1

PROBLEM 6-16c
Statement: The linkage in Figure P6-5a has the dimensions and crank angle given below. Find 3, VA , VB, and
VC for the position shown for 2 = 15 rad/sec in the direction shown. Use an analytical method.
Given: Link lengths: Coupler point data:
Link 2 (O2 to A) a  0.80 in Distance from A to C Rca  1.33 in
Link 3 (A to B) b  1.93 in Angle BAC   38.6  deg
Offset c  0.38 in Crank angle:    34.3 deg
1
Input crank angular velocity    15 rad sec CCW
Solution: See Figure P6-5a and Mathcad file P0616c. C

1. Draw the linkage to scale and label it.

Y
A
38.600°
2. Determine 3 and d using equation 4.17.
34.300°
X 154.502°
O2
0.380"
B

 a  sin    c 
   asin  
 b 
   154.502 deg

   
d1  a  cos    b cos   d1  2.403 in
3. Determine the angular velocity of link 3 using equation 6.22a:

a cos    rad
         5.691
 
b cos   sec

4. Determine the velocity of pin A using equation 6.23a:

  
VA  a   sin    j cos    
arg VA  124.300 deg
in in
VA  ( 6.762  9.913j) VA  12.000
sec sec
5. Determine the velocity of pin B using equation 6.22b:

   
VB   a   sin    b   sin  

arg VB  180.000 deg

in in
VB   11.490 VB  11.490
sec sec
6. Determine the velocity of the coupler point C for the open circuit using equations 6.36.

  
VCA  Rca   sin        j cos         
in
VCA  (1.716  7.371j)
sec
VC  VA  VCA

arg VC  153.268 deg

in in
VC  ( 5.047  2.542j) VC  5.651
sec sec

Note that 3 is defined at point B for the slider-crank and at point A for the pin-jointed fourbar. Thus, to use
equation 6.36a for the slider-crank, 180 deg must be added to the calculated value of 3.

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DESIGN OF MACHINERY SOLUTION MANUAL 6-26-1

PROBLEM 6-26
Statement: The linkage in Figure P6-8a has the dimensions and crank angle given below. Find 4, VA , and VB
for the position shown for  = 15 rad/sec clockwise (CW). Use an analytical method.
Given: Link lengths: Crank angle:
Link 2 (O2 to A) a  116 mm    62 deg Global XY system
Link 3 (A to B) b  108 mm Input crank angular velocity
1
Link 4 (B to O4) c  110 mm    15 rad sec CW
Link 1 (O2 to O4) d  174 mm
Two argument inverse tangent atan2 (x  y )  return 0.5  if x = 0  y  0
return 1.5  if x = 0  y  0

return atan  
  y   if x  0

 x  
atan 
y 
    otherwise
  x 
Solution: See Figure P6-8a and Mathcad file P0626.
1. Draw the linkage to scale and label it. y
A
2. Determine the values of the constants needed for
finding  4 from equations 4.8a and 4.10a.
d
K 1  K 1  1.5000 2
a 3
O2 62.000°
d
K 2  K 2  1.5818
c
2
2 2 2 2
a b  c  d
K 3  K 3  1.7307 B
2 a c
O4

   
4
A  cos    K 1  K 2 cos    K3
B   2 sin   x

C  K 1   K2  1  cos    K 3

A  0.0424 B   1.7659 C  2.0186

3. Use equation 4.10b to find values of  4 for the crossed circuit.

 
   2 atan2 2 A  B 
2
B  4  A C     182.681 deg
4. Determine the values of the constants needed for finding 3 from equations 4.11b and 4.12.
2 2 2 2
d c d a b
K 4  K 5  K 4  1.6111 K 5  1.7280
b 2 a  b

   
D  cos    K 1  K 4 cos    K 5 D  2.0021
E   2 sin   E   1.7659
F  K 1   K4  1  cos    K 5 F  0.0589

5. Use equation 4.13 to find values of 3 for the crossed circuit.

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DESIGN OF MACHINERY SOLUTION MANUAL 6-26-2

 
   2 atan2 2 D  E 
2
E  4  D F     275.133 deg

6. Determine the angular velocity of links 3 and 4 for the crossed circuit using equations 6.18.


a   sin      rad
       13.869

b sin       sec


a   sin      rad
       8.654

c sin       sec

7. Determine the velocity of points A and B for the crossed circuit using equations 6.19.

    
VA  a    sin    j  cos  

arg VA   28.000 deg

mm mm
VA  ( 1536.329  816.881j) VA  1740.000
sec sec
    
VB  c    sin    j  cos  

arg VB   87.319 deg

mm mm
VB  ( 44.524  950.875j) VB  951.917
sec sec

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DESIGN OF MACHINERY SOLUTION MANUAL 6-30-1

PROBLEM 6-30
Statement: The linkage in Figure P6-8b has the dimensions and crank angle given below. Find 4, VA, and VB
for the position shown for 2 = 20 rad/sec counterclockwise (CCW). Use an analytical method.
Given: Link lengths: Crank angle:
Link 2 (O2 to A) a  40 mm    57 deg Global XY system
Link 3 (A to B) b  96 mm Input crank angular velocity
Link 4 (B to O4) c  122 mm 1
   20 rad sec
Link 1 (O2 to O4) d  162 mm
Coordinate rotation angle   36 deg Global XY system to local xy system
Two argument inverse tangent atan2 (x  y )  return 0.5  if x = 0  y  0
return 1.5  if x = 0  y  0

return atan  
  y   if x  0

 x  
atan 
y 
    otherwise
  x 
Solution: See Figure P6-8b and Mathcad file P0630.
1. Draw the linkage to scale and label it.
Y y
2. Determine the values of the constants needed for finding 4
B
2 A 3
from equations 4.8a and 4.10a.
2
d d X
K 1  K 2  O2
a c 93.000
4
K 1  4.0500 K 2  1.3279
2 2 2 2
a b  c  d
K 3  K 3  3.4336       
2 a c O4
x
   
A  cos    K 1  K 2 cos    K3  
B   2 sin  
C  K 1   K2  1  cos    K 3
A  0.5992 B   1.9973 C  7.6054
3. Use equation 4.10b to find values of  4 for the open circuit.

 
   2 atan2 2  A  B  B  4 A C
2   2     132.386 deg
4. Determine the values of the constants needed for finding 3 from equations 4.11b and 4.12.
2 2 2 2
d c d a b
K 4  K 5  K 4  1.6875 K 5  2.8875
b 2 a  b
   
D  cos    K 1  K 4 cos    K 5 D  7.0782
E   2 sin   E   1.9973
F  K 1   K4  1  cos    K 5 F  1.1265
5. Use equation 4.13 to find values of 3 for the open circuit.

 
   2 atan2 2  D E  E  4 D F
2    2     31.504 deg
6. Determine the angular velocity of links 3 and 4 for the crossed circuit using equations 6.18.

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DESIGN OF MACHINERY SOLUTION MANUAL 6-30-2


a   sin       rad
       5.385

b sin       sec


a   sin       rad
       5.868

c sin       sec

7. Determine the velocity of points A and B for the open circuit using equations 6.19.

  
VA  a   sin    j cos    
arg VA   177.000 deg
mm mm
VA  ( 798.904  41.869j) VA  800.000
sec sec
    
VB  c    sin    j  cos  

arg VB   137.614 deg

mm mm
VB  ( 528.774  482.608j) VB  715.900
sec sec

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DESIGN OF MACHINERY SOLUTION MANUAL 6-34-1

PROBLEM 6-34
Statement: The offset slider-crank linkage in Figure P6-8f has the dimensions and crank angle given below.
Find VA, and VB for the position shown for 2 = 25 rad/sec CW. Use an analytical method.

Given: Link lengths:

Link 2 a  63 mm Crank angle:    141 deg
Link 3 b  130 mm Local xy coordinate system
Offset c  52 mm Input crank angular velocity
1
   25 rad sec
Solution: See Figure P6-8f and Mathcad file P0634.
1. Draw the linkage to a convenient scale. Y
4 B
2. Determine 3 and d using equations 4.16 for the crossed circuit.
1
 a  sin    c  3
   asin      44.828 deg
 b 

 
d  a cos    b cos    d  141.160 mm
52.000 A

3. Determine the angular velocity of link 3 using equation 6.22a: 2

 
a cos   rad O2
X, y
         13.276 141.000°
 
b cos   sec

x
4. Determine the velocity of pin A using equation 6.23a:

  
VA  a   sin    j cos    
arg VA  51.000 deg
mm mm
VA  ( 991.180  1224.005i ) VA  1575.000
sec sec

In the global coordinate system,  VA  arg  VA   90 deg  VA   39.000 deg

5. Determine the velocity of pin B using equation 6.22b:

   
mm
VB  a   sin    b   sin   VB  2207.849
sec
VB  VB

In the global coordinate system,  VB  arg  VB   90 deg  VB   90.000 deg

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DESIGN OF MACHINERY SOLUTION MANUAL 6-41-1

PROBLEM 6-41
Statement: The linkage in Figure P6-8g has the dimensions and crank angle given below. Find 4, VA, and VB
for the position shown for 2 = 15 rad/sec clockwise (CW). Use an analytical method.

Given: Link lengths:

Link 2 (O2 to A) a  49 mm Link 2 (O2 to C) a'  49 mm
Link 3 (A to B) b  100 mm Link 5 (C to D) b'  100 mm
Link 4 (B to O4) c  153 mm Link 6 (D to O6) c'  153 mm
Link 1 (O2 to O4) d  87 mm Link 1 (O2 to O6) d'  87 mm
Crank angle:    148 deg Local xy system
1
Input crank angular velocity    15 rad sec
Two argument inverse tangent atan2 (x  y )  return 0.5  if x = 0  y  0
return 1.5  if x = 0  y  0

return atan  
  y   if x  0

 x  
atan 
y 
    otherwise
Solution: See Figure P6-8g and Mathcad file P0641.   x 
1. Draw the linkage to scale and label it. Y

2. Determine the values of the constants needed for finding 4

from equations 4.8a and 4.10a. O6
d d B
K 1  K 2  3
a c
K 1  1.7755 K 2  0.5686
A
2 2 2 2 2
a b  c  d 4 X
K 3  K 3  1.5592 C
O2
6
2 a c
   
148.000°
A  cos    K 1  K 2 cos    K3
5
B   2 sin   D y

C  K 1   K2  1  cos    K 3 O4
x
A  0.5821 B   1.0598 C  4.6650
3. Use equation 4.10b to find values of  4 for the crossed circuit.

 
   2 atan2 2 A  B 
2
B  4  A C     208.876 deg
4. Determine the values of the constants needed for finding 3 from equations 4.11b and 4.12.
2 2 2 2
d c d a b
K 4  K 5  K 4  0.8700 K 5  0.3509
b 2 a  b

   
D  cos    K 1  K 4 cos    K 5 D  3.0104
E   2 sin   E   1.0598
F  K 1   K4  1  cos    K 5 F  2.2367
5. Use equation 4.13 to find values of 3 for the crossed circuit.

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DESIGN OF MACHINERY SOLUTION MANUAL 6-41-2

 
   2 atan2 2 D  E 
2
E  4  D F     266.892 deg
6. Determine the angular velocity of links 3 and 4 for the crossed circuit using equations 6.18.


a   sin      rad
       7.570

b sin       sec


a   sin      rad
       4.959

c sin       sec

7. Determine the velocity of points B and A for the crossed circuit using equations 6.19.

  
VA  a   sin    j cos    
arg VA  58.000 deg
mm mm
VA  ( 389.491  623.315j ) VA  735.000
sec sec
    
VB  c    sin    j  cos  

arg VB  118.876 deg

mm mm
VB  ( 366.389  664.362j) VB  758.694
sec sec

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DESIGN OF MACHINERY SOLUTION MANUAL 6-49-1

PROBLEM 6-49
Statement: Figure P6-12 shows a linkage and its coupler curve. Write a computer program or use an equation
solver to calculate and plot the magnitude and direction of the velocity of the coupler point P at
2-deg increments of crank angle over the maximum range of motion possible. Check your results
with program FOURBAR.
1
Units: rpm  2   rad  min
Given: Link lengths:
Link 2 (O2 to A) a  0.785 in Link 3 (A to B) b  0.356 in
Link 4 (B to O4) c  0.950 in Link 1 (O2 to O4) d  0.544 in
Coupler point: Rpa  1.09 in   0  deg
Crank speed:    20 rpm
Two argument inverse tangent atan2 (x  y )  return 0.5  if x = 0  y  0
return 1.5  if x = 0  y  0

return atan  
  y   if x  0

 x  
atan 
y 
    otherwise
  x 
Solution: See Figure P6-12 and Mathcad file P0649.
y P
1. Draw the linkage to scale and label it.
3
2. Using the geometry defined in Figure 3-1a in the text, determine
B
the input crank angles (relative to the line O2O4) at which links 2 3
and 3, and 3 and 4 are in toggle. A

 a  d  ( b  c)
2 2 2
   acos  4
 2 a  d  2

   158.286 deg
2
          2 deg   
3. Determine the values of the constants needed for finding 4 x
O2 O4
from equations 4.8a and 4.10a.
d d
K 1  K 2 
a c 2 2 2 2
a b  c  d
K 1  0.6930 K 2  0.5726 K 3  K 3  1.1317
2 a c
     
A    cos    K1  K 2 cos    K 3  
B    2 sin    
C     K 1   K 2  1  cos    K 3

4. Use equation 4.10b to find values of  4 for the open circuit.

 
     
     2  atan2 2  A    B    B     2  4 A   C   
5. Determine the values of the constants needed for finding 3 from equations 4.11b and 4.12.
2 2 2 2
d c d a b
K 4  K 5  K 4  1.5281 K 5  0.2440
b 2 a  b

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DESIGN OF MACHINERY SOLUTION MANUAL 6-49-2

     
D    cos    K1  K 4 cos    K5  
E    2 sin    
F    K1   K 4  1  cos    K5
6. Use equation 4.13 to find values of 3 for the open circuit.
 
 
     2  atan2 2  D    E    E         2  4 D   F   
7. Determine the angular velocity of links 3 and 4 for the open circuit using equations 6.18.

    a   sin       
       
b sin        
a   sin       
     
c sin        

8. Determine the velocity of point A using equations 6.19.

 
VA    a   sin    j  cos       
9. Determine the velocity of the coupler point P using equations 6.36.

      
VPA    Rpa      sin        j cos           
VP    VA    VPA 
10. Plot the magnitude and direction of the coupler point P.
Magnitude:  
VP    VP         
Direction:  VP    arg VP  

MAGNITUDE
Velocity, mm/sec

50
 
sec
VP   
in

0
200 150 100 50 0 50 100 150 200

deg

DIRECTION
200
Vector Angle, deg

 
 VP  
0
deg

200
200 150 100 50 0 50 100 150 200

deg

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DESIGN OF MACHINERY SOLUTION MANUAL 6-55a-1

PROBLEM 6-55a
Statement: Figure P6-18 shows a powder compaction mechanism. Calculate its mechanical advantage for the
position shown.
Given: Link lengths:
Link 2 (A to B) a  105 mm Offset c  27 mm
Link 3 (B to D) b  172 mm
Distance to force application:
Link 2 (AC) rin  301 mm
1
Position of link 2:    44 deg Let    1 rad  sec

Solution: See Figure P6-18 and Mathcad file P0655a.

1. Draw the linkage to scale and label it.
X

2. Determine 3 using equation 4.17.

4
D
 a sin    c
   asin    C
 b 

   164.509 deg 3

3. Determine the angular velocity of link 3 using equation 6.22a:

44.000°
 
a cos   B
     
 
b cos   2

4. Determine the velocity of pin D using equation 6.22b: Y

A

   
VD  a   sin    b   sin   Positive upward

5. Calculate the velocity of point C using equation 6.23a:

    
VC  rin    sin    j  cos  

VC  VC

6. Calculate the mechanical advantage using equation 6.13.

VC
mA  mA  3.206
VD

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DESIGN OF MACHINERY SOLUTION MANUAL 6-59a-1

PROBLEM 6-59a
Statement: Figure P6-22 shows a fourbar toggle clamp used to hold a workpiece in place by clamping it at D.
The linkage will toggle when link 2 reaches 90 deg. For the dimensions given below, calculate its
mechanical advantage for the position shown.
Given: Link lengths:
Link 2 (O2A) a  70 mm Link 3 (AB) b  35 mm
Link 4 (O4B) c  34 mm Link 1 (O2O4) d  48 mm
Distance to force application:
Link 2 (O2C) rin  138 mm Link 4 (O4D) rout  82 mm
Initial position of link 2:    104 deg Global XY system

Solution: See Figure P6-22 and Mathcad file P0659a.

1. Draw the mechanism to scale and label it. To establish the position of O4 with respect to O2 (in the global
coordinate frame), draw the linkage in the toggle position with  2 = 90 deg. The fixed pivot O4 is then 48 mm from
O2 and 34 mm from B' (see layout).
Y
C'
C

Linkage in toggle position

A'
A
3
x 2 D
B 4

B' D'
O4
135.0 69°

X
O2

2. Calculate the value of  2 in the local coordinate system (required to calculate  3 and 4).
Rotation angle of local xy system to global XY system:   135.069 deg
          31.069 deg

3. Determine the values of the constants needed for finding 4 from equations 4.8a and 4.10a.
d d
K 1  K 1  0.6857 K 2  K 2  1.4118
a c

2 2 2 2
a b  c  d
K 3  K 3  1.4989
2 a c

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DESIGN OF MACHINERY SOLUTION MANUAL 6-59a-2

   
A  cos    K 1  K 2 cos    K3

B   2 sin   
 
C  K 1   K2  1  cos    K 3

A  0.4605 B  1.0321 C  0.1189

4. Use equation 4.10b to find value of 4 for the open circuit.

  2
   2 atan2 2  A  B  B  4 A C     129.480 deg
5. Determine the values of the constants needed for finding 3 from equations 4.11b and 4.12.
2 2 2 2
d c d a b
K 4  K 5  K 4  1.3714
b 2 a  b
K 5  1.4843
   
D  cos    K 1  K 4 cos    K 5 D  0.1388

E   2 sin    E  1.0321

 
F  K 1   K4  1  cos    K 5 F   0.4804

6. Use equation 4.13 to find values of 3 for the open circuit.

  2
   2 atan2 2  D E  E  4 D F     196.400 deg

7. Referring to Figure 6-10, calculate the values of the angles  and .

         165.331 deg

If  > 90 deg, subtract it from 180 deg.

  if    90 deg  180 deg        14.669 deg

         66.920 deg

If  > 90 deg, subtract it from 180 deg.

  if    90 deg  180 deg        66.920 deg

8. Using equation 6.13e, calculate the mechanical advantage of the linkage in the position shown.
c  sin   rin
mA   mA  2.970
a sin   rout

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