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Adapted From theory of machine and mechanisms J.E Shigley 4. Position Analysis Qassim University Unayzah College of Engineering Mechanical Engineering Dept.

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Page 1: Adapted From theory of machine and mechanisms J.E Shigley

Adapted From theory of machine and mechanisms

J.E Shigley

4. Position Analysis

Qassim University

Unayzah College of Engineering

Mechanical Engineering Dept.

Page 2: Adapted From theory of machine and mechanisms J.E Shigley

Translation, Rotation, and Complex motion

Translation: keeps the same angle

Rotation: one point does not move

Complex motion: a combination of rotation and

translation

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Graphical Position Analysis of Linkages

Given the length of the links (a,b,c,d), the ground position, and q2. Find q3 and q4

a

d q2

b

c

q3

q4

A

B

O2 O4

b

c

Page 5: Adapted From theory of machine and mechanisms J.E Shigley

Graphical Linkage Analysis Draw an arc of radius b,

centered at A

Draw an arc of radius c, centered at O4

The intersections are the two possible positions for the linkage, open and crossed

a

d q2

b

c

q3

q4

b

c

A

O2 O4

B1

B2

Page 6: Adapted From theory of machine and mechanisms J.E Shigley

Algebraic Position Analysis

2

2

sin

cos

q

q

aA

aA

y

x

Obtain coordinates of point A:

222

222

yx

yyxx

BdBc

ABABb

Obtain coordinates of point B:

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