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The synthesis of four-bar mechanism

Algazy Zhauyt1, Kuanyshkali Alipov2, Aizhan Sakenova3, Adilet Zhankeldi4,
Raushan Abdirova5, Zhastalap Abilkaiyr6
Kazakh National Research Technical University named after K. I. Satpayev, Almaty 050013, Kazakhstan
1Corresponding author

E-mail: 1ali84jauit@mail.ru, 2alipov_k@mail.ru, 3sam2810@mail.ru, 4adilet.zhankeldi@gmail.com,

5raushan.abdirova@mail.ru, 6jastalap81@mail.ru

(Received 24 October 2016; accepted 27 October 2016)

Abstract. It this paper an educational and research software named GIM is presented. This
software has been developed with the aim of approaching the difficulties students usually
encounter when facing up to kinematic analysis of mechanisms. A deep understanding of the
kinematic analysis is necessary to go a step further into design and synthesis of mechanisms. In
order to support and complement the theoretical lectures, GIM software is used during the
practical exercises, serving as an educational complementary tool reinforcing the knowledge
acquired by the students.
Keywords: synthesis, four-bar mechanism, coupler-point curve, pump-power, computed plot.

1. Introduction

In the teaching of subjects related to Machine Theory, supporting and complementing

theoretical lectures with a simulation and analysis software, helps the students to understand
deeply and visually the theoretical bases of the Mechanisms Science. The software has been
developed focusing, not only on educational purposes but also on research in the field of
computational kinematics and mechanism design applications [1]. The software presented in this
article also has potential to be used by students of Master Degrees in Mechanical Engineering and
other subjects related to Robotics, Mechanism Design, etc. GIM has been developed in a modular
structure. After defining the kinematic structure of a linkage in the Geometry module, the user can
perform the motion simulation in the Motion module. GIM is mainly oriented to the field of
kinematic analysis, motion simulation and dimensional synthesis of planar mechanisms. In any
case, it also includes other modules for workspace and singularity evaluation [2] and static analysis
of mechanical structures. For example [3], at the solution of a problem of synthesis of directed
and transmission gears of high classes it is necessary to use the kinematics equations for definition
of a rotation angle of the plane if it isn’t set in a case when the considered problem of synthesis
of the opened ABCD four-bar chain [4]. Therefore, the vector method of the kinematic analysis is
offered in this chapter which will be coordinated well with the method of synthesis of IKС stated
in the previous chapter, and also it can independently be used for the solution of tasks on
provisions, speeds and accelerations of the synthesizable mechanism [5-7].

2. Materials and methods

The equation of the coupler-point curve for a four-bar linkage may be obtained by analytic
geometry. The derivation presented follows that of Samuel Roberts, with only slight changes in
notation. The equation will be written in Cartesian coordinates, with the axis along the line of
centers and the axis perpendicular to that line at (Fig. 1). Let ( ′, ′), ( ′′, ′′), and
( , ) be, respectively, the coordinates of points , , and coupler point ; then:

= − cos , = − sin , = − cos( + ), = − sin( + ). (1)

Since and describe circles (or arcs of circles) about centers and , respectively:

′ + ′ + , ( ′′ − ) + = , (2)

486 © JVE INTERNATIONAL LTD. VIBROENGINEERING PROCEDIA. DEC 2016, VOL. 10. ISSN 2345-0533
 THE SYNTHESIS OF FOUR-BAR MECHANISM.
ALGAZY ZHAUYT, KUANYSHKALI ALIPOV, AIZHAN SAKENOVA, ADILET ZHANKELDI, RAUSHAN ABDIROVA, ZHASTALAP ABILKAIYR

Substituting the values of ′, ′ and ′, ′ into the last two equations yields and:

( − cos ) + ( − sin ) = ,
(3)
− cos( + ) − + − sin( + ) = ,

which, by application of trigonometric identities and ordering of terms, become:

+ + −
cos + sin = ,
2 (4)
( − ) + + −
( − )cos + sin cos − ( − )sin − cos sin = .
2

Fig. 1. Coordinate system and notations used to derive equation of coupler curve

The equation of the coupler-point curve may now be obtained by elimination of between the
last two equations. Solving these equations for cos and sin and substituting the values obtained
into the identity cos + sin = 1 yields the general four-bar coupler-curve equation:

sin ( − )sin − cos ( + + − ) + sin ( − ) + + −

+ sin ( − )cos + sin ( + + − ) − sin ( − ) + + − (5)
= 4 sin sin sin ( − ) − − cot .

In this, is the constant of the sine law applied to the triangle :

= = = . (6)
sin sin sin

This equation is of the sixth degree and because of its properties also bears the formidable title
of tricircular sextic. One of its properties has been mentioned: a straight line will intersect it in no
more than six points. Its further features may be studied either geometrically or algebraically. The
geometric examination begins. An introduction to the algebraic study of coupler curves will be
given by considering some properties deduced by Roberts and others. As a guide to an
understanding of the methods of analytic geometry, second-order curves (conic sections) will be
examined on route. On setting:

= sin ( − )sin − cos , = sin , = sin ( − )cos + sin ,

(7)
= − sin , = + + − , =( − ) + + − .

Eq. (5) takes the form:

© JVE INTERNATIONAL LTD. VIBROENGINEERING PROCEDIA. DEC 2016, VOL. 10. ISSN 2345-0533 487
 THE SYNTHESIS OF FOUR-BAR MECHANISM.
ALGAZY ZHAUYT, KUANYSHKALI ALIPOV, AIZHAN SAKENOVA, ADILET ZHANKELDI, RAUSHAN ABDIROVA, ZHASTALAP ABILKAIYR

( + ) +( + ) −4 ( − ) = 0. (8)

Note that the equation:

− = 0, ( − )+ − cot = 0, (9)

represents a circle passing through and (Fig. 1). For reasons that will appear later, this circle
is called the circle of singular foci. A multiple point of a curve, as, for example, a cusp or a
crunode, is a point where the curve has several tangents. We propose to show that the coupler
curve has multiple points at each of it’s inter sections with the circle of foci. When a curve is
defined by an equation of the form ( , ) = 0 its tangent may be found by equating to zero the
differential of the function ( , ), ∂ ⁄∂ + ∂ ⁄∂ = 0. In rectangular coordinates every
equation of the form represents a circle:

+ + + + = 0. (10)

Since and are infinitesimal changes in the coordinates and along the curve, they
also define the slope of the tangent as:

∂ ∂
=− . (11)
∂ ∂

At a multiple point, where the curve has several tangents, the above expression must be
indeterminate, which means that both ∂ / ∂ and ∂ / ∂ must be zero to satisfy the
indeterminancy. The left member of Eq. (8) is the function ( , ) corresponding to the coupler
curve, whence:

= 2( + ) ( + ) + 2( + ) ( + )
(12)
∂
−8 ( P− ) ( − ).
∂
A similar expression is formed for ∂ / ∂ on replacing by . Since the points of intersection
of two curves are found by considering their equations as simultaneous, the intersection of the
coupler curve and the circle of foci is given by the pair of equations:

( + ) +( + ) −4 ( − ) = 0, − = 0. (13)

Since the left member of the second equation is zero, each term of the first equation is likewise
zero, and:

+ = 0, + = 0. (14)

The last two quantities serve to make ∂ / ∂ and ∂ / ∂ zero also, thus satisfying the
requirement of an indeterminate slope at the point of intersection of the two curves and
establishing the presence of a multiple point. Examination of the curve Eq. (5) shows its terms of
highest degree to be + . In consequence, the significant equation for points at infinity is
+ = 0. As with the second-order curves, this equation is taken with = / , giving:

+ 1 = 0 or ( − )( + ) = 0, (15)

as the equation, the directions of the points at infinity must satisfy.

This equation of the sixth degree has six solutions – all imaginary – and the coupler curve

488 © JVE INTERNATIONAL LTD. VIBROENGINEERING PROCEDIA. DEC 2016, VOL. 10. ISSN 2345-0533
 THE SYNTHESIS OF FOUR-BAR MECHANISM.
ALGAZY ZHAUYT, KUANYSHKALI ALIPOV, AIZHAN SAKENOVA, ADILET ZHANKELDI, RAUSHAN ABDIROVA, ZHASTALAP ABILKAIYR

therefore has six imaginary points at infinity in the directions ′ = and ′′ = − .

each being a triple solution of Eq. (15). The cyclic points are therefore triple points of the
coupler curve. The asymptotes, also imaginary, must be parallel to the directions and − , and
since each cyclic point is triple, there will be a total of six asymptotes forming two sets of three
parallel imaginary lines. The determination of the asymptotes follows the method described for
second-order curves. In order to carry out the computations more conveniently, Eq. (5) is first
rewritten, use being made of the identity:

+ =( + )( − ), (16)

with and as the parentheses appearing in the left-hand member of Eq. (5). Thus, after some
algebraic manipulations:

sinα( + + − )( − − )
+ sin ( − ) + + − ( − )
× sin ( + + − )(− − + ) (17)
+sin ( − ) + + − ( + )
= 4 sin sin sin ( − ) + − cot .

The substitution of for + and for − in this equation yields is:

−sin ( + − )( − ) + sin ( − )( − ) + −
× sin ( + − )( − ) − sin ( − )( − ) + − (18)
=4 sin sin sin × − (1 − cot ) + (1 + cot ) .
2
The highest powers of and in this equation are and ; the asymptotes are therefore
obtained by equating their coefficients to zero. The coefficient of is:

−sinα + sinβ( − p) ө sinα ( − ) − sinβ ( − ) . (19)

The requirement that this coefficient be zero will be met if any one of the three equations:

= 0, = , sin = sin ( − ), (20)

is satisfied. When written in terms of Cartesian coordinates, these equations become:

sin cos sin sin

− = 0, − − = 0, − − − = 0. (21)
sin sin

They represent a set of three parallel asymptotes corresponding to the triple point at infinity in
the direction ′ = . (Parallel lines intersect at infinity.) Another set of three parallel asymptotes
in the direction ′′ = − is obtained by equating to zero the coefficient of in Eq. (18), i.e.:

−sin ( − ) + sin ( − ) ө sin − sin ( − ) = 0. (22)

This requirement will be satisfied if one of the following equations holds:

= 0, = , sin = sin ( − ). (23)

These transformed into Cartesian coordinates are:

© JVE INTERNATIONAL LTD. VIBROENGINEERING PROCEDIA. DEC 2016, VOL. 10. ISSN 2345-0533 489
 THE SYNTHESIS OF FOUR-BAR MECHANISM.
ALGAZY ZHAUYT, KUANYSHKALI ALIPOV, AIZHAN SAKENOVA, ADILET ZHANKELDI, RAUSHAN ABDIROVA, ZHASTALAP ABILKAIYR

sin cos sin sin

+ = 0, − + = 0, − + − = 0. (24)
sin sin

For a curve passing through the cyclic points-as the four-bar coupler curve does-the points of
intersection of asymptotes of the curve in the direction of the cyclic points are called singular foci.
Since the coupler curve has two sets of three parallel asymptotes of this type, it has a total of nine
singular foci. Examination of Eqs. (21) and (24) shows that three of these intersections are real;
i.e., there are three real singular foci. They are the origin , the point ( = , = 0), and a
third point of coordinates:

sin cos sin sin

= , = , (25)
sin sin

which also lies on the circle of foci defined earlier in this section. It may be further observed that
the angles at , , and of the triangle are respectively equal to the angles at , ,
and of the triangle : the triangles and are therefore similar.

3. Results and discussion

A proper the synthesis of four-bar coupler-point curves has been developed within GIM
software to provide information on the feasibility of the proposed design solution. Simulation tests
have been carried out and results are discussed for validating the proposed design and
characterizing its operation.

Table 1. Function angle couples

No.
Reference 15 –30
Position 1 30 60
Position 2 45 90
Position 3 60 120

Fig. 2. Computed plot of 3 postures and moving Fig. 3. Computed plot of 3 postures and fixed

490 © JVE INTERNATIONAL LTD. VIBROENGINEERING PROCEDIA. DEC 2016, VOL. 10. ISSN 2345-0533
 THE SYNTHESIS OF FOUR-BAR MECHANISM.
ALGAZY ZHAUYT, KUANYSHKALI ALIPOV, AIZHAN SAKENOVA, ADILET ZHANKELDI, RAUSHAN ABDIROVA, ZHASTALAP ABILKAIYR

Fig. 4. Computed plot of 4 postures Fig. 5. Computed plot of function generation

4. Conclusions

The software presented in this paper allows students and researchers to model and analyses in
a quick and simple way n-DOF planar linkages. Using the software capabilities, the user is able
to carry out a deep kinematic performance analysis of the whole mechanism. GIM software has
proven to be a very effective tool to complement and reinforce the theoretical concepts explained
during the lectures of subject related to Mechanism and Machine Science.

References

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© JVE INTERNATIONAL LTD. VIBROENGINEERING PROCEDIA. DEC 2016, VOL. 10. ISSN 2345-0533 491