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Robotic Gripper using Four Bar Mechanism

Technical Report · May 2020

DOI: 10.13140/RG.2.2.26696.39681

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 ME-313 – Theory of Machine
Complex Engineering Problem (CEP)

Robotic Gripper using four bar mechanism

Name: Taha Mahmood
Registration No: 2017472
Section: B
Dated: 7th May 2020
Submitted to: Sir Sohail Malik
1 CONTENTS
2 Introduction .......................................................................................................................................... 4
2.1 Overview ....................................................................................................................................... 4
2.2 Mechanism.................................................................................................................................... 4
2.3 Literature Review .......................................................................................................................... 4
3 Methodology......................................................................................................................................... 7
3.1 Graphical Linkage Synthesis .......................................................................................................... 7
3.1.1 Qualitative Analysis ............................................................................................................... 7
3.1.2 Material ................................................................................................................................. 7
3.1.3 Limiting Conditions ............................................................................................................... 7
3.1.4 Dimensional Synthesis .......................................................................................................... 7
3.1.5 Grashoff’s Condition ............................................................................................................. 9
3.2 Cad Model Design ....................................................................................................................... 10
3.2.1 Parts Design ........................................................................................................................ 10
3.2.2 Assembly Design ................................................................................................................. 11
3.3 MSC Adams Simulation ............................................................................................................... 12
3.3.1 Defining Assembly............................................................................................................... 12
3.3.2 Joints ................................................................................................................................... 15
3.3.3 Motion................................................................................................................................. 16
3.3.4 Gear Constraint ................................................................................................................... 17
3.3.5 Simulation ........................................................................................................................... 18
4 Analysis ............................................................................................................................................... 19
4.1 Introduction ................................................................................................................................ 19
4.2 Positional Analysis....................................................................................................................... 19
4.2.1 Analytical Analysis ............................................................................................................... 19
4.2.2 MATLAB Calculation ............................................................................................................ 24
4.2.3 MSC Adams Plotter Analysis ............................................................................................... 25
4.2.4 Results Comparison............................................................................................................. 27
4.2.5 Motion Analysis................................................................................................................... 28
4.3 Velocity Analysis.......................................................................................................................... 29
4.3.1 Introduction ........................................................................................................................ 29
4.3.2 Analytical Analysis ............................................................................................................... 29
 4.3.3 MATLAB Calculation ............................................................................................................ 33
4.3.4 MSC Adams Plotter Analysis ............................................................................................... 34
4.3.5 Results Comparison............................................................................................................. 37
4.4 Acceleration Analysis .................................................................................................................. 40
4.4.1 Introduction ........................................................................................................................ 40
4.4.2 Analytical Analysis ............................................................................................................... 40
4.4.3 MATLAB Calculations .......................................................................................................... 45
4.4.4 MSC Adams Plotter Analysis ............................................................................................... 47
4.4.5 Comparison ......................................................................................................................... 50
4.4.6 Motion Analysis................................................................................................................... 52
5 References .......................................................................................................................................... 53
2 INTRODUCTION

2.1 OVERVIEW
A robotic gripper is a device which allows the holding of an object to be manipulated. It is basically an
extension of a human hand and perform the same actions such as handling, holding, tightening and
releasing of an object. A gripper is just one component of an automated system. A gripper can be
attached to a robot or it can be part of a fixed automation system. This way we can create a robotic
gripper.

There a lot of advantages of a robotic gripper in both domestic and commercial use. Firstly, they allow
you to lift large and heavy load which is almost impossible to be lifted by a human hand otherwise. The
also allow you to handle dangerous objects such as radioactive or chemically reactive material. Use of an
automated arm also ensures precise handling of the object. Often during manufacturing of some
products such as processor and other electronics equipment, precise handling is required. This is done
using a robotic gripper which ensures no losses in accuracy. Because of this, lot of manufacturing plants
have now switched to automated machinery particularly the use of a robotic arm in their industries.

Nowadays, because of the corona outbreak, a lot of health organizations have advised the people to
avoid using their hands when handling different equipment from the outdoors. This is to ensure minimal
transfer of the virus from one body to another body. The use of these automatic grippers can prove
instrumental in this situation. Using an automatic gripper can ensure minimal contact with an object
while maintaining a safe distance from the particular object. [1]

2.2 MECHANISM
In order to construct the automatic grippers, we will be using a four bar mechanism. A four-bar linkage,
also called a four-bar, is the simplest movable closed-chain linkage. It consists of four bodies, called bars
or links, connected in a loop by four joints. It only has 1 degree of freedom i.e. that one member of the
mechanism move only in one way relative to the other member. Normally, most of the grippers employ
a parallelogram mechanism, where the opposite bar are equal in length and are always parallel.
However, in this project, we will ensure that lengths of each bar is different such that no two bar’s
length is same. [2]

2.3 LITERATURE REVIEW

Before working on this project, I have utilized various resources to work on this project. One of the
resources that was consulted was a research project made by the engineers of San Jose State University
in 2010. In the project, they constructed a claw machine for an arcade game using the 4 bar analysis. To
construct the claw machine, they used claw machines with 4-jaw. This ensures a tight gripper over an
object. In order to construct the claw, they used a 4-bar mechanism on each claw. The input bar is then
attached to a gear which is attached to a servo motor. The whole mechanism is then mounted on a base
plate. [3]
 Fig. 1.1. Arcade Game Claw machine

Fig. 1.2. Isometric View of Claw machine

Similarly, another design was also considered for this project. The design for the hand gripper was made
by a students who resides in Busan, South Korea. In his design, he attached the arms of the gripper to
the coupler. The unique aspect about his design is that he kept the length of the coupler very small. This
results in maximum transitional displacement of the gripper’s arm which results in a better grip of the
object. The mechanism is rotated using a miniature hydraulic piston instead of the servo motor used
previously.

Fig. 1.3. Piston-powered robotic gripper

To consult on various designs, a research paper titled “A Review on Grasping Principle and Robotic
Grippers” was consulted which was written by Samir Ravel and Bhavesh Patel who are the professors of
the Mechanical Engineering Department in L.D College of Engineering, Ahmedabad. The paper emphasis
on study of existing robotic grippers, their basic design and mechanisms used for grasping and securing
variety of parts. The paper also highlighted important factor to be considered when designing the
robotic gripper. In the end, it summarizes the significant research carried out in the recent year
emphasizing on the important details. [4]
3 METHODOLOGY

3.1 GRAPHICAL LINKAGE SYNTHESIS

3.1.1 Qualitative Analysis
In order to construct the robotic gripper, we need to first synthesize the position of the linkages. Using
qualitative analysis, we will be able to find the position of the joints and the length of the each link in the
mechanism. This way we will be also be able to analysis the mechanism with better accuracy.

For the synthesis, we will be analyzing the mechanism using the path generation method. Path
generation is a mechanism synthesis to make a point on a link move along the target path. In simpler
terms, it allows us to design a mechanism by controlling the path of a point or a link.

3.1.2 Material
For the gripper, we will be using steel as the material. This is because steel has a high tensile strength
and has a high resistance to corrosion. Furthermore, it has better load carrying capacity than other
construction materials. It can also withstand difficult external conditions like hurricanes and
earthquakes which makes it an excellent construction material in terms of durability and safety. [5]

3.1.3 Limiting Conditions

In our project, a variety of design could have been adopted for the final design. For example, to control
the gripper we were giving an option to control it with a rocker output or with a coupler output.
However, in this mechanism, we will be attaching the gripper to the coupler link by extending the
gripper arm beyond the coupler links. This is because it allows us to have a better control on the position
of the coupler since the coupler has a complex motion (both rotational and translational) instead of both
input and output which only has a rotational motion. This allows more freedom of movement in the
gripper’s motion.

In our mechanism, we will be designing a triple rocker non-Grashoff linkage, where none of the linkage
will be able to complete a full rotation. This way, all of the linkages will act as a rocker, and hence, the
whole four-bar mechanism will rock between two positions. No constraint is required to limit the range
of motion using alterations in the linkage design (such as attaching a dyad) since the appropriate limiters
will be placed in the physical design. A triple rocker mechanism will have 4 toggle positions. [6]

3.1.4 Dimensional Synthesis

To start off with the design of the linkages, we will be defining two desired position of the coupler, C1D1
and C2D2. We will performing our analysis using these two positions as a basis. These position of the
couplers were identified by analyzing various designs of the robotic gripper. Similarly, the specific length
of the coupler ensures proper torque to grip the object under a compact space. [6]
 Fig. 2.1. Positions of the coupler

For this design, we have the chosen the coupler’s length to be 22 mm from one joint to another joint.
When the gripper is open, the coupler is on the position C1D1 where it makes an angle of 55 degrees
from the horizontal. Similarly, when the gripper is closed, the coupler is on the position C1D1 where it
makes an angle of 30 degrees from the horizontal.

Fig. 2.2. Finding the ground positions of the mechanism

After defining the two coupler positions, we will perform the qualitative analysis of the linages to find
the position of the ground as well as the length of each linkage in the four bar mechanism. To do so, we
will start by drawing construction lines between point C1 to C2 and between point D1 to D2. After this, we
will bisect the line C1C2 and D1D2 and extend perpendicular bisectors in a convenient directions. On each
bisectors, select a convenient point as the fixed points O2 and O4, respectively. Connect O2 with C1 and
call it link 2. Similarly, Connect O4 and D1 and call it link 4. Line C1D1 is link 3 and line O2O4 is link 1.
 Fig. 2.3. Finished non-Grashoff four-bar

This is the final diagram of the four-bar linkage design we have analyzed. In this diagram, we have
defined two extreme position. When the linkage is open, the linkages of the mechanism are in position
O2C1D1O4. And when the linkage is closed, the points on the linkage are O2C2D2O4. During the process,
the linkages rock from the open position to the closed position to grip the object between the claws of
the gripper. [7]

Length of each link.

𝐿𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑡ℎ𝑒 𝑖𝑛𝑝𝑢𝑡 𝑙𝑖𝑛𝑘 𝑂2𝐶1 = 40 𝑐𝑚

𝐿𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑡ℎ𝑒 𝑐𝑜𝑢𝑝𝑙𝑒𝑟 𝑙𝑖𝑛𝑘 𝐶1𝐷1 = 22 𝑐𝑚
𝐿𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑡ℎ𝑒 𝑜𝑢𝑡𝑝𝑢𝑡 𝑙𝑖𝑛𝑘 𝑂4𝐷1 = 32 𝑐𝑚
𝐿𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑡ℎ𝑒 𝑔𝑟𝑜𝑢𝑛𝑑 𝑙𝑖𝑛𝑘 𝑂2𝑂4 = 28 𝑐𝑚

3.1.5 Grashoff’s Condition

𝑆 = 22 𝑐𝑚
𝑃 = 28 𝑐𝑚
𝑄 = 32 𝑐𝑚
𝐿 = 40 𝑐𝑚
Since

𝑆+𝐿 ≥𝑃+𝑄
Grashoff’s Condition is not satisfied and the link is a non-Grashoff triple rocker linkage.
3.2 CAD MODEL DESIGN
3.2.1 Parts Design
After finding the position of each joint and the length of each link, we will be designing the structure of
the robotic gripper on a CAD software. For this project, we will be using Solidworks as our CAD software
since it has a user friendly interface. For reference, we will consulting a design which was developed by
the engineers of Dr. A.P.J. Abdul Kalam Technical University, Lucknow. However, will be making major
changes on their design according to our requirements.

Firstly, we will start by fabricating each part of the gripper mechanism. Firstly, we will make the input
link O2C1 of the mechanism. The length of the input link is 40 mm between the two inputs. Moreover,
we will attach the teeth of a gear on the other end to ensure that the rotation of this input link causes
the input link of the other gripper arm to move as well.

Fig. 2.4. CAD Model of the first input link Fig. 2.5. CAD Model of the first second link

After that, we will construct the coupler link C1D1 and adjust it to the appropriate length. Since, we will
be controlling the output the coupler link, we will use it as a gripper. Therefore, we will extend the
coupler link beyond the joint to make the arms of the gripper. Hence, the motion of the coupler link will
be used to clench the object between the arms.

Fig. 2.6. CAD Model of the coupler link

Similarly, the output link O4D1 will be constructed. We will also construct the CAD model of the base
which will act as the ground link O2O4. Holes will be extruded in appropriate places where they will act
as a revolute joint connecting the ground link to the input and output link using the pins.

Fig. 2.7. CAD Model of the Output Link Fig. 2.8. CAD Model of the Base Plate
After that, we will extrude the rest of the parts which are required such as the pins and the blue rods.
These parts will help us attach the links and the base to one another and complete the design. The blue
rod shown below will help us attach the coupler link to the base on the back side of the design. The pins
will be used to form a revolute joint between the two links.

Fig. 2.9. CAD Model of the Pin Fig. 2.10. CAD Model of the Blue Rod

3.2.2 Assembly Design

After extruding each part, we will assemble these parts together to construct the robotic gripper. Hence,
on Solidworks Assembly, we will define the relationship between each part of the mechanism and joints
them using various mates. For example, between the pin and the input link, we will attach a concentric
circle mate which will create a revolute joint between them. Similarly, to attach two parts together, we
will be using the coincident mate. In this way, we will be applying appropriate mates between all the
parts and then assemble our part accordingly. A gear mate is added between the two input links so that
rotation of one input link rotates the other input link causing both mechanism to move simultaneously.

Fig. 2.11. Isometric View of the CAD assembly

Fig. 2.12. Front View of the CAD assembly

 Fig. 2.13. Front View of the Open Linkages Fig. 2.14. Front View of the Closed Linkages

The images shows that the gripper are rotating in synchronization with one another, ensuring a uniform
grip from both ends. Similarly, the velocity of the arm is almost perpendicular to the object gripped
between the arms which ensures a tight grip on the object. These factors prove that the mechanism
designed is capable of performing the required task effectively.

3.3 MSC ADAMS SIMULATION

3.3.1 Defining Assembly
Next, we will be analyzing and simulating the design on MSC Adams. MSC Adams is the most widely
used multibody dynamics and motion analysis software in the world. It helps engineer to study the
dynamics of moving part and how to improve and optimize the performance of their products. In this
case, we will be using the software to analyze the dynamics of the gripper’s design.

To do so, first we will save our Solidworks assembly as a parasolid file format (.x_t format). Then, we will
import the parasolid file format into the MSC Adams model. This will import the Solidworks assembly of
the part into MSC Adams. Unfortunately, we will lose the joint conditions we have defined in the
Solidworks assembly and hence, we need to define the joint once again.

Fig. 2.15. Front View of the MSC Adams Model Fig. 2.16. Isometric View of the MSC Adams Model
After importing the design, the material properties will be assigned of each part. Since, we are using
steel to fabricate each part, we will define the material for each part as steel. This will be done by right
clicking on the part and click “Modify”. After that, select “Geometry and Material Type” under the
“Define Mass By” option. After that, we will select steel as a material by right clicking on the “Material”
tab and select .MODEL_1.steel. The software will define the specific material as steel by defining the
density and Young’s Modulus and the Poisson’s ratio to the part.

Fig. 2.16. Modify Body Window

After this, links will be defined by amalgamate all the appropriate parts together to form the link. This
will be done using the “Merge two bodies” command under the Boolean tab. To do so, we will select the
two parts and then merge them using this command.

Fig. 2.17. Merge two bodies

First, we will define the ground link. This will be done by merging the base part with the pins that
connect the base plate with both the input and output links on both sides.

Fig. 2.18. Ground link

Similarly, coupler link will be defined by merging the coupler link with the pins.

Fig. 2.19. Coupler link

Similarly, we will define the both input and output links on both sides.

Fig. 2.20. Input link Fig. 2.21. Output link

After defining each link using the merge command, this is the final design.

Fig. 2.22. Final Design

3.3.2 Joints
In order to properly analyze our mechanism, joints between the links needs to defined first. To do so,
click on the “Create a Revolute joint” option. After clicking the option, select the two bodies between
which the joints needs to be defined. After selecting the bodies, select the exact point where the joints
needs to be defined. Doing this will create a revolute joint between the two links where it will rotate.
This process will be repeated between each link. In our model, the joints are as defined.

Fig. 2.23. Create a Revolute Joint

JOINT_1 – Input Link (Input_1) & Ground Link (Base)

JOINT_2 – Coupler Link (Coupler_1) & Input Link (Input_1)

JOINT_3 – Output Link (Output_1) & Coupler Link (Coupler_1)

JOINT_4 – Ground Link (Base) & Output Link (Output_1)

Similarly, JOINT_5 to JOINT_16 are defined is similar fashion on other four-bar mechanism.

Lastly, in order to fix the base and define it as a ground link, we will be using the fixed joint. To do so, we
will click on the “Create a fixed joint” option. We will select the base and the ground as our bodies and
then select on one point on the base to create a joint. This will fix the base to the ground.

Fig. 2.24. Create a Fixed Joint

After defining the joints, our model will look like this. The round cylinder signifies where the joint where
rotate about. The lock symbolizes the base which is fixed to the ground.

Fig. 2.25. Final design after defining joint

3.3.3 Motion
After defining each joint, we will define motion on the joints. We will be defining motion on two joints
since there are two different four bar mechanism that are being employed in this design. Since we need
to define rotational motion on the joints, we will select the “Rotational Joint Motion” option. After
clicking, we will define the motion at JOINT_1 and JOINT_5, which acts as a joint between the base and
the Input_1 link and Input_2 link, respectively. This is because input link will be rotating and driving the
mechanism. After selecting the point, since the range of motion needs to be limited from the closed
mechanism to an open mechanism, we will use the STEP function. To do so, right click on “MOTION_1”
and then click on modify. After that, click on the function tab, and select the STEP function. Click on
“Assist” button then.

Fig. 2.25. STEP function assist window

We need to input the appropriate values to limit the motion. Under the “X” tab, we will define the
independent parameter. Since the rotation is a function of time, write “time” on the tab. After that, we
will define the time required to rotate. In our mechanism, the input link will rotate from initial position
to the final position under 3 second. Hence, under the “Begin At”, define the start time which is “0”
(seconds) and under the “End at”, define the end time which is “3” (seconds). After that, we will define
the range of motion of the input link. In our mechanism, the input link rotates 58 degrees clockwise
when it rotates from the open position to the closed position. Hence, under the “Angular Initial Function
Value”, define the start angle which is “0” (degrees) and Hence, under the “Angular Final Function
Value”, define the end angle which is “58” (degrees). This way the input rotate 58 degrees from the
open position to the closed position in 3 seconds. We will repeat the same process for the second
motion on JOINT_5. However, since the rotation occurs in the anti-clockwise direction, we will replace
58 degrees to -58 degrees.

Fig. 2.26. Final Design after defining motion

3.3.4 Gear Constraint
In our mechanism, both input links move in synchronization with one another. This is done by attaching
a gear at both inputs and interlinking the teeth. To simulate this effect in MSC Adams, we will add a gear
constraint between the two input links. To do so, click on the “Joint (Add-on Constraints): Gear” under
the Couplers tab.

Fig. 2.27. Joint (Add-on Constraints): Gear

There select the two joints between which the gear constraints needs to be defined. In this case, we will
select JOINT_1 and JOINT_5. After that, select the midpoint between the two Joints and add it in the
“Common Velocity Marker” option. This will create a gear mate between the two joints.

Fig. 2.28. Create Complex Joint Gear Window

After defining the constraints, this is the final design.

Fig. 2.29. Final Design after defining gear constraints

3.3.5 Simulation
After adding the restraints and defining the motion, we will simulate our project. To do so, we will click
on the “Run on the Interactive Simulation” under the Simulate tab. There, we will select the Duration of
“3.0” seconds in “100” steps. After that, we will click on the Play button. This will initiate the simulation
of our mechanism.

Fig. 2.30. Simulation Control Window

Fig. 2.31. Frames of the simulation shots

4 ANALYSIS

4.1 INTRODUCTION
Once the mechanism design has been synthesized, it must be analyzed. For a design engineer, it is
necessary to know the position analysis of its mechanism. Furthermore, the kinematic analysis also
needs to be performed to determine the velocities and the acceleration of the mechanism. This helps in
calculating the dynamic forces that are being applied which is necessary in order to determine the
various stresses exerted on the mechanism.

There are various method present to analyze the mechanism throughout its motion. Graphical analysis
can be used to determine the position, velocity, and acceleration of the output link. Similarly, the
mechanism can be analyzed using an analytical approach using different complex equations. Graphical
analysis of linkages is a vague procedure, while the algebraic approach to analysis is a more
sophisticated method.

In this project, we will determine the values of position, velocity and acceleration using analytical
analysis by using the algebraic formulas. Furthermore, we will be utilizing the MSC Adams analytical
plotter to determine these values and then validate our answers by cross checking it with one another.

4.2 POSITIONAL ANALYSIS

Positional Analysis is an important aspect of analyzing the mechanism. It helps in evaluating the position
of the links and the joints of the mechanism. In the one DOF mechanism such as the four-bar
mechanism, only the position of one linkage is required to determine the position of every linkages.

The position of a point in the plane can be defined by the use of a position vector. A two-dimensional
vector can be expressed as polar or cartesian coordinates. The polar form provides the magnitude and
the angle of the vector. The cartesian form provides the X and Y components of the vector. [8]

𝑅 = 𝑥𝑖 + 𝑦𝑗 𝑅 = 𝑟𝑒 𝑗𝜃

4.2.1 Analytical Analysis

4.2.1.1 Derivation of formula

The approach we will be adopting is by creating a vector loop around the linkage. The links can be
represented by position vectors. The links are drawn are now drawn as position vectors which form a
vector loop. This loop closes on itself making the sum of the vectors around the loop zero. [9]

In this case, the vectors will be defined in polar coordinates, by their magnitude and angle. This is done
by representing the planar vector from the Euler identity.

𝑒 ±𝑗𝜃 = cos 𝜃 ± 𝑗 sin 𝜃

The vector loop will be defined by the arrangements of vectors R1 and R2. The choices of vector direction
lead to this vector loop equation.

⃗⃗⃗⃗2 + 𝑅
𝑅 ⃗⃗⃗⃗3 − 𝑅
⃗⃗⃗⃗4 − 𝑅
⃗⃗⃗⃗1 = 0
If the position vectors uses the label of point from the vectors tips and roots as subscripts. The new
vector equations will become:

⃗⃗⃗⃗
𝑅𝐴 + ⃗⃗⃗⃗⃗⃗⃗
𝑅𝐵𝐴 − ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑅𝐵𝑂4 − 𝑅⃗⃗⃗⃗⃗⃗
𝑂4 = 0

Fig. 3.1. Vector diagram of the linkages

After this, we will substitute the complex number notation for each vector position. We will simplify the
notation by denoting the scalar length of the four links as a, b, c, d.

𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 + 𝑐𝑒 𝑗𝜃4 + 𝑑𝑒 𝑗𝜃1 = 0

Here, link 1 is fixed ground at zero and the independent variable is 2 since it is driver and is controlled
by the motor. [8]

We must substitute the Euler equivalent for each term and separate them into real and imaginary parts
and each set to zero. After substituting θ1 = 0 (since ground linked is fixed on the x-axis), our equations
will look the following:

Real part (x component):

𝑎 cos 𝜃2 + 𝑏 cos 𝜃3 − 𝑐 cos 𝜃4 − 𝑑 = 0

Imaginary part (y component):

𝑎 sin 𝜃2 + 𝑏 sin 𝜃3 − 𝑐 sin 𝜃4 = 0

Solve the two sets of simultaneously trigonometric equation and simplify the expression. After isolating
θ3 and solving for θ4, gives two scalar equations.

𝑏 cos 𝜃3 = − 𝑎 cos 𝜃2 + 𝑐 cos 𝜃4 + 𝑑

𝑏 sin 𝜃3 = −𝑎 sin 𝜃2 + 𝑐 sin 𝜃4
Square these two scalar equations and add them. After some expansion, the equation will look like this.

𝑏 2 = 𝑎2 + 𝑐 2 + 𝑑2 − 2𝑎𝑑 cos 𝜃2 + 2𝑐𝑑 cos 𝜃4 − 2𝑎𝑐(sin 𝜃2 sin 𝜃4 + cos 𝜃2 cos 𝜃4 )

Here, we will define constants K1, K2, and K3 in terms of constant link lengths.
𝑑 𝑑 𝑎 2 −𝑏2 +𝑐 2 +𝑑 2
𝐾1 = 𝑎 𝐾2 = 𝑐
𝐾3 = 2𝑎𝑐

𝐾1 cos 𝜃4 − 𝐾2 cos 𝜃2 + 𝐾3 = cos(𝜃2 − 𝜃4 )

θ4 can be determined by replacing sin θ4 and cos θ4 with the half angle identities given below:
𝜃
2 tan ( 24 )
sin 𝜃4 =
𝜃
1 + tan2 ( 24 )

𝜃
1 − tan2 ( 24 )
cos 𝜃4 =
𝜃
1 + tan2 ( 4 )
2
𝜃4 𝜃4
𝐴 tan2 ( ) + 𝐵 tan ( ) + 𝐶 = 0
2 2
Where,

𝐴 = cos 𝜃2 − 𝐾1 − 𝐾2 cos 𝜃2 + 𝐾3
𝐵 = −2 sin 𝜃2
𝐶 = 𝐾1 − (𝐾2 + 1) cos 𝜃2 + 𝐾3
Using the quadratic formula to solve for θ4, the solution will be:

𝜃4 −𝐵 ± √𝐵2 − 4𝐴𝐶
tan ( ) =
2 2𝐴
−𝐵 ± √𝐵2 − 4𝐴𝐶
𝜃4 = 2 arctan ( )
2𝐴

The value of θ3 can be calculated using the previous equations mentioned before

𝑏 cos 𝜃3 = − 𝑎 cos 𝜃2 + 𝑐 cos 𝜃4 + 𝑑

𝑏 sin 𝜃3 = −𝑎 sin 𝜃2 + 𝑐 sin 𝜃4
4.2.1.2 Calculation
In our mechanism, the links rotates from open position to a closed position under 3 seconds i.e. the
mechanism is at the open position at t=0 sec, while it is at the close position at t=3 sec.

We will be analyzing the position of our mechanism between the start and end time, when t=1.5 sec. It
means the linkage have rotated clockwise for 1.5 seconds from the open position.

To do so, we need to find the angle of θ2 i.e. the angle between the input link and the ground link. This
will be done using the MSC Adams measurement tool.

To do so, we will click on the “Create a new Angle Measure” option under the “Measurement” tab. In
order to measure the angle θ2 between the input link and the ground link, we will select the three points
on which the angle needs to be defined.

Fig. 3.2. Create a new Angle Measure

Fig. 3.3. Angle θ2 defined between links

Doing so will create a graph of the angle θ2 against time t throughout the motion. We will expand this
graph to a full plot on the MSC Adams PostProcessor.

Fig. 3.3. Graph of angle θ2 against time

Through this graph, we can visually calculate the value of angle θ2 against time t. At time t = 1.5 sec, it
can be seen that the value of θ2 is equal to 55 degrees. We will be using this angle, to find the values of
other angles θ3 and θ4 using the analytical analysis.

To do so, we will start by finding the values of constants K1, K2, and K3.

The link lengths are:-

𝑎 = 40𝑚𝑚 𝑏 = 22𝑚𝑚 𝑐 = 28𝑚𝑚 𝑑 = 32𝑚𝑚

The values of constant are
𝑑 32 𝑑 32 𝑎 2 −𝑏2 +𝑐 2 +𝑑 2 402 −222 +282 +322
𝐾1 = 𝑎 = 40 = 0.8 𝐾2 = 𝑐
= 28 = 1.1428 𝐾3 = 2𝑎𝑐
= 2(40)(28)
= 1.3054

When t = 1.5 sec, θ2 = 55 degrees

𝐴 = cos 𝜃2 − 𝐾1 − 𝐾2 cos 𝜃2 + 𝐾3 = 𝑐𝑜𝑠55 − 0.8 − 1.1428𝑐𝑜𝑠55 + 1.3054 = 0.42349

𝐵 = −2 sin 𝜃2 = −2𝑠𝑖𝑛55 = −1.62830
𝐶 = 𝐾1 − (𝐾2 + 1) cos 𝜃2 + 𝐾3 = 0.8 − (1.1428 + 1)𝑐𝑜𝑠55 + 1.3054 = 0.87634
We will substitute these values in the quadratic formula and calculate the value of θ4.

−𝐵 ± √𝐵2 − 4𝐴𝐶 1.62830 ± √(−1.62830)2 − 4(0.42349)(0.87634)

𝜃4 = 2 arctan ( ) = 2 arctan ( )
2𝐴 2(0.42349)

𝜃4,1 = 2 arctan(0.62939) 𝜃4,2 = 2 arctan(3.2155)

𝜃4,1 = 65.33 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝜃4,2 = 145.57 𝑑𝑒𝑔𝑟𝑒𝑒𝑠

Similarly, using the scalar equation previously, mentioned we will find the values of θ3.

𝑏 sin 𝜃3 = −𝑎 sin 𝜃2 + 𝑐 sin 𝜃4

22 sin 𝜃3 = −40 sin 55 + 28 sin 65.33 22 sin 𝜃3 = −40 sin 55 + 28 sin 145. 57
−40 sin 55+28 sin 65.33 −40 sin 55+28 sin 145.57
𝜃3,1 = arcsin ( 22
) 𝜃3,2 = arcsin ( 22
)

𝜃3,1 = −19.44 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝜃3,2 = −50.14 𝑑𝑒𝑔𝑟𝑒𝑒𝑠

Hence, the two sets of angle θ3 and θ4 are.

First set of values, when the mechanism is open

𝜃2 = 55 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝜃3 = −19.44 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝜃4 = 65.33 𝑑𝑒𝑔𝑟𝑒𝑒𝑠

Second set of values, when the mechanism is crossed

𝜃2 = 55 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝜃3 = −50.14 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝜃4 = 145.57 𝑑𝑒𝑔𝑟𝑒𝑒𝑠

4.2.2 MATLAB Calculation
Similarly, these values can be calculated using the MATLAB software. MATLAB is a multi-paradigm
numerical computing environment and proprietary programming language. It allows matrix
manipulations, plotting of functions and data, implementation of algorithms.

First, we will define the variables that are required in this calculation and assign values to them. Then,
we will enter the required equation in the MATLAB window. The code on the MATLAB software is as
following:

Fig. 3.4. MATLAB code

After entering the code on the editor window, we will simulate the algorithm by clicking on the “Run”
button. The results that are shown are as plotted. The values are calculated and defined.

Fig. 3.5. MATLAB window defining all the solutions

4.2.3 MSC Adams Plotter Analysis
One of the features of MSC Adams that it allows us to analyze the mechanism by calculating the values
of position, velocity and acceleration. In this case, we will be using the MSC Adams plotter to plot the
angle θ3 and θ4 with time t. This is done by using the same procedure as mentioned above. First, we will
calculate θ3. To do so, a marker needs to be placed on the input part so that we can use it as a reference
to measure the angle. For that, we will place the marker on the part so that the marker rotates as the
input link rotates. To do so, select the “Construction Geometry Marker” under the Construction tab. And
the, Select the “Add to Part” option and the “Global XY Plane” orientation.

Fig. 3.6. Construction Geometry Marker

Select the Input_1 part where the marker needs to be applied. Then select the appropriate point such
that the marker placed is perpendicular to the input link vector. After placing the marker, we will find
the angle of θ3 by selecting the three points under “Create a new Angle Measure” Option.

Fig. 3.7. Angle θ3 defined between links

A graph will be plotted of angle θ3 against time t throughout the motion’s simulation. The graph will be
expanded and it will be as following:

Fig. 3.8. Graph of angle θ3 against time

From the graph, it can be plotted that the value of angle 𝜃3 𝑖𝑠 20.00 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝑤ℎ𝑒𝑛 𝑡 = 1.5 𝑠𝑒𝑐.
Similar procedure will be followed to calculate the angle θ4. This time, the marker will be placed collinear
to the ground link. This will be done by extending the point to ensure that it is aligned with the ground
link. After placing the marker, select the “Construction Geometry Marker” option and use the “Add to
part” option. This is because the marker needs to be fixed with the ground link does not rotate with the
mechanism. After placing the marker, we will find the angle of θ4 by selecting the three points under
“Create a new Angle Measure” Option.

Fig. 3.9. Angle θ3 defined between links

A graph will be plotted of angle θ4 against time t throughout the motion’s simulation. The graph will be
expanded and it will be as following:

Fig. 3.10. Graph of angle θ4 against time

From the graph, it can be plotted that the value of angle 𝜃4 𝑖𝑠 62.50 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝑤ℎ𝑒𝑛 𝑡 = 1.5 𝑠𝑒𝑐.
4.2.4 Results Comparison
The position of the mechanism has been calculated using both analytical analysis and the MSC Adams
plotter tool. Now, the results will be compared for both angles θ3 and θ4, and it the error will be
calculated corresponding to one another.

For angle θ3,

Using Analytical analysis approach,

𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝜃3 = −19.44 𝑑𝑒𝑔𝑟𝑒𝑒𝑠

Using MSC Adams plotter tool,

𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝜃3 = −20.00 𝑑𝑒𝑔𝑟𝑒𝑒𝑠

(Note: MSC Adams consider angle to be a scalar quantity, hence it will always be positive regardless of
its orientation)

Error Calculation
|−20 + 19.44|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 2.8%
20
For angle θ4,
Using Analytical analysis approach,

𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝜃4 = 65.33 𝑑𝑒𝑔𝑟𝑒𝑒𝑠

Using MSC Adams plotter tool,

𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝜃3 = 62.50 𝑑𝑒𝑔𝑟𝑒𝑒𝑠

(Note: MSC Adams consider angle to be a scalar quantity, hence it will always be positive regardless of
its position)

Error Calculation
|62.50 − 65.33|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 4.33%
65.33
Since the error % of both θ3 and θ4 are less than 10 %. It can be said that are results are accurate.
 4.2.5 Motion Analysis.
Previously, we have checked the value of the motion at t = 1.5 sec. In order to analyze the mechanism
throughout its motion, we will make the analytical analysis of the mechanism from t=0 sec to t=3sec
after every 0.5 sec. To do so, we will be following the same procedure for different times. We will find
the angles using the analytical analysis and then using the MSC Adams plotter tool. After that, we will
compare each of the values and find the percentage error between it. The table is plotted on MS. Excel

t θ3 θ3 θ3 θ4 θ4
S.no θ2 A B C θ4 Error
(sec) (calculated) (plotted) Error (calculated) (plotted)
1 0 83.0 0.4879 -1.9851 1.8442 -37.65 -38.00 0.92% 110.28 109.00 1.18%
2 0.5 78.0 0.4757 -1.9563 1.6598 -31.73 -31.00 2.36% 100.23 100.00 0.23%
3 1 68.0 0.4518 -1.8544 1.3026 -22.84 -19.50 14.64% 83.96 83.00 1.15%
4 1.5 55.0 0.4234 -1.6383 0.8762 -19.44 -20.00 4.33% 65.33 62.50 4.33%
5 2 41.5 0.3984 -1.3252 0.5005 -30.64 -31.50 2.73% 46.95 45.50 3.20%
6 2.5 31.5 0.3836 -1.045 0.2783 -41.32 -41.50 0.43% 33.31 32.00 4.08%
7 3 27.5 0.3786 -0.9235 0.2046 -43.25 -44.50 2.81% 27.69 25.00 10.77%
Table. 3.1. Values of θ3 and θ4 at various time t

To find the plotted values of θ3 and θ4, we have plotted the values from Fig. 3.8 and 3.10 of the report.
The graphs were checked at the corresponding values of time and then plotted accordingly.

The table allows us to compare the motion derived from analytical equation with the MSC Adams
plotter calculation.
4.3 VELOCITY ANALYSIS
4.3.1 Introduction
Velocity analysis is an important aspect when it comes to analyzing the dynamics of the linkage. It helps
us to determine the direction and the magnitude of the velocities of each point of the whole
mechanism. This study can be further extended on how the motion of each linkage is transferred from
one linkage to another. A design engineer can utilize this aspect and adjust the velocities of the motor
accordingly.

Velocity is defined as the rate of change of position with respect to time. Velocity can be angular or
linear. Angular velocity is denoted as ω and linear velocity as V. [8]
𝑑𝜃 𝑑𝑅
𝜔= 𝑉=
𝑑𝑡 𝑑𝑡

4.3.2 Analytical Analysis

4.3.2.1 Derivation of formula.

To derivative the formula, we will follow the similar procedure. The vector loop of the mechanism will
be considered once again. The vector loop equation is shown below. [8]

⃗⃗⃗⃗2 + 𝑅
𝑅 ⃗⃗⃗⃗3 − 𝑅
⃗⃗⃗⃗4 − 𝑅
⃗⃗⃗⃗1 = 0

Substituting with complex number notation of the vectors

𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 + 𝑐𝑒 𝑗𝜃4 + 𝑑𝑒 𝑗𝜃1 = 0

To get an expression for velocity, we will differentiate the following equation.

𝑑𝜃2 𝑑𝜃3 𝑑𝜃4

𝑗𝑎𝑒 𝑗𝜃2 + 𝑗𝑏𝑒 𝑗𝜃3 − 𝑗𝑐𝑒 𝑗𝜃4 =0
𝑑𝑡 𝑑𝑡 𝑑𝑡
But

𝑑𝜃2 𝑑𝜃3 𝑑𝜃4

= 𝜔2 ; = 𝜔3 ; = 𝜔4
𝑑𝑡 𝑑𝑡 𝑑𝑡
So,

𝑗𝑎𝑒 𝑗𝜃2 𝜔2 + 𝑗𝑏𝑒 𝑗𝜃3 𝜔3 − 𝑗𝑐𝑒 𝑗𝜃4 𝜔4 = 0

This equation is in fact the relative velocity equation or velocity difference equation.

𝑉𝐴 + 𝑉𝐴𝐵 − 𝑉𝐵 = 0

Where,

𝑉𝐴 = 𝑗𝑎𝜔2 𝑒 𝑗𝜃2

𝑉𝐴𝐵 = 𝑗𝑏𝜔3 𝑒 𝑗𝜃3

𝑉𝐵 = 𝑗𝑐𝜔4 𝑒 𝑗𝜃4
After expanding the complex part, multiply by j and separating the real and imaginary parts, yield us
with the two followings equations.

Real part (x component):

−𝑎𝜔2 sin 𝜃2 − 𝑏𝜔3 sin 𝜃3 + 𝑐𝜔4 sin 𝜃4 = 0

Imaginary part (y component):

𝑎𝜔2 cos 𝜃2 + 𝑏𝜔3 cos 𝜃3 − 𝑐𝜔4 cos 𝜃4 = 0

Solving the simultaneous equation to simplify equations for ω3 and ω4.

𝑎𝜔2 sin(𝜃4 − 𝜃2 )
𝜔3 =
𝑏 sin(𝜃3 − 𝜃4 )
𝑎𝜔2 sin(𝜃2 − 𝜃3 )
𝜔4 =
𝑐 sin(𝜃4 − 𝜃3 )

Once ω3 and ω4 have been calculated, linear velocities can be defined as following:

𝑉𝐴 = 𝑗𝑎𝜔2 (cos 𝜃2 + 𝑗 sin 𝜃2 ) = 𝑎𝜔2 (− sin 𝜃2 + 𝑗 cos 𝜃2 )

𝑉𝐵𝐴 = 𝑗𝑏𝜔3 (cos 𝜃3 + 𝑗 sin 𝜃3 ) = 𝑎𝜔3 (− sin 𝜃3 + 𝑗 cos 𝜃3 )

𝑉𝐵 = 𝑗𝑎𝜔4 (cos 𝜃4 + 𝑗 sin 𝜃4 ) = 𝑎𝜔4 (− sin 𝜃4 + 𝑗 cos 𝜃4 )

4.3.2.2 Calculation
In our mechanism, the links rotates from open position to a closed position under 3 seconds i.e. the
mechanism is at the open position at t = 0 sec, while it is at the close position at t = 3 sec. [9]

We will be analyzing the velocity of our mechanism between the start and end time, when t = 1.5 sec. It
means the linkage have rotated clockwise for 1.5 seconds from the open position.

To do so, we will need to find the angular velocity ω2 of the input link when t = 1.5 sec. To do so, first we
open the MSC Adams PostProcessor Window. There, we will select Input_1, and then select Angular
Velocity of CM. Select the z-axis as the axis of rotation, since the mechanism is rotating about the z-axis.
Finally, click on “Add Curves”.

Fig. 3.11. Data selection in MSC Adams PostProcessor

Window

This will plot the graph of the angular velocity ω2 of the input link against time t.

Fig. 3.12. Graph of angular velocity ω2 against time

𝑑𝑒𝑔
From the graph, it can be plotted that the value of angular velocity 𝜔2 𝑖𝑠 − 29.00 𝑠𝑒𝑐
𝑤ℎ𝑒𝑛 𝑡 =
1.5 𝑠𝑒𝑐.
Through this graph, we can visually calculate the value of angular velocity ω2 against time t. At time t =
1.5 sec, it can be seen that the value of ω2 is equal to -29.0 deg/sec. We will be using this angular
velocity to find the values of other angular velocity ω3 and ω4 using the analytical analysis.
From the positional analysis of the linkage done previously, we have calculated the angle of the linkages
when the linkage is at the open position. The value of these angles are as following:

𝜃2 = 55 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝜃3 = −19.44 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝜃4 = 65.33 𝑑𝑒𝑔𝑟𝑒𝑒𝑠

Using these values, the angular velocity of the coupler and output link will be calculated using the
formulas mentioned above.
𝑎𝜔2 sin(𝜃4 − 𝜃2 ) 40 × −29.0 sin(65.33 − 55) 𝑑𝑒𝑔
𝜔3 = = × = 9.81
𝑏 sin(𝜃3 − 𝜃4 ) 22 sin(−19.44 − 65.33) 𝑠𝑒𝑐
𝑎𝜔2 sin(𝜃2 − 𝜃3 ) 40 × −29.0 sin(55 − (−19.44)) 𝑑𝑒𝑔
𝜔4 = = × = −40.06
𝑐 sin(𝜃4 − 𝜃3 ) 28 sin(65.33 − (−19.44)) 𝑠𝑒𝑐

After finding the angular velocities ω3 and ω4, we will use it to find the linear velocity of each link.

(Note:- To calculate the velocity. We need to convert the angle from degrees to radian)

𝑉𝐴 = 𝑎𝜔2 (− sin 𝜃2 + 𝑗 cos 𝜃2 ) = 40 × −0.506 × (− sin 55 + 𝑗 cos 55) = 16.58 − 11.61𝑗 𝑚𝑚/𝑠𝑒𝑐

𝑉𝐵𝐴 = 𝑏𝜔3 (− sin 𝜃3 + 𝑗 cos 𝜃3 ) = 22 × 0.171 × (− sin(−19.44) + 𝑗 cos(−19.44))

𝑉𝐵𝐴 = 1.25 + 3.55𝑗 𝑚𝑚/𝑠𝑒𝑐

𝑉𝐵 = 𝑐𝜔4 (− sin 𝜃4 + 𝑗 cos 𝜃4 ) = 28 × −0.700 × (− sin 65.33 + 𝑗 cos 65.33)

𝑉𝐵 = 17.81 − 8.18𝑗 𝑚𝑚/𝑠𝑒𝑐

4.3.3 MATLAB Calculation
Furthermore, we will utilize the MATLAB software to calculate the values of both angular and
transitional velocities.

To do so, we first write the required code to calculate these values. First, we define the required
variables and then use the equations mentioned above to calculate the values.

Fig. 3.13. MATLAB code

After entering the code on the editor window, we will simulate the algorithm by clicking on the “Run”
button. The results that are shown are as plotted. The values are calculated and defined.

Fig. 3.14. MATLAB window defining all the solutions

4.3.4 MSC Adams Plotter Analysis
Using the MSC Adams plotter, we can plot the graph of the angular velocity ω3 and ω4 against time t.
The procedure of plotting the graph is similar to procedure mentioned above. First, we will plot the
angular velocity of the coupler link ω3 against time t. This will be done by selecting Coupler_1, and then
select Angular Velocity of CM. Click on the z-axis and click on “Add Curves”. The following graph will be
plotted.

Fig. 3.15. Graph of angular velocity ω3 against time

𝑑𝑒𝑔
From the graph, it can be plotted that the value of angular velocity 𝜔3 𝑖𝑠 9.00 𝑤ℎ𝑒𝑛 𝑡 = 1.5 𝑠𝑒𝑐.
𝑠𝑒𝑐

Similar procedure will be followed to plot the graph of angular velocity of output link ω4 against time t.
In this case, we will select Outputfront_1, and then select the Angular Velocity of CM. The following
graph will be plotted

Fig. 3.16. Graph of angular velocity ω4 against time

𝑑𝑒𝑔
From the graph, it can be plotted that the value of angular velocity 𝜔4 𝑖𝑠 − 40.00 𝑠𝑒𝑐
𝑤ℎ𝑒𝑛 𝑡 =
1.5 𝑠𝑒𝑐.
After plotting the graph of angular velocity, we will plot the graph of linear velocity of each link. The
magnitude of velocity will be plotted in both direction, x-axis and the y-axis. To do so, first we open the
MSC Adams PostProcessor Window. There we select the object “Input_1” and expand the object by
clicking on the plus side. There, we will select the marker where we will need to plot the velocity. Since
we need to find the velocity at joint A where the input and coupler link join, we will select the required
marker. Then we will click on “Transitional Velocity” and select both X and Y axis. Click on “Add Curves”
button and this plots the graph of velocity of Input_1 against time t. The following graph will be plotted.

Fig. 3.17. Graph of linear velocity Va against time

𝑚𝑚
From the graph, it can be plotted that at 𝑡𝑖𝑚𝑒 = 1.5 𝑠𝑒𝑐, 𝑡ℎ𝑒 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑉𝐴 = 16.5 − 12.0𝑗 𝑠𝑒𝑐
.

Unfortunately, we cannot plot the Velocity of point B relative to point A, VBA, this is because MSC Adams
calculates the velocity of a point relative to the Global Coordinate System, and it cannot plot a graph of
a velocity of a point relative to an another point.

Similar procedure will be repeated for plotting the velocity of the output link against time t. Select
object “Outputfront_1” and then select the marker which highlights joint B which connects the coupler
link to the output link. The following graph will be plotted.

Fig. 3.18. Graph of linear velocity Vb against time

𝑚𝑚
From the graph, it can be plotted that at 𝑡𝑖𝑚𝑒 = 1.5 𝑠𝑒𝑐, 𝑡ℎ𝑒 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑉𝑏 = 17.5 − 8.0𝑗 𝑠𝑒𝑐
.
(Note: - When plotting the velocities graph, we needed to ensure that the x-axis of the velocity part is in
the same direction as O2O4. To do so, we recreated our MSC Adams model by aligning the x-axis in such
a way that it lies at both ground joints that is O2 and O4. This ensures that the velocity plotted in the
graph matches the velocities that is calculated using the analytical analysis.)
4.3.5 Results Comparison

4.3.5.1 Comparing angular velocities

The angular velocity of the mechanism has been calculated using both analytical analysis and the MSC
Adams plotter tool. Now, the results will be compared for both angular velocity ω3 and ω4, and it the
error will be calculated corresponding to one another.

For angular velocity ω3

Using Analytical analysis approach,
𝑑𝑒𝑔
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝜔3 = 9.81
𝑠𝑒𝑐
Using MSC Adams plotter tool,
𝑑𝑒𝑔
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝜔3 = 9.00
𝑠𝑒𝑐
Error Calculation
|9.81 − 9.00)|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 8.25%
9.81

For angular velocity ω4

Using Analytical analysis approach,
𝑑𝑒𝑔
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝜔3 = −40.06
𝑠𝑒𝑐
Using MSC Adams plotter tool,
𝑑𝑒𝑔
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝜔3 = −40.00
𝑠𝑒𝑐
Error Calculation
|−40.06 − (−40.00)|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 0.15%
40.06
4.3.5.2 Comparing linear velocities
The angular velocity of the mechanism has been calculated using both analytical analysis and the MSC
Adams plotter tool. Now, the results will be compared for both linear velocity Va and Vb, and it the error
will be calculated corresponding to one another.

For linear velocity VA

Using Analytical analysis approach,
𝑚𝑚
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝑉𝐴 = 16.58 − 11.61𝑗
𝑠𝑒𝑐
Using MSC Adams plotter tool,
𝑚𝑚
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝑉𝐴 = 16.50 − 12.00𝑗
𝑠𝑒𝑐
Error Calculation

Linear Velocity Va at x - axis

|16.58 − 16.00)|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 3.50%
16.58
Linear Velocity Va at y - axis
|−11.61 − (−12.00)|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 3.17%
12.00

For linear velocity Vb

Using Analytical analysis approach,
𝑚𝑚
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝑉𝐴 = 17.81 − 8.18𝑗
𝑠𝑒𝑐
Using MSC Adams plotter tool,
𝑚𝑚
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝑉𝐴 = 17.50 − 8.00𝑗
𝑠𝑒𝑐
Error Calculation

Linear Velocity Vb at x-axis

|17.81 − 17.50)|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 1.74%
17.81
Linear Velocity Vb at y-axis
|−8.18 − (−8.00)|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 2.20%
8.18
Since the error % of every velocity is less than 10%. It can be said that are results are accurate
 Motion Analysis.

Previously, we have checked the velocity of the mechanism at t = 1.5 sec. In order to analyze the
mechanism throughout its motion, we will make the analytical analysis of the mechanism from t=0 sec
to t=3sec after every 0.5 sec. To do so, we will be following the same procedure for different times. We
will find the angles using the analytical analysis with the MATLAB code and then using the MSC Adams
plotter tool. After that, we will compare each of the values. The table is plotted on MS. Excel

S.no t (sec) θ2 θ3 θ4 ω2 ω3 ω4 VA (calculated) VA (plotted) VB (calculated) VB (plotted)

1 0 83 -37.65 110.28 0.00 0.00 0.00 0.00 - 0.00j 0.00 - 0.00j 0.00 - 0.00j 0.00 - 0.00j
2 0.5 78 -31.73 100.23 -16.00 14.80 -28.93 10.93 - 2.32j 11.0 - 2.00j 13.91 - 2.89j 15.00 - 3.00j
3 1 68 -22.84 83.96 -26.00 13.58 -38.79 16.83 - 6.80j 17.0 - 7.0j 18.85 - 1.99j 18.50 - 2.00j
4 1.5 55 -19.44 65.33 -29.00 9.49 -40.07 16.58 - 11.61j 16.50 - 12.00j 17.80 - 8.17j 17.50 - 8.00j
5 2 41.5 -30.64 46.95 -26.00 4.60 -36.20 12.03 - 13.59j 12.00 - 13.00j 12.93 - 12.08j 12.00 - 12.00j
6 2.5 31.5 -41.32 33.31 -16.00 0.95 -22.65 5.84 - 9.52j 5.5 - 10.0j 6.08 - 9.24j 6.00 - 9.50j
7 3 27.5 -43.25 27.69 0.00 0.00 0.00 0.00 - 0.00j 0.00 - 0.00j 0.00 - 0.00j 0.00 - 0.00j
Table. 3.2. Values of VA and VB at various time t

To find the plotted values of Va and Vb, we have plotted the values from Fig. 3.17 and 3.18 of the report.
The graphs were checked at the corresponding values of time and then plotted accordingly.

The table allows us to compare the motion derived from analytical equation with the MSC Adams
plotter calculation.
4.4 ACCELERATION ANALYSIS
4.4.1 Introduction
Acceleration analysis is dine to determine the acceleration of the mechanism at various points. This is
done to analyze the forces acting on the four bar mechanism at different point, which helps to
determine the stresses acting on the mechanism. In our analysis, we will limiting ourselves to radial and
tangential acceleration only and avoid working on other form of acceleration such as Coriolis
acceleration. [8]

Acceleration is defined as the rate if change of velocity with respect to time. Velocity is a vector quantity
and so is acceleration. Acceleration can be angular and linear. Angular acceleration is rate of change of
angular velocity and denoted as a while linear acceleration is rate of change of linear velocity and it is
denoted as A
𝑑𝜔 𝑑𝑉
𝛼= 𝐴=
𝑑𝑡 𝑑𝑡

4.4.2 Analytical Analysis

4.4.2.1 Derivation of formula.

To derivative the formula, we will follow the similar procedure. The vector loop of the mechanism will
be considered once again. The vector loop equation is shown below. [8]

⃗⃗⃗⃗2 + 𝑅
𝑅 ⃗⃗⃗⃗3 − 𝑅
⃗⃗⃗⃗4 − 𝑅
⃗⃗⃗⃗1 = 0

Substituting with complex number notation of the vectors

𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 + 𝑐𝑒 𝑗𝜃4 + 𝑑𝑒 𝑗𝜃1 = 0

We differentiate it against time to get an expression for velocity.

𝑗𝑎𝑒 𝑗𝜃2 𝜔2 + 𝑗𝑏𝑒 𝑗𝜃3 𝜔3 − 𝑗𝑐𝑒 𝑗𝜃4 𝜔4 = 0

We will differentiate this equation with respect to time. Grouping and simplifying the expression leads
to the final equation:

(𝑎𝛼2 𝑗𝑒 𝑗𝜃2 − 𝑎𝜔22 𝑒 𝑗𝜃2 ) + (𝑏𝛼3 𝑗𝑒 𝑗𝜃3 − 𝑏𝜔32 𝑒 𝑗𝜃3 ) − (𝑐𝛼4 𝑗𝑒 𝑗𝜃4 − 𝑐𝜔42 𝑒 𝑗𝜃4 ) = 0

The equation above is in fact the acceleration difference equation, with the labels used below”

𝐴𝐴 + 𝐴𝐴𝐵 − 𝐴𝐵 = 0

Where,

𝐴𝐴 = (𝐴𝐴𝑡 + 𝐴𝐴𝑛 ) = (𝑎𝛼2 𝑗𝑒 𝑗𝜃2 − 𝑎𝜔22 𝑒 𝑗𝜃2 )

𝐴𝐴𝐵 = (𝐴𝑡𝐵 + 𝐴𝑛𝐵 ) = (𝑏𝛼3 𝑗𝑒 𝑗𝜃3 − 𝑏𝜔32 𝑒 𝑗𝜃3 )

𝐴𝐵 = (𝐴𝑡𝐵 + 𝐴𝑛𝐵 ) = (𝑐𝛼4 𝑗𝑒 𝑗𝜃4 − 𝑐𝜔42 𝑒 𝑗𝜃4 )

We will substitute the Euler identity in the equation, and rearrange the terms and separate the equation
into real and imaginary terms.

Real Component (x-axis)

−𝑎𝛼2 sin 𝜃2 − 𝑎𝜔22 cos 𝜃2 − 𝑏𝛼3 sin 𝜃3 − 𝑏𝜔32 cos 𝜃3 + 𝑐𝛼4 sin 𝜃4 − 𝑐𝜔42 cos 𝜃4 = 0

Imaginary Component (y-axis)

𝑎𝛼2 cos 𝜃2 − 𝑎𝜔22 sin 𝜃2 + 𝑏𝛼3 cos 𝜃3 − 𝑏𝜔32 sin 𝜃3 − 𝑐𝛼4 cos 𝜃4 + 𝑐𝜔42 sin 𝜃4 = 0

Solving these equations simultaneously gives the expression of α3 and α4.

𝐶𝐷 − 𝐴𝐹
𝛼3 =
𝐴𝐸 − 𝐵𝐷
𝐶𝐸 − 𝐵𝐹
𝛼4 =
𝐴𝐸 − 𝐵𝐷
Where,

𝐴 = 𝑐 sin 𝜃4

𝐵 = 𝑏 sin 𝜃3

𝐶 = 𝑎𝛼2 cos 𝜃2 + 𝑎𝜔22 sin 𝜃2 + 𝑏𝜔32 cos 𝜃3 − 𝑐𝜔42 cos 𝜃4

𝐷 = 𝑐 cos 𝜃4

𝐸 = 𝑏 cos 𝜃3

𝐹 = 𝑎𝛼2 cos 𝜃2 − 𝑎𝜔22 sin 𝜃2 − 𝑏𝜔32 sin 𝜃3 + 𝑐𝜔42 sin 𝜃4

Once we have calculated the values of α3 and α4, we can solve for the linear acceleration by substituting
the Euler identity:

𝐴𝐴 = 𝑎𝛼2 (− sin 𝜃2 + 𝑗 cos 𝜃2 ) − 𝑎𝜔22 (cos 𝜃2 + 𝑗 sin 𝜃2 )

𝐴𝐵𝐴 = 𝑏𝛼3 (− sin 𝜃3 + 𝑗 cos 𝜃3 ) − 𝑏𝜔32 (cos 𝜃3 + 𝑗 sin 𝜃3 )

𝐴𝐵 = 𝑐𝛼4 (− sin 𝜃4 + 𝑗 cos 𝜃4 ) − 𝑐𝜔42 (cos 𝜃4 + 𝑗 sin 𝜃4 )

4.4.2.2 Calculations
In our mechanism, the links rotates from open position to a closed position under 3 seconds i.e. the
mechanism is at the open position at t = 0 sec, while it is at the close position at t = 3 sec. [9]

We will be analyzing the acceleration of our mechanism between the start and end time, when t = 1.5 sec.
It means the linkage have rotated clockwise for 1.5 seconds from the open position.

To do so, we will need to find the angular acceleration α2 of the input link when t = 1.5 sec. To do so,
first we open the MSC Adams PostProcessor Window. There, we will select Input_1, and then select
Angular Acceleration of CM. Select the z-axis as the axis of rotation, since the mechanism is rotating
about the z-axis. Finally, click on “Add Curves”.

This will plot the graph of the angular acceleration α2 of the input link against time t.

Fig. 3.19. Data selection in MSC Adams PostProcessor

This will plot the graph of the angular acceleration α2 of the input link against time t.

Fig. 3.20. Graph of angular acceleration α2 against time

𝑑𝑒𝑔
From the graph, it can be plotted that the value of angular acceleration is 𝛼2 𝑖𝑠 0 𝑠𝑒𝑐
𝑤ℎ𝑒𝑛 𝑡 =
1.5 𝑠𝑒𝑐.
From the positional analysis of the linkage done previously, we have calculated the angle of the linkages
when the linkage is at the open position. The value of these angles are as following:

𝜃2 = 55 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝜃3 = −19.44 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝜃4 = 65.33 𝑑𝑒𝑔𝑟𝑒𝑒𝑠

Similarly, from the velocity analysis performed before, we have calculated the angular velocity of the
linkages when the linkage is at the open position. The value of the angular velocity are as following:
𝑑𝑒𝑔 𝑑𝑒𝑔 𝑑𝑒𝑔
𝜔2 = −29.0 𝜔3 = 9.81 𝜔4 = −40.06
𝑠𝑒𝑐 𝑠𝑒𝑐 𝑠𝑒𝑐

Using these previous values, we will find the variables A, B, C, D, E, F.

𝐴 = 𝑐 sin 𝜃4 = 28 sin 65.33 = 25.444

𝐵 = 𝑏 sin 𝜃3 = 22 sin(−19.44) = −7.322

𝐶 = 𝑎𝛼2 sin 𝜃2 + 𝑎𝜔22 cos 𝜃2 + 𝑏𝜔32 cos 𝜃3 − 𝑐𝜔42 cos 𝜃4

𝐶 = 40 × 0 × sin 55 + 40 × (−0.506)2 × cos 55 − 22 × 0.1712

× cos(−19.44) − 28 × 0.6992 × cos 65.33

𝐶 = −0.447

𝐷 = 𝑐 cos 𝜃4 = 28 cos 65.33 = 11.687

𝐸 = 𝑏 cos 𝜃3 = 22 cos(−19.44) = 20.746

𝐹 = 𝑎𝛼2 cos 𝜃2 − 𝑎𝜔22 sin 𝜃2 − 𝑏𝜔32 sin 𝜃3 + 𝑐𝜔42 sin 𝜃4

𝐹 = 40 × 0 × cos 55 − 40 × (−0.506)2 × sin 55 − 22 × 0.1712

× sin(−19.44) − 28 × 0.6992 × sin 65.33

𝐹 = 4.257

We will use these variables to calculate the values of α3 and α4.

𝐶𝐷 − 𝐴𝐹 (−0.447)(11.687) − (25.444)(4.257) 𝑟𝑎𝑑 𝑑𝑒𝑔

𝛼3 = = = −0.185 2 = 10.59 2
𝐴𝐸 − 𝐵𝐷 (25.444)(20.746) − (−7.322)(11.687) 𝑠 𝑠

𝐶𝐸 − 𝐵𝐹 (0.447)(20.746) − (−7.322)(4.257) 𝑟𝑎𝑑 𝑑𝑒𝑔

𝛼4 = = = 0.0357 2 = 2.05 2
𝐴𝐸 − 𝐵𝐷 (25.444)(20.746) − (−7.322)(11.687) 𝑠 𝑠
Using these values of α3 and α4, we will find the linear velocities

𝐴𝐴 = 𝑎𝛼2 (− sin 𝜃2 + 𝑗 cos 𝜃2 ) − 𝑎𝜔22 (cos 𝜃2 + 𝑗 sin 𝜃2 )

𝐴𝐴 = 40 × (0) × (− sin 55 + 𝑗 cos 55) − 40 × (−0.506) 2 × (cos 55 + 𝑗 sin 55)

𝑚𝑚
𝐴𝐴 = −5.874 − 8.389𝑗
𝑠𝑒𝑐 2
𝐴𝐵𝐴 = 𝑏𝛼3 (− sin 𝜃3 + 𝑗 cos 𝜃3 ) − 𝑏𝜔32 (cos 𝜃3 + 𝑗 sin 𝜃3 )

𝐴𝐵𝐴 = 22 × (−0.185) × (− sin(−19.44) + 𝑗 cos(−19.44)) − 22 × (−0.506) 2

× (cos(−19.44) + 𝑗 sin(−19.44))
𝑚𝑚
𝐴𝐵𝐴 = −6.666 − 1.963𝑗
𝑠𝑒𝑐 2
𝐴𝐵 = 𝑐𝛼4 (− sin 𝜃4 + 𝑗 cos 𝜃4 ) − 𝑐𝜔42 (cos 𝜃4 + 𝑗 sin 𝜃4 )

𝐴𝐵 = 28 × (0.0608) × (− sin 65.33 + 𝑗 cos 65.33) − 28 × (0.699) 2 × (cos 65.33 + 𝑗 sin 65.33)
𝑚𝑚
𝐴𝐵 = −7.257 − 11.721𝑗
𝑠𝑒𝑐 2
4.4.3 MATLAB Calculations
Furthermore, we will utilize the MATLAB software to calculate the values of both angular and
transitional accelerations.

To do so, we first write the required code to calculate these values. First, we define the required
variables and then use the equations mentioned above to calculate the values.

Fig. 3.21. MATLAB Code

After entering the code on the editor window, we will simulate the algorithm by clicking on the “Run”
button. The results that are shown are as plotted. The values are calculated and defined.

Fig. 3.22 MATLAB window defining all the solutions

4.4.4 MSC Adams Plotter Analysis
Using the MSC Adams plotter, we can plot the graph of the angular acceleration α3 and α4 against time t.
The procedure of plotting the graph is similar to procedure mentioned above. First, we will plot the
angular acceleration of the coupler link α3 against time t. This will be done by selecting Coupler_1, and
then select Angular Acceleration of CM. Click on the z-axis and click on “Add Curves”. The following
graph will be plotted.

Fig. 3.23. Graph of angular acceleration α3 against time

𝑑𝑒𝑔
From the graph, it can be plotted that the value of angular acceleration is 𝛼3 𝑖𝑠 − 9.5 𝑠𝑒𝑐 2 𝑤ℎ𝑒𝑛 𝑡 =
1.5 𝑠𝑒𝑐
Similar procedure will be followed to plot the graph of angular acceleration of output link α4 against
time t. In this case, we will select Outputfront_1, and then select the Angular Acceleration of CM. The
following graph will be plotted

Fig. 3.24. Graph of angular acceleration α4 against time

𝑑𝑒𝑔
From the graph, it can be plotted that the value of angular acceleration is 𝛼4 𝑖𝑠 2.5 𝑠𝑒𝑐 2
𝑤ℎ𝑒𝑛 𝑡 =
1.5 𝑠𝑒𝑐
After plotting the graph of angular acceleration, we will plot the graph of linear acceleration of each link.
The magnitude of velocity will be plotted in both direction, x-axis and the y-axis. To do so, first we open
the MSC Adams PostProcessor Window. There we select the object “Input_1” and expand the object by
clicking on the plus side. There, we will select the marker where we will need to plot the acceleration.
Since we need to find the acceleration at joint A where the input and coupler link join, we will select the
required marker. Then we will click on “Transitional Acceleration” and select both X and Y axis. Click on
“Add Curves” button and this plots the graph of acceleration of Input_1 against time t. The following
graph will be plotted.

Fig. 3.25. Graph of linear acceleration Aa against time

𝑚𝑚
From the graph, it can be plotted that at 𝑡𝑖𝑚𝑒 = 1.5 𝑠𝑒𝑐, 𝑡ℎ𝑒 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝐴𝐴 = – 6.0 – 8.5𝑗 .
𝑠𝑒𝑐 2

Similar procedure will be repeated for plotting the velocity of the output link against time t. Select
object “Outputfront_1” and then select the marker which highlights joint B which connects the coupler
link to the output link. The following graph will be plotted.

Fig. 3.26. Graph of linear acceleration Ab against time

𝑚𝑚
From the graph, it can be plotted that at 𝑡𝑖𝑚𝑒 = 1.5 𝑠𝑒𝑐, 𝑡ℎ𝑒 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝐴𝐵 = −7.5 – 11.0 𝑗 𝑠𝑒𝑐 2 .
(Note: - When plotting the acceleration graph, we needed to ensure that the x-axis of the acceleration
part is in the same direction as O2O2. To do so, we recreated our MSC Adams model by aligning the x-
axis in such a way that it lies at both ground joints that is O2 and O4. This ensures that the acceleration
plotted in the graph matches the accelerations that are calculated using the analytical analysis.)
4.4.5 Comparison

4.4.5.1 Comparing angular acceleration

The angular acceleration of the mechanism has been calculated using both analytical analysis and the
MSC Adams plotter tool. Now, the results will be compared for both angular acceleration α3 and α4, and
it the error will be calculated corresponding to one another.

For angular acceleration α3

Using Analytical analysis approach,
𝑑𝑒𝑔
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝛼3 = −10.59
𝑠𝑒𝑐 2
Using MSC Adams plotter tool,
𝑑𝑒𝑔
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝛼3 = −9.50
𝑠𝑒𝑐 2
Error Calculation
|−10.59 − (−9.50)|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 10.29%
10.59

For angular acceleration α4

Using Analytical analysis approach,
𝑑𝑒𝑔
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝛼4 = 2.05
𝑠𝑒𝑐 2
Using MSC Adams plotter tool,
𝑑𝑒𝑔
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝛼4 = 2.5
𝑠𝑒𝑐 2
Error Calculation
|2.0 − 2.05|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 2.2%
2.05
4.4.5.2 Comparing linear velocities
The angular acceleration of the mechanism has been calculated using both analytical analysis and the
MSC Adams plotter tool. Now, the results will be compared for both linear acceleration Aa and Ab, and it
the error will be calculated corresponding to one another.

For linear acceleration AA

Using Analytical analysis approach,
𝑚𝑚
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝐴𝐴 = −5.87 − 8.39𝑗
𝑠𝑒𝑐 2
Using MSC Adams plotter tool,
𝑚𝑚
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝐴𝐵 = −6.00 − 8.5001𝑗
𝑠𝑒𝑐 2
Error Calculation

Linear Acceleration AA at x-axis

|−5.87 − (−6.00)|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 2.10%
6.00
Linear Acceleration AA at y-axis
|−8.34 − (−8.50)|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 1.31%
8.50

For linear acceleration AB

Using Analytical analysis approach,
𝑚𝑚
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝐴𝐵 = −7.26 − 11.72𝑗
𝑠𝑒𝑐 2
Using MSC Adams plotter tool,
𝑚𝑚
𝐴𝑡 𝑡 = 1.5 𝑠𝑒𝑐, 𝑉𝐴 = −7.50 − 11.00𝑗
𝑠𝑒𝑐 2
Error Calculation

Linear Acceleration AB at x-axis

|−7.26 − (−7.50)|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 3.2%
7.50
Linear Acceleration AB at y-axis
|−11.72 − (−11.00)|
𝐸𝑟𝑟𝑜𝑟 % = × 100 = 6.14%
11.72
Since the error % of every acceleration is less than 10%. It can be said that are results are accurate
 4.4.6 Motion Analysis.
Previously, we have checked the acceleration of the mechanism at t = 1.5 sec. In order to analyze the
mechanism throughout its motion, we will make the analytical analysis of the mechanism from t=0 sec
to t=3sec after every 0.5 sec. To do so, we will be following the same procedure for different times. We
will find the acceleration using the analytical analysis with the MATLAB code and then using the MSC
Adams plotter tool. After that, we will compare each of the values. The table is plotted on MS. Excel

S.no t (sec) θ2 θ3 θ4 ω2 ω3 ω4 α2 α3 α 4 AA (calculated) AA (plotted) AB (calculated) AB (plotted)

1 0 83 -37.65 110.28 0.00 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00j 0.00 + 0.00j 0.00 + 0.00j 0.00 + 0.00j
2 0.5 78 -31.73 100.23 -16.00 14.80 -28.93 -26.00 5.72 -32.74 17.11 - 6.83j 17.0 - 7.00j 17.01 - 4.18j 28.00 - 5.00j
3 1 68 -22.84 83.96 -26.00 13.58 -38.79 -13.00 -7.55 -9.08 5.32 - 11.04j 6.0 - 11.0j 3.06 - 13.23j 3.00 - 13.23j
4 1.5 55 -19.44 65.33 -29.00 9.49 -40.07 0.00 -9.31 4.32 5.88 - 8.39j -6.00 - 8.50j -7.64 - 11.56j -7.50 -12.00j
5 2 41.5 -30.64 46.95 -26.00 4.60 -36.20 13.00 -10.16 18.66 -12.18 + 1.34j -12.00 + 1.50j -14.29 - 1.94j -14.00 - 2.00j
6 2.5 31.5 -41.32 33.31 -16.00 0.95 -22.65 26.00 -4.94 36.31 -12.14 + 13.85 -12.00 + 14.00j -13.40 + 12.43j -13.50 + 12.00j
7 3 27.5 -43.25 27.69 0.00 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00j 0.00 + 0.00j 0.00 + 0.00j 0.00 + 0.00j
Table. 3.3. Values of Aa and Ab at various time t

To find the plotted values of Aa and Ab, we have plotted the values from Fig. 3.25 and 3.26 of the report.
The graphs were checked at the corresponding values of time and then plotted accordingly.

The table allows us to compare the motion derived from analytical equation with the MSC Adams
plotter calculation.
 5 REFERENCES
1) Groover, M.P., Weiss, M., Nagel, N. R., Odrey, N. G., Industrial robotics, McGraw Hill, 1986.
2) Chen F. Y., Gripping mechanisms for industrial robots, Mechanism and machine theory.
3) Hassan A., Design of a Single DOF Gripper based on Four-bar and Slider-crank Mechanism for
Educational Purposes, CIRP procedia
4) S. Raval, B. Patel, “A review on Grasping Principle and Robotic Grippers”
5) "Alloying of Steels". Metallurgical Consultants.
6) N. V. Sabnis, “A Review: State of The Art of Robotic Grippers”,
7) J. M. McCarthy and G. S. Soh, Geometric Design of Linkages, 2nd Edition, Springer, 2010
8) Design of Machinery 3/e, Robert L. Norton, 2 May 2003, McGraw Hill.
9) N. Rahman, M. D’Imperio, L. Carbonari, M. Palpacelli, F. Cannella and D. Caldwell, “Kinematic
analysis and synthesis of a novel gripper for dexterous applications”.

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