2 2 2 2
1 2 3 2
d d a b c dK K K
a c ac
LEC 04 - Example 1
2 1 2 2 3
2
1 2 2 3
cos cos
2sin
1 cos
A K K K
B
C K K K
2 2 2 2
1 4 5 2
d d c d a bK K K
a b ab
2 1 4 2 5
2
1 4 2 5
cos cos
2sin
1 cos
D K K K
E
F K K K
LEC 04 - Example 1 (Cont.)
LEC 05 - Example 1
2 2 2 21 2 3 2 2 K a b c d K ac K ad
1 3
2
1 3
2
A K K
B K
C K K
LEC 05 - Example 2
LEC 05 - Example 2 (Cont.)
LEC 05 - Example 3
Given:1 2 4 26 in, 2 in, 4 in, 90 , 30L L L
Find:3 4all possible solutions for , , and b.
2 2
2 2
sin sin cos cos
sin cos cos sin
sin
P a a d
Q a a d
R c
; 2 ;S R Q T P U Q R
1,2
2
4
42arctan
2
T T SUS
2 4
3
sin sin
sin
a cb
P
Y
X
2 2 2 2
1 2 3 2
d d a b c dK K K
a c ac
2 1 2 2 3
2
1 2 2 3
cos cos
2sin
1 cos
A K K K
B
C K K K
1,2
2
4
42arctan
2
B B ACA
LEC 06 - Example 1
LEC 06 - Example 1 (Cont.)
Determine the piston position, d, with respect to the XY global coordinatesystem at the instant shown.
Also, determine the piston displacement as the crank rotates 95 deg.clockwise from the position shown.
LEC 06 - Example 2
LEC 06 Example 2 (Cont.)