A. G.

ERDMAN
Assistant Professor of
Mechanical Engineering, University of
A General Method for Kineto-Elastodynamic
Minnesota, Minneapolis, Minn.,
Formerly, G r a d u a t e Research Assistant,
Rensselaer Polytechnic Institute.
Assoc. M e m . ASME
Analysis and Synthesis of Mechanisms'
Kineto-elastodynamics is the study of the motion of mechanisms consisting of elements
G. N. SANDOR which may deflect due to external loads or internal body forces. This paper describes
A L C O A Foundation Professor of the initial phases in the development of a general method of kineto-elastodynamic analysis
Mechanical Design, Chairman, and synthesis based on the flexibility approach of structural analysis, •which may be
Division o f Machines and Structures.
applied to any planar or spatial mechanism. Dynamic error is investigated due to
Fellow ASME
flexural, longitudinal, and torsional element strain, and system inertia fluctuations;
the treatment of Coulomb and viscous friction is indicated. Kineto-Elastodynamic
R. G. OAKBERG Stretch Rotation Operators are derived which will rotate and stretch both planar and
Assistant Professor of Civil Engineering. spatial link vectors reflecting rigid body motion plus elastic deformations of the link.
Rensselaer Polytechnic Institute, A numerical example is presented to demonstrate the elastodynamic analysis technique.
Troy, N. Y.

Introduction synthesis techniques. A publication on mechanism dynamics,

L
HK past ten years have seen tremendous strides in
the field of kinematics. Kinematic synthesis has become a
powerful design tool for the engineer, surpassing in certain
respects previous kinematic design techniques, which may now
be classified as "classical kinematics." There is, however,
one major shortcoming of present kinematic synthesis techniques.
This is the "rigidity" assumption which prevails throughout the
literature with few notable exceptions. . Mechanisms consisting
of links, gears, sliders, etc., are not rigid in actuality—they are
elastic and deflect when subject to high static or dynamic forces.
In low-speed motion, if static forces are not high, the designer
usually will not need to concern himself with the inherent elas-
ticity of a mechanism system, but in high-speed applications he
may find the same mechanism inoperable due to high fluctuating
inertia forces.
The motivation behind the search for new synthesis procedures
recognizing the elastic properties of mechanisms has originated
from just such occurrences. For example, a gripper mechanism
in a high-speed printing press may be synthesized kinematically
with all links regarded as rigid. In the actual performance, how-
ever, such a linkage may accomplish its task only up to one-half
design speed; above that speed, the gripper may miss the target.
The literature has recognized the need for dynamic analysis and
1 yield the rigid body plus elastic motion. Boronkay and Mei [24]
Based on the initial phase of a dissertation by the first author
toward partial fulfillment of the requirements for the degree of
Doctor of Philosophy (Mechanical Engineering), Machines and
Structures Division, School of Engineering, Rensselaer Polytechnic
Institute.
Contributed by the Mechanisms Committee and presented at the
Winter Annual Meeting, Washington, D. C , November 28-December
2, 1971, of T H E AMERICAN SOCIETY OF MECHANICAL ENGINEEBS.
Manuscript received at ASME Headquarters, May 30, 1970. Paper
No. 71-WA/DE-6.
however, may fall under many subcategories such as kinematic
derivatives [1-7] 2 , harmonic analysis [8], balancing [9-17],
vibrations [18-22, 40], elastic analysis [23-24], structural
analysis [35-38], stability [39-41], time response [15-17, 42-47]
or backlash and impact [48-52]. (Benedict [43] cites a fairly
complete - set of references in dynamics which will not be re-
peated here.) The great majority of work in dynamics of mech-
anisms falls under the kinematic derivatives category (some-
times obtained by way of the Lagrangian approach) which
assumes rigid mechanism elements. Some authors [8, 18-22,
27-34, 39, 40] have dealt with "elastic complex" systems, i.e.,
systems with mixed elastic and nonelastic members. Because of
the complexity of the solutions, usually only one element is con-
sidered elastic, and then only with one degree of freedom of de^
formation: torsion, extensibility, or lateral bending. Lagrangian
mechanics or energy methods are often employed to derive equa-
tions of motion, b u t many simplifying assumptions, which must
be made in order to solve these equations, unfortunately make
the model and solution often impractical. Since designers deal
with completely elastic systems, these methods do not lead to
meaningful solutions except in very simple cases. The authors of
the paper believe t h a t structural dynamics techniques based on
the finite element method constitute a more desirable approach
to analyzing and synthesizing a completely elastic system.
Recently, Winfrey [26] has performed a kinematic analysis
combined with the structural dynamics stiffness technique to
have analyzed a multiple input flexible link mechanism using the
finite element method where the revolute joints are replaced by
flexible joints. The kineto-elastodynamic analysis method pre-
sented in this paper, based on the flexibility method of structural
analysis, is adaptable for the treatment of the effects of viscous
Numbers in brackets designate References at end of paper.

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 and coulomb friction, inertia fluctuations seen by the input ele-
ment, and power input and output of the system.
A few authors have published articles concerning dynamic
synthesis, b u t in a limited sense. Most of these contributors
have synthesized for prescribed kinematic derivatives assuming
a rigid system. This is termed "point dynamic synthesis" [2].
Sherwood examines the fluctuation of the input angular velocity
of the rigid mechanism due to varying torques and resynthesizes by
redistribution of mass [16, 17] or adjusting one link length
[15]. Skreiner [47] resynthesizes a rigid four bar p a t h generator
in order to minimize shaking and pin forces by addition of mass
and springs to the system. Burns and Crossley [32-33] perform
a kineto-elastostatic synthesis on a four bar function generator
with a flexible coupler. They describe a graphical solution for a
constant torque output. Shoupe [30] has synthesized function
generators which would be rigid except for one highly flexible
member. The general method of kineto-elastodynamic synthesis
proposed in this paper will, for the first time, it is believed, include
all kinematic and dynamic effects influencing the motion of elastic
mechanisms.
Since there are some inconsistencies in the literature in the
nomenclature involving mechanism dynamics, the authors would
like to propose definitions for the following general expressions.
Kinematic Analysis. Examination of the displacements, velocity
ratios, acceleration ratios, etc., of a mechanism with all its mem-
bers regarded as rigid. The reference variable is a position pa-
rameter.
Dynamic Analysis. Determination of t h e displacements, veloci-
ties, accelerations, etc., of a mechanism, including derivations of
inertia forces of a mechanism made up of rigid members. The
reference variable is time.
Elastic Analysis. Examination of the stresses and deflections of
an elastic system due to static load in order to determine system
flexibilities or stiffness.
Elastodynamic Analysis. Examination of displacements, veloci-
ties, accelerations, stresses, strains, etc., of a moving elastic mech-
anism. Inertia forces are calculated by assuming all of the mem-
bers rigid.
Kineto-Elastodynamic Analysis. Examination of the displace-
ments, velocities, accelerations, stresses, strains, etc., of a moving
elastic mechanism. Effects of elastic deformation upon the inertia
forces are included in the analysis.
A,E,I
'«2
A,E, I
3 •»!
(b)
A,E.I
TA ~~M~
Fig. 1 Models for elastic analysis: (a) cantilever b e a m , (fe) t w o force
member, and (c) simply supported beam w i t h end moment
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Kinematic Synthesis. Creations of a mechanism which satisfies
various combinations of prescribed positions, velocity ratios
acceleration ratios, etc., assuming all members as rigid and mass-
less. The reference variable is a position parameter.
Dynamic Synthesis. Creation of a mechanism which satisfies
various combinations of prescribed positions, velocities, accelera-
tions, etc., considering members as rigid and as having concen-
trated or distributed masses. The reference variable is time.
Dynamic Balancing. Same as dynamic synthesis, but including
minimization of shaking forces and/or moments within a mech-
anism and those transmitted to its supports.
Kineto-Elastostatic Synthesis. Creation of a mechanism which
satisfies various combinations of prescribed positions, velocity
ratios, acceleration ratios, force and torque transmissions, etc.
The reference variable is a position parameter. Mechanism mem-
bers are assumed to be elastic.
Kineto-Elastodynamic Synthesis. Creation of a mechanism which
satisfies various combinations of positions, velocities, accelera-
tions, force and torque transmissions, stresses, strains, etc., at
predetermined running speeds. Mechanism membei's are as-
sumed to be elastic and have concentrated or distributed masses.
Kineto-Elastodynamics. The study of the motions of mechanisms
consisting of elements which may deflect due to external loads or
internal body forces.
Analysis of Elastic Systems
Any mechanism may be considered a structure if its rigid-
body-kinematic degrees of freedom are removed. The structure
is a system of several elements which may have internal elastic
degrees of freedom. A four-bar linkage may be converted into a
structure by modeling the input link as a cantilever or fixed-free
beam, as in Fig. 1(a). (Winfrey [26] concludes t h a t a rotating
elastic rod vibrates as a rotating elastic cantilever beam.) The
beam has length I, cross-sectional area A, modulus of elasticity E,
and cross-sectional moment of inertia I about its Z axis, normal
to the plane of the mechanism. The element forces /i, f-i, and
element moment / 3 cause end deflections d1: dt, and angular de-
flection d3 which are expressed as:
pl~l r/i"|
di = [F] /• (1)
_d3_
L/.J
where [F] is the element flexibility matrix:
l/AE 0 0
0 l3/3EI l*/2EI (2)
m= 0 P/2EI l/EI
A two-force member representing a link with two pin joints,
shown in Fig. 1(6), can only transmit longitudinal force. Thus,
its flexibility matrix has only one term:
[F] = [l/AE] (3)
[dd = [l/Am\fi] (4)
A link subject to torsion, Fig. 2(a), (such as the shaft con-
necting the motor to the input link) will have a flexibility ma-
trix as follows: .
[F] = [l/QJ] (5)
so t h a t
[dd = [i/ojm,]: (6)
where
di = relative torsional (angular) deformation in length l
G = modulus of elasticity in shear
/ = polar moment of inertia of the (circular) crosi
ross section
Transactions of the ASME

Fig. 2 Models for elastic analysis: (a) torsional member and (b) spatial
R-S member
fa = torque transmitted through length /
A link with a slider connected by way of a revolute joint acts as a
freely supported beam at the slider end.
In some cases a mechanism link is not just a simple straight
beam, but a flexibility matrix may be pieced together with a
basic knowledge of beam theory. For example, in Fig. 3 the
coupler link is composed of two elements separated by a fixed
angle a. Element 1 may be treated as a simple cantilever beam
with three elastic degrees of freedom, while element 2 is treated as
a simply supported beam with a moment fa on the left end (due to
element 1) and a longitudinal force fa as in Fig. 1(c). Thus, the
flexibility matrix for element 2 will be:
0
[F] =
'l/AE
0 1EIJ
l/ZEI. 1 (7)
Gears may also be modeled to determine their elastic deforma-
tions. Gear teeth are investigated [59] by considering the tooth
as a cantilever beam. The total deformation of the tooth con-
sisting of the result of direct compression at the point of contact
between teeth and of beam deflection and shear may be calcu-
lated.
Fig. 3 Case I . Four-bar path generator w i t h disk mass located at path
point P. Elements 1 , 2 , 3 , and 4 are elastic
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Spatial linkages may also be modeled according to their type
of connection. A spatial link with two spherical joints (S-S) has
only a longitudinal degree of freedom, and in essence is a two-
force member. An R-S (revolute-spherical) link, Fig. 2(6), will
possess two elastic degrees of freedom. The flexibility matrix for
this case is
m - [/AE
0
0
l»/3EI_
(8)
so that
L«4j
[F]
CO (9)
Flexibility Approach
A mechanism is composed of various combinations of elements,
each of which can be represented by a known structural model
as was demonstrated in the preceding section. The deflections of
the entire mechanism system may be derived by performing an
elastic analysis via the flexibility approach. The mechanism will
have system, or generalized external forces acting upon it which
will be represented by the column matrix [P3-] j = 1, . . .TO, where
m is the number of system forces. The number of elastic degrees
of freedom of the system is the sum of the elastic degrees of free-
dom of its elements; each degree of freedom being represented
by an element coordinate xit i = 1, . . ,n, where n is the number
of element coordinates. In order to transfer the system forces
into element or internal forces [/;], i = 1, . . . . n, each acting in
the respective element coordinate direction, an n X m force
transfer matrix [B] is derived by the methods of static analysis.
This matrix is dependent upon the configuration of the system and,
therefore, is a function of the independent variable—say the input
angle of the single-degree-of-freedom rigid body-kinematic sys-
tem. A matrix of element flexibilities, [F], an n X n matrix
which is independent of the input angle, is composed of the element
flexibility matrices along its diagonal. Premultiplying the ele-
ment forces by the matrix of element flexibilities will yield the
element deformations [di], i = 1 . . . n. Finally, the element
deformations are transformed into system, or generalized deflec-
tions [5j], j = 1, . . ., in, by premultiplying by the transpose of
the force transfer matrix, [B] ' , a n m X » matrix, as follows:
[5] = IB]'[F][B]IP}, (10)
where
[/I = [B][P], (11)
and
Id] = [F] If], (12)
and where the matrix product [B]'[F] [B] represents the system
flexibility matrix [ff], an m X TO matrix which depends on the
input angle.
Four-Bar Path or Motion Generator
In order to illustrate the application of the flexibility method
of mechanism analysis, an elastodynamic analysis will be per-
formed on a planar four-bar path or motion generator, Fig. 3,
in order to determine the elastic displacement of the path point P
through its cycle of motion, where element 3 is the input member.
The coupler link consists of two elements separated by a fixed
angle a. Three cases will be described in increasing levels of
accuracy, each of which include the results of the previous level
and build upon it, taking additional effects into account to come
closer to reality.
Case 1. As a first model, a completely elastic moving system
made up of elements 1, 2, 3, and 4 (Fig. 4), will be analyzed.
The links are assumed massless compared to an inertial mass
NOVEMBER 1 9 7 2 / 1195

Fig. 4 Element diagram for Case 1 showing the element coordinates and
system forces
in a desired system configuration, characterized by the input angle
4> = </>! (the jth position of the mechanism), is examined. Ele-
ments 1 and 3 are modelled as cantilever or fixed-free beams,
element 2 is a simply supported beam, and element 4 is a two-
force member. Notice that element 3 has no moment acting at
its "free" end because the beam is massless and no moment may
be transmitted to it through a pin joint. Notice, also, that ele-
ment 2 has a moment applied to its left end which is present due
to the fixed angle between elements 1 and 2. There are eight
element coordinates (n = 8) representing the eight elastic degrees
of freedom of this model. The force transfer matrix [B] and the
matrix of element flexibilities [F] for case 1 are derived in the
Appendix.
Case 2. The second model is similar to the first, except that
each element has a concentrated or a disk mass located at each
joint (as shown in Fig. 7) resulting in eight system forces (m = 8)
instead of only the three system forces at the tracer point. The
system forces, directed in the eight element-coordinate directions,
represent the inertia forces of each element due to each equivalent
mass. Equation (10)is still valid,except for the following changes
in matrix dimensions: [Py] for j = 1, . . ., 8, (8 X 1 instead of
3 X 1); [B'\ a new 8 X 8 matrix, replaces the 8 X 3 [B] matrix;
([Bl] remains the same, since only the deformations at the path
point are of interest). The new force transfer matrix is, in par-
titioned form:

0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
1 0 0 -C(f>\ 0
[B'\ [B] 1 0
(13)
0 8<j>\ 0
0 0 1 0 0
0 0 0 1 0
0 0 0 0 1

Where [B] is the previous 8 X 3 matrix (equation (52)), and, in

symbolic form, C<pX = cos (<j> — \ ) and S<j>\ = sin ((j> — X).
Thus:

8i"
F B' "Pi"
B'
(14)
(3 X 8) (8 X 8) (8 X 8)
s3_ _Ps.

Fig. 5 Force diagram of coupler for Case 1 Notice that any number of additional inertia forces may be
added to the above system, but the matrices will increase in size.
For instance, if there are seventeen system forces and ten element
coordinates, then the ten element deflections will be expressed as:

Fig. 6 Force diagram of element 2 for Case T

located at the path point P. Thus the external or generalized

forces acting on the system are the horizontal and vertical inertial
forces Pi and Pi plus an mertial torque Ps, all located at the path
point (m = 3). In order to perform on elastodynamic analysis
on the mechanism, the departure from the rigid-body position Fig. 7 Element d i a g r a m for Case 2 showing system forces P i through Pt

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 dynamic Stretch Rotation Operator (KEDSRO). • This is a vector-
stretch-rotation operator which includes kineto-elastodynamic
effects:

e [i(*j+A*,) + AL,] = K E D g R o (16)

where
(j)j = the rigid rotation from the first to the jth position
A0y = the additional rotation due to element elasticity a n d /
or timing shift

Ai, = l n ^ ^ (17)

Fig. 8 Case 3. Distributed mass elastic system

<2i"
F" B" ~pr
=
_rfio_ (10 X 10) (10 X 17)
_-Piv_

Case 3. In the third model, the mass of each element is dis-

tributed along the element in the form of small subelements dmn
(Fig. 8). The deformation of the coupler link is due only to its
own inertia, since the deformation of elements 3 and 4 m a y only
cause the coupler link to deflect as a rigid body. Thus, the instan-
taneous accelerations Fn linear and Fn' angular, of each sub-
element dmn (of the coupler only) contribute to the deformed con-
figuration of the coupler link. Castigliano's theorem is one ap-
proach which may be used to compute the elastic displacement
of any point of the coupler link (since the strain energies are
computed later in equations (29)-(32)). 3 Elements 3 and 4 de-
flect due to two reasons: (1) their own inertia (Castigliano's
theorem may again be employed here) and (2) pin forces /i, / 2 , and
/ 3 which result from transferred inertia of the coupler. The de-
. flection of the total system is obtained as before, by premulti-
plying the element deflections by a [B1] matrix.
The above three cases have modelled the input link as a canti- Fig. 9 Link in its jth rigid and deformed position
lever beam. Since the motor driving the input link has less than
infinite moment of inertia, a summation of moments about the
axis of the motor shaft must be made at each analysis step to
determine the actual deflection of the input link and the timing
shift of the motor. The fluctuation of the input will be discussed
in a later section.

Kineto-Elastodynamic Stretch Rotation Operator (KEDSRO)

In order to determine system or element inertial forces, it is
helpful to examine the total acceleration of a point P on a gener-
alized link relative to the translating coordinate (fixedly oriented)
system attached to the joint with the previous link in the chain,
by way of the complex number approach [53]. Fig. 9 illustrates
a link both in its rigid and its deflected configuration. The rigid
j t h position of point P is, in complex notation, Zy = Zie**' where
Zi is the first or starting position of P and <j>j is the rigid body rota-
tion from the first to the j t h position of P. Due to the inherent
elasticity of the link, there is a flexural deflection A$j- and a longi-
tudinal deflection AZJ,M and due to reaction torque variation
at the input, there will be fluctuation in input angular velocity
causing a timing change which also contributes to A<j>j. This
phenomenon suggests a new operator called the Kineto-Elasto-

3
Discussion involving the distributed mass case (case 3) may be Fig. 10 Bar-slider model of a generalized link in rigid and deformod
found in reference [61]. position

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 Table 1 Kineto-elastodynamic f a m i l y tree position A,-, rotated by cf>j and stretched by p3- = | A , - | / | A i | ; g-is
„[lU*a«> + AL]
a unit-quaternion rotational operator where Qj = cos <j>- -f-
s,- sin <j>j and s,- is a unit vector defining the axis of rotation (s,- _|_ A •).
liil d(A«,) \ * , d(Al,) riU+A*) + AL]
Notice t h a t

el*< + e —i<t>i
cos <j>j = sin <j>j =
(Rigid (Tangential
'anger (Axial
Tangential Deformation Deformation 2i
Velocity Velocity Velocity
Coeff.) Coeff.) Coeff.)
and

/d*t d(AL t ) d(A^) d(AL£)\\

eL< = Pj Lj = In Pj
d'«, d'(A»J
Vd^. . d$i d* i • d* i / / Thus

(Rigid /.
(Tangential (Axial (Hiqher
Tangential Deformation Deformation Order «, = + s, (21)
Acceleration Acceleration Coriolis Coriolis
Coeff.) Coeff.) Coeff.) Coeff.)

As in the planar case, the magnitudes of vector Ay stretches by

/d'(ALt) /d(AL t )y /d*tV /d(A»t) \ , /d(A»t) OAVditj
„[i(«**•) +iL] A A ( A T , A
i + & A
i\
\ tit,'. \ d*1 / Vdt,/ \ d*( / V d», M{)l dt
aAj I Hhj = In I and rotates in a plane perpendicular
(Axial (Centripetal (Centrinptal (Tangential
to %j by A<f>j due to element elasticity and/or timing shift. The
Deformation
Acceleration
Acceleration
Coeff.)
Deformation
Acceleration
Deformation
Coriolis
spatial KEDSRO is:
Coeff.) Coeff., Coeff.)

Q. = !i | e [ i ( * + « + (Li+4ii)] _ e [-<(*,•+A0f) + (Z,j+AZ,,-)l]

1 (22)
_|_ Z [ e [t(0; + A*,-) + (Ly+AL,)] + e[-i(0, + Arf.,O + (L;+ALy)]]
where Zj = |Z,-| and AZj is the longitudinal stretch due to ele-
ment elasticity. Thus, the dynamic position, Z / , of a point on a
link in its jth position is: Recognizing that, for planar mechanisms, Sy = k, and in quater-
nion notation k2 = — 1 ; therefore, we may write i = y/ — 1 for
li(A , , ) + AL, !
Z-' = Zie *''+ ' ' ' s,- for the planar case. Note that for s,- = i in equation (22), the
(18) spatial K E D S R O specializes to the planar K E D S R O .
( A AI )
= Z-e * '*''+ "
Blokh [56] proposed to represent general planar linkages by
barslider loops. The generalized link in Fig. 10 would have a
Time Response; Nonuniform System Input
K E D S R O of the form High and varying inertia forces affect the output of a mechani-
cal system, not only by causing element deflections, b u t also by a
„[t(0,-+A0,O + (L, + AI,,-)]
timing shift or time response. Unless the system input has large
(19) mass moment of inertia compared to the rest of the system, the
where
angular velocity of the input element will not remain constant.
Benedict and Tesar [42] have examined planar mechanical sys-
L, = l, tems consisting of rigid elements and have developed procedures
"Z,
for deriving input angular velocity fluctuations by way of the
where Zj — Zt is the stretch (nonelastic) from the first to j t h kinematic influence coefficient approach. They investigated
position (due to motion of a slider along a slide bar). three methods which yield the momentary angular acceleration
The relative velocities and accelerations of a point on a general- of the input link, aik, where i designates the input link and h
ized link in its jth position with respect to the translating refer- indicates the hth position of the linkage: the energy distribution
ence frame Oxy can now be derived. Table 1 shows the kineto- method, equivalent mass and force, and equivalent power meth-
elastodynamic "family tree" 4 of relative velocities and accelera- ods. In the following, the latter approach is extended in the
tions of the tip of the generalized link without a slider. The sub- present paper to encompass elastic systems.
script (I) has been introduced in the deflection terms to indicate The instantaneous power output, Pih of an electrical motor is
the Mi link in the mechanism. Note that utilizing the chain known for any speed and voltage input. Benedict and Tesar
rule, the derivatives are taken with respect to the input angle $ ; express the conservation of power at any instant in position k in
the form:
and then multiplied by to obtain time derivatives. Thus,
dt
/ft-lbf\
each velocity term and each acceleration term includes a kinematic *V + P* (23)
\ sec /
influence coefficient e.g. —— or -jj—n ) a n d / o r a kmeto-elasto-
where
, . . fl ffl . . / d(AL ; ) d'(AL,)\
dynamic influence coefficient I e.g. or —— I. Pik = input power available to drive the system (motor out-
\ d<f>i d<j>* / put)
Pk = power required to overcome viscous and coulomb fric-
Spatial KEDSRO (Quaternion Form) tion and to perform work
The quaternion has been used as a spatial stretch-rotation Ph' = power required to overcome the inertia of the system.
operator [60]
Furthermore, he derives:
Qi = PA- (20)
/ f t • lbf \
(24)
where Qj is the spatial stretch-rotation operator which will rotate \ sec /
Ai, a vector in the kinematic chain, from an initial to the j t h
where
4
The Rigid Family Tree of accelerations and shock components
can be found in reference [2]. equivalent inertia coefficient (ft-lbf-sec 2 )

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 5 Skreiner, M., "Acceleration Analysis of Spatial Linkages
Using Axodes and the Instantaneous Screw Axis," JOURNAL or ENGI-
NEERING FOB INDTJSTKY, TRANS. ASME, Series B, Vol. 89, No. 1,
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6 Goodman, T. P., "An Indirect Method for Determining Ac-
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7 Hirschhorn, J., "Dynamic Acceleration Analysis of Mech-
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8 Sadler, J. P., and Sandor, G. N., "Kineto-Elastodynamic
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ASME Paper No. 70-Mech-61, presented at the Eleventh Conference
on Mechanisms, Columbus, Ohio, November 1-4, 1970.
9 Kaufman, R. E., and Sandor, G. N., "Complete Force Balanc-
ing of Spatial Linkages," presented at the Sixth U. S. National Con-
gress of Applied Mechanics, Harvard Univ., June 15-19, 1970, and
JOURNAL or ENGINEERING FOR INDUSTRY, TRANS. ASME, Series B,
Vol. 91, No. 2, May 1971, pp. 620-626.
10 Berkof, R. S., and Lowen, G. G., "A New Method of Com-
pletely Force Balancing Simple Linkages," JOURNAL OF ENGINEERING
FOR INDUSTRY, TRANS. ASME, Series B, Vol. 91, No. 1, Feb. 1969,
pp. 21-26.
11 Bessonov, A. P., "Balancing a Planar Mechanism With Vari-
able Mass Links," ASME Mechanisms Conference, Paper No. 68-
Mech-67, Oct. 1968.
12 Ogawa, K., and Funabashi, H., "On the Balancing of the
Fluctuating Input Torques Caused by Inertia Forces in the Crank
and Rocker Mechanisms," JOURNAL OF ENGINEERING FOR INDUSTRY,
TRANS. ASME, Series B, Vol. 91, No. 1, Feb. 1969, pp. 97-102.
13 Han, C. Y., "Balancing of High Speed Machinery," JOURNAL
OF ENGINEERING FOR INDUSTRY, TRANS. ASME, Series D, Vol. 89,
No. 2, Feb. 1967, pp. 111-118.
14 Crossley, F. R. E., "The Balancing of High-Speed Oscillating
Feed Mechanisms," ASME Mechanisms Conference, Paper No. 64-
Mech-28, Oct. 1964.
15 Sherwood, A. A., "The Dynamic Synthesis of a Mechanism
with Time-Dependent Output," Journal of Mechanisms, Vol. 3, pp.
35-40.
16 Sherwood, A. A., and Hockey, B . A., "The Optimization of
Mass Distribution in Mechanisms Using Dynamically Similar Sys-
tems," Journal of Mechanisms, Vol. 4, pp. 243-260.
17 Sherwood, A. A., "The Optimum Distribution of Mass in the
Coupler of a Plane Four-Bar Linkage," Journal of Mechanisms, Vol.
1, pp. 229-234.
18 Jasinski, P. W., Lee, H. C , and Sandor, G. N., "Vibrations of
Elastic Connecting Rod of a High Speed Slider-Crank Mechanism,"
JOURNAL OF ENGINEERING FOR INDUSTRY, TRANS. ASME, Series B,
Vol. 93, No. 2, May 1971, pp. 636-644.
19 zur Capellen, W. M., "Biegungsschwingungen in der Koppel
einer Kurbelschwinge," Oestereich, Ing.-Archiv, Vol. 16, 1962, pp.
341-348.
20 Neubauer, A. H„ Jr., Cohen, R., and Hall, A. S., Jr., "An DUSTRY TRANS. ASME, Series B, Vol. 91, No. 1, Feb. 1969, pp. 198-
Analytical Study of the Dynamics of an Elastic Linkage," Paper No.
65-WA/MD-5, JOURNAL OF ENGINEERING FOR INDUSTRY, TRANS.
ASME, Series B, Vol. 88, No. 3, Aug. 1966, pp. 311-317.
21 zur Capellen, W. M., "Flexural and Bearing Vibrations in
Crank Mechanisms," Transactions of the Seventh Conference on Mech-
anisms, Purdue Univ., Oct. 1962, pp. 161-167.
22. zur Capellen, W. M., "Torsional Vibrations in the Shafts of the Fourth Conference on Mechanisms, Purdue Univ., Penton Pub-
Linkage Mechanisms," JOURNAL OF ENGINEERING FOR INDUSTRY
TRANS. ASME, Series B, Vol. 89, No. 1, Feb. 1967, pp. 126-136.
23 Beggs, J. S., "Stresses in Redundant Mechanisms," Journal of
Applied Mechanics, Vol. 37, TRANS. ASME, Vol. 92, Series E, No. 1,
Mar. 1970, pp. 223-228.
24 Boronkay, T. G., and Chun, Mei, "Analysis and Design of
Multiple Input Flexible Link Mechanisms," Proceedings of the Applied
Mechanisms Conference, Stillwater, Okla., Paper No. 11, July 1969.
25 Khotin, B. M., "Kinematic Analysis of Mechanisms with
Account Taken of Elasticity of Bars," Leningrad. Institut Inzhen-
erov Zheleznodorozhnogo, 1964, Transporta. Sbornik. Trudov. No.
218, pp. 214-219, No. 7 (in Russian).
26 Winfrey, R. C , "Dynamics of Mechanisms With Elastic Izvestia Akademic Nauk, USSR, 1940, Oldelniye Tekhnischeskich
Links," Doctoral dissertation, UCLA, 1969.
27 Crossley, F. R. E., "Bounds of Stability of Subharmonic Oscil-
lations of a Bi-stable Oscillator," Proceedings of the Second Interna- 1965, pp. 82-143.
tional Congress on the Theory of Machines and Mechanisms, Zakopane,
Poland, 1969.
28 Kosar, Halit, "A Study of a Four Bar Linkage Mechanism with
One Elastic Connecting Rod," Bulletin of the Technical Univ. of Istan- 1965, pp. 333-334.
bul, Vol. 14, 1961, pp. 110-123.
29 Kobrinsky, A. Y., Mechanisms With Elastic Couplings—Dy- Method of Spatial Kinematics Synthesis," Journal of Applied Me-
namics and Stability, Nauka Press, Moscow, 1964, NASA Technical
Translation, NASA TF-534, June 1969.
30 Shoup, T. E., "An Analytical Investigation of the Large De-
flections of Flexible Beam Springs," Doctoral dissertation, The Ohio Analysis and Synthesis of Mechanisms," Doctoral dissertation, Rens-
State Univ., 1969.
1204 / N O V E M B E R 1 9 7 2
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31 Burns, R. H., and Crossley, F. R. E., "Structural Permutations
of Flexible Link Mechanisms," ASME Mechanisms Conference
Paper No. 66-Mech-5, Oct. 1966.
32 Burns, R. H., and Crossley, F. R. E., "Kinetostatic Synthesis
of Flexible Link Mechanisms," ASME Mechanisms Conference
Paper No. 68-Mech-36, Oct. 1968.
33 Burns, R. H., "Kinetostatic Synthesis and Analysis of Flexi-
ble Link Mechanisms," Doctoral dissertation, Yale Univ., 1964.
34 Geiger, F., "Zur Sehwingungstechnik der Kurbelschwinge,"
Getriebetechnik (Reuleaux-Mitteilungen), Vol. 7, Apr. 1939, pp. 197-
203.
35 Archer, J. S., "Consistent Matrix Formulation for Structural
Analysis Using Finite-Element Techniques," AIAA Journal, Vol. 3
No. 10, pp. 1910-1918.
36 Laursen, H. I., Structural Analysis, McGraw-Hill, 1969, 486
pp.
37 Rubinstein, M. F., Matrix Computer Analysis of Structures,
Prentice-Hall, Inc., 1966, 402 pp.
38 Harris, C. O., Introduction to Stress Analysis," Macmillan Co
1959, pp. 231-249.
39 Broniarek, C. A., and Sandor, G. N., "Dynamic Stability of an
Elastic Parallelogram Linkage," Nonlinear Vibration Problems, No.
12, 1971, pp. 315-325.
40 Jasinski, P. W., Lee, H. C , and Sandor, G. N., "Stability and
Steady-State Vibrations in a High Speed Slider-Crank Mechanism,"
Journal of Applied Mechanics, Vol. 37, TRANS. ASME, Vol. 92,
Series E, Dec. 1970, No. 4, pp. 1069-1076.
41 Barr, A. D. S., "Dynamic Instabilities in Moving Beams and
Beam Systems," Proceedings of the Second International Congress on
the Theory of Machines and Mechanisms, Zakopane, Poland, 1969.
42 Benedict, C. E., and Tesar, D., "Analysis of a Mechanical
System Using Kinematic Influence Coefficients," Applied
Conference, Stillwater, Oklahoma, Paper No. 37, July 1969.
43 Benedict, C. E., "Dynamic Response Analysis of Real Me-
chanical Systems Using Kinematic Influence Coefficients," Master's
thesis, Univ. of Florida, Gainesville, 1969.
44 Mehta, Naunit C , "The Transient Dynamics of Plane Mech-
anisms," Doctoral dissertation, Univ. of Missouri, at Rolla, 1967.
45 Carson, W. L., and Trummel, J. M., "Time Response of Lower
Pair Spatial Mechanisms Subjected to General Forces," ASME
Mechanisms Conference, Paper No. 68-Mech-57, Oct. 1968.
46 Chace, M. A., "Analysis of the Time-Dependence of Multi-
Freedom Mechanical Systems in Relative Coordinates," ASME
Mechanisms Conference, Paper No. 66-Mech-23, Oct. 1966.
47 Skreiner, M., "Dynamic Analysis Used to Complete the
Design of a Mechanism," Applied Mechanisms Conference, Paper
No. 12, July 1969, Journal of Mechanisms, Vol. 5, No. 1, pp. 105-120.
48 Genova, P. I., "Synthesis of Spring Equivalent to Flywheel for
Minimal Coefficient of Fluctuation," ASME Mechanisms Conference,
Paper No. 68-Mech-65, Oct. 1968.
49 Garrett, R. E., and Hall, A. S., Jr., "Effect of Tolerance and
Clearance in Linkage Design," JOURNAL OF ENGINEERING FOR IN-
202.
50 Barkan, P., and Tuohy, E. J., "Impact Behavior of the Four-
Bar Linkage," Transactions of the Seventh Mechanisms Conference,
Purdue Univ., 1962, pp. 139-145.
51 Johnson, Raj' C , "Impact Forces in Mechanisms," Machine
Design, Vol. 30, No. 12, June 12, 1958, pp. 138-146; Transactions of
lishing Co., Cleveland, 1958, pp. 16-24.
52 Goodman, Thomas P., "How to Calculate Dynamic Effects of
Backlash," Machine Design, May 23, 1963, pp. 151-157.
53 Sandor, G. N., "A General Complex-Number Method of
Plane Kinematic Synthesis with Application," Doctoral dissertation,
Columbia Univ., University Microfilms, Ann Arbor, Mich., Library
of Congress card No. Mic. 59-2596, 1959.
54 Hirschhorn, J., Kinematics and Dynamics of Plane Mechanisms,
McGraw-Hill, New York, 1962, 447 pp.
55 Beggs, J. S., Advanced Mechanism, Macmillan Co., 1966, 270
pp.
56 Blokh, S. Sh., "On the Synthesis of Four-Link Mechanisms,"
Nauk, No. 1, pp. 47-54 (Russian).
57 Conte, S. D., Elementary Numerical Analysis, McGraw-Hill,
58 Hi-ones, J. A., and Nelson, G. L., Analysis of the Four Bar
Linkage, The Technology Press, of M.I.T. and Wiley, 1951, p. 261.
59 Roark, R. J., Formxdas for Stress and Strain, McGraw-Hill,
'
60 Sandor, G. N., "Principles of a General Quaternion-Operator
chanics, Vol. 36, TRANS. ASME, Vol. 90, Series E, No. 1, Mar. 1968,
pp. 40-46.
61 Erdman, A. G., "A General Method for Kineto-Elastodynamic
selaer Polytechnic Institute, Sept. 1971.
Transactions of the ASME
 sumed, then derivatives may be taken with respect to the input
angle. These accelerations are, however, only "rigid body" ac-
celerations and do not include "elastic deformation" accelerations.
i--^\^^
KED system forces may be derived for each element as outlined
in Table 2. The method of kinematic influence coefficients [43]
is particularly applicable on this level. As stated before, the
**#i /
acceleration of any point on any element of a mechanism con-
sisting of rigid links is a function of kinematic influence coeffi-
cients, which are functions of input position and velocity. The
kineto-elastodynamic acceleration, Table 1 which includes KED
influence coefficients, may be utilized in determining the total
acceleration of a mechanism point for each mechanism position
(4> = 4>k)- The procedure for finding the KED inertia forces for
(4> = 4>k) is: (1) determine the rigid body inertia forces; (2) find
the dynamic deflections (equation (12)) due to these rigid body
-1 J
forces; (3) recall the deflections from <j> — <j>k-i> etc., and deter- v

mine the deflection velocities and accelerations (KED influence

coefficients) utilizing the backward difference [57J; (4) calculate
dtyi , ,
the fluctuation of input angular velocity, aik = -—-, which as
1
at
derived in a previous section includes element strain energies;
(5) calculate the kineto-elastodynamic accelerations (Table 1);
(6) compare the new and old accelerations: if they agree within
an acceptable tolerance, then proceed to step 1 with <j> = <pk+i;
if not, then return to step 2 with the new accelerations. As an Fig. 11 Vectors representing left side of four bar path generator in first
improvement on the procedure of Table 2, the following method and (th rigid position (solid) and first and /th deformed position (dashed)

offers a more systematic numerical process for determining KED

inertia forces. Equation (10) may be written as:

[8(k + 1)] = [B>(k + l)][F][B{k + l)][P(ft + 1)] (35) coulomb and viscous friction, and system forces. An alternate
procedure of kineto-elasto-dynamic analysis is developed in [61,64].
Expanding each term on the right as a Taylor series about <f>h:

~dB' 1 Numerical Example

'd2B>
0
[6(k + ! ) ] = ( [B'(fc)] +
M, {h) d4>i
\ In order to illustrate the procedure for analysis of elastic sys-
tems, a program was written for the IBM 360-50 to solve equa-
~jf+ ...J[F] {[B(k[ tion (10) for three different models of the four-bar path generator
(*) (ft)
of Fig. 3: Model 1—Case 1 using equations (52) and (55); Model
2—Case 1 with the addition of a torsionally flexible input shaft;
d2B
_d(j)ii
(ft)
)(—K (ft) and Model 3—a rigid system, except for the coupler branch (ele-

+
EHf+•) (36)
Table 3 Procedure for a complete kineto-elastodynamic synthesis

f 'dB'
M {k)
"1
\
[F}[B{k)][P{k)}
I PRESCRIBE I DUAL PERFORMANCE

•NTllliSls|
KINEMATIC SYN'
"dB 1
+ [B'(k)][F] [P{k)] + [B'(k)][F)[B(k)]
-rtKixe
EMATIC ANALYSIS

VdP 1)
X (37) DYNAMIC, ELASTOUYN'AM IC
OR KINETO-ELASTODYNAMIC
ANALYSIS
The KED system forces derived previously may be used
, • . , dP(k)
deriving the ~—— term as follows:

dPQc) _ P(k - 1) - P(k - 2)

(38)
44>t ~ |&(* - 1) - 4>t(k - 2)|

where P{k - 1) and P{k - 2) are quasi-static inertia forces at

position (k - 1) and k - 2), respectively. The terms dB'{k)
Al'PLY CORRECTIONS
, dB(k) TO PRESCRIBED
and ~T7~ a r e the first derivatives of the B' and B matrices with PERFORMANCE
2
respect to input angle <£,.. Terms of order # f or higher are as-
sumed to be negligible. Notice that this kineto-elastodynamic -|RESYNT]I1-:SI:L|

analysis procedure permits the analysis of mechanism motion

from start up to operating speed including all elastic effects, ERDNA1-SAND0R-OAKBERG

1200 / N O V E M B E R 1972 Transactions of the AS ME

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 ment 1) which is elastic in flexure alone. (This model has been
investigated by utilizing Lagrangian mechanics and harmonic
analysis [8], which is a K E D A procedure.) Fig. 12 [58] shows the
rigid p a t h of point P for full rotation of the input crank. The
displacements in the x and y directions of point P and the elastic
rotation 8 of the end of the coupler branch for the three above
models are found in Table 4, while the linkage specifications are
found in Fig. 12. The system forces, P,, P 2 , and P3 are derived
from rigid body accelerations of the coupler point mass by way of
harmonic analysis.
T h e numerical example described above is an elastodynamic
analysis solution which is a first step in determining the K E D per-
formance of this mechanism more complete details and numeri-
cal results of the theories presented above may be found in
[61, 64],
Kineto-Elastodynamic Synthesis (KEDS)
T h u s far only the analysis of mechanisms with elastic elements
has been discussed. Today's designer needs dynamic synthesis
techniques in order to design mechanisms to meet high-speed re-
quirements. Table 3 represents a procedure for a complete
kineto-elastodynamic synthesis. This is an iterative process which
should converge to a solution within acceptable.tolerances. The
first three steps are not new—(1) statement of the problem (pre-
scribe ideal performance), (2) purely kinematic synthesis, and (3)
purely kinematic analysis. Next, a "dynamic analysis" is per-
formed to determine the deviation from purely kinematic (rigid
body) performance. Certainly the full K E D A (Case 3), which
treats a distributed mass system, solved by way of the Taylor
expansion described previously, is preferable because it is closest
to reality. In some cases, however, one of the less sophisticated
and time consuming analysis methods (i.e., the l'igid body ap-
proach dealing with simpler models) would be acceptable. Step
five is a comparison between the dynamic and ideal performance.
If the difference between these, the dynamic error is larger than
a specified limit, then step six requires a restatement of the prob-
lem by way of applying corrections. The C}rcle is repeated start-
ing with a resynthesis and continues iterating until an acceptable
solution is reached. The improvement of mechanism performance
as a result of resyn thesis lies in the method of applying correction
to the prescribed performance. The use of the K E D S R O will
systematize the procedure.
Fig. 11 illustrates the left side of a four-bar p a t h generator.
Both the rigid (solid) and deflected (dashed) configurations of

Fig. 12 Four bar path generator used in numerical example (Table 4)

Table 4 Elastodynamic deflections of a four bar path generator (Fig. 12)

Input Model #1 Model n Model #3

Angle X y e X y 8 X y 8

0 1.1753 0.0960 -0.0638 1.1995 0.1228 -0.0649 0.4068 -0.0016 -0.0283

20 1.8793 -0.2420 -0.1061 1 .8918 -0.2204 -0.1072 0.6861 -0.1210 -0.0484
40 1.5410 -0.4843 -0.0896 1.5406 -0.4814 -0.0897 0.5773 -0.1856 -0.0421
60 0.8684 -0,3716 -0.0506 0.8723 -0.3743 -0.0504 0.3193 -0.1355 -0.0241
80 0.2464 -0.1086 -0.0130 - 0.2541 -0.1095 -0.0130 0.0810 -0.0393 -0.0063
100 -0.2298 0.1352 0.0158 -0.2231 0.1365 0.0158 -0.0961 0.0490 0.0075
120 -0.5520 0.2887 0.0346 -0.5487 0.2902 0.0346 -0.2119 0.1062 0.0165
HO -0.7362 0.3395 0.0445 -0.7366 0.3392 0.0445 -0.2760 0.1279 0.0211
160 -0.8140 0.3095 0.0478 -0.8165 0.3064 0.0479 -0.3021 0.1206 0.0226
180 -0.8275 0.2356 0.0476 -0.8302 0.2302 0.0477 -0.3069 0.0960 0.0223
200 -0.8160 0.1477 0.0462 -0.8174 0.1418 0.0464 -0.3043 0.0638 0.0216
220 -0.8013 0.0597 0.0450 -0.8010 0.0551 0.0452 -0.3010 0.0289 0.0210
240 -0.7923 -0.0245 0.0442 -0.7912 -0.0266 0.0443 -0.2985 -0.0061 0.0207
260 -0.8009 -0.1048 0.0443 -0.8012 -0.1047 0.0443 -0.2996 -0.0393 0.0210
280 -0.8469 -0.1871 0.0461 -0.8521 -0.1879 0.0460 -0.3095 -0.0687 0.0220
300 -0.9233 -0.2702 0.0492 -0.937? -0.2792 0.0491 -0.3246 -0.0883 0.0234
320 -0.8670 -0.2776 0.0456 -0.8900 -0.2986 0.0459 -0.2913 -0.0741 0.0209
340 -0.1886 -0.0545 0.0098 -0.1963 -0.0625 0.0101 -0.0586 -0.0091 0.0041

Journal of Engineering for industry NOVEMBER 1 9 7 2 / 1201

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 the initial and jth positions are shown. The rigid kinematic APPENDIX
synthesis of the left side of the linkage consisting of Zi and Z 2 , is
well known [53]. A loop closure equation is written including Derivation of the Force Transfer Matrix
the closing vector 5 y : The force transfer matrix [B] can be derived from the force
diagrams of the elements. From Fig. 4:
Zie**' + Zie'y - Zi - Z 2 = 5,-
/1 = Pi cos (X + a) + Pi sin (X + a)
or (39)
f2 = - P i sin (X + a) + Pi cos (X + a) (42)
{e^i - l ) Z i + ( e ^ ' - 1)Z 2 = &,-
h = Ps
But what actually happens dynamically? T h e dynamic loop
closure equation will be: Fig. 5 is the force diagram of elements 1 and 2. The sum of the
horizontal forces on the coupler is:
Z i V * ' ' + Z„VT"' - Z / - Z 2 ' = 8 / (40)
Pi - U cos (c/>) + U sin W>) ~ h c°s (ip) = 0,
or utilizing the K E D S R O :
(43)
2ie[*(*,-+A^0 + ALi,] + 2 2 e 1, ' (,Y ' + A7 '' ) + A L w ]
- Z^iA^ + ALu] - Z2eUA7i+AL2I] = 5 . + A R , __ A R i (41) or P i = +fi cos (<j>) - fi sin (</>) + / 6 cos (\p).

The original statement of the problem specified 5j-, b u t there is Summing the vertical forces results in:
an error of Affi,- — Afli. I n the resynthesis step the last two P 2 = ft sin (<£) + U 00s (<f>) + /e sin (t£). (44)
terms on the right side of equation (41) are dropped (since
the originally prescribed p a t h is still ^he objective), but the Taking moments about point P ,
K E D S R O ' s which multiply t h e unknown link vectors, are re- P3 = + ( —sin (0) k cos (a + X) + cos (</>) k sin (a + X))/4
tained. These operators contain the rigid rotations which are
prescribed, the rotation and stretch components attributed to + (—cos (</>) li cos (a + X) — sin (cj>) k sin (a + X))/s
elasticity of the links, plus the timing errors due to the fluctua- + ( + sin (\p) (k cos X — Zi cos ( a + X))
tion in the input angular velocity. Thus the new mechanism,
which will be slightly different from the previous one, will have + cos (^) (k sin (a + X) - k sin X))/ 6 . (45)
associated with each of its elements a rotational operator which
Equations (43), (44), and (45) are in the form:
will more closely describe its true dynamic motion than if the
classical (rigid link) rotational operator were employed. P i = a/4 + 6/5 + c/„
A synthesis step will usually produce several solutions for each
data input. If the data for a resynthesis represents only an in- P 2 = dft + efs + ffe (46)
cremental change from the data which led to the present mecha- P, = gfi + hU + rft
nism, then one synthesized linkage will normally be of a "similar
t y p e " to the present mechanism. This procedure assumes t h a t Solving these equations by Cramer's rule,
the solution involving the linkage of the "similar t y p e " be pur- (er - fh)Pl + (ch - br)Pi + (6/ - ce)Ps
sued until no further improvement is attained. If this results in
an acceptable solution, then the synthesis is complete; if not,
then one of the previous nonsimilar solutions should be investi- * (/g ~ dr)Pr + (ar - cg)P2 + (cd - af)Ps
gated. _
fl = (47)

. (dh - eg)P1 + (bg - ah)P, + (ae - bd)P3

Conclusion h
- k
A general method for K E D analysis and synthesis has been
where k = a(er — fh) — b(dr — fg) -f- c(dh — eg).
presented which may be applied to any planar or spatial mecha-
nism with elastic elements. Several levels of K E D analysis tech- The free-body force diagram of element 2 is shown in Fig. 6.
niques have been proposed for the designer to choose from to The two remaining element forces can now be derived:
solve his particular problem. The K E D synthesis procedure
utilizes a new planar or spatial K E D S R O , K E D analysis, and / , = -f6 cos {\p - X)
(48)
time response analysis, which includes K E D effects, to obtain a /s = +hfn sin (yp - X)
desired mechanisms performance at a specified running speed.
This synthesis procedure may be combined with balancing tech- Here /e may be written in terms of the system forces Pi, P 2 , Pi
niques to minimize both kineto-elastodynamic error and shaking by summing moments about point Q in Fig. 5
forces transmitted to the frame by a mechanism. I t is planned
t h a t the theories presented here will be applied to various specific = -ll sin
(a + X Pl
) + ll c o s (a + X ) P z + P*h (49)
cases verified mathematically, and the results reported in a future h sin (\p — X)
paper.
Thus
h = +(h/U) c o t # - X) sin (a + X)Pi - {IJU)
Acknowledgments
X cot (\p - X) cos ( a + X)P 2 - cot {\p - \)P3/h (50)
The authors would like to express their appreciation to the
National Science Foundation for support of their research at /s = -h sin ( a + X)Pi + h cos (a + X)P 2 + P 3
Rensselaer Polytechnic Institute through Grant No. GK-4049
sponsored by the Engineering Mechanics Program, Engineering Combining equations (42), (47), and (50), into matrix form,
Division of N.S.F. They would also like to thank Mrs. Frances the element forces fi . • • fs may be derived from the system forces
K. Willson for her patience and skill in typing the manuscript, Pi, P 2 , P 3 . If the following symbolic notation is used:
Mr. J. Peter Sadler for his helpful consultations and the Comput- 6
The danger of singularity of equation (49) by way of (x// — X) —•• 0
ing Center of Rensselaer Polytechnic Institute for the use of their can be discounted because it would be tantamount to zero transmis-
facilities. sion angle.

1202 / N O V E M B E R 1972 Transactions of the ASME

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 SaX = sin (a + X) S\p = sin (x//) Now matrix B can be written entirely in terms of t h e link
lengths and t h e input angle <f>j.
CaX = cos (a + X) C\p = cos (xj/)

T^X = cot (\p - X) CX = cos (X) (51) Matrix of Element Flexibilities

S<f> = sin ((j>) SX = sin (X) The matrix of element flexibilities m a y be termed a diagonal
super matrix of t h e element flexibility matrices. Utilizing equa-
C<j) = cos ( 0 ) tions (2), (3), and (7) the following matrix of element flexibilities
for Case 1 is derived:
then the force transformation may be written as:
[F] =

/. 0 0 0 0 0 0 0
/a AlEl
Pi
/« = [B] P 2 k2
/. 0 0 0 0 0 0
.Ps_l 3E1I1 2EJ1
/•
h k2
0 0 0 0 0 0
.k 2EJt EJ1
' CaX SaX 0 Pi
-SaX CaX 0 0 0 0 0 0 0
0 P2 A3E3
0 0 1 Pa.
Z33
(er - fh)/k (ch — br)/k (bf - ce)/k 0 0 0 0 0 0 0
(52) 3E3I3
(fg - dr)/.k (ar — cg)/k (cd — af)/k
(dh — eg)/k (bg — ah)/k
TxpXSaXk/k -CaXTipXk/h
(ae — bd)/k
-T\pX/h 0 0 0 0 0
u 0 0
A Si
-SaXk CaXk 1

where 0 0 0 0 0 0
u 0
AA
a = +C<£ f = SxP
0 0 0 0 0 0 0
6 = -30 g = -kCaXSQ + hSaXC<t> 3EJ2
c = + C\p h = -kCaXC<j> - hSaXS<t> (55)
d = +S<t> r = S\j/(kCX - kCctX) + C\p(liSaX - kSX)
e = +C4>
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\h — U cos )X)

Since

D2 = k2 + k2 - 2l3k cos 4>j = k2 + k2 - 2kk cos n

h2 + k2 - k2 - h2 , kk
then cos jJ. + JJ cos $„
2Ui

and sin jJ. = ± V 1 — cos2 yu

The sign of the sine term will be positive when U and U are on
the opposite side of -D from h and U as shown. Thus

, h sin a \ I h sinVl<6; , , ,
X = tan^1 ( ; — , ^ ) - tan-' (; ; , ) (53)
h — U cos JX
u - u.3 COS 0 j
and <r = tan ( It sin ii
4 — 4 cos jU/
\

finally \f/ = 180 deg - 0 - a (54) Fig. 13 Determination of link angle relationships

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 62 Sandor, G. N., Erdman, A. G., and Oakberg, R. G„ "Towards
a Theory of Kineto-Elastodynamic Synthesis of Mechanisms,"
abstract published in the Transactions of The Twelfth British Theoreti-
cal Mechanics Colloquim, U. of East Anglia Norwich, Mar. 1970.
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DISCUSSION
R. C. Winfrey6
I would like to compliment Professor Erdman, as well as the
other authors, for his scholarly doctoral dissertation and this re-
sulting paper. They represent a new approach to a relatively
new subject and are definitely of merit.
T h e thoroughness of the derivation of equations given here will
permit one to determine the elastic deformations of a mechanism
due to the inertia forces of both the rigid body motion as well as
the elastic body motion. However, one assumption of this paper
is t h a t of small deflection theory for the elastic motion. I t has
been shown [26] t h a t if one makes this assumption, the deflections
due to the elastic motion inertia forces will be of second order and
may be ignored. In other words, one should make a thorough
analysis as is done in this paper, but then throw out the small
terms since their inclusion adds considerably to one's monthly
computer bill.
The examples given are of mechanisms with massless links, the
only mass being at the path point P. However, even these
examples of the most simple case clearly demonstrate the im-
provements to numerical results when elasticity is accounted for
in mechanism analysis. The case where all the moving links of
the mechanism are assumed to have a distributed mass is not dealt
with to any great extent. Since the paper does not mention mass
properties or elastic mode shapes, it is not clear what type of
coordinates are to be used to describe the distributed parameters.
In this regard, the K E D S R O appears to describe the motion at a
single point. How should it be used with a distributed system?
6 7
Mechanical Engineer, Naval Civil Engineering Laboratory,
Port Hueneme, Calif. Assoc. Mem. ASME.
Journal of Engineering for Industry
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The idea of rigid body kinematic systhesis is always intriguing,
but to combine this with an elastic analysis is new and worth-
while. The method of elastic mechanism synthesis given here is
a tribute to the authors' ingenuity. I t is straightforward and
represents a fine contribution to the field of elastic mechanism
analysis. One can cogitate about all sorts of situations where the
elasticity of a mechanism permits the solution of an otherwise
clumsy or impossible problem.
Again, I offer my congratulations to Professors Erdman, San-
dor, and Oakberg for their fine paper.
Authors' Closure
We would like to thank Dr. Winfrey for his recommendations
and suggestions. Regarding our assumptions t h a t in certain
cases the deflections due to elastic motion inertia forces are
negligible as compared to the quasistatic deflection, we would
like to mention t h a t it has been included in our forthcoming papers
[65-66].' In reference [66] the case of continuous distributed
mass along with any lumped mass has been considered for a gen-
eral method of kineto-elastodynamic analysis. Another forth-
coming paper [67], a new method of kineto-elastodynamic design
of mechanisms with continuous distributed mass of elastic links,
is presented with examples.
We hope t h a t these papers [65-67] will answer all the ques-
tions listed in Dr. Winfrey's discussion. Once again we thank
Dr. Winfrey for his comments and constructive suggestions.
Additional References
65 Erdman, A. G., Iman, I., Sandor, G. N., "Applied Kineto-
Elastodynamics," Proceedings of the "2nd OSU Applied Mechanisms
Conference, Stillwater, Oklahoma, Paper Number 21, October, 1971.
66 Iman, I., Sandor, G. N., and Kramer, S. N., "Deflections and
Stress Analysis in High-Speed Planar Mechanisms with Elastic
Links," ASME Paper No. 72-Mech-44, to be published in JOURNAL
OF ENGINEERING FOB INDUSTRY.
67 Iman, I., and Sandor, G. N., "A General Method of Kineto-
Elastodynamic Design of High-Speed Mechanisms," submitted for
possible publication in Mechanisms and Machine Theory (formerly
Journal of Mechanisms).
Numbers in brackets designate additional References at end of
closure.
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