A Study on Four-Bar Mechanism with Constant Coupler Point Velocity: Modelling, Numerical Simulation and Experimental Application
Abstract
In industry, the trace path of a point on the coupler link of four-bar mechanism is often utilized and sometimes it is desired that the couplar point moves on its path with constant velocity. This can be achieved by the variable crank speed. Processes requiring constant speed are often achieved by designing expensive complex mechanisms with high degrees of freedom without feedback control. This study considers the four-bar mechanism driven by a DC motor with constant coupler point velocity. Matlab Simscape MultiBody tool is used to model and to simulate the system dynamics. For the first time, we have successfully implemented an experimental application of coupler point speed control, a mechanism that is much needed in the industry, at a remarkably low cost. We developed a highly detailed simulation model that incorporates intricate system dynamics, including bearing frictions. Additionally, we accurately predicted crucial motor parameters for the application through cost-effective estimation techniques. In order to show the efficiency of the method, some experimental case studies are made besides the numerical simulations, and the results are compared. PID algorithm is used to control of the crank speed and it is shown that the desired couplar point velocity is achieved.
References
- [1] E. Söylemez, Mechanisms, MMO Middle East Technical University publication number 64, 1985.
- [2] J. Tao and J.P Sadler, “Constant speed control of a motor driven mechanism system,” Mechanisms and Machine Theory, vol. 30, no. 5, pp. 737-748, 1995. doi: 10.1016/0094-114X(94)00072-S
- [3] Ö. Gündoğdu and K. Erentürk, “Fuzzy Control of a dc motor driven four-bar mechanism,” Mechatronic, Cilt:15, s:423-438, 2005. doi: 10.1016/j.mechatronics.2004.10.004
- [4] G. Şevkat ve S. Telli, “Elektrik Motoru İle Tahrik Edilen Dört Çubuk Mekanizmasının Kayan Kip Hız Kontrolu,” Uludağ Universitesi Mühendislik-Mimarlık Dergisi, Cilt:13, No:2, s: 15-26, 2008. doi: 10.17482/uujfe.96125
- [5] O. Çakar and A.K.Tanyildizi, “Application of moving sliding mode control for a DC motor driven four-bar mechanism,” Advances in Mechanical Engineering, vol.10, no. 3, pp. 1–13, 2018. doi: 10.1177/1687814018762184
- [6] M. Salah, A. Al-Jarrah, E. Tatlicioglu et al. “Robust Backstepping Control for a Four-Bar Linkage Mechanism Driven by a DC Motor,” J Intell Robot Syst, vol. 94, pp. 327–338, 2019. doi: 10.1007/s10846-018-0811-y
- [7] G. O Koca, Z. H Akpolat and M. Özdemir, “Type-2 fuzzy sliding mode control of a four-bar mechanism,” Int J Model Simul, vol. 31, pp. 60–68, 2011. doi: 10.2316/Journal.205.2011.1.205-5335
- [8] A. Al-Jarrah, M. Salah, K.S. Banihani, et al. “Applications of various control schemes on a four-bar linkage mechanism driven by a geared DC motor,” WSEAS Trans Syst Contr, vol. 10, pp. 584–597, 2015. https://api.semanticscholar.org/CorpusID:11080447
- [9] C.F. Chang, “Synthesis of adjustable four-bar mechanisms generating circular arcs with specified tangential velocities,” Mechanism and Machine Theory, vol. 36, no. 3, pp. 387-395, 2001. doi: 10.1016/S0094-114X(00)00049-5
- [10] H. S. Yan and R. C. Soong, “Kinematic and dynamic design of four-bar linkages by links counterweighing with variable input speed,” Mechanism and Machine Theory, vol. 36, no. 9, pp. 1051-1071, 2001. doi: 10.1016/S0094-114X(01)00032-5
- [11] R. Peón-Escalante, M. Flota-Bañuelos, L. J. Ricalde, C. Acosta, G. S. Perales, “On the coupler point velocity control of variable input speed servo-controlled four-bar mechanism,” Advances in Mechanical Engineering, vol. 8, no. 11, pp. 1–9, 2016. doi: 10.1177/1687814016678356
- [12] M. Flota-Bañuelos, R. Peón-Escalante, L. J. Ricalde, B. J. Cruz, R. Quintal-Palomo, J. Medina, “Vision‑based control for trajectory tracking of four‑bar linkage,” J Braz. Soc. Mech. Sci. Eng, vol. 43, no. 324, pp. 1–11, May. 2021. doi: 10.1007/s40430-021-03043-z
- [13] R. Peón-Escalante, M. Flota-Bañuelos, R. Quintal-Palomo, L.J. Ricalde, F. Peñuñuri, B. Cruz Jiménez and J. Avilés Viñas, “Neural Network Based Control of Four-Bar Mechanism with Variable Input Velocity,” Mathematics, vol. 11, no.2148, pp. 1-17, 2023. doi: 10.3390/math11092148
- [14] O. Denizhan and M. S. Chew, “Linkage mechanism optimization and sensitivity analysis of an automotive engine hood,” International Journal of Automotive Science and Technology, vol. 2, no. 1, pp. 7-16, 2018. doi: 10.30939/ijastech..364438
- [15] Matlab, 2021,(n.d.).https://www.mathworks.com/products/simmechanics.html. [Accessed: Feb. 1, 2025].
- [16] H. Hülako and O. Yakut, “Control of Three-Axis Manipulator Placed on Heavy-Duty Pentapod Robot,” Simul. Model Pract. Theory, vol. 108, no. May 2020, 2021. doi: 10.1016/j.simpat.2020.102264
A Study on Four-Bar Mechanism with Constant Coupler Point Velocity: Modelling, Numerical Simulation and Experimental Application
Abstract
In industry, the trace path of a point on the coupler link of four-bar mechanism is often utilized and sometimes it is desired that the couplar point moves on its path with constant velocity. This can be achieved by the variable crank speed. Processes requiring constant speed are often achieved by designing expensive complex mechanisms with high degrees of freedom without feedback control. This study considers the four-bar mechanism driven by a DC motor with constant coupler point velocity. Matlab Simscape MultiBody tool is used to model and to simulate the system dynamics. For the first time, we have successfully implemented an experimental application of coupler point speed control, a mechanism that is much needed in the industry, at a remarkably low cost. We developed a highly detailed simulation model that incorporates intricate system dynamics, including bearing frictions. Additionally, we accurately predicted crucial motor parameters for the application through cost-effective estimation techniques. In order to show the efficiency of the method, some experimental case studies are made besides the numerical simulations, and the results are compared. PID algorithm is used to control of the crank speed and it is shown that the desired couplar point velocity is achieved.
References
- [1] E. Söylemez, Mechanisms, MMO Middle East Technical University publication number 64, 1985.
- [2] J. Tao and J.P Sadler, “Constant speed control of a motor driven mechanism system,” Mechanisms and Machine Theory, vol. 30, no. 5, pp. 737-748, 1995. doi: 10.1016/0094-114X(94)00072-S
- [3] Ö. Gündoğdu and K. Erentürk, “Fuzzy Control of a dc motor driven four-bar mechanism,” Mechatronic, Cilt:15, s:423-438, 2005. doi: 10.1016/j.mechatronics.2004.10.004
- [4] G. Şevkat ve S. Telli, “Elektrik Motoru İle Tahrik Edilen Dört Çubuk Mekanizmasının Kayan Kip Hız Kontrolu,” Uludağ Universitesi Mühendislik-Mimarlık Dergisi, Cilt:13, No:2, s: 15-26, 2008. doi: 10.17482/uujfe.96125
- [5] O. Çakar and A.K.Tanyildizi, “Application of moving sliding mode control for a DC motor driven four-bar mechanism,” Advances in Mechanical Engineering, vol.10, no. 3, pp. 1–13, 2018. doi: 10.1177/1687814018762184
- [6] M. Salah, A. Al-Jarrah, E. Tatlicioglu et al. “Robust Backstepping Control for a Four-Bar Linkage Mechanism Driven by a DC Motor,” J Intell Robot Syst, vol. 94, pp. 327–338, 2019. doi: 10.1007/s10846-018-0811-y
- [7] G. O Koca, Z. H Akpolat and M. Özdemir, “Type-2 fuzzy sliding mode control of a four-bar mechanism,” Int J Model Simul, vol. 31, pp. 60–68, 2011. doi: 10.2316/Journal.205.2011.1.205-5335
- [8] A. Al-Jarrah, M. Salah, K.S. Banihani, et al. “Applications of various control schemes on a four-bar linkage mechanism driven by a geared DC motor,” WSEAS Trans Syst Contr, vol. 10, pp. 584–597, 2015. https://api.semanticscholar.org/CorpusID:11080447
- [9] C.F. Chang, “Synthesis of adjustable four-bar mechanisms generating circular arcs with specified tangential velocities,” Mechanism and Machine Theory, vol. 36, no. 3, pp. 387-395, 2001. doi: 10.1016/S0094-114X(00)00049-5
- [10] H. S. Yan and R. C. Soong, “Kinematic and dynamic design of four-bar linkages by links counterweighing with variable input speed,” Mechanism and Machine Theory, vol. 36, no. 9, pp. 1051-1071, 2001. doi: 10.1016/S0094-114X(01)00032-5
- [11] R. Peón-Escalante, M. Flota-Bañuelos, L. J. Ricalde, C. Acosta, G. S. Perales, “On the coupler point velocity control of variable input speed servo-controlled four-bar mechanism,” Advances in Mechanical Engineering, vol. 8, no. 11, pp. 1–9, 2016. doi: 10.1177/1687814016678356
- [12] M. Flota-Bañuelos, R. Peón-Escalante, L. J. Ricalde, B. J. Cruz, R. Quintal-Palomo, J. Medina, “Vision‑based control for trajectory tracking of four‑bar linkage,” J Braz. Soc. Mech. Sci. Eng, vol. 43, no. 324, pp. 1–11, May. 2021. doi: 10.1007/s40430-021-03043-z
- [13] R. Peón-Escalante, M. Flota-Bañuelos, R. Quintal-Palomo, L.J. Ricalde, F. Peñuñuri, B. Cruz Jiménez and J. Avilés Viñas, “Neural Network Based Control of Four-Bar Mechanism with Variable Input Velocity,” Mathematics, vol. 11, no.2148, pp. 1-17, 2023. doi: 10.3390/math11092148
- [14] O. Denizhan and M. S. Chew, “Linkage mechanism optimization and sensitivity analysis of an automotive engine hood,” International Journal of Automotive Science and Technology, vol. 2, no. 1, pp. 7-16, 2018. doi: 10.30939/ijastech..364438
- [15] Matlab, 2021,(n.d.).https://www.mathworks.com/products/simmechanics.html. [Accessed: Feb. 1, 2025].
- [16] H. Hülako and O. Yakut, “Control of Three-Axis Manipulator Placed on Heavy-Duty Pentapod Robot,” Simul. Model Pract. Theory, vol. 108, no. May 2020, 2021. doi: 10.1016/j.simpat.2020.102264
Details
| Primary Language | English |
|---|---|
| Subjects | Machine Theory and Dynamics |
| Journal Section | Research Articles |
| Authors | |
| Early Pub Date | April 14, 2025 |
| Publication Date | |
| Submission Date | September 10, 2024 |
| Acceptance Date | February 14, 2025 |
| Published in Issue | Year 2025 Issue: Erken Görünüm |
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