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Velocity Graphical PDF
Velocity Graphical PDF
5. GRAPHICAL VELOCITY ANALYSIS Velocity analysis forms the heart of kinematics and dynamics of mechanical systems. Velocity analysis is usually performed following a position analysis; i.e., the position and orientation of all the links in a mechanism are assumed known. In this course we concentrate on one analytical and two graphical methods for planar mechanisms. We start this chapter with some simple exercises to ensure that the fundamentals of velocity analysis using vector algebra are well understood. You may want to review these fundamentals in Chapter 2 of these notes. Exercises In these exercises take direct measurements from the figures for link lengths and the magnitudes of the velocity vectors. If it is stated that the angular velocity is known, assume = 1 rad/sec CCW unless it is stated otherwise. Write the position and velocity vector equations. Construct the velocity equation graphically in order to find the unknown(s). P.1 P.2 Known: VA and Determine: VB Known: VA and VB Determine:
A
VB VA
V A
B
VB
B
VA
C
P.5 Known: VA and VB
VB V A
C
P.7 Known: VA and VB Determine: VC
A
P.8 Known: VA and Determine: VB and VC What do you observe? Explain!
A
VA
VA
P.E. Nikravesh
5-1
AME 352
Determine: VB and VC
Determine: VB and VC
V A
V A
C
V B
A
(i)
B
(j)
V A
A
(i)
B
(j) VA
VC
Polygon Method Velocity polygon is a graphical pencil-and-paper approach for determining unknown velocities of a single degree-of-freedom mechanism. The method requires constructing a velocity loop equation (a polygon) graphically. A polygon may have three or more edges depending on the number of velocity vectors in the equation. For a vector loop equation, the polygon method is the graphical procedure of solving two algebraic equations in two unknowns. The velocity polygon method is demonstrated for several commonly used mechanisms. Four-bar For a known four-bar mechanism, in a given configuration and for a known angular velocity of the crank, 2 , we want to determine 3 and 4 . In this example we assume 2 is CCW. For the position vector loop equation R AO2 +R BA R BO4 R O4O2 = 0
RBA A
RAO 2
O
RBO 4 RO4 O2
O
4 2 the velocity equation is (a) VA +VBA VB = 0 Since vectors R AO2 , R BA , and R BO2 have constant lengths, their corresponding velocity vectors
P.E. Nikravesh
5-2
AME 352
(b) (b)
or,