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Instant Centers of Velocity Review Instantaneous Center of Velocity. Extension of A Rigid Body: The Extension of A Rigid Body Refers To The Operation of Theoretically Extending The Body
Instant Centers of Velocity Review Instantaneous Center of Velocity. Extension of A Rigid Body: The Extension of A Rigid Body Refers To The Operation of Theoretically Extending The Body
13)
Instant center - point in the plane about which a link can be thought to rotate relative to another link (this link can be the ground) An instant center is either (a) a pin point or a (b) two points - - one for each body -- whose positions coincide and have same velocities. 2 2 Instant center: I12 Link 1 (ground) Instant center, I12 1 (ground)
1
2
1 1
I12
Rolling wheel (no slip)
I12 is at infinity
common normal
Sliding bodies
2 3
I23
Link is pivoting about the instant center of this link and the ground link
I13
For each pair of links we have an instant center. Number of centers of rotation is the number of all possible combinations of pairs of objects from a pool of n objects, n(n 1) 2
Aronhold-Kennedy rule
Any three bodies have three instant centers that are colinear
I34
4 I14
7
Know 2
Find 3 and 4
I13
VA
2 2 I12
3 A
VB
4
I14 1
8
Steps 1. Find VA, normal to O2A, magnitude= 2(O2A) 2. Find 3=length of VA/ (I13A) 3. Find VB, normal to O4B, magnitude= 3(I13B) 4. Find 4=length of VB/ (O4B)
9
B
4 4 O4
A
2 O2
10