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CH 06
CH 06
Velocity Analysis
Position Analysis
Velocity Analysis
Kinematic
Analysis
Acceleration Analysis
Force Analysis
Stress Analysis
(Velocity)
The rate of change of position w.r.t. time.
Linear Velocity V
Angular Velocity
pejq
p(),q
= ( )
= =
() ejq j
90
VR
Rw
Case 1:
VPA
VPA
P2A2, 33
(velocity difference equation)
P
VPA VP - VA
or
VP VA + VPA = +
Case 2:
VPA
VPA
P1A23
(relative velocity equation)
VPA VP - VA
()
VB VA + VBA = VA +
3 =
??
VC VA + VCA =
VA +
= 3
4 =
4
(Instant center)
(i j)
5
1. (R)
R
2.
VAVB
VA
A
B
I12
VB
=
=
12 12
3. (P)
or sliding motion
I V(sliding direction)
VA
4 (cam pair)
(roll-slide)
I23(O2O3)
O2
O3
I23
()
5 (pure rolling)
(Kennedy theorem) or
3
Ijk
Iik
Iij
1. i j Iij
2. N N(N-1)/2
3. 1 2 3 N N
4.
5. i j i j
6. (Kennedy theorem)
()
(1)
n2 =
1. nijIij
2.5
Iij ij
3. Iik ik
()
4. IimImkIijIjkIik
5. 34
I13
1
I24
1i(wi)
j(wj)
I1i, I1j, Iij
I1i, I1jij
2 Iijij
Vij
= 1
= 1
w2 or VAw3, w4, VC,VB
1. A, B, C
I13
VC,VB
2. I13
3.
= = = 3 ()
23 13
13
w3, VC,VB
4. 4 =
14
13
w2 or VAw4
1.I24
2.24 = 24 2 2 = 24 4 4
4 24 2
=
2 24 4
mv =
4
2
P = Tw
=
=
=
mA,mv
mA
mV
I24
2
=
=
=
4
=
24 4
24 2
24 2
24 4
mA
23
Example:
I24
24 4
24 2
24 4 108.2
24 2 25.4
Example:
= 24 4
24 2
24 4 2
=
24 2 4
=
I24
+ 3
R2 + R3 R4 R1 = 0
1 =0
2 2 2 + 3 3 3 4 4 4 = 0
()
Euler identity
3 sin 3
3 cos 3
4 sin 4
4 cos 4
3
2 2 sin 2
4 = 2 2 cos 2
w3, w4
Example 1: Four-bar linkage
Input: w2
Output: w3, w4
= 2 2
0 2
= 0
2 2 0
= (2 sin 2 2 )i + (2 cos 2 2 )
= 4 4
0 4
= 0
4 4 0
= (4 sin 4 4 )i + (4 cos 4 4 )
= +
= 3 3
0 3
= 0
4 sin 4 4 =2 sin 2 2 +(3 sin 3 3 )
3 3 0
= (3 3 )i + (3 3 )
4 cos 4 4 =(2 cos 2 2 )+ (3 cos 3 3 )
= (3 sin 3 3 )i + (3 cos 3 3 )
w3, w4
Example 2: Crank-Slider mechanism
Input: w2
Output: w3, 1
R2 R3 R4 R1 = 0
2 2 3 3 4 4 1 =0
2 2 2 3 3 3 1 = 0
()
Euler identity
3 sin 3
3 cos 3
1 3
2 2 sin 2
=
0 1
2 2 cos 2
:
w3, 1
= 2 2
0 2
= 0
2 2 0
= (2 sin 2 2 )i + (2 cos 2 2 )
Input: w2
Output: w3, 1 ( )
= + 0 j
= +
= 3
Input: w2
Output: 3 w3, w4
Constraint: w3 = w4
R2 R3 R4 R1 = 0
2 2 3 3 4 4 1 =0
()
2 2 2 3 3 3 3 3 4 4 4 = 0
2 2 (cos 2 + sin 2 ) 3 3 (cos 3 + sin 3 )
3 (cos 3 + sin 3 ) 4 4 (cos 4 + sin 4 ) = 0
Re: 2 2 sin 2 +3 3 sin 3 3 cos 3 +4 4 sin 4 = 0
Im: 2 2 cos 2 3 3 cos 3 3 sin 3 4 4 cos 4 = 0
3 sin 3 + 4 sin 4
3 cos 3 4 cos 4
cos 3 3
2 2 sin 2
=
sin 3 3
2 2 cos 2
w3, 3
Input: w2
Output: 3 w3, w4
Constraint: w3 = w4
= 2 2
= (2 sin 2 2 )i + (2 cos 2 2 )
= 4 4
= (4 sin 4 4 )i + (4 cos 4 4 )
= 3 +
= (3 sin 3 3 )i + (3 cos 3 3 ) + 3 cos 3 + (3 sin 3 )
= +
(4 sin 4 4 ) = (2 sin 2 2 ) + (3 sin 3 3 )+ 3 cos 3
VBA
3B(B3)
A4
B(B4)
B3