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2.6 Four-Link Mechanism: Velocity Analysis
2.6 Four-Link Mechanism: Velocity Analysis
Fig. 2.6
Pin at B
v cd
w ba = wab = w clockwise; w bc = wcb = counter-clockwise
BC
Since the directions of the two angular velocities of links AB and BC are in the
opposite directions, the angular velocity of one link relative to the other is the
sum of the two velocities.
Let rb = radius of the pin at B;
Velocity of rubbing = rb (wab + w bc)
Pin at C
w bc = wcb counter-clockwise; wdc = wcd clockwise
Let rc = radius of the pin at C;
Velocity of rubbing = rc (w bc + wdc)
In case it is found that the angular velocities of the two links joined together
are in the same direction, the velocity of rubbing will be the difference of the
angular velocities multiplied by the radius of the pin.