Velocity Analysis PDF

Velocity & Acceleration Analysis
• Time derivatives of the loop-closure

expressions allow the analysis of velocities
& accelerations, i.e.:
VELOCITY CLOSURE
ACCELERATION CLOSURE
MECH 335 Lecture Notes

© R.Podhorodeski, 2009
• Review of time derivatives of displacement

• Example: Velocity analysis of the offset
slider-crank
2
3
0
1
Displacement closure:

• Taking the time derivative:
• Rearranging and substituting:




• Splitting into real and imaginary eqns
REAL
IMAGINARY
• The solution for is obtained by solving

the imaginary equation as:

• Substituting this solution back into the real
equation gives the other unknown:
REAL EQUATION

Relative Velocity Analysis
• The velocity of one point can be expressed
as the velocity of another point, plus the
relative velocity of the two points

• Example
B
RB/A
A θ3
ω2 RA RB
θ2 θ4
O2 O4

• Example VB
B
RB/A
A θ3
ω2 RA RB
θ2 θ4
O2 O4
Absolute velocity of point B

• Example
B
RB/A
VA
A θ3
ω2 RA RB
θ2 θ4
O2 O4
Absolute velocity of point A

VB/A
• Example
B
RB/A
A θ3
ω2 RA RB
θ2 θ4
O2 O4
Relative velocity of point B w.r.t. point A

VB/A
• Example VB
B
RB/A
VA
A θ3
ω2 RA RB
θ2 θ4
O2 O4

• Note that:
– The direction and magnitude of VA is a known
function of the input angular velocity, ω2
– The mechanism’s joints define the direction of
many of the remaining relative and absolute
velocities
– This information can be manipulated to find the
velocity (direction and magnitude) of points not
on the input link

• There are 4 distinct cases where relative
velocity analysis is applied (though only 3
are non-trivial)
Same Point Different Points
Case 2
Same Case 1
DIFFERENCE
Link TRIVIAL CASE
MOTION
Case 4
Different Case 3
DIFFERENCE & RELATIVE
Links RELATIVE MOTION
MOTION

• Case 2: Different points on the same link
– Want to find velocity of point B w.r.t. point A (VB|A)
– Take the derivative of the rel. position vector (RB|A)
VB/A
VB
B
RB/A
VA
A θ3
ω2 RA RB
θ2 θ4
O2 O4

– Examining this result gives simple method for
calculation:
VB/A
VB
B Always = 0 for a rigid link
RB/A (no length change)
VA
A θ3
ω2 RA RB Equivalent to rotation through 90° in the sense

θ2
(CW or CCW) of ωB|A (i.e. ω3)
θ4
O2 O4
So, for a rigid link :
VB|A = (rB|A)(ω3), ┴ RB|A
– Recalling that VB = VA + VB|A we can set up a system
of equations to solve for VB:
VB/A
VB
B
RB/A
VA
A θ3
ω2 RA RB Tricky to approach analytically, but graphical

θ2
methods can be used, and can be much more
θ4
intuitive
O2 O4

• Case 2 Example (Supp Ex V1)
B
3 4
O2 2 O4
A
ω2

• Solve using a graphical method
B
3 4
O2 2 O4
A
ω2

• Find VB by relative velocity analysis:
C
1 mm = 5 mm/s
3 4
O2 2 O4
A
ω2
0V
• VA: direction, magnitude both known
C
1 mm = 5 mm/s
3 4
O2 2 O4
A
ω2
0V
C
1 mm = 5 mm/s
3 4
O2 2 O4
A
ω2
0V
A
C
1 mm = 5 mm/s
3 4
O2 2 O4 VA
A
ω2
0V
• VB|A: direction known, magnitude unknown
A
C
1 mm = 5 mm/s
3 4
O2 2 O4 VA
A
ω2
0V
A
C
1 mm = 5 mm/s
3 4
O2 2 O4 VA
A
0V
A
C
1 mm = 5 mm/s
3 4
O2 2 O4 VA
A di
r(V
B|
A)
0V
• VB: direction known, magnitude unknown
A
C
1 mm = 5 mm/s
3 4
O2 2 O4 VA
A di
ω2
r(V
B|
A)
0V
A
C
1 mm = 5 mm/s
3 4
O2 2 O4 VA
A di
r(V
B|
A)
0V
A
C
1 mm = 5 mm/s
3 4
VA
)
dir(V B
O2 2 O4
A di
r(V
B|
A)
0V
• Solution is obtained by intersection &
measurement
A
C
1 mm = 5 mm/s
3 4
VA
)
dir(V B
O2 2 O4
A di
ω2
r(V
B|
A)
0V
measurement
A
C
1 mm = 5 mm/s
3 4
VA
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
measurement
A
C
1 mm = 5 mm/s
X 3 4
VA
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
• Noticing that , we measure:
A
C
1 mm = 5 mm/s
X 3 4
VA
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
A
C
1 mm = 5 mm/s
X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
A
C
1 mm = 5 mm/s
X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
• And compute:
• Where the direction of rotation is inferred
from the direction of
B
A
C
1 mm = 5 mm/s
X X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
• Similarly:
A
C
1 mm = 5 mm/s
X X X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
• Now, VC can be found in a variety of ways:
– Intersect relative velocity directions w.r.t. A & B
– Compute directly, e.g. VC = VA+(ω3 X AC)
B
A
C
1 mm = 5 mm/s
X X X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
• Using the first method, note that:
A
C
1 mm = 5 mm/s
X X X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
and ,
A
C
1 mm = 5 mm/s
X X X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2 r(V
B|
A)
0V
and ,
dir(VC|A)
A
C
1 mm = 5 mm/s
X X X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2 r(V
B|
A)
0V
and ,
dir(VC|A)
A
C
1 mm = 5 mm/s
X X X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2 r(V
B|
A)
0V
and ,
dir
(V C
B
|B
)
dir(VC|A)
A
C
1 mm = 5 mm/s
X X X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2 r(V
B|
A)
0V
• Intersection gives the solution for VC
dir
(V C
B
|B
)
dir(VC|A)
A
C
1 mm = 5 mm/s
X X X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
dir
(V C
B
|B
)
dir(VC|A)
A C
C
1 mm = 5 mm/s
VC
X X X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
dir
(V C
B
|B
)
dir(VC|A)
A C
C
1 mm = 5 mm/s
VC
X XX X 3 4
V
B|
VA
A
)
dir(V B
O2 2 O4
B
A VB di
ω2
r(V
B|
A)
0V
• Another Case 2 Example (Supp Ex V2)
C
ω2 3
O2
B 4

• Solve using the same graphical method:
1 mm = 10 mm/s
ω2 3
O2
B 4
0V

• Find VB by case 2 analysis:
1 mm = 10 mm/s
ω2 3
O2
B 4
0V

• VA : magnitude, direction both known
1 mm = 10 mm/s
ω2 3
O2
B 4
0V

1 mm = 10 mm/s
ω2 3
O2
B 4
0V

A A
V
A
2
1 mm = 10 mm/s
ω2 3
O2
B 4
0V

• VB|A : direction known, magnitude unknown
A A
V
A
2
1 mm = 10 mm/s
ω2 3
O2
B 4
0V

A A
V
A
2
1 mm = 10 mm/s
ω2 3
O2
B 4
0V

A A
V
A)
A
B|
2
(V
dir
1 mm = 10 mm/s
ω2 3
O2
B 4
0V

• VB : direction known, magnitude unknown
A A
V
A)
A
B|
2
(V
dir
1 mm = 10 mm/s
ω2 3
O2
B 4
0V

• VB : direction known, magnitude unknown
A A
V
A)
A
B|
2
(V
dir
1 mm = 10 mm/s
ω2 3
O2
dir(VB)
B 4
0V

• Intersection & measurement give:
A A
V
A)
A
B|
2
(V
dir
1 mm = 10 mm/s
|A
ω2
VB
O2 3
dir(VB) B VB
B 4
0V

• Intersection & measurement give:
A A
V
A)
A
B|
2
(V
dir
1 mm = 10 mm/s
|A
ω2
VB
O2 3
dir(VB) B VB
B 4
0V
X MECH 335 Lecture Notes
• And ω3 is found from:
A A
V
A)
A
B|
2
(V
dir
1 mm = 10 mm/s
|A
ω2
VB
O2 3
dir(VB) B VB
B 4
0V
X X MECH 335 Lecture Notes
• Solve for VC by intersection:
A A
V
A)
A
B|
2
(V
dir
1 mm = 10 mm/s
|A
ω2
VB
O2 3
dir(VB) B VB
B 4
0V
A A
V
A)
A
B|
2
(V
dir
1 mm = 10 mm/s
|A
ω2
VB
O2 3
dir(VC|A
B
)
dir(VB) VB
B 4
0V
A A
V )
|B
A)
A C
r(V
B|
2 di
(V
dir
1 mm = 10 mm/s
|A
ω2
VB
O2 3
dir(VC|A
B
)
dir(VB) VB
B 4
0V
• Measuring then gives:
A A
V )
|B
A)
A C
r(V
B|
2 di
(V
dir
1 mm = 10 mm/s
C VC
|A
ω2
VB
O2 3
dir(VC|A
B
)
dir(VB) VB
B 4
0V
X XX MECH 335 Lecture Notes
• Case 3: Coincident points on different links
– Occurs for slides & pistons, cams & followers:
• Two points on different links momentarily occupy
the same point in the plane
• Each has a different absolute velocity, therefore a
relative velocity exists

– Calculate the slide (relative) velocity, VB3|B4
• So far, we have taken the derivative of
B2, B3, B4
the relative position vector, RB3|B4
3
• But how can we express this vector for
two coincident points?
4
• Intuitively, we can imagine displacing the
2 slide by some small distance along the
slide, then drawing RB3|B4
• Taking the limit as the displacement
approaches zero, we can see that RB3|B4
has zero length, and is directed along the
tangent to the slide (link 4) at point B
• So:
B2, B3, B4
3 • Taking the derivative:
4
2
θslide

• Simplifying gives the final expression:
B2, B3, B4
3
• Note that this deceptively simple
4 expression hides the potentially difficult
2
θslide task of finding the slide tangent angle
• In the following examples, straight slides
are used to avoid this hassle (tangent
angle = link angle for a straight slide)

• Case 3 Example (Supp Ex V3)
3
B
4
2
ω2
O2 C O4

• Solve graphically
3
B
4
2 0V
ω2
O2 C O4 1 mm = 10 mm/s
• Use case 3 analysis to find VB4:
3
B
4
2 0V
ω2
O2 C O4 1 mm = 10 mm/s
• VB2: direction, magnitude both known:
3
B
4
2 0V
ω2
VB
2
O2 C O44 1 mm = 10 mm/s
MECH 335 Lecture Notes B2
• VB2|B4: only direction is known
dir
(V B
3
2|B
B
4 )
4
2 0V
ω2
VB
2
O2 C O4 1 mm = 10 mm/s
• VB4: direction known, magnitude unknown
dir
(V B2
3 )
V B4
|B4|
B r (
di
)
4
2 0V
ω2
VB
2
O2 C O44 1 mm = 10 mm/s
• Obtain VB4 by intersection
dir
(V B
3 )
2|B
(V B4
B dir
4 )
B4
V B4
X 2
4
0V
ω2
V B2
VB
|B4
2
O2 C O4 1 mm = 10 mm/s
• ω4 follows immediately from VB4:
dir
(V B
3 )
2|B
(V B4
B dir
4 )
B4
V B4
X X 2
4
0V
ω2
V B2
VB
|B4
2
O2 C O4 1 mm = 10 mm/s
• VC follows immediately from ω4, or by:
•
dir
(V B
3 )
2|B
(V B4
B dir
4 )
B4
V B4
X X 2
4
0V
ω2
V B2
VB
|B4
2
O2 C O4 1 mm = 10 mm/s
• ,
dir
(V B
3 )
2|B
(V B4
B dir
4 )
B4
dir(V
C |B4 )
V B4
X X 2
4
0V
ω2
V B2
VB
|B4
2
O2 C O4 1 mm = 10 mm/s
• , ,
C)
dir
dir(V
(V B
3 )
2|B
(V B4
B dir
4 )
B4
dir(V
C |B4 )
V B4
X X 2
4
0V
ω2
V B2
VB
|B4
2
O2 C O4 1 mm = 10 mm/s
• Measuring:
C)
dir
dir(V
(V B
3 )
2|B
(V B4
B dir
4
C
)
B4
dir(V
C |B4 )
VC
V B4
X X X 2
4
0V
ω2
V B2
VB
|B4
2
O2 C O4 1 mm = 10 mm/s
• Another Case 3 Example (Supp Ex V4)
6 D 5, D 6
B
3 4
O2 2 O4
A
ω2

• Note: The 4-Bar was solved in Ex V1
6 D 5, D 6
B
3 4
O2 2 O4
A
ω2

• VC is found by scaling arguments:
6 D 5, D 6
B
A
5
1 mm = 5 mm/s
VA
3
V
B|
A
C
B
VB
O2 2 O4
A
ω2
0V

• VC is found by scaling arguments:
6 D 5, D 6
B
A V
C|
A
5
1 mm = 5 mm/s
VA
3
V
B|
A
C
B
VB
O2 2 O4
A
ω2
0V

• Measuring:
6 D 5, D 6
B
A V
C|
A
5
C
1 mm = 5 mm/s
VA
3
V
VC B|
A
C
B
VB
X O2 2
A
O4
ω2
0V

• VD5 is found by Case 3 analysis:
6 D 5, D 6
B
A V
C|
A
5
C
1 mm = 5 mm/s
VA
3
V
VC B|
A
C
B
VB
X O2 2
A
O4
ω2
0V

• VD5 : only the direction is known
6 D 5, D 6
B
A V
C|
A
5
C
1 mm = 5 mm/s
VA
3
V
VC B|
A
C
B
VB
X O2 2
A
O4
ω2
0V
di
r(V
D5
)
• VD5|C : only the direction is known
6 D 5, D 6
C
)
B 5|
A VD
r(
V
C| di
A
5
C
1 mm = 5 mm/s
VA
3
V
VC B|
A
C B
VB
X O2 2 O4
A
ω2
0V
di
r(V
D5
)
• Measuring:
6 D 5, D 6
C
)
B 5|
A VD
r(
V
C| di
A
5
C
1 mm = 5 mm/s
|C
V D5
4 D5
VA
3
V
VC B|
A
VD
C B
5
VB
X X O2 2 O4
A
ω2
0V
di
r(V
D5
)
• ω5 is found immediately from:
6 D 5, D 6
C
)
B 5|
A VD
r(
V
C| di
A
5
C
1 mm = 5 mm/s
|C
V D5
4 D5
VA
3
V
VC B|
A
VD
C
B
5
VB
XX X O2 2
A
O4
ω2
0V
di
r(V
D5
)
END OF LECTURE PACK 3

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Velocity & Acceleration Analysis

• Time derivatives of the loop-closure

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

• Rearranging and substituting:

MECH 335 Lecture Notes

• Rearranging and substituting:

MECH 335 Lecture Notes

• Rearranging and substituting:

MECH 335 Lecture Notes

• Rearranging and substituting:

MECH 335 Lecture Notes

• The solution for is obtained by solving

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

Absolute velocity of point B

Absolute velocity of point A

Relative velocity of point B w.r.t. point A

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

ω2 RA RB Equivalent to rotation through 90° in the sense

ω2 RA RB Tricky to approach analytically, but graphical

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

3 • Taking the derivative:

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

MECH 335 Lecture Notes

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