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Procedia Engineering 177 (2017) 476 – 481

XXI International Polish-Slovak Conference “Machine Modeling and Simulations 2016”

Kinematic and dynamic analysis of planar mechanisms by means of

the SolidWorks software
Ján Vavro, Jr., Ján Vavro*, Petra Kováčiková, Radka Bezdedová
Alexander Dubček University of Trenčín, Faculty of Industrial Technologies in Púchov, I. Krasku 941/30, 020 01 Púchov;

Abstract

The paper presents a kinematic and dynamic analysis of a planar mechanism by means of the SolidWorks software. Graphic
dependence of kinematic and dynamic magnitudes of some points is given in dependence on the angle of rotation of the driving
item and on the time.
©©2017
2017TheTheAuthors.
Authors. Published
Published by Elsevier
by Elsevier Ltd. is an open access article under the CC BY-NC-ND license
Ltd. This
Peer-review under responsibility of the organizing committee of MMS 2016.
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the organizing committee of MMS 2016
Keywords: kinematic analysis; dynamic analysis; finite element method; numerical analysis; SolidWorks; planar mechanism;

1. Introduction

In relation to the kinematic and dynamic analysis and subsequent simulation [1-3] of the planar as well as spatial
mechanisms, it is great solution to use SolidWorks software. The considerable advantage of this mentioned program
is based on its simplicity from the aspect of modelling and moreover, it is important to point out that utilisation of
the mentioned program leads to results which are precise and accurate in the case of the numerical solution of the
equations in the whole magnitude referring to motion of mechanism while the given results are obtained in the
graphic form.

2. Kinematic and dynamic analysis planar mechanism

The planar mechanism Fig. 1 representatives consisting of six bodies. Using the kinematic analysis, the main
objective is connected with the determination and entering of the position domains, speed (velocity) domains as well
as acceleration of the individual bodies in relation to the specified input values of the angular velocity for the
driving body designated as 2. The angular velocity for body designated as 2 is specified Z21 36 s 1 .

* Corresponding author. Tel.: +421 42 2851 817.

E-mail address: jan.vavro@fpt.tnuni,sk

1877-7058 © 2017 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the organizing committee of MMS 2016
doi:10.1016/j.proeng.2017.02.248
 Ján Vavro et al. / Procedia Engineering 177 (2017) 476 – 481 477

Input values:
a = 1.7 >m@, b = 1.3 >m@, c = 0.1 >m@, h = 0.1 >m@ (thickness bodies), l2 = 0.5 >m@, l3 = 0.1 >m@, l4 = 1.4 >m@,
l5=1.4 >m@, l6 = 0.9 >m@.

Fig. 1. Planar mechanism.

The simulation of operation relating to planar mechanism can be seen in the Fig. 2 for time step ten second

Fig. 2. Simulation of planar mechanism operation.

478 Ján Vavro et al. / Procedia Engineering 177 (2017) 476 – 481

The whole course of the velocity and acceleration for B, C, D, F points of bodies can be seen in Fig.3 and Fig.4.

800
700

v (mm/s) 600
500
400
300
200
100

Fig. 3. Velocity points B, C, D, F dependent of the time.

600
500 B
a (m m/s^2)

400
C
300
D
200
100 F

0
0 2 4 6 8 10

tim e (s)

Fig. 4. Acceleration points B, C, D, F dependent of the time.

The computational model of the planar mechanism can be seen in the Fig. 5.

Fig. 5. Computational model of the planar mechanism.

 Ján Vavro et al. / Procedia Engineering 177 (2017) 476 – 481 479

The main objective of the dynamic analysis is connected with specification of the loading for the individual items
and determination of the courses relating to mutual reactions for individual kinematic connections [7]. The analysis
was based on utilisation of the linear model. Relating to the analysis, the other important and utilised values were:
- modulus of elasticity (Young’s modulus): E = 2.1 e11 (Pa),
- Poisson’s ratio: μ = 0.3,
- density of material: U = 7850 (kg.m-3).

Figure 6 represents the course of the reaction in E point of the body designated as 4 and Fig.7 represents the
course of the reaction in E point of the body designated as 6.

6000
5000
4000
3000
F (N)

2000
1000
0
-1000 0 2 4 6 8
-2000

Fig. 6. Course of the reaction in E of the body designated as 4 dependent of the time.

1800
1600
1400
1200
1000
F (N)

800
600
400
200
0
-200 0 2 4 6 8 1

Fig. 7. Course of the reaction in F of the body designated as 6 dependent of the time.

Moreover, the distribution of the stress for bodies designated as 1, 3, 6 can be seen in Fig. 8-10.
480 Ján Vavro et al. / Procedia Engineering 177 (2017) 476 – 481

Fig. 8. Distribution of the stress for body designated as 1.

Fig. 9. Distribution of the stress for body designated as 3.

Fig. 10. Distribution of the stress for body designated as 6.

 Ján Vavro et al. / Procedia Engineering 177 (2017) 476 – 481 481

3. Summary

Based on the evaluation of the results, the utilisation of the Motion Program is significantly useful because it is
effective way to determine all kinematic parameters of any mechanism and moreover, the loading for any point of
the body system can be also specified. The tolerance for the position deviation was tested while the predetermined
deviation was 10-9. It is important to point out that from the aspect of convergence, it was not necessary to use more
than five steps for each one position. On the other side, the convergence failure was connected with specification
and entering of inaccurate parameters.

Acknowledgements

This work was supported by the Slovak Grant Agency VEGA 1/0385/14, KEGA 006TnUAD-4/2014, KEGA
005TnUAD-4/2016, and resulted from the project “Center for quality testing and diagnostics of materials”, ITMS
code 26210120046 relating to the Operational Program Research and Development funded from European Fund of
Regional Development.

References

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