ME 303 Kinematics

Ki i andd Dynamics
D i off Machines
M hi

Santhakumar Mohan
Mechanical Engineering
Indian Institute of Technology
Indore
 Lecture 8: Velocity Analysis of Planar Linkages
(Graphical Method)
 Introduction
 Tangential
T ti l velocity
l it
 Slip or sliding velocity
 Graphical method
 Four-bar mechanism
 Slider crank mechanism

Santhakumar Mohan, IIT Indore

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ME 303 Kinematics and Dynamics of Machines
 Introduction
• Velocity is defined as the rate of change of displacement with respect
to time.
time
d dP
Angular velocity,  ; linear velocity, V  ;
dt dt

P AB  Le j
vab
dP AB
V AB  v ab 
dt B
PAB
v ab 
d
dt
 
Le j  Lje j
d
dt

2
y L
v ab  jLe j  Le j  90

V AB  ω AB  P AB
A x
1
Santhakumar Mohan, IIT Indore
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ME 303 Kinematics and Dynamics of Machines
 Graphical Velocity Analysis of a Four-bar Mechanism

Locus of ‘c’
v bc   3 L3
v dc   4 L 4 b vab
vbc
Locus of vbc vdc
v bc bc
3   Locus of ‘c’ c a, d
L3 L3
vd dc
 4  dc  C Locus of vdc Velocity Analysis:
L4 L4 vab Known: 
3 L1, L2, L3, L4
2 B 2, 3, 4
2, vab = L22
2 4
A D Unknown:
Position Analysis: 3 and 4
Known: L1, L2, L3, L4 and 2
Unknown: 3 and 
and 4
Santhakumar Mohan, IIT Indore
4
ME 303 Kinematics and Dynamics of Machines
Graphical Velocity Analysis of a Slider Crank Mechanism
Locus of ‘c’
v bc   3 L3 b
vbc vab
v ac  ac
c vac
Locus of ‘c’ vslider a
v bc bc
3  
L3 L3 vab
v slider  v ac  ac Velocity Analysis:
3 Locus of vbc Known: 
2 B
e, L2, L3, dslider
2 C Locus of vac 2, 3
A
2, vab = L22
AC or dslider Unknown:
Position Analysis: 3 and vslider
Known: e, L2, L3 and 2
Unknown: 3 3 and dslider

Santhakumar Mohan, IIT Indore

5
ME 303 Kinematics and Dynamics of Machines
 Analytical Velocity Analysis of a Four-bar Mechanism
• From loop-closure equation or by vector loop method:
Position Analysis
  B  B 2  4 AC    E  E 2  4 DF 
1 1
 3  2 tan    4  2 tan  
 2A   2D 
A  k1  L2 L1  L3  cos  2  L3 L1 D  k 2  L2 L1  L4  cos  2  L4 L1
B  2 L2 L3 sin  2 E  2 L2 L4 sin  2
C  k1  L2 L1  L3  cos  2  L3 L1 F  k 2  L2 L1  L4  cos  2  L4 L1
L22  L23  L24  L12 L22  L23  L24  L12
k1  k2 
2 2
Velocity Analysis
L2 cos  2  L3 cos  3  L4 cos  4  L1 L22 sin  4   2 
3  
L2 sin  2  L3 sin  3  L4 sin  4 L3 sin  4   3 
 L2  2 sin  2  L3 3 sin  3   L4  4 sin  4 L22 sin  3   2 
4  
L2  2 cos  2  L3 3 cos  3  L4  4 cos  4 L4 sin  3   4 

Santhakumar Mohan, IIT Indore

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ME 303 Kinematics and Dynamics of Machines