Machine Dynamics 231 : Tutorial # 4: Velocity Diagrams & Kinematics Revision

Department of Mechanical Engineering

Curtin University of Technology

Tutorial Discussion Question

Consider the following question and be ready to discuss your learning in your tutorial session.

The following figure is an approximate schematic of an industrial welding robot designed to

operate in a plane (i.e. 2D not 3D)

B O
T

DQ1. Write the relative position/velocity/acceleration vector equation for the end-effector
(the tool tip / hand). i.e. define the motion of T in terms of the joints labelled B, A
and O.

DQ2. Explain why r-θ and n-t coordinates are useful for this application. Consider what
actuators engineers use to make the robot move.

DQ3. How would you adjust this design to create a 3D welding robot?

DQ4. Can you demonstrate anything else we have covered in this topic, using this
example?
 Machine Dynamics 231 : Tutorial # 2: Velocity Diagrams & Kinematics
Department of Mechanical Engineering
Curtin University of Technology

1. In Figure 1, Link BF oscillates about F through a limited arc, causing link AE to oscillate
about E. When the linkage passes the position shown with BF horizontal and AE vertical, the
angular velocity of BF is 2 rad/sec counter clockwise and the angular velocity of AE is 0.43
rad/sec clockwise. Draw a velocity diagram and determine the magnitude and direction of the
relative velocity of point A with respect to point B. (ans: 0.156 m/s & correct direction)
A ωBF
B F

100 mm ωAE
75 mm

Figure 1: Rotating Link Assembly.

2. The flywheel rotates clockwise as shown in 2 with a constant speed of 600 rev/min. A
connecting rod AB is connected at A and slides through the pivoted collar at C. For the
position θ = 45º, determine the angular velocity ωab of the link AB using relative motion.
(ans: 19.4 rad/s CW)

Figure 2: Sliding connecting rod.

All figures taken from, Engineering Mechanics, Dynamics, 5th Edition, Meriam & Kraige, 2003, ISBN 0-471-26606-x.
 Machine Dynamics 231 : Tutorial # 2: Velocity Diagrams & Kinematics

3. A disk rolls on a horizontal surface without

slipping as shown in Figure 3. The centre O of the
disk has velocity and accelerations as shown.
Determine the velocity of A and the velocity of B for
this instant. (ans: 5.54 m/s, xx m/s
& correct directions)

Figure 3: Rolling disk.

4. A hinged link AC moves in a rotating slot of link OD as shown in 4. The angular

velocity of link OD is constant and is given as 2 rad/s ACW as shown. For the position of
the link where θ is 45º, graphically complete the velocity diagram of the system and
ascertain; (you may check the result analytically)

(i) The velocity of the pin A. (~0.9m/s & dirn)

(ii) The angular velocity of the link AC. (~4 rad/s ACW)
(iii) The relative sliding velocity between the pin A and the link OD. (~0.6m/s)
(iv) The direction of the relative sliding velocity between the pin A and the link
OD.

Figure 4: Rotating slotted mechanism

All figures taken from, Engineering Mechanics, Dynamics, 5th Edition, Meriam & Kraige, 2003, ISBN 0-471-26606-x.