ME2012D Kinematics of Mechanisms

Lecture-12 Velocity Analysis of Mechanisms

by IC method
Date: 31.01.2023
Dr. Ashesh Saha
Assistant Professor
Email: ashesh@nitc.ac.in
Department of Mechanical Engineering
National Institute of Technology Calicut
 Velocity Analysis
 In a mechanism shown in Fig., the
crank OP rotates at 210 rpm in the
counter-clockwise direction and
imparts vertical reciprocating motion
to rack through a toothed quadrant.
Slotted bar and the quadrant oscillate
about the fixed pivot A. Determine
for the given position the
(i) linear speed of the rack
(ii) ratio of the times of raising
and lowering of the rack
(iii) stroke of the rack
Velocity Analysis
Velocity Analysis
Velocity Analysis
Instantaneous Centre of Velocity/Rotation
 Instantaneous Centre of Velocity/Rotation

 Both the rigid bodies p and q are in relative motion with respect to a third
body r.
 I is the instantaneous centre of velocity between p and q.
 Motion of I relative to r would be the same whether this point in considered
on the body p or q.
 Instantaneous Centre of Velocity/Rotation
Aronhold-Kennedy Theorem
If three rigid bodies are in relative motion (in a plane) with respect to one
another, the three relative instantaneous centers of velocity are collinear.
 Velocity Analysis by Instantaneous Centre Method
 In a slider-crank mechanism, the lengths of the crank and the connecting
rod are 200 mm and 800 mm, respectively. Locate all the I-centers of the
mechanism for the position of the crank when it has turned 30° from the
inner dead centre. Also, find the velocity of the slider and the angular
velocity of the connecting rod if the crank rotates at 40 rad/s.
Velocity Analysis by Instantaneous Centre Method

E
A
C B
O
 Velocity Analysis by Instantaneous Centre Method
Figure shows a five-link mechanism in which the follower 5 is driven by the
cam 3, which is the coupler link of the 4R linkage. If the input link 2 rotates
with an angular velocity w = 10 rad/s (CW), determine the angular velocity of
the output link 5.
 Velocity Analysis by Instantaneous Centre Method

 Our interest is to determine 25. 35 must be known if 25 is to be determined.

 Velocity Analysis

 Since motion is transferred to link 5 by link 3 through a higher pair contact

at P, the relative instantaneous center 35 lies on the common normal to the
contacting surfaces at P.
 Once 13 is known, location of 35 on the common normal can be determined
 Finally, the instantaneous center represented by the diagonal 25, is found
out and its distances from O2 and O5 are measured to be 17 cm and 34 cm,
respectively.
 Hence 𝜔5 = (17/34) x10 rad/s (CW) =5 rad/s ( CW).
Acceleration Analysis of Four-Link Mechanism
Acceleration Analysis of Four-Link Mechanism
Acceleration Analysis of Four-Link Mechanism
Acceleration Analysis of Four-Link Mechanism
 Acceleration Analysis
 Figure shows a 4R linkage in which link 2 is rotating at a speed of 10 rad/s
in the CCW direction and an angular acceleration of 75 rad/s2 in the CW
direction. C is a point on the coupler AB at a distance of 10 cm from the
midpoint of AB. Determine the velocity of point C.
Link Lengths:
O2A = 15 cm
AB = 45 cm
O4B = 30 cm
 Velocity Analysis
 Figure shows a 4R linkage in which link 2 is rotating in the CCW direction
at a speed of 10 rad/s. C is a point on the coupler AB at a distance of 10 cm
from the midpoint of AB. Determine the velocity of point C.

Link Lengths:
O2A = 15 cm
AB = 45 cm
O4B = 30 cm
 Velocity Analysis
 Figure shows a 4R linkage in which link 2 is rotating in the CCW direction
at a speed of 10 rad/s. C is a point on the coupler AB at a distance of 10 cm
from the midpoint of AB. Determine the velocity of point C.

vC = 117 cm/s
Acceleration Analysis

Completely Known

Direction Known

Completely Known
Acceleration Analysis

Completely Known

Completely Known

Direction Known
Acceleration Analysis
Acceleration Analysis of Slider Crank Mechanism
Acceleration Analysis of Slider Crank Mechanism
Acceleration Analysis of Slider Crank Mechanism