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Department
Mechanisms of Machinery
(MEng 3301)
Chapter 3
2
3.1. Velocity Analysis by Vector Mathematics
Consider the motion of pointP moving with respect to the
x- y- z coordinate system, which in turn, moves relative to
the X-Y-Z coordinate system as shown.
R p - is the position vector of P relative to the X-Y-Z system.
R - is the position vector of P relative to the x-y-z system
- is the position vector of the origin of the moving
3 R
coordinate
o system x-y-z relative to the fixed coordinate
system X-Y-Z.
The position vector of P relative to the X-Y-Z system Rp is
expressed as:
R p = Ro + R
(3.1)
to the
Velocity of P relative X-Y-Z
coordinate system is
V p = R p = Ro + R
(3.3)
Ro = Vo
- is the velocity of the origin of x-y-z system
relative to the fixed system
R = d ( xi + yj + zk )
dt
4
= ( x i + y j + z k ) + ( xi + yj + zk ) (3.4)
Let
x i + y j + z k = V (3.5)
note that
i = ω ×i
j = ω × j
k = ω × k (3.6)
V p = Vo + V + ω × R (3.9)
Vo = velocity of the origin of the x-y-z system relative to
the
X-Y- Z system
V = velocity of point p relative to x-y-z system
ω = angular velocity of the x-y-z system relative to X-Y-Z
system
R
= position vector of P with respect to the origin of the
x-y-z system
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3.2. Velocity analysis by using equation of
relative motion
3.2.1. Velocity of points on a common link
A and B are two points on a common rigid link AB as shown.
The points are moving with velocities VA and VB
respectively.
Using the equation of relative motion, velocity of one point
can be determined relative to the other.
VA = VB + VA/B (3.10)
VB = VA + VB/A
(3.16)
Where
VA is known both in magnitude and direction;
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VB is known in direction, magnitude is unknown;
3.3. Velocity Analysis by Complex
Numbers
Most of the systems of analysis using complex polar
notation are based on the following fundamental law:
If the elements of a mechanism are replaced by position
vectors such that their sum is zero, then their time
derivatives are also equal to zero.
This law means that if one takes any linkage or mechanism
and replaces the members of the mechanism by vectors
such that their sum is zero, then the sum of the velocity
vectors is zero, so also the sum of the acceleration vectors.
Considering the slider crank shown:
Link 2 is the driver (crank) and has
a constant angular velocity ω 2 & for
the instant under consideration an
angular position of θ 2.
Dimensions of linkages are assumed
to be known, so the angular position
10
of the follower, link 4, can be obtained.
Replacing each link by a vector such that the position
polygon closes as shown in figure (b), a mathematical
expression for the summation law can be written as:
R1 + R2 − R4 = 0 (3.25)
Where R1 = vector for the ground link
R2 = vector for the crank
R4 = vector to determine the position of link 3. Note that
the magnitude of R4 is variable.
The position of a particle on a link represented by a vector Rp
as shown
R p below
= a + ib may be expressed in any of the following
equivalent forms:
R p = rp ( cos θ 2 + i sin θ 2 ) (3.26)
R p = rp e iθ 2
θ1 iθ 2representation,
iθ 4
+ r2 e
Using this icomplex
r1e − r4 e =0equation (3.25) is
(3.27)
11 transformed into
Differentiating the above equation we obtain
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Types of Instantaneous Centres
The instantaneous centers for a mechanism are of the
following three types :
Fixed instantaneous centers,
Permanent instantaneous centres, and
Neither fixed nor permanent instantaneous centres.
The first two types i.e. fixed and permanent instantaneous
centres are together known as primary instantaneous
centres and the third type is known as secondary
instantaneous centres.
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Types of Instantaneous Centres
Consider a four
bar mechanism
ABCD.
The number of
instantaneous
centres (N) in a
four bar
mechanism is
given by
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Types of Instantaneous Centres
The instantaneous centres I12 and I14 are called the fixed
instantaneous centres as they remain in the same place for
all configurations of the mechanism.
The instantaneous centres I23 and I34 are the permanent
instantaneous centres as they move when the mechanism
moves, but the joints are of permanent nature.
The instantaneous centres I13 and I24 are neither fixed nor
permanent instantaneous centres as they vary with the
configuration of the mechanism.
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Location of Instantaneous Centres
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Location of Instantaneous Centres
1. When the two links have a pure rolling contact (i.e. link 2
rolls without slipping upon the fixed link 1 which may be
straight or curved), the instantaneous centre lies on their
point of contact. The velocity of any point A on the link 2
relative to fixed link 1 will be perpendicular to I12 A and is
proportional to I12 A . In other words
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Location of Instantaneous Centres
1. When the two links have a sliding contact, the
instantaneous centre lies on the common normal at the
point of contact. We shall consider the following three
cases :
When the link 2 (slider) moves on fixed link 1 having straight
surface, the instantaneous centre lies at infinity and each point
on the slider have the same velocity.
When the link 2 (slider) moves on fixed link 1 having curved
surface, the instantaneous centre lies on the centre of curvature
of the curvilinear path in the configuration at that instant.
When the link 2 (slider) moves on fixed link 1 having constant
radius of curvature, the instantaneous centre lies at the centre of
curvature i.e. the centre of the circle, for all configuration of
the links.
24
Location of Instantaneous Centres
25
Aronhold Kennedy (or Three Centres in
Line) Theorem
The Arnhold- Kennedy
theorem states that:
When three bodies move
relative to one another
they have three
instantaneous centers, all
of which lie on the same
straight line.
For the four-bar linkage
shown in Fig., centers 12,
23, 34 and 14 are located
by inspection.
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Aronhold Kennedy (or Three Centres in Line)
Theorem
The intersection of the perpendiculars to the velocities of
points A and B yield the instantaneous center 13 which is
the point about which link 3 appears to rotate relative to
link 1 or vice versa.
Demonstration:
Consider the three bodies shown below. Link 1 is the stationary link
and links 2 and 3 rotate about the centers 12 and 13.
Let us assume that the instantaneous center 23 lies at point C. Then
the velocity of C as a point on link 2 is Vc2 and as a point on link 3
is Vc3 both perpendicular to 02C and 03C, respectively.
The directions of the velocities obviously do not coincide, hence,
the velocity of C as a point on link 2 is different from the velocity
of point C as a point on link 3.
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Demonstration of Aronhold Kennedy Theorem
29
Method of Locating Instantaneous Centres in a
Mechanism
1. Make a list of all the instantaneous centres in a
mechanism. Since for a four bar mechanism, there are six
instantaneous centres, therefore these centres are listed as
shown in the following table (known as book-keeping
table).
30
Method of Locating Instantaneous Centres in a
Mechanism
1. Locate the remaining neither fixed nor permanent instantaneous
centres (or secondary centres) by Kennedy’s theorem. This is done
by circle diagram as shown in Fig. 6.8 (b). Mark points on a circle
equal to the number of links in a mechanism. In the present case,
mark 1, 2, 3, and 4 on the circle.
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Method of Locating Instantaneous Centres in a
Mechanism
1. Join the points by solid lines to show that these centres are already
found. In the circle diagram [Fig. 6.8 (b)] these lines are 12, 23, 34
and 14 to indicate the centres I12, I23, I34 and I14.
2. In order to find the other two instantaneous centres, join two such
points that the line joining them forms two adjacent triangles in the
circle diagram. The line which is responsible for completing two
triangles, should be a common side to the two triangles. In Fig. 6.8
(b), join 1 and 3 to form the triangles 123 and 341 and the
instantaneous centre* I13 will lie on the intersection of I12 I23 and I14
I34, produced if necessary, on the mechanism. Thus the
instantaneous centre I 13 is located. Join 1 and 3 by a dotted line on
the circle diagram and mark number 5 on it. Similarly the
instantaneous centre I24 will lie on the intersection of I12 I14 and I23
I34, produced if necessary, on the mechanism. Thus I24 is located.
Join 2 and 4 by a dotted line on the circle diagram and mark 6 on it.
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Hence all the six instantaneous centres are located.
Method of Locating Instantaneous Centres in a
Mechanism
33
34
Method of Locating Instantaneous Centres in a
Mechanism
35
VELOCITY ANALYSIS WITH INSTANT
CENTERS
Once the ICs have been found, they can be used to do a
very rapid graphical velocity analysis of the linkage.
From the definition of the instant center, both links sharing
the instant center will have identical velocity at that point.
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VELOCITY ANALYSIS WITH INSTANT CENTERS
Example 1. In a pin
jointed four bar
mechanism shown, AB =
300 mm, BC = CD = 360
mm, and AD = 600 mm.
The angle BAD = 60°.
The crank AB rotates
uniformly at 100 r.p.m.
Locate all the
instantaneous centres and
find the angular velocity
of the link BC.
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Example 1
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VELOCITY ANALYSIS WITH INSTANT CENTERS
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VELOCITY ANALYSIS WITH INSTANT CENTERS
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VELOCITY ANALYSIS WITH INSTANT CENTERS
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VELOCITY ANALYSIS WITH INSTANT CENTERS
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VELOCITY ANALYSIS WITH INSTANT CENTERS
Example 2.
Locate all the instantaneous centres of the slider crank
mechanism as shown in Fig. 6.12. The lengths of crank OB and
connecting rod AB are 100 mm and 400 mm respectively. If the
crank rotates clockwise with an angular velocity of 10 rad/s, find:
1. Velocity of the slider A, and 2. Angular velocity of the
connecting rod AB.
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VELOCITY ANALYSIS WITH INSTANT CENTERS
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VELOCITY ANALYSIS WITH INSTANT CENTERS
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VELOCITY ANALYSIS WITH INSTANT CENTERS
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VELOCITY ANALYSIS WITH INSTANT CENTERS
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VELOCITY ANALYSIS WITH INSTANT CENTERS
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Example 3
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Example 3
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Example 3
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Example 3
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Example 3
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Example 3
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Example 3
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End of Chapter 3
Next Lecture
Chapter 4: Acceleration Analysis of
Linkages
57