Mechanisms and Machines Kinematics

Dynamics and Synthesis SI Edition 1st

Edition Stanisic Solutions Manual
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Chapter 6

Machine Dynamics Part II: Joint

Friction - Solutions

6.1 Exercises
Problem 6.1
If in equation (1.4), the input variable Si had been θy what would the expression for Dyx simplify to.
Solution:
dθy dθy
If the input is θy , then Si = θy , and hy = dSi = dθy = 1. Then, from (1.4),

1 − hx θ̇y
Dyx = Di where Di =
|1 − hx | |θ̇y |

Problem 6.2
Repeat problem 1.1 except now Si is θx .
Solution:
dθx
Like the previous problem, if Si = θx , then hx = dθx = 1 and from (1.4),

hy − 1 θ̇x
Dyx = Di where Di =
|hy − 1| |θ̇x |
Problem 6.3
If in equations (1.11) and (1.13), the input variable Si had been θy , what would the expressions for Dyx simplify
to.
Solution:
In this case hy = 1 and (1.11) reduces to,

−fy + R(1 − hx ) θ̇y

Dyx = Di where Di = (1)
|−fy + R(1 − hx )| |θ̇y |

and (1.13) reduces to,

−fy − R(1 − hx ) θ̇y

Dyx = Di where Di = (2)
|−fy − R(1 − hx )| |θ̇y |

Problem 6.4

147
Repeat problem 1.3 except now Si is θx .
Solution:
In this case hx = 1 and (1.11) reduces to,

−fy + R(hy − 1) θ̇x

Dyx = Di where Di = (1)
|−fy + R(hy − 1)| |θ̇x |

and (1.13) reduces to,

−fy − R(hy − 1) θ̇x

Dyx = Di where Di = (2)
|−fy − R(hy − 1)| |θ̇x |

Problem 6.5
Repeat problem 1.7 and include friction in all the joints. The angular position, velocity and acceleration of link
2 are known. ω2 is counterclockwise. The position problem has been solved (using the shown vector loop), basic
first- and second-order kinematic coefficients, first- and second-order kinematic coefficients of the mass centers,
angular accelerations of all the links and linear acccelerations of the mass centers have all been computed.
So Step 1:) in Example 1.1 has been completed. Complete the remaining steps in Example 1.1, outline all
necessary equations, and show a flowchart for a computer program which calculates the bearing forces (joint
forces) and the driving torque Q.
Step 2:)
Both pin in a slot joints will use the same ût1 − ûn1 coordinate system shown in the FBD, with ût1 in the
direction of r̄3 and r̄5 , consistent with Figure 1.6, so that the equations for the direction indicator for friction
in a pin in a slot joint, Equations (1.11) and (1.13), may be applied directly.
The slider joint uses the ût2 − ûn2 coordinate system shown in the FBD, with ût2 in the direction of r̄4 ,
consistent with Figure 1.9, so that the equations for the direction indicator for friction in a sliding joint, Equation
(1.24), may be applied directly. With the path dependent coordinate systems defined this way,
       
cosθ3 −sinθ3 1 0
ût1 =  sinθ3  , ûn1 =  cosθ3  , ût2 =  0  , ûn2 =  1  .
0 0 0 0

In terms of ût1 and ûn1 the forces acting on the pin on link 1 are,
   
−sinθ3 cosθ3
n
F̄31 n
= F31 n 
ûn1 = F31 cosθ3  , f¯31 = f31 ût1 = f31  sinθ3  . (1)
0 0

In terms of ût1 and ûn1 the forces acting on the pin on link 2 are,
   
−sinθ3 cosθ3
n
F̄32 n
= F32 n 
ûn1 = F32 cosθ3  , f¯32 = f32 ût1 = f32
n 
sinθ3  . (2)
0 0

In terms of ût2 and ûn2 the slider block’s dimensions and their signs are indicated next to the free body diagram
of the slider. The forces acting on the slider are
     
0 0 1
N̄14 = N14 ûn2 = N14  1  , N̄14 ′ ′
= N14 ′ 
ûn2 = N14 1  and f¯14 = f14 ût2 = f14  0  . (3)
0 0 0

Step 3:)
The free body diagrams are shown below

148
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
 G4
4
P̄

r̄7
3
G3
4
r̄4 C

111
000
000
111
000
111
1
000
111
000
111
000
111 3
r̄5

r̄1
G2 111
000
000
111
2 000
111
000
111
000
111
111
000 000
111
000
111
000
111 r̄6 000
111
000
111
000
111 Y
Q̄
r̄3

2
A1111
0000
0000
1111
0000
1111
0000
1111 X
0000
1111
0000
1111

r̄2

fig505

Figure 6.1: A machine

149
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
 r̄′ r̄
slider dimensions: ûn2
r̄ > 0 4 G4 −F̄34
r̄t
′ P̄
r̄ < 0 ût2
r̄t > 0 r̄b f¯14 −t̄34
F̄34 t̄14
r̄b < 0
t̄′14
C
r̄7
′
N̄14 N̄14 t̄34
3
G3
Y

n
−F̄31
X
vector loop frame −t̄31

−f¯31
2 ûn1
G2
ût1
111
000
000
111
000
111
Q̄
t̄12 000
111
000
111 ûn1
−F̄32n
t̄32
ût1
−t̄32
F̄12
F̄32n
f¯32 −f¯32
fig505a.fric.soltn

Figure 6.2: Free body diagrams

Step 4:)
Compute the friction terms. The problem gives ω2 as counterclockwise so θ̇2 > 0 and

θ̇2
Di = = 1. (4)
|θ̇2 |

Sliding joint friction terms from 1 to 4:

From (1.21),

′
f14 = µ14 (|N14 | + |N14 |)D14 (5)

From (1.22),

if N14 > 0, then t14 = −µ14 rb N14 D14

else (6)
if N14 < 0, then t14 = µ14 rt N14 D14

150
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
and from (1.23),
′
if N14 > 0, then t′14 = −µ14 rb N14
′
D14
else (7)
′
if N14 < 0, then t′14 = ′
µ14 rt N14 D14 .

From (1.24) direction indicator D14 is given by

−f4
D14 = Di , (8)
|f4 |
Pin in a slot joint friction terms from 3 to 1:
From (1.8) and (1.9),
n
f31 = µ31 |F31 |D31 (9)
n
and t31 = (µR)31 F31 D31 (10)

From (1.14),

n −f5 + R(h5 − h1 ) −f5 + Rh5

if F31 > 0, then D31 = Di = Di (h1 = 0)
|−f5 + R(h5 − h1 )| |−f5 + Rh5 |
else (11)
n −f5 − R(h5 − h1 ) −f5 − Rh5
if F31 < 0, then D31 = Di = Di (h1 = 0)
|−f5 − R(h5 − h1 )| |−f5 − Rh5 |
Pin in a slot joint friction terms from 3 to 2:
From (1.8) and (1.9),
n
f32 = µ32 |F32 |D32 (12)
n
and t32 = (µR)32 F32 D32 (13)

From (1.14),

n −f3 + R(h3 − h2 )
if F32 > 0, then D32 = Di
|−f3 + R(h3 − h2 )|
else (14)
n −f3 − R(h3 − h2 )
if F32 < 0, then D32 = Di
|−f3 − R(h3 − h2 )|
Pin joint friction terms from 3 to 4:
q
t34 = (µR)34 |F34 |D34 = (µR)34 2 + F2 D
F34 (15)
x 34y 34

where,
h3 − h4 h3
D34 = Di = Di (h4 = 0), (16)
|h3 − h4 | |h3 |
Pin joint friction terms from 1 to 2:
q
t12 = (µR)12 |F12 |D12 = (µR)12 2 + F2 D
F12 (17)
x 12y 12

where,
h1 − h2 −h2
D12 = Di = Di (h1 = 0), (18)
|h1 − h2 | |h2 |

151
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
Step 5:)
Enumeration of forces/torques:
The joint forces are enumerated in Equations (1)-(3). The friction torques are given by,
           
0 0 0 0 0 0
t̄12 =  0  , t̄31 =  0  , t̄32 =  0  , t̄34 =  0  , t̄14 =  0  , t̄′14 =  0  ,
t12 t31 t32 t34 t14 t′14

and the remaining forces and torques are,

       
F12x F34x 0 P
F̄12 =  F12y  , F̄34 =  F34y  , Q̄ =  0  , P̄ =  0  (known load).
0 0 Q 0
n n ′
16 unknown forces and torques, F12x , F12y , F43x , F43y , F13 , f13 , F32 , f32 , N14 , N14 , f14 , t12 , t31 , t32 , t34 , t14 ,
′
t14 , and Q.
There are 9 equilibrium conditions plus Equations (5), (9), (10), (12), (13), (15) and (17), for a total of 16
equations.
Additionally, direction indicators need to be calculated from the first-order kinematic coefficients, but these are
knowns.
Force Equilibrium:
Link 2:
n
ΣF̄ = F̄32 + f¯32 + F̄12 = m2 āg2 ,

which has scalar components,

n
ΣFx = −F32 sinθ3 + f32 cosθ3 + F12x = m2 ag2x (19)
n
ΣFy = F32 cosθ3 + f32 sinθ3 + F12y = m2 ag2y (20)

Link 3:
n
ΣF̄ = −F̄32 − f¯32 − F̄31
n
− f¯31 − F̄34 = m3 āg3 ,

which has scalar components,

n n
ΣFx = F32 sinθ3 − f32 cosθ3 + F31 sinθ3 − f31 cosθ3 − F34x = m3 ag3x (21)
n n
ΣFy = −F32 cosθ3 − f32 sinθ3 − F31 cosθ3 − f31 sinθ3 − F34y = m3 ag3y (22)

Link 4:
′
ΣF̄ = N̄14 + N̄14 + f¯14 + F̄34 + P̄ = m4 āg4 ,

which has scalar components,

ΣFx = f14 + F34x + P = m4 ag4x (23)

′
ΣFy = N14 + N14 + F34y = 0 (ag4y = 0) (24)

Moment Equilibrium:
Link 2:
 
     
0 0 0 0
ΣM̄g2 n
= r̄2 × F̄32 + r̄2 × f¯32 +  0  +  0  +  0  =  0  α2
t12 t32 Q Ig2

152
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which has only the Z component,
n n
r2 cosθ2 F32 cosθ3 + r2 sinθ2 F32 sinθ3 + r2 cosθ2 f32 sinθ3 − r2 sinθ2 cosθ3 + t12 + t32 + Q = Ig2 α2 ,

which simplifies to,

n
r2 F32 cos(θ3 − θ2 ) + r2 f32 sin(θ3 − θ2 ) + t12 + t32 + Q = Ig2 α2 . (25)

Link 3:
n n
has only Z comp. (−r5 F31 ) has only Z comp. (−r3 F32 )      
z }| { z }| { 0 0 0
n n
ΣM̄c = r̄5 × (−F̄31 ) + r̄3 × (−F̄32 ) − 0 − 0 − 0  =
t31 t32 t34

 
0
 0  α3 + r̄7 × m3 āg3
Ig3

which has only a Z component,

n n
−r5 F31 − r3 F32 − t31 − t32 − t34 = Ig3 α3 + m3 r7 (cosθ3 ag3y − sinθ3 ag3x ) (26)

Link 4:
 
   
0 0 0
ΣM̄g4 = r̄ × N̄14 + r̄′ × N14
′
+  0  +  0  +  0  = 0 (α3 = 0)
t34 t14 t′14

expanding the cross products gives only a Z component,

rN14 + r′ N14
′
+ t34 + t14 + t′14 = 0. (note that : r′ < 0) (27)

153
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     
1 0 0 0 0 −sinθ3 0 0 0 F12x m2 ag2 x − f32 cosθ3
c

    
2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

    
    
    

 0 1 0 0 0 cosθ3 0 0 0 
 F12y  
  m2 ag2 y − f32 sinθ3 

    
    
    
    

 0 0 −1 0 sinθ3 sinθ3 0 0 0 
 F34x  
  m3 ag3 x + f32 cosθ3 + f31 cosθ3 

    
    
    
    

 0 0 0 −1 −cosθ3 −cosθ3 0 0 0 
 F34y  
  m3 ag3 y + f32 sinθ3 + f31 sinθ3 

    
    
    
  n
  

 0 0 1 0 0 0 0 0 0 
 F31  
  m4 ag4 x − P − f14 

  =  (28)
    
    
  n
  

 0 0 0 1 0 0 1 1 0 
 F32  
  0 

    
    
    
    

 0 0 0 0 0 r2 cos(θ3 − θ2 ) 0 0 1 
 N14   Ig2 α2 − r2 f32 sin(θ3 − θ2 ) − t12 − t32
 


    
154

    
    
    
    Ig3 α3 + t31 + t32 + t34 + 
  ′
  

 0 0 0 0 −r5 −r3 0 0 0 
 N14  
  m3 r7 (cosθ3 ag3y − sinθ3 ag3x ) 

    
    
    
    
    
0 0 0 0 0 0 r r′ 0 Q −t34 − t14 − t′14
 Input
θ2 , θ̇2 , θ̈2 , m2 , m3 , m4
P , Ig2 , Ig3
µ14 , µ32 , µ31
(µR)31 , (µR)32 , (µR)34 , (µR)12
r, r′ , rt , rb
Set the friction terms
f14 , f31 , f32 ,
and t14 , t′14 , t31 , t32 , t34 , t12 , to zero
Solve the
position problem

′
Solve (28) for N14 , N14 , F12x ,
st n n
Compute the basic 1 - & F12y , F32 , F31 , F34x , F34y , Q
2nd -order kin. coeff.

Compute the 1st - & 2nd -order Update the friction terms
kin. coeff. of mass centers using (5), (6),
(7), (9), (10), (12),
(13), (15) and (17)

Compute angular accelerations

of all links

Compute accelerations of mass center Have all the no

of all links friction terms
converged?

Set Di = 1

yes

Compute D14 , D31 , D32 , D34 and D12

from (8), (11), (14), (16), (18)

print Q

fig523a

Figure 6.3: Flowchart for computing joint forces and driving torque Q

155
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
Problem 6.6
Repeat problem 1.10 and include friction in all the joints. According to problem 1.10. The angular position,
velocity and acceleration of link 2 are known. The position problem has been solved using the shown vector
loop shown in Figure 6.5. The basic first- and second-order kinematic coefficients have been computed using
θ2 as Si . The first- and second-order kinematic coefficients of the mass centers, angular accelerations of all the
links and linear acccelerations of the mass centers are not needed because inertia effects are being neglected in
this slow moving machine. So Step 1:) in Example 1.1 has been completed.
Complete the remaining steps outlined in Example 1.1 and derive all the necessary equations to be used in
a computer program which calculates the driving torque T2 . Show a flowchart of the program which refers to
your equation numbers for calculations. Link 2 is rotating counterclockwise, in other words ω2 > 0

11111111111111111111111111
00000000000000000000000000
1
00000000000000000000000000
11111111111111111111111111
00000000000000000000000000
11111111111111111111111111
00000000000000000000000000
11111111111111111111111111

F̄3

+
r̄5

r̄4
2

1111111111111111111111111
0000000000000000000000000
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000 r̄6
1111111111111111111111111
1 00000
11111
00000
11111
fig524c

00000
11111
00000
11111
00000
11111
+
00000
11111
00000
11111
00000
11111
1
00000T2
11111

Figure 6.4: A Machine

Step 2:)
The path dependent coordinate system ût1 − ûn1 is assigned in Figure 6.6 for the sliding joint,
   
−1 0
ūt1 =  0  , ūn1 =  −1  .
0 0
In terms of this system the forces acting on the slider are,
     
0 0 −f13
N̄13 = N13 ûn1 =  −N13  , N̄13 ′ ′ 
= N13 ûn1 =  −N13 , f¯13
′
= f13 ût1 =  0 . (1)
0 0 0
The path dependent coordinate system ût2 − ûn2 is assigned in Figure 6.6 for the pin in a slot joint.
   
0 −1
ūt2 =  1  , ūn2 =  0  .
0 0

156
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
3 11111111111111111111111111
00000000000000000000000000
00000000000000000000000000
11111111111111111111111111
1
00000000000000000000000000
11111111111111111111111111
00000000000000000000000000
11111111111111111111111111

r̄2
+

r̄3

r̄1

1111111111111111111111111
0000000000000000000000000
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
Y
00000
11111
00000
11111
fig524a

00000
11111
00000
11111
00000
11111
+
00000
11111
00000
11111
00000
11111
X
00000
11111

Figure 6.5: The Vector Loop

In terms of this system the forces acting on the pin are,

 n
  
−F32 0
n
F̄32 n
= F32 ûn2 =  0  , f¯32 = f32 ût2 =  f32  . (2)
0 0

Step 3:)
The free body diagrams are shown in the following figure.

157
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 N̄13
′
t̄13 t̄′13 N̄13
ût1

r̄ r̄′

r̄5 3
ûn1
F̄3
r̄b
r̄4 Y
−f¯32
B
+
n
−F̄32 f¯13
X

r̄t

−t̄32

r̄1 r̄6

+A

+B
n
F̄32
f¯32
ût2

2
t̄32
r̄2

ûn2 t̄12
fig524b.soltn.a

+A

T2
F̄12
Figure 6.6: Free Body Diagrams

158
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
Step 4:)
Compute the friction terms. The problem gives ω2 > 0 so

θ̇2
Di = = 1. (3)
|θ̇2 |
Sliding joint friction terms from 1 to 3:
From (1.21),
′
f13 = µ13 (|N13 | + |N13 |)D13 (4)

From (1.22),

if N13 > 0, then t13 = −µ13 rb N13 D13

else (5)
if N13 < 0, then t13 = µ13 rt N13 D13

and from (1.23),

′
if N13 > 0, then t′13 = −µ13 rb N13
′
D13
else (6)
′
if N13 < 0, then t′13 = ′
µ13 rt N13 D13 .

In this problem,

r>0 and r′ < 0

and their values are constant. However the values of rt and rb depend on the position solution and they are not
fixed, namely, we see in the free body diagram that

r̄t − r̄6 + r̄1 = 0̄ and from the Y component, rt = −r1 + r6 (7)

r̄1 + r̄b − r̄5 = 0̄ and from the Y component, rb = r5 − r1 (8)

where r1 comes from the position solution and r5 and r6 are known dimensions. From (1.24) direction indicator
D13 is given by
−f2
D13 = Di , (9)
|f2 |
Pin in a slot joint friction terms from 3 to 2:
From (1.8) and (1.9),
n
f32 = µ32 |F32 |D32 (10)
n
and t32 = (µR)32 F32 D32 (11)

From (1.14),

n −f1 + R(h3 − h2 ) −f1 − Rh2

if F32 > 0, then D32 = Di = Di (h3 = 0)
|−f1 + R(h3 − h2 )| |−f1 − Rh2 |
else (12)
n −f1 − R(h3 − h2 ) −f1 + Rh2
if F32 < 0, then D32 = Di = Di (h3 = 0)
|−f1 − R(h3 − h2 )| |−f1 + Rh2 |
Pin joint friction terms from 1 to 2:
q
t12 = (µR)12 |F12 |D12 = (µR)12 2 + F2 D
F12 (13)
x 12y 12

159
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where,

h1 − h2 −h2
D12 = Di = Di (h1 = 0), (14)
|h1 − h2 | |h2 |

Step 5:)
Enumeration of forces and torques:
Joint forces are given in Equations (1) and (2). Additionally,
     
F12x 0 F3
F̄12 =  F12y  , T̄2 =  0  , F̄3 =  0  (known load),
0 T2 0

       
0 0 0 0
t̄13 =  0  , t̄′13 =  0  , t̄32 =  0  , t̄12 =  0  .
t13 t′13 t32 t12
n ′
for a total of 12 unknowns, F12x , F12y , T2 , F32 , f32 , N13 , N13 , f13 , t12 , t32 , t13 , t′13 .
There are 6 equilibrium conditions and an additional 6 equations for computing magnitudes of the friction
terms, Equations (4), (5), (6), (8), (9) and (11). The direction indicators are known from the basic first-order
kinematic coefficients.

Force Equilibrium:
Link 2 :
n
ΣF̄ = F̄32 + f¯32 + F̄12 = 0̄

scalar components,
n
ΣFx = −F32 + F12x = 0 (15)
ΣFy = f32 + F12y = 0 (16)

Link 3:
n
ΣF̄ = −F̄32 − f¯32 + F̄3 + N̄13 + N̄13
′
+ f¯13 = 0̄

scalar components,
n
ΣFx = F32 + F3 − f13 = 0 (17)
′
ΣFy = −f32 − N13 − N13 =0 (18)

Moment Equilibrium:
Link 2:
n
ΣM̄a = r̄2 × F̄32 + r̄2 × f¯32 + t̄32 + t̄12 + T̄2 = 0̄

with only a Z component,

n
−r2 sinθ2 (−F32 ) + r2 cosθ2 f32 + t32 + t12 + T2 = 0 (19)

Link 3: has only the Z component,

ΣMb = rN13 + r′ N13

′
+ t13 + t′13 − t32 = 0 (note that : r′ < 0) (20)

160
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system
In matrix form,
  n
  
−1 1 0 0 0 0 F32 0
    
    

 0 0 1 0 0 0 
 F12x  
  −f32 

    
    

 1 0 0 0 0 0 
 F12y  
  −F3 + f13 

  =  (21)
    

 0 0 0 −1 −1 0 
 N13  
  f32 

    
  ′
  
 r2 sinθ2 0 0 0 0 1  N13   −r2 cosθ2 f32 − t32 − t12 
    
    
0 0 0 r r′ 0 T2 −t13 − t′13 + t32

′
Solve (21) for N13 , N13 , F12x ,
Input n
F12y , F32 and T2
θ2 , θ̇2 , F3 ,
µ13 , µ32
(µR)32 , (µR)12
r, r′

Update the friction terms

using (4), (10),
(11) and (13),
Solve position problem & compute
rt & rb from (7)&(8)

Compute the basic 1st -

order kin. coefficients
Have all the no
friction terms
converged?
Set Di = 1

Compute D13 , D32 and D12 yes

from (9), (12) and (14)

Set the friction terms print T2

f13 , f32
and t13 , t′13 , t32 and t12 , to zero

fig523aa

Figure 6.7: Flowchart for computing joint forces and driving torque T2

161
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Problem 6.7
Repeat problem 1.11 and include friction in all the joints. The machine is slow moving so inertia effects can be
neglected. The magnitude of the load torque T3 induces link forces that are an order of magnitude greater than
any of the links’ weights. Therefore, gravitational (weight) effects can be neglected.
Using Si = r1 , the basic kinematic coefficients were found in problem 1.11, so Step 1:) in the procedure
outlined in Example 1.1 is complete. The driving force F̄2 is pushing the point A up and to the right, thus
ṙ1 > 0.
Complete the remaining steps outlined in Example 1.1 and derive all the equations needed in a computer
program that calculates the driving force F̄2 which overcomes a known load torque T̄3 . Show a flowchart of the
program and refer to your equation numbers for computations.

Step 2:)
The path dependent coordinate system ût1 − ûn1 is assigned in Figure 6.8 for the sliding joint with ût1 in the
direction of r2 ,
   
cosθ2 −sinθ2
ūt1 =  sinθ2  , ūn1 =  cosθ2  .
0 0

In terms of this system the forces acting on the slider are,

     
−sinθ2 −sinθ2 cosθ2
N̄23 = N23 ûn1 = N23  cosθ2  , N̄23 ′ ′
= N23 ûn1 = N23′ 
cosθ2  , f¯23 = f23 ût1 = f23  sinθ2  . (1)
0 0 0

The path dependent coordinate system ût2 − ûn2 is assigned in Figure 6.8 for the pin in a slot joint, with ût2 in
the direction of r̄1 , (r̄1 can be seen in problem 1.11)
   
1 0
ūt2 =  0  , ūn2 =  1 .
0 0

In terms of this system the forces acting on the pin are,

   
0 f12
n
F̄12 n
= F12 n 
ûn2 =  F12 , f¯12 = f12 ût2 =  0  . (2)
0 0

Step 3:)
The free body diagrams are shown in the following figure along with the slider block’s dimensions and the signs
of those dimensions.

162
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 r̄b
r̄ > 0 r̄t 3
r̄′ < 0
r̄′
r̄t > 0
r̄
r̄b < 0

2 Y
r̄3
r̄2 t̄12
′
N̄23 ût1 ûn1
f¯12
−t̄23 A
t̄13
N̄23
−t̄′23 ′
C
−N̄23 F̄2 n
F̄12
−f¯23 T̄3
ût2 3 ¯
f23
−N̄23 ûn2
F̄13

ûn1 t̄23 t̄′23

ût1 fig364f.friction

Figure 6.8: Free Body Diagrams

Step 4:)
Compute the friction terms. The problem gives the input ṙ1 > 0 so
ṙ1
Di = = 1. (3)
|ṙ1 |
Sliding joint friction terms from 2 to 3:
From (1.21),
′
f23 = µ23 (|N23 | + |N23 |)D23 (4)

From (1.22),

if N23 > 0, then t23 = −µ23 rb N23 D23

else (5)
if N23 < 0, then t23 = µ23 rt N23 D23

and from (1.23),

′
if N23 > 0, then t′23 = −µ23 rb N23
′
D23
else (6)
′
if N23 < 0, then t′23 = ′
µ23 rt N23 D23 .

The direction indicator for the sliding joint is given in terms of the computed kinematic coefficients,
−f2
D23 = Di (7)
|f2 |

163
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Pin in a slot joint friction terms from 1 to 2:
From (1.8) and (1.9),
n
f12 = µ12 |F12 |D12 (8)
n
and t12 = (µR)12 F12 D12 (9)

From (1.14),

n −f1 + R(h1 − h2 )
if F12 > 0, then D12 = Di
|−f1 + R(h1 − h2 )|
else
n −f1 − R(h1 − h2 )
if F12 < 0, then D12 = Di .
|−f1 − R(h1 − h2 )|
dr1 dr1
In this problem, r1 is the input Si , therefore f1 = dSi = dr1 = 1. Also, link 1 is fixed, so h1 = 0. Thus the
above expressions for D12 simplify to,

n −1 − Rh2
if F12 > 0, then D12 = Di
|−1 − Rh2 |
else (10)
n −1 + Rh2
if F12 < 0, then D12 = Di .
|−1 + Rh2 |

(The units in this equation are interesting. D12 should be dimensionless. Is it? Nice exam question.)
Pin joint friction terms from 1 to 3:
q
t13 = (µR)13 |F13 |D13 = (µR)13 2 + F2 D
F13 (11)
x 13y 13

where,
h1 − h3 −h3
D13 = Di = Di (h1 = 0), (12)
|h1 − h3 | |h3 |

Step 5:)
Enumeration of forces and torques:
Joint forces are given in Equations (1) and (2). Additionally,
     
F13x F2 0
F̄13 =  F13y  , F̄2 =  0  , T̄3 =  0  (known load),
0 0 −T3

       
0 0 0 0
t̄23 =  0  , t̄′23 =  0  , t̄12 =  0  , t̄13 =  0  .
t23 t′23 t12 t13
n ′
for a total of 12 unknowns, F13x , F13y , F2 , F12 , f12 , N23 , N23 , f23 , t12 , t13 , t23 , t′23 .
There are 6 equilibrium conditions and an additional 6 equations for computing magnitudes of the friction
terms, Equations (4), (5), (6), (8), (9) and (11). The direction indicators are known from the basic first-order
kinematic coefficients which were found in problem 4.5.

Force Equilibrium:
Link 2:
n
ΣF̄ = F̄12 + f¯12 + F̄2 − N̄23 − N̄23
′
− f¯23 = 0̄

164
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scalar components,
′
ΣFx = f12 + F2 + N23 sinθ2 + N23 sinθ2 − f23 cosθ2 = 0 (13)
n ′
ΣFy = F12 − N23 cosθ2 − N23 cosθ2 − f23 sinθ2 = 0 (14)

Link 3:
′
ΣF̄ = F̄13 + N̄23 + N̄23 + f¯23 = 0̄

scalar components,
′
ΣFx = F13x − N23 sinθ2 − N23 sinθ2 + f23 cosθ2 = 0 (15)
′
ΣFy = F13y + N23 cosθ2 + N23 cosθ2 + f23 sinθ2 = 0 (16)

Moment Equilibrium:
Link 2:
has only a Z comp. −(r2 +r)N23 has only a Z comp. −(r2 +r ′ )N23
′
has only a Z comp. −r3 f23
z }| { z }| { z }| {
ΣM̄a = (r̄2 + r̄) × (−N̄23 ) + (r̄2 + r̄′ ) × (−N̄23
′
) + r̄3 × (−f¯23 )

−t̄23 − t̄′23 + t̄12 = 0̄

with only a Z component,

−(r2 + r)N23 − (r2 + r′ )N23

′
− r3 f23 − t23 − t′23 + t12 = 0̄ (note that : r′ < 0) (17)

Link 3: has only the Z component,

ΣMc = rN23 + r′ N23

′
+ t23 + t′23 + t13 − T3 = 0. (note that : r′ < 0) (18)

In matrix form,
  n
  
0 0 0 sinθ2 sinθ2 1 F12 −f12 + f23 cosθ2
    
    
 1 0 0 −cosθ2 −cosθ2 0  F13x   f23 sinθ2 
    
    
    
 0 1 0 −sinθ2 −sinθ2 0  F13y   −f23 cosθ2 
    
  =  (19)
    
 0 0 1 cosθ2 cosθ2 0  N23   −f23 sinθ2 
    
    
    
 0
 0 0 −(r2 + r) −(r2 + r′ ) 0 

′
N23   r3 f23 + t23 + t′23 − t12
 


    
0 0 0 r r′ 0 F2 −t23 − t′23 − t13 + T3

165
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 r̄5

′
Solve (19) for N23 , N23 , F13x ,
Input n
F13y , F12 and F2
r1 , ṙ1 , T2 ,
µ23 , µ12 , µ13
(µR)12 , (µR)13
r, r′ , rt , rb

Update the friction terms

using (4), (8),
(9) and (11),
Solve position problem

Compute the basic 1st -

order kin. coefficients
Have all the no
friction terms
converged?
Set Di = 1

Compute D13 , D32 and D12 yes

from (7), (10) and (12)

Set the friction terms print F2

f12 , f23
and t23 , t′23 , t13 and t12 , to zero

fig523aaa

Figure 6.9: Flowchart for computing joint forces and driving force F2

166
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