ME F244 and MF F244

Kinematics and Dynamics of

BITS Pilani Machines 1
Hyderabad Campus
 Instantaneous Center Method
 There exists an axis which is common to two bodies,
having relative motion, and about this axis either body is
considered to be rotating with respect to the other.
 In case of planar mechanisms, this axis is perpendicular
to the plane of the links.
 Hence, in case of planar mechanisms this axis becomes
a set of coincident points about which one link rotates
relative to the other link.
 This (coincident) point common to both the bodies
(links) about which there is relative motion of rotation is
known as Instantaneous centre of velocity or velocity
pole or simply instantaneous centre.
ME F244 and MF F244Kinematics and Dynamics of Machines
 
Consider a ladder slipping along wall and having a
velocity at Flor as shown. 𝑽
  =𝒍 𝜽˙ 𝑨 /𝑩

 𝑰
 𝐴
 𝐴
 𝒍
𝑽  𝑨 =?  𝒍

𝜽=?
 ˙  𝜽 𝑽
  𝑩=𝒗
 𝜽 𝑽
  𝑩=𝒗
𝑂 𝑂
  𝐵
 
  𝐵
 
 ˙ 𝒗   = 𝒗 = 𝒗 𝐜𝐬𝐜 𝜽 𝑽
  𝑩=𝒗
𝑽
  𝑩=𝒗   𝑩=𝑰𝑩 ∗ 𝜽=𝒗
𝑽 ˙ 𝜽=
𝑰𝑩 𝒍 𝐬𝐢𝐧 𝜽 𝒍
𝑜
 
 𝑏
  =𝑰𝑨 ∗ 𝜽=𝒍 𝒗   𝑽𝑩 𝒗
𝑽 ˙ 𝐜𝐨𝐬 𝜽 ∗ 𝒄𝒔𝒄 𝜽=𝒗 𝐜𝐨𝐭 𝜽 𝐬𝐢𝐧 𝜽= =
  𝑨  𝜽
𝑨
𝒍 𝑽 𝑨 / 𝑩 𝒍 𝜽˙ 𝑽
 ˙ 𝒗 𝐜𝐬𝐜 𝜽   𝑽𝑩 𝒗 𝑽
𝜽= 𝐭𝐚𝐧 𝜽= = 𝑽
  𝑨 =𝒗 𝐜𝐨𝐭 𝜽
  𝑨 /𝑩
𝒍 𝑽𝑨 𝑽 𝑨  𝑎
ME F244 and MF F244Kinematics and Dynamics of Machines
 4-Bar Mechanism configuration diagram is drawn as
shown here marking all the dimensioning.

ME F244 and MF F244Kinematics and Dynamics of Machines

 Locate all the Instantaneous centers
for the given linkage.
 n = 4 and N =6
 List all the Instantaneous centers.
 Draw Guillet circle.
1

4 2

ME F244 and MF F244Kinematics and Dynamics of Machines

 1

4 2

ME F244 and MF F244Kinematics and Dynamics of Machines

𝑰 𝟏𝟑 𝒊𝒔 𝒐𝒏 𝒕𝒉𝒆 𝒍𝒊𝒏𝒆𝒔 𝑰 𝟏𝟐 ∧𝑰 𝟐𝟑 𝒂𝒏𝒅 𝑰 𝟏 𝟒 ∧𝑰 𝟑𝟒
 

1
 𝑰 𝟏𝟑

4 2

ME F244 and MF F244Kinematics and Dynamics of Machines

𝑰 𝟐𝟒 𝒊𝒔 𝒐𝒏 𝒕𝒉𝒆 𝒍𝒊𝒏𝒆𝒔 𝑰 𝟏𝟐∧𝑰 𝟏𝟒 𝒂𝒏𝒅 𝑰 𝟐𝟑 ∧𝑰 𝟑𝟒
 

 𝑰 𝟏𝟑
1

4 2

 𝑰 𝟐𝟒

ME F244 and MF F244Kinematics and Dynamics of Machines

 1
 𝑰 𝟏𝟑

𝟑  .𝟖𝟑𝟖𝟔
4 2

𝟗  . 𝟓𝟎𝟑
3
𝟕  .𝟓
𝟖  . 𝟎

𝟑  .𝟓
 𝑰 𝟐𝟒
𝟏𝟎
  .𝟎
𝟐  .𝟏𝟐𝟕𝟗
ME F244 and MF F244Kinematics and Dynamics of Machines
  𝑰 𝟏𝟑 𝑽 𝑰 𝟐𝟑 =( 𝑰 𝟏 𝟐 𝑰 𝟐 𝟑 ) ∗ 𝝎 𝟐
 
 𝝎𝟑
𝟑  .𝟖𝟑𝟖𝟔  𝑽 𝑰 𝟐𝟑 =( 𝑰 𝟏 𝟑 𝑰 𝟐 𝟑 ) ∗ 𝝎 𝟑

𝟗  . 𝟓𝟎𝟑 ( 𝑰 𝟏𝟑 𝑰 𝟐𝟑 ) ∗ 𝝎𝟑 =( 𝑰 𝟏𝟐 𝑰 𝟐𝟑 ) ∗ 𝝎𝟐
 

  ( 𝑰 𝟏𝟐 𝑰 𝟐 𝟑 ) ∗ 𝝎𝟐
𝟕  .𝟓 𝝎 𝟑=
𝑽 𝑰 𝟐𝟑
  ( 𝑰 𝟏𝟑 𝑰 𝟐𝟑)
𝟖  . 𝟎   𝒓𝒂𝒅
( 𝟑𝟓 𝒄𝒎 ) ∗ 𝟏𝟎
𝒔
𝝎 𝟑=
𝝎 𝟐 𝟑  .𝟓
  ( 𝟗𝟓 . 𝟎𝟑 𝒄𝒎 )

𝟏𝟎
  .𝟎
  𝒓𝒂𝒅
 𝑰 𝟐𝟒 𝝎 𝟑=𝟑 . 𝟔𝟖𝟑
𝒔
𝟐  .𝟏𝟐𝟕𝟗 𝑪𝑾
 

ME F244 and MF F244Kinematics and Dynamics of Machines

   𝒓𝒂𝒅
𝝎 𝟑=𝟑 . 𝟔𝟖𝟑
𝒔
 𝑰 𝟏𝟑 𝑽 𝑰 𝟑𝟒 =( 𝑰 𝟏 𝟑 𝑰 𝟑 𝟒 ) ∗ 𝝎 𝟑
 
 𝝎𝟑
𝟑  .𝟖𝟑𝟖𝟔  𝑽 𝑰 𝟑𝟒 =( 𝑰 𝟏 𝟒 𝑰 𝟑 𝟒 ) ∗𝝎 𝟒

𝑽 𝑰 𝟑𝟒
 
( 𝑰 𝟏 𝟒 𝑰 𝟑 𝟒 ) ∗ 𝝎 𝟒= ( 𝑰 𝟏 𝟑 𝑰 𝟑 𝟒 ) ∗ 𝝎 𝟑
 
𝟗  . 𝟓𝟎𝟑
  ( 𝑰 𝟏 𝟑 𝑰 𝟑 𝟒 ) ∗ 𝝎𝟑  
𝟕  .𝟓 𝝎𝟒 =
𝑽 𝑰 𝟐𝟑
  ( 𝑰𝟏 𝟒 𝑰 𝟑 𝟒 )
𝟖  . 𝟎   𝒓𝒂𝒅
( 𝟑𝟖 . 𝟑𝟖𝟔 𝒄𝒎 ) ∗ 𝟑 . 𝟔𝟖𝟑
𝒔
𝝎𝟒 =
𝝎𝟐
 
𝟑  .𝟓 𝝎𝟒
  ( 𝟖𝟎 . 𝟎 𝒄𝒎 )

𝟏𝟎
  .𝟎
  𝒓𝒂𝒅
 𝑰 𝟐𝟒 𝝎 𝟒 =𝟏. 𝟕𝟔𝟕
𝒔
𝟐  .𝟏𝟐𝟕𝟗  𝑨𝑪𝑾

ME F244 and MF F244Kinematics and Dynamics of Machines

   Given we need to find out
  𝒓𝒂𝒅  𝑰 𝟏𝟑
 
𝝎 𝟐=𝟏𝟎 𝑨𝑪𝑾 Instantaneous centre common
𝒔 to links 2 and 4 is
𝟑  .𝟖𝟑𝟖𝟔   𝑽 𝑰 𝟐𝟒 =( 𝑰 𝟏 𝟐 𝑰 𝟐 𝟒 ) ∗ 𝝎𝟐
𝟗  . 𝟓𝟎𝟑 𝑽 𝑰 𝟐𝟒 =( 𝑰 𝟏 𝟒 𝑰 𝟐 𝟒 ) ∗𝝎 𝟒
 

( 𝑰 𝟏 𝟒 𝑰 𝟐 𝟒 ) ∗ 𝝎 𝟒=( 𝑰 𝟏 𝟐 𝑰 𝟐 𝟒 ) ∗ 𝝎𝟐
 
𝟕  .𝟓
  ( 𝑰 𝟏 𝟐 𝑰 𝟐 𝟒 ) ∗ 𝝎𝟐
𝟖  . 𝟎 𝝎𝟒 =
( 𝑰 𝟏𝟒 𝑰 𝟐𝟒)
𝝎𝟐
    𝟐𝟏 . 𝟐𝟕𝟗 𝒄𝒎 ∗ 𝟏𝟎
𝒓𝒂𝒅
𝟑  .𝟓   𝝎𝟒 𝝎𝟒 =
(𝟏𝟐𝟏 . 𝟐𝟕𝟗 𝒄𝒎 )
𝒔
 𝑰 𝟐𝟒
𝟏𝟎
  .𝟎
  𝒓𝒂𝒅
𝝎 𝟒 =𝟏. 𝟕𝟓𝟓
𝟐  .𝟏𝟐𝟕𝟗 𝒔
𝑽
  𝑰 𝟐𝟒  𝑨𝑪𝑾

ME F244 and MF F244Kinematics and Dynamics of Machines

 Slider Crank Mechanism configuration diagram is drawn
as shown here marking all the dimensioning.

ME F244 and MF F244Kinematics and Dynamics of Machines

 Locate all the Instantaneous centers for the
given linkage.
 n = 4 and N =6

 List all the Instantaneous centers.

1

 Draw Guillet circle. 4 2

ME F244 and MF F244Kinematics and Dynamics of Machines

 1

 𝑰 𝟏𝟒 𝒂𝒕 ∞
4 2

ME F244 and MF F244Kinematics and Dynamics of Machines

𝑰 𝟏𝟑 𝒊𝒔 𝒐𝒏 𝒕𝒉𝒆 𝒍𝒊𝒏𝒆𝒔 𝑰 𝟏𝟐∧𝑰 𝟐𝟑 𝒂𝒏𝒅 𝑰 𝟏 𝟒 ∧𝑰 𝟑𝟒
 

 𝑰 𝟏𝟑

4 2

 𝑰 𝟏𝟒 𝒂𝒕 ∞

ME F244 and MF F244Kinematics and Dynamics of Machines

 𝑰 𝟐𝟒 𝒊𝒔 𝒐𝒏 𝒕𝒉𝒆 𝒍𝒊𝒏𝒆𝒔 𝑰 𝟏𝟐∧𝑰 𝟏𝟒 𝒂𝒏𝒅 𝑰 𝟐𝟑 ∧𝑰 𝟑𝟒
 

4 2

3
 𝑰 𝟏𝟒 𝒂𝒕 ∞

 𝑰 𝟐𝟒

ME F244 and MF F244Kinematics and Dynamics of Machines

ME F244 and MF F244Kinematics and Dynamics of Machines
  Given we need to find out velocity of slider,
  𝒓𝒂𝒅   Instantaneous centre common to links 2
𝝎 𝟐=𝟏𝟎 𝑨𝑪𝑾 and 4 is
𝒔
 𝑽 𝑰 𝟑𝟒 =( 𝑰 𝟏 𝟑 𝑰 𝟑 𝟒 ) ∗ 𝝎 𝟑
𝝎
  𝟑
  𝒎
𝑽 𝑰 𝟑𝟒 = 𝑽 𝑩 =𝟏 . 𝟖𝟐𝟕𝟑
𝒔

𝑽
  𝑰 𝟐𝟒
𝝎
  𝟐
(  𝑰 𝟏𝟑 𝑰 𝟑 𝟒 ) ∗𝝎 𝟑=𝟏. 𝟖𝟐𝟕𝟑
𝑽
  𝑰 𝟑𝟒
  𝟏 .𝟖𝟐𝟕𝟑 𝒓𝒂𝒅
𝝎 𝟑= =𝟐 .𝟏𝟖𝟐
𝑽 𝑰 𝟐𝟒 =( 𝑰 𝟏 𝟐 𝑰 𝟐 𝟒 ) ∗ 𝝎𝟐
  𝟎 . 𝟖𝟑𝟕𝟑𝟗 𝒔
𝑪𝑾
 
𝑽 𝑩=𝑽 𝑰 𝟐𝟒 =( 𝑰 𝟏𝟐 𝑰 𝟐 𝟒 ) ∗ 𝝎 𝟐
 

  𝒓𝒂𝒅
𝑽 𝑩=𝟏𝟖 . 𝟐𝟕𝟑 𝒄𝒎 ∗ 𝟏𝟎 =𝟏 .𝟖𝟐𝟕𝟑 𝒎 / 𝒔
𝒔
ME F244 and MF F244Kinematics and Dynamics of Machines
 1

4 2

ME F244 and MF F244Kinematics and Dynamics of Machines

𝑰 𝟏𝟑 𝒊𝒔 𝒐𝒏 𝒕𝒉𝒆 𝒍𝒊𝒏𝒆𝒔 𝑰 𝟏𝟐∧𝑰 𝟐𝟑 𝒂𝒏𝒅 𝑰 𝟏 𝟒 ∧𝑰 𝟑𝟒
 

4 2

 𝑰 𝟏𝟑

ME F244 and MF F244Kinematics and Dynamics of Machines

𝑰 𝟐𝟒 𝒊𝒔 𝒐𝒏 𝒕𝒉𝒆 𝒍𝒊𝒏𝒆𝒔 𝑰 𝟏𝟐∧𝑰 𝟏𝟒 𝒂𝒏𝒅 𝑰 𝟐𝟑 ∧𝑰 𝟑𝟒
 

 𝑰 𝟐𝟒

4 2

 𝑰 𝟏𝟑

ME F244 and MF F244Kinematics and Dynamics of Machines

  Given we need to find out velocity of slider,
  𝒓𝒂𝒅   Instantaneous centre common to links 2
𝝎 𝟐=𝟏𝟎 𝑨𝑪𝑾 and 4 is
𝒔 𝑰 𝟐𝟒 = ( 𝑰 𝟏 𝟐 𝑰 𝟐 𝟒 ) ∗ 𝝎𝟐
 𝑽

𝑽
  𝑰 𝟐𝟒
𝝎
  𝟐 𝑽 𝑰 𝟐𝟒 =𝟏 . 𝟗𝟎𝟗𝟏 ∗𝟏𝟎
 

 3
 𝑽 𝒎
𝑰 𝟐𝟒 =𝟏𝟗 . 𝟎𝟗𝟏
𝒔

𝝎
  𝟒  𝑽
𝑰 𝟐𝟒 =( 𝑰 𝟏 𝟒 𝑰 𝟐 𝟒 ) ∗𝝎 𝟒
𝟏𝟓
  .𝟎
 𝑽 𝑰 𝟐𝟒 = (𝟏𝟓 . 𝟎+𝟏 . 𝟗𝟎𝟗𝟏 ) ∗ 𝝎 𝟒

𝑽 𝑰 𝟐𝟒 =𝟏𝟔 . 𝟗𝟎𝟗𝟏 𝝎 𝟒
 

𝒓𝒂𝒅 𝑽 𝑰 𝟐𝟒 =𝟏𝟔 . 𝟗𝟎𝟗𝟏 𝝎 𝟒 =𝟏𝟗 .𝟎𝟗𝟏

 
 
𝝎 𝟒 =𝟏. 𝟏𝟐𝟗  𝑨𝑪𝑾
𝒔

ME F244 and MF F244Kinematics and Dynamics of Machines

ME F244 and MF F244Kinematics and Dynamics of Machines
n=6 and N = 15  𝑰 𝟏𝟐  𝑰 𝟐𝟑  𝑰 𝟑𝟒 𝑰  𝟒𝟓  𝑰 𝟓𝟔
 𝑰 𝟏𝟑  𝑰 𝟐𝟒  𝑰 𝟑𝟓  𝑰 𝟒𝟔
 𝑰 𝟏𝟒  𝑰 𝟐𝟓  𝑰 𝟑𝟔
 𝑰 𝟏𝟓  𝑰 𝟐𝟔
 𝑰 𝟏𝟔

2 1
5
4

1 1

ME F244 and MF F244Kinematics and Dynamics of Machines

 1

6 2
 𝑰 𝟏𝟐  𝑰 𝟐𝟑  𝑰 𝟑𝟒 𝑰  𝟒𝟓  𝑰 𝟓𝟔
 𝑰 𝟏𝟑  𝑰 𝟐𝟒  𝑰 𝟑𝟓  𝑰 𝟒𝟔
 𝑰 𝟏𝟒  𝑰 𝟐𝟓  𝑰 𝟑𝟔
 𝑰 𝟏𝟓  𝑰 𝟐𝟔
5
3  𝑰 𝟏𝟔

ME F244 and MF F244Kinematics and Dynamics of Machines

 1

2
𝑰  𝟏𝟑 𝒊𝒔 𝒐𝒏 𝑰 𝟏 𝟐 𝑰 𝟐 𝟑∧𝑰 𝟏 𝟒 𝑰 𝟑𝟒 6
 𝑰 𝟏𝟐  𝑰 𝟐𝟑  𝑰 𝟑𝟒 𝑰  𝟒𝟓  𝑰 𝟓𝟔
 𝑰 𝟏𝟑  𝑰 𝟐𝟒  𝑰 𝟑𝟓  𝑰 𝟒𝟔
 𝑰 𝟏𝟒  𝑰 𝟐𝟓  𝑰 𝟑𝟔
 𝑰 𝟏𝟓  𝑰 𝟐𝟔
5
3  𝑰 𝟏𝟔

ME F244 and MF F244Kinematics and Dynamics of Machines

 1

2
𝑰  𝟐𝟒 𝒊𝒔 𝒐𝒏 𝑰 𝟏 𝟐 𝑰 𝟏𝟒 ∧𝑰 𝟐𝟑 𝑰 𝟑𝟒 6

5
3  𝑰 𝟏𝟔

4  𝑰 𝟏𝟐  𝑰 𝟐𝟑  𝑰 𝟑𝟒  𝑰 𝟒𝟓  𝑰 𝟓𝟔
 𝑰 𝟏𝟑  𝑰 𝟐𝟒  𝑰 𝟑𝟓 𝑰  𝟒𝟔
 𝑰 𝟏𝟒  𝑰 𝟐𝟓  𝑰 𝟑𝟔
 𝑰 𝟏𝟓  𝑰 𝟐𝟔

ME F244 and MF F244Kinematics and Dynamics of Machines

 1

2
𝑰  𝟏𝟓 𝒊𝒔 𝒐𝒏 𝑰 𝟏 𝟑 𝑰 𝟑𝟓 ∧𝑰 𝟏𝟔 𝑰 𝟓𝟔 6

5
3  𝑰 𝟏𝟔

4  𝑰 𝟏𝟐  𝑰 𝟐𝟑  𝑰 𝟑𝟒  𝑰 𝟒𝟓  𝑰 𝟓𝟔
 𝑰 𝟏𝟑  𝑰 𝟐𝟒  𝑰 𝟑𝟓 𝑰  𝟒𝟔
 𝑰 𝟏𝟒  𝑰 𝟐𝟓  𝑰 𝟑𝟔
 𝑰 𝟏𝟓  𝑰 𝟐𝟔

ME F244 and MF F244Kinematics and Dynamics of Machines

 1

2
𝑰  𝟐𝟓 𝒊𝒔 𝒐𝒏 𝑰 𝟏 𝟐 𝑰 𝟏𝟓∧𝑰 𝟐𝟑 𝑰 𝟑𝟓 6

5
3

4  𝑰 𝟏𝟐  𝑰 𝟐𝟑  𝑰 𝟑𝟒  𝑰 𝟒𝟓  𝑰 𝟓𝟔
 𝑰 𝟏𝟑  𝑰 𝟐𝟒  𝑰 𝟑𝟓 𝑰  𝟒𝟔
 𝑰 𝟏𝟒  𝑰 𝟐𝟓  𝑰 𝟑𝟔
 𝑰 𝟏𝟓  𝑰 𝟐𝟔

ME F244 and MF F244Kinematics and Dynamics of Machines

  𝑰 𝟏𝟐  𝑰 𝟐𝟑  𝑰 𝟑𝟒  𝑰 𝟒𝟓  𝑰 𝟓𝟔
 𝑰 𝟏𝟑 𝑰  𝟐𝟒  𝑰 𝟑𝟓 𝑰  𝟒𝟔
 𝑰 𝟏𝟒  𝑰 𝟐𝟓  𝑰 𝟑𝟔
 𝑰 𝟏𝟓  𝑰 𝟐𝟔

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3

4
𝑰  𝟐𝟔 𝒊𝒔 𝒐𝒏 𝑰 𝟏 𝟐 𝑰 𝟏𝟔 ∧𝑰 𝟐𝟓 𝑰 𝟓𝟔

ME F244 and MF F244Kinematics and Dynamics of Machines

  𝑰 𝟏𝟐  𝑰 𝟐𝟑  𝑰 𝟑𝟒  𝑰 𝟒𝟓  𝑰 𝟓𝟔
 𝑰 𝟏𝟑 𝑰  𝟐𝟒  𝑰 𝟑𝟓 𝑰  𝟒𝟔
 𝑰 𝟏𝟒  𝑰 𝟐𝟓  𝑰 𝟑𝟔
 𝑰 𝟏𝟓  𝑰 𝟐𝟔

ME F244 and MF F244Kinematics and Dynamics of Machines

  𝑰 𝟏𝟐  𝑰 𝟐𝟑  𝑰 𝟑𝟒 𝑰  𝟒𝟓  𝑰 𝟓𝟔
 𝑰 𝟏𝟑 𝑰  𝟐𝟒  𝑰 𝟑𝟓 𝑰  𝟒𝟔
 𝑰 𝟏𝟒  𝑰 𝟐𝟓  𝑰 𝟑𝟔
 𝑰 𝟏𝟓  𝑰 𝟐𝟔

6 2

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𝑰  𝟑𝟔 𝒊𝒔 𝒐𝒏 𝑰 𝟏 𝟑 𝑰 𝟏𝟔 ∧𝑰 𝟑𝟓 𝑰 𝟓𝟔

ME F244 and MF F244Kinematics and Dynamics of Machines

  𝑰 𝟏𝟐  𝑰 𝟐𝟑  𝑰 𝟑𝟒  𝑰 𝟒𝟓  𝑰 𝟓𝟔 𝑰  𝟒𝟓 𝒊𝒔 𝒐𝒏 𝑰 𝟏 𝟒 𝑰 𝟏𝟓∧𝑰 𝟐𝟒 𝑰 𝟐𝟓
 𝑰 𝟏𝟑  𝑰 𝟐𝟒  𝑰 𝟑𝟓 𝑰  𝟒𝟔 𝑰  𝟒𝟓 𝒊𝒔 𝒐𝒏 𝑰 𝟏 𝟒 𝑰 𝟏𝟓∧𝑰 𝟑𝟒 𝑰 𝟑𝟓
 𝑰 𝟏𝟒  𝑰 𝟐𝟓  𝑰 𝟑𝟔
 𝑰 𝟏𝟓  𝑰 𝟐𝟔
1

6 2

5
3

ME F244 and MF F244Kinematics and Dynamics of Machines

  𝑰 𝟏𝟐  𝑰 𝟐𝟑  𝑰 𝟑𝟒 𝑰  𝟒𝟓  𝑰 𝟓𝟔 𝑰  𝟒𝟓 𝒊𝒔 𝒐𝒏 𝑰 𝟏 𝟒 𝑰 𝟏𝟓∧𝑰 𝟐𝟒 𝑰 𝟐𝟓
 𝑰 𝟏𝟑  𝑰 𝟐𝟒  𝑰 𝟑𝟓  𝑰 𝟒𝟔 𝑰  𝟒𝟓 𝒊𝒔 𝒐𝒏 𝑰 𝟏 𝟒 𝑰 𝟏𝟓∧𝑰 𝟑𝟒 𝑰 𝟑𝟓
 𝑰 𝟏𝟒  𝑰 𝟐𝟓  𝑰 𝟑𝟔
 𝑰 𝟏𝟓  𝑰 𝟐𝟔

6 2

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4 THANK YOU
ME F244 and MF F244Kinematics and Dynamics of Machines