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MENG 372 Velocity Analysis: All Figures Taken From Design of Machinery, 3 Ed. Robert Norton 2003
MENG 372 Velocity Analysis: All Figures Taken From Design of Machinery, 3 Ed. Robert Norton 2003
Chapter 6
Velocity Analysis
All figures taken from Design of Machinery, 3rd ed. Robert Norton
2003
1 1
Velocity Analysis
Definitions
dR
Linear Velocity V R
dt
d
Angular Velocity
dt
Velocity of a point Link in pure rotation
RPA pei Multiplying by i rotates the vector
by 90°
VPA VP RPA Velocity is perpendicular to
pe i pe i radius of rotation & tangent to
i i
path of motion
2 2
Velocity Analysis
Vector r can be written as: Imaginary
rei r cos i sin
3 3
Velocity Analysis
If point A is moving
VP VA VPA
VA pe i
i
Graphical solution:
4 4
Graphical Velocity Analysis (3 & 4)
• Given linkage configuration & 2. Find 3 and 4
• We know VA and direction of VB and VBA
(perpendicular to AB)
• Draw vector triangle. V=r.
VA
VB VBA
VB VB Direction
VBA 3 AB
VB 4 O4 B
5 5
Graphical Velocity Analysis (VC)
• After finding 3 and 4, find VC
• VC=VA+VCA
• Recall that 3 was in the opposite direction as 2
Double Scale
VC
VCA VA
VCA
VC
6 6
Instant Center
• A point common to two bodies in plane motion, which
has the same instantaneous velocity in each body.
• In ENGR 214 we found the instant center between
links 1 and 3 (point on link 3 with no velocity)
• Now we also have an instant center between links 2
and 4
7 7
Instant Centers
• Kennedy’s rule: any three links
will have three instant centers and
they will lie on a straight line
I13
• The pins are instant centers
• I13 is from links 1,2,3 and 1,3,4
• I24 is from links 1,2,4 and 2,3,4
123 134 124 234 Links
I12 I13 I12 I23 IC’s
I23 I34 I24 I34
I24
I13 I14 I14 I24
8 8
Instant Centers
• I13 has zero velocity since link 1 is
ground
• 3 is the same all over link 3
• Velocity relative to ground=r, I13
3
perpendicular to r
• VA2=a2=VA3=p3
• From this, 3 must be in the p
opposite direction as 2, and
smaller in magnitude since p>a VA2 3
A VA3
a
9 9
Instant Centers
• I24 has the same velocity on link 2
and link 4
• VI2=l22=VI4=l44
• From this, 4 is in the same
direction as 2 and smaller in
magnitude since l4>l2
4
I24 l4
VI4 V l2
I2
10 10
Instant Centers Practice Problems
A
O2 O4
Power=Tinin=Toutout
O4
O2
11
B 11
Velocity Analysis of a 4-Bar Linkage
Given 2. Find 3 and 4
12 12
Velocity Analysis of a 4-Bar Linkage
• Write the vector loop equation
i 2 i 3 i 4 i1
ae be ce de 0
• After solving the position
analysis, take the derivative
aei 2 i2 bei 3 i3 cei 4 i4 0
i 2 aei 2 i 3bei 3 i 4cei 4 0
or
V A i 2 aei 2
V A V BA V B 0
VBA i 3bei 3
where VB i 4cei 4
13 13
Velocity Analysis of a 4-Bar Linkage
i 2 aei 2 i 3bei 3 i 4cei 4 0
• Take knowns to one side:
3bei 3 4cei 4 2 aei 2
• Take conjugate to get 2nd
equation:
i 3
3be 4ce i 4 2 ae i 2
i 3 i 4 i 2
• Put in matrix form: be ce 3 2 ae
i 3
i 4
i 2
be ce 4 2 ae
1 i 2
i i 4
• Invert matrix: 3 be 3
ce 2 ae
i 3 i 4 i 2
4 be ce 2 ae
14 14
Inverted Crank Slider
Link 3 is a slider link: its effective length, b, changes
Given 2. Find 3 and b
15 15
Inverted Crank Slider
• Given 2. Find 3 and b
• Write the vector loop equation:
aei 2 bei 3 cei 4 dei1 0
• After solving the position
analysis, take the derivative:
i 2 i 3 i 3
i 2 ae be i 3be i 4cei 4 0
16 16
Inverted Crank Slider
bei 3 i bei 3 cei 4 i aei 2
3 2
• Take conjugate to get second
equation:
b e i 3 i 3 be i 3 cei 4 i 2 ae i 2
• Put in matrix form:
e i 3
i bei 3 cei 4 b i 2 aei 2
i be
i 3 i 3 i 2
e ce i 4 3 i 2 ae
b ei 3
i be i 3
ce i 4
1
i 2 aei 2
i be
Invert: i 3 i 3 i 2
3 e ce i 4 i 2 ae
17 17
Velocity of any Point on a Linkage
• Write the vector for RP
R p aei 2 pei 3 3
• Take the derivative
V p i 2 aei 2 i 3 pei 3 3
• Similarly
RS sei 2 2 RP
VS i 2 sei 2 2
RU uei 4 4
VU i 4uei 4 4
18 18
Offset Crank Slider
Given 2. Find 3 and d
b c
a
19 19