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Mechanisms of Machinery
Chapter 3
1
Velocity Analysis of Linkages
Velocities and accelerations in mechanisms are determined
by different methods.
i. Velocity and acceleration analysis using vector
mathematics
velocity and acceleration of a point are expressed
relative to fixed or moving coordinates.
i. Velocity and acceleration analysis using equations of
relative motion
Can be solved graphically by velocity and acceleration
polygons or by using trigonometric relations.
i. Velocity and acceleration analysis by using
complex numbers.
ii. Vectors velocity analysis using the instant center
method.
3.1. Velocity Analysis by Vector Mathematics
Consider the motion of point P 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
- is the position vector of P relative to the X-Y-Z
p
R - is the position vector of P relative to the x-y-z system
system.
is the position vector of the origin of the moving
-
coordinate
R 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:
Rp Ro R
(3.1)
Rpeto
Vplativ
Velocity of P re Rothe
R X-Y-Z coordinate system
is
(3.3)
Ro Vo
- is the velocity of the origin of x-y-z system
fixed system
relative to the d
R xi yj
dt
zk
(xi yj zk) (xi yj (3.4)
Let
(3.5)
xi yj zk
V
note that
i i
(3.6)
j
Where is the angular velocity vector of x-y-z system relative
to X- Y -jZk.
x i yj zk x( i) y( j) z( k)
k
(xi
yj zk)
(3.7)
R
VA = VB + VA/B (3.10)
VB = VA + VB/A
(3.16)
Where
VA is known both in magnitude and direction;
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:
I f 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 2 & for
the instant under consideration an
angular position of 2.
Dimensions of linkages are assumed to
be known, so the angular position
of the follower, link 4, can be
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
equivalentp
R rp cos i sin (3.26) in any of the following
as showRnp be alow2ibmay be2 expressed
for ms:
Rp rpe i 2
i represen
i
Using this i
re re
co1 mplex 2
1 2
r4 0 (3.27)
4 tation, equation (3.25) is
transform ed into
e
Differentiating the above equation we
obtainir e i ir e
2 4
r4 ei 4 0
2 2 i 4 4
(3.28)
Note that r1 and 1 are constants and r4 is variable.
i
Let
i
i 2 i 4 i 4
ir
2 2 e ir
4 4e r
4 e 0 (3.29)
18
Types of Instantaneous Centres
T h e instantaneous centers for a mechansm
i are of the
following three types :
Fixed instantaneous centers,
Permanent instantaneous centres, and
Neither fixed nor permanent
instantaneous centres.
T h e first two types i.e. fixed and permanent instantaneous
centres are together known as primary
centres and the third instantaneous is
type
instantaneous centres. known as secondary
19
Types of Instantaneous Centres
Consider a
ofur bar
mechanism
ABCD.
T h e number
of
instantaneous
centres (N) in a
four bar
mechanism is
given by
20
Types of Instantaneous Centres
21
Location of Instantaneous Centres
22
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
23
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 :
24
Location of Instantaneous Centres
25
Aronhold Kennedy (or Three Centres in
Line) Theorem
T h e Arnhold- Kennedy
theorem states that:
W h e n three bodies move
relative to one another
they have three
instantaneous centers, all
of which lie on the same
straight line.
F o r the four-bar linkage
shown in Fig., centers 12,
23, 34 and 14 are located
by inspection.
26
Aronhold Kennedy (or Three Centres in Line)
Theorem
T h e 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.
Dem ons t ra t i on:
T h u s point C cannot
be the instantaneous
center.
T h e only point that
satisfies the
definition of the
instantaneous center
lies on the straight
line 0203.
T h u s , the htree
instantaneous
centers lie on a
28
straight line.
Method of Locating Instantaneous Centres
in a Mechanism
C o n s i d e r a pin jointed four bar mechanism shown. The
following procedure is adopted for locating instantaneous
centres.
1. First of all, determine the number of instantaneous
centres
(N) by using the relation
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.
31
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.
32
Join 2 and 4 by a dotted line on the circle diagram and mark 6 on it.
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
O n c e the ICs have been found, they can be used to do
a very rapid graphical velocity analysis of the linkage.
F r o m the definition of the instant center, both links sharing
the instant center will have identical velocity at that point.
36
VELOCITY ANALYSIS WITH INSTANT CENTERS
E x a m p l e 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
37 of the link BC.
Example 1
38
VELOCITY ANALYSIS WITH INSTANT CENTERS
39
VELOCITY ANALYSIS WITH INSTANT CENTERS
40
VELOCITY ANALYSIS WITH INSTANT CENTERS
42
VELOCITY ANALYSIS WITH INSTANT CENTERS
43
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.
44
VELOCITY ANALYSIS WITH INSTANT CENTERS
45
VELOCITY ANALYSIS WITH INSTANT CENTERS
46
VELOCITY ANALYSIS WITH INSTANT CENTERS
47
VELOCITY ANALYSIS WITH INSTANT CENTERS
48
VELOCITY ANALYSIS WITH INSTANT CENTERS
49
Example 3
50
Example 3
51
Example 3
52
Example 3
53
Example 3
54
Example 3
55
Example 3
56
End of Chapter 3
Next Lecture
Chap
ter 4:
Accel
eratio
n
57
Analy