ANALISIS KECEPATAN

DENGAN METODA
ICOV
(INSTANT CENTER OF
VELOCITY)

1
 Instant centers of velocity
Instant center - point in the plane about which a link can
be thought to rotate relative to another link
(this link can be the ground)

An instant center is either (a) a pin point or a (b) two points

- - one for each body -- whose positions coincide
and have same velocities.

2
2 Instant
center, I12
Instant center: I12
1 (ground)
Link 1 (ground) 2
 Finding instant centers
• By inspection (e.g. a pinned joint is an
instant center)
• Using rules
• Aronhold-Kennedy rule
• Using Circle Diagram

3
 Rules for finding instant centers
Sliding body on curved surface Sliding body on flat surface
2
2
1
1
I12 is at infinity
I12
Rolling Sliding
common
wheel (no bodies normal
slip) 2
2 3
I23
I12 (point of contact)
Common
tangent (axis of slip)
4
Link is pivoting about the instant center
of this link and the ground link
I13

Link 3 rotates about

3
instant center I13

1
5
 For each pair of links we have an instant center.
Number of centers of rotation is the number of all
possible combinations of pairs of objects from a pool
of n objects, n( n  1)
2
number of links number of instant
centers
3 3

4 6

5 10
6
 Aronhold-Kennedy rule
• Any three bodies have three instant centers
that are colinear

1 2 3 1
I1,2 I2,3 I1,3

7
 Instant centers of four-bar linkage

I13

3 I34
I23
I24 2 4

I12 I14

1
8
 Velocity analysis using instant centers

Problem:
I13
Know 2
Find  3 and 4
3 B
3
 
VA VB 4
A
2 4
2
I12 I14

1
9
Velocity analysis using instant centers
(continued)

Steps
1. Find VA, normal to O2A, magnitude=
2(O2A)
2. Find 3=length of VA/ (I13A)
3. Find VB, normal to O4B, magnitude=
3(I13B)
4. Find 4=length of VB/ (O4B)
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 Velocity ratio
output velocity 4 O2 A
velocity ratio   
input velocity  2 O4 B

B
B

A 3 4
A
4
2
O2 O4
1
11
 Circle Diagram
For Finding Instant Centers

12
 Circle Diagram
For Finding Instant Centers

13
 Velocity Analysis
Using Instant Centers

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