ME3001D Dynamics of Machines

Monsoon 2023

Course faculty: Dr. M. D. Narayanan

Class 3
Matrix method in the force analysis
Method of virtual work

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Review and clarification

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Problem 3 Analytical method for the static force
analysis of a four-bar linkage

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Matrix method for the static force analysis

Given forces F1 and F2,

obtain torque T and joint
forces for static equilibrium
of the system in the given
configuration

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Matrix method for the static force analysis

∑ 𝐹 𝑥 =0,𝐹 +𝐹 =0
𝑥
12
𝑥
32

∑ 𝐹 𝑦=0,𝐹12 +𝐹32=0
𝑦 𝑦

∑ 𝑀 𝑂2=0,𝒍𝟐 × 𝑭 𝟑𝟐+𝑻 =0
𝐹𝑥 𝑥 𝑥
23 + 𝐹 4 3 + 𝐹 2 =0

𝐹𝑦 𝑦 𝑦
23 + 𝐹 4 3 + 𝐹 2 = 0

)()+T=0 𝒍 𝟑 × 𝑭 𝟒 𝟑+𝒓 𝟐 × 𝑭 𝟐 =0

+T=0 +=0

08/10/2023 National Institute of Technology-Calicut

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Matrix method for the static force analysis

{} { }
1 0 -1 0 0 0 0 0 0 𝒙
𝑭 𝟏𝟐 0
0 -1 0 -1 0 0 0 0 0 𝒚
𝑭 𝟏𝟐 0
0 0 0 0 0 0 1 𝒙
𝑭 𝟐𝟑 0
𝑥
𝒚 −𝐹2
0 0 1 0 -1 0 0 0 0 𝑭 𝟐𝟑 𝑦
−𝐹2
0 0 0 1 0 -1 0 0 0
𝒙
𝑭 𝟑𝟒 = 𝑦 𝑥
− 𝐹 2 𝑟 2 cos θ3 + 𝐹 2 𝑟 2 sin θ3
𝒚
0 0 0 0 0 0 0 𝑭 𝟑𝟒 −𝐹1
𝑥
𝒙
0 0 0 0 1 0 1 0 0 𝑭 𝟏𝟒 − 𝐹1
𝑦
𝒚
𝑭𝟏𝟒 𝑦 𝑥
− 𝐹 1 𝑟 1 cos θ 4 + 𝐹 1 𝑟 1 sin θ4
0 0 0 0 0 0 0 1 0
𝑻
0 0 0 0 0 0 0

𝑦
𝐹 12 + 𝐹 𝑦32 =0 +T=0 𝐹𝑦 𝑦 𝑦
23 + 𝐹 4 3 + 𝐹 2 = 0

𝑥
𝐹 12
𝑥 𝑥 𝑥
+ 𝐹 𝑥32 =0 𝐹 23 + 𝐹 4 3 + 𝐹 2 =0 +=0

08/10/2023 National Institute of Technology-Calicut

Home work and plan for the next class

Home work
 Complete Problem 3
 Video lecture (view before the next class) and link
 DM7 Matrix method for the static force analysis of machines
https://youtu.be/2VrVkMkHQYg
Next class
 Clarifications on class 3 and video lecture DM7
 Method of virtual work, Static force analysis with friction

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Questions

1. How is the static force analysis carried out by considering the pin as a Free-body?
2. Set up the equations for analytical solution of a static force analysis problem in four-bar linkage. Explain the
sequence of steps involved.
3. In what way the matrix method is advantageous relative to graphical procedure?
4. Discuss the possibility for poor invertibility of the matrix. What will be the corresponding physical
configuration?
5. Write down a computer based scheme for the solution of the static force analysis problem for a four-bar
linkage by matrix method. Sketch a flow chart for the algorithm.

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