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Acceleration Analysis of Mechanisms

The document discusses kinematic analysis and acceleration analysis. It aims to find the accelerations of all moving parts in an assembly in order to calculate dynamic forces and component stresses. Key points discussed include: - Acceleration is the rate of change of velocity with respect to time - The change in velocity can be resolved into components parallel and perpendicular to the original velocity - For a rigid link, the acceleration of a point has components parallel and perpendicular to the link's path - In a slider crank mechanism, the slider experiences both tangential and radial accelerations - When a point slides along a rotating link, it experiences a Coriolis acceleration component perpendicular to both the sliding and rotational velocities.

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Thahir Shah
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382 views32 pages

Acceleration Analysis of Mechanisms

The document discusses kinematic analysis and acceleration analysis. It aims to find the accelerations of all moving parts in an assembly in order to calculate dynamic forces and component stresses. Key points discussed include: - Acceleration is the rate of change of velocity with respect to time - The change in velocity can be resolved into components parallel and perpendicular to the original velocity - For a rigid link, the acceleration of a point has components parallel and perpendicular to the link's path - In a slider crank mechanism, the slider experiences both tangential and radial accelerations - When a point slides along a rotating link, it experiences a Coriolis acceleration component perpendicular to both the sliding and rotational velocities.

Uploaded by

Thahir Shah
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Kinematic Analysis: Scope

Need to know the dynamic forces to be able to compute stresses in the components
Dynamic forces are proportional to acceleration (Newton second law)
Goal shifts to finding acceleration of all the moving parts in the assembly
In order to calculate the accelerations:
need to find the positions of all the links , for all increments in input motion
differentiate the position eqs. to find velocities, diff. again to get accelerations

Acceleration analysis
Acceleration: Rate of change of velocity with respect to time

The change of velocity, as the body moves from P to Q can be determined by drawing the
vector triangle opq, in which op and oq represent the velocities at P and Q, respectively.
pq represents the change of velocity in time t.

pq can be resolved into two components, namely,


- px (parallel to op), and
- xq (perpendicular to op).

Acceleration analysis

The change of velocity (pq) has two components (px and xq) which are mutually
perpendicular, hence, the rate of change of velocity, that is, acceleration will also have two
mutually perpendicular components.

AT = r AN = r 2 = V2T
r

Acceleration analysis

The change of velocity (pq) has two components (px and xq) which are mutually
perpendicular, hence, the rate of change of velocity, that is, acceleration will also have two
mutually perpendicular components.

If the body moves with a uniform velocity, then dv/dt=d(w)/dt==0; and the body has only AN
If the body moves on a straight path, r is infinite, and v2/r=0; and the body has only AT

Straight path

Uniform velocity

Only tangential acceleration

Only centripetal acceleration

Acceleration analysis
Graphical method

Vector loop method

Consider a rigid link AB. If A is assumed to be fixed then the only possible motion for B is rotation
about A (as the centre).

Acceleration analysis: Graphical Method


Acceleration of a point on a link
The acceleration of B can be determined
in magnitude and direction, graphically

Just direction is known, parallel to


the path of B .so just draw aB.
..parallel to VB
2 things are known:
I . the acceleration of A.
ii. Direction of VB

Just direction is known, perpendicular to the radial component, so.


..just draw the direction
Completely known

Acceleration analysis
Acceleration in the slider crank mechanism
Uniform
D2
MD1
D1

MD2

Acceleration analysis: Coriolis component


When a point on one link slides along another rotating link, then a component of
acceleration, called Coriolis component of acceleration comes into play

Acceleration analysis: Coriolis component

Change of velocity: Along & perpendicular to OA due to


linear (sliding) velocity

tangential (rotational) velocity

Acceleration analysis: Coriolis component

Acceleration components
of the slider (B)
wrt the coincident point (C) on the rotating link (2)

Acceleration components of the slider (B)


wrt the origin (pivot:O)

Stage-I

minus
Acceleration components of the coincident point (C) on the rotating link (2)
wrt the origin (pivot:O)
Stage-II

Stage-I

Acceleration analysis: Coriolis component


Change of velocity: Along & perpendicular to OP due to

linear (sliding) velocity

Along OA

tangential (rotational) velocity

Perpendicular to OA

Stage-I

Acceleration analysis: Coriolis component


Change of velocity: Along & perpendicular to OP due to
linear (sliding) velocity

Along OA

tangential (rotational) velocity

Perpendicular to OA

Stage-I

Acceleration analysis: Coriolis component

Change of velocity: Along & perpendicular to OP due to


Along OP

Perpendicular to OP

linear (sliding) velocity


tangential (rotational) velocity

Total change in velocity


along radial direction (along OP)

Total change in velocity in


tangential direction (perp. to OP)

Stage-I

Acceleration analysis: Coriolis component

Summary: Acceleration components of the slider (B) wrt the origin (pivot:O)

Stage-II

Acceleration analysis: Coriolis component

Summary: Acceleration components of the coincident point (C) on the rotating link (2) wrt O

Stage-I Stage II

Acceleration analysis: Coriolis component

Acceleration components
of the slider (B)
wrt the coincident point (C) on the rotating link (2)

Acceleration analysis: Coriolis component

The tangential component of acceleration of the slider (B) with respect to the coincident point (C) on the
rotating link is known as coriolis component of acceleration and is always perpendicular to the link

Direction of coriolis component


of acceleration is obtained by
rotating V at 90, about its origin,
in the direction of

Acceleration analysis: Problem-I


A mechanism of a crank and slotted lever quick return motion is shown in the figure. If the
crank rotates counter clockwise at 120 r.p.m, then for the configuration shown, determine:
- the velocity and acceleration of the ram.
Crank AB=50mm, link CD=200mm
Slotted arm OC=700mm
- the angular acceleration of the slotted lever.

Velocity
Radial

___

Tangential

VBA
perp. to AB

Acceleration

AB

Radial

M+D

Tangential

No
___

B:slider
B: Coincident point

AB

BB
VBB
parallel to BB

___
BB

B O

CD

OD

___

___

___

VBO
perp. to BO

VCD
perp. to CD

VD=VDo
parallel to
motion of D

BO

CD

OD

___

Acceleration analysis: Problem-I


A mechanism of a crank and slotted lever quick return motion is shown in the figure. If the
crank rotates counter clockwise at 120 r.p.m, then for the configuration shown, determine:
- the velocity and acceleration of the ram.
Crank AB=50mm, link CD=200mm
Slotted arm OC=700mm
- the angular acceleration of the slotted lever.

Velocity
Radial

___

Tangential

VBA
perp. to AB

Acceleration

AB

Radial

M+D

Tangential

No
___

B:slider
B: Coincident point

AB

BB
VBB
parallel to BB

___
BB

BO

CD

OD

___

___

___

VBO
perp. to BO

VCD
perp. to CD

VD=VDo
parallel to
motion of D

BO

CD

OD

___

Acceleration analysis: Problem-I


Determine: the velocity and acceleration of the ram;
: the angular acceleration of the slotted lever.
5

3(D/O)

5(D/O)
5

3
4

2(D/b)

B is under
pure rotation
about O: VBO
is perpendicular
to OB

Locating B
Path of B along OC

4(D/C)

Locating C
D is under pure rotation about C:
VDC is perpendicular to CD

Locating D
Horizontal
path of D

Acceleration analysis: Problem-I


Find: the velocity and acceleration of the ram;
-the angular acceleration of the slotted lever.

Acceleration analysis: Problem-I

Acceleration analysis: Problem-I

Accn. of B w.r.t the


coincident point B

Coriolis
direction

Direction of coriolis component


of acceleration is obtained by
rotating V at 90, about its origin,
in the direction of

Mag not
known

Locating image of B, i.e., b


Accn. of B w.r.t O

Acceleration analysis: Problem-I

C lies on
OB produced

Locating the image


of D wrt the image
of C

Locating the image


of D wrt the image
of C and O

Acceleration analysis: Problem-I

Acceleration analysis: Complex No. Notation; Vector Loop Equation

AP=APA, since, point A


Is the origin of the GCS

90 rotation of RPA
in the direction of

Opposite
to RPA

Acceleration analysis: Complex No. Notation; Vector Loop Equation

Acceleration analysis: 4-bar pin jointed linkage

Acceleration analysis: 4-bar slider crank

Acceleration analysis: Coriolis component of acceleration

Acceleration analysis: Coriolis

Acceleration analysis: Coriolis

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