ME 303 Kinematics and Dynamics of Machines

Santhakumar Mohan
Mechanical Engineering
Indian Institute of Technology
gy
Indore
 Lecture 10: Acceleration Analysis of Planar Linkages
(Graphical and Analytical Method)
 Introduction
 Tangential acceleration
 Radial or centripetal acceleration
 Graphical method
 Four-bar mechanism
 Slider crank mechanism

Santhakumar Mohan, IIT Indore

2
ME 303 Kinematics and Dynamics of Machines
 Introduction
• Acceleration is defined as the rate of change of velocity with respect to
time.
d dV
l ti on,  
A l accelerati
Angular ; linear
li l ti on, A 
accelerati ;
dt dt
j t
dV AB
P AB  Le
f ab
A AB  f ab 
vab dt
f ab B
P AB
dP
d
V AB  v ab 
dt
 f ab 
d
 
jLe j  jLe j
d
 j 2Le j
d

 
dt dt dt
d d
Le j  Lje j 
r
v abb  f ab
dt dt 2
v ab  jLe j y f ab  jLe j   2 Le j  f t  f r
PAB ab ab


V AB  ω AB  P AB A x
A AB  α AB  P AB  ω AB  ω AB  P AB 
1
Santhakumar Mohan, IIT Indore
3
ME 303 Kinematics and Dynamics of Machines
 Introduction
vb Change of B Velocity Perpendicular to AB
B vb’’cos
vb t  L cos   L cos t  L
 B’  vb’sin Acceleration of B Perpendicular to AB
L 
 v b’  vb  L cos   L cos t  L

  
+t  t t t
A if, t  0, cos   1
 v  d ddv
  b   L  L  b  f ab
t
vb=L  t t dt dt
vb’= ’L=(+t)L Change of B Velocity Parallel to AB
g y
vb r  L sin   L sin t  0
Acceleration of B Parallel to AB
When  = 0, i.e., AB rotates with an uniform velocity, fabt=0  vb  L sin   L sin t
  
 t  r t
When  = 0, i.e., B has a linear motion, fabr=0
if t  0, sin   
if,
 v   d
  b   L  L   2 L  f ab
r
 t  r t dt

Santhakumar Mohan, IIT Indore

4
ME 303 Kinematics and Dynamics of Machines
 Graphical Acceleration Analysis
y of a Four-bar Mechanism
ba’
frab ftab Locus of ‘c’
Locus of  c
frbc b’ fab
cb’ a’, d’
fbc fdc frdc Locus of ftbc b vab
t
f bc cd’ vbc
Locus of vbc vdc
c’ ftdc Locus of ftdc
Locus of ‘c’ c a, d
Locus of frab L f frbc
Locus of f
Locus of ft bc Locus of ftab
C Locus of vdc Velocity Analysis:
Acceleration Analysis: vabb L f ftdc
Locus of f Known:
Known: 
Known: 
3 L1, L2, L3, L4
L1, L2, L3, L4 
2 2 B 2, 3, 4
2, , 3, 4
2, vab = L22
2, 3 and  4 2 4
2, ftab= 2L2, frab= 22L2  A D Unknown:
frbc= 32L3, frdc= 42L4  Position Analysis: Locus of frdc 3 and 
d 4
Unknown: Known: L1, L2, L3, L4 and 2
3 and 4 Unknown: 3 3 and 4
Santhakumar Mohan, IIT Indore
5
ME 303 Kinematics and Dynamics of Machines
 Graphical Acceleration Analysis of a Slider Crank Mechanism
ba’ Locus of ‘c’
ftabb Loc s of fac
Locus of f
c’ fac= fslider b
r a’ vbc vab
t
f bc r f ab
f bc fab
cb’ b’ c vac
Locus of ‘c’ vslider a
Locus of ftbc Locus of ftab
vab Locus of frab
Locus of ftbc Velocity Analysis:
Acceleration Analysis: 3 Locus of vbc
Locus of v
2 B b Known:
Known: 
Known: 
e, L2, L3, dslider
e, L2, L3, dslider 2 Locus of fac
2 Locus of vac 2, 3
2, , 3 C
Locus of frbc 2, vab = L22
2, 3 and vslider A
2, ftab= 2L2, frab= 22L2  AC or dslider Unknown:
frbc= 32L3, frac= 0 Position Analysis:
Position Analysis: 3 and v
d slider
Unknown: Known: e, L2, L3 and 2
3 and fslider Unknown: 3 and dslider

Santhakumar Mohan, IIT Indore

6
ME 303 Kinematics and Dynamics of Machines
 Vector Loop ((Loop Closure)) method
C

L3
B 3 
L4
L2 C
y 4 
2 2 L1
R3

L3 R4
A x D
B 3 3
 L4
L2 R2
y 4
2  L1

A x R1 D
   
R1  R 4  R 2  R3
   
R 2  R3  R1  R 4  0

Santhakumar Mohan, IIT Indore ME 303 Kinematics and Dynamics of

8/28/2018 7
Machines
 C
   
L3 R 2  R3  R1  R 4  0

B L2 e j 2  L3 e j3  L1e j1  L4 e j 4  0

3 
L2
L4 if 1  0
y 4 L2 e j 2  L3 e j3  L1  L4 e j 4  0
2 2 L1
A x D

L2 cos  2  j sin  2   L3 cos  3  j sin  3   L1  L4 cos  4  j sin  4   0

Real part : L2 cos  2  L3 cos  3  L1  L4 cos  4  0

Imaginary part : L2 sin  2  L3 sin  3  L4 sin  4  0

L3 cos  3  L1  L2 cos  2  L4 cos  4 L4 cos  4  L3 cos  3  L1  L2 cos  2

L3 sin  3   L2 sin  2  L4 sin  4 L4 sin  4  L2 sin  2  L3 sin  3

Santhakumar Mohan, IIT Indore ME 303 Kinematics and Dynamics of

8/28/2018 8
Machines
 L4 cos  4   L1  L2 cos  2  L3 cos  3 (1)
i  4  L2 sin
L4 sin i  2  L3 sin
i 3 (2)

Differentiating Eqs. (1) and (2) w.r.t. time,

L4  4 sin  4  L2  2 sin  2  L3 3 sin  3 (3)
L4  4 cos  4  L2 2 cos  2  L3 3 cos  3 (4)

Differentiating Eqs. (3) and (4) w.r.t. time,

L4 4 sin  4  L4 42 cos  4  L2 2 sin  2  L2  22 cos  2  L3 3 sin  3  L3 32 cos  3 (5)
L4 4 cos  4  L4 42 sin  4  L2 2 cos  2  L2 22 sin  2  L3 3 cos  3  L3 32 sin  3 (6)

Santhakumar Mohan, IIT Indore

9
ME 303 Kinematics and Dynamics of Machines
 Analytical
y Acceleration Analysis
y of a Four-bar Mechanism
• From loop-closure equation or by vector loop method:
Position Analysis
Position Analysis
  E  E 2  4 DF    B  B 2  4 AC 
 31,32  2 atan 2   41,42  2 atan 2 
 2D   2A 
   
A  cos  2  K1  K 2 cos  2  K 3 , B  2 sin  2 , C  K1  K 2  1 cos  2  K 3
D  cos  2  K1  K 4 cos  2  K 5 , E  2 sin  2 , F  K1  K 4  1 cos  2  K 5

L1 L1 L22  L23  L24  L12 L1 L24  L12  L22  L23

K1  , K2  , K3  , K4  , K5 
L2 L4 2 L2 L4 L3 2 L2 L3
Velocity Analysis
Velocity Analysis Acceleration Analysis
Acceleration Analysis
L22 sin  4   2  L2 2 sin  4   2   L222 cos 4   2   L332 cos 4   3   L442
3   3 
L3 sin  4   3  L3 sin  3   4 
L  sin  3   2  L2 2 sin  3   2   L222 cos 3   2   L332  L442 cos 3   4 
4   2 2 4 
L4 sin  3   4  L4 sin  3   4 

Santhakumar Mohan, IIT Indore

10
ME 303 Kinematics and Dynamics of Machines