Design of Mechanisms

MEEN :3391

Position, Velocity & Acceleration analysis

using graphical method
 Linkage Analysis
• Planar linkage analysis has been solved traditionally
using a graphical approach which relies on the use of
drafting equipment.

• With the development of computers and numerical

methods this has shifted towards the analytical
approach.
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering
College of Engineering, PMU
MANUFACTURING METHODS IN DESIGN
 Analysis sequence

• It is always necessary to determine Position Analysis

the positions of the links before a
velocity analysis can be performed.
Velocity Analysis
• You must know the links velocities
before doing the acceleration
analysis.
Acceleration
Analysis
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Position Analysis

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Position Analysis
• Graphically this means drawing the linkage to a
selected Scale.
• Representation of the link as a geometric skeleton
• Geometric skeleton
– Links – lines
– Revolute Joints- points (intersection of their axes with
the plane of motion)
– Prismatic (sliding) joints- lines in the direction of sliding
• Example: 4-bar linkage

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Position Analysis

• Choose a Scale:
– The larger the scale, the more accurate the results
– Half Scale 1 : 2

– Drawing equivalent Actual

– So you divide the actual lengths by two and draw
them
– To find actual length, measure from drawing and
multiply by 2 (scale)
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Position Analysis
• Let’s select a 1cm: 1 inch Scale
• Start by locating point A and D

Link 3

A B Link 4
D

4 inch
Link 2
Link 1
A D

4 inch
Scale 1:1
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Position Analysis

• Draw Line AB , length 2.5 and at an angle of 60

degrees
C

B Link 3
B Link 4

A D Link 2
Link 1
A D
4 inch

4 inch
Scale 1:1
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Position Analysis
• Locate point C by drawing a circle, centre at B, with radius of 6
and another circle, centre at D and with a radius of 4
• The intersection of these two circle defines point C
• These circles are called construction circles as the aim from
using them is to define a point on the mechanism
C

Link 3
B
Link 4

Link 2
Link 1
A D

Dr. Sathyan Krishnan 4 inch

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Point C defind

A D

4 inch

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering
Scale 1:1
MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
• Draw links 3 and 4
Point C defind

A D

4 inch

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering
Scale 1:1
MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
• To locate point E, follow a similar procedure

Point E defind

A D

4 inch
Scale 1:1
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Position Analysis

C
Link 3

B Link 4

Link 2
Link 1
A D

4 inch
Scale 1:1
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Position Analysis

• The way to construct the linkage in the desired

position can be achieved using drawing tools.

• You need to have these available for working on

this course

• The use of any CAD system is also highly applicable

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
Problem solved using Solidworks

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity Analysis

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity analysis
Relative Velocity of Two Bodies Moving in Straight Lines
• Vector addition Polygon Technique is used to solve the velocity and
acceleration equations

Relative velocity of A with respect to B

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity analysis
Velocity of rotating link

= Angular velocity of the link AB about A.

velocity of the point B with respect to A

velocity of any point C on AB with respect to A

Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity analysis
Velocity of rotating link

 BA    AB   AB sin 900
Cross Product

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity analysis of Four Bar Chain
Example
In a four bar chain ABCD:
• AD is fixed and is 150 mm long.
• The crank AB is 40 mm long and rotates
at 120 r.p.m. clockwise,
• link CD = 80 mm oscillates about D.
• BC and AD are of equal length.
• angle BAD = 60°.
• Find the angular velocity of link CD Position or space diagram
Scale 5 : 1 (divide each length by 5)
Given Or any convenient scale

Since the length of crank AB = 40 mm = 0.04 m, therefore velocity of B

with respect to A or velocity of B, (because A is a fixed point),
vBA= vB =  BA× AB = 12.568 × 0.04 = 0.503 m/s
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity analysis of Four Bar Chain
Example

1. Since the link AD is fixed, therefore points a and d are taken as one
point in the velocity diagram. Draw vector ab perpendicular to BA, to
some suitable scale, to represent the velocity of B with respect to A or
simply velocity of B

Scale 100:1
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity analysis of Four Bar Chain
Example

2. Now from point b, draw vector bc perpendicular to CB to represent the

velocity of C with respect to B (i.e. v CB)
and
from point d, draw vector dc perpendicular to CD to represent the
velocity of C with respect to D or simply velocity of C (i.e. v CD or vC).
The vectors bc and dc intersect at c.
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity analysis of Four Bar Chain
Example

We know that CD = 80 mm = 0.08 m

Angular velocity of link CD

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity analysis of Slider Crank Mechanism
Example
• The crank and connecting rod of a theoretical steam engine are 0.5 m
and 2 m long respectively.
• The crank makes 180 r.p.m. in the clockwise direction.
• When crank has turned 45° from the inner dead centre position,
determine :
1. velocity of piston,
2. angular velocity of connecting rod,
3. velocity of point E on the connecting rod 1.5 m from the gudgeon pin,
Solution.
Given : NBO = 180 r.p.m. or BO = 2  × 180/60 = 18.852 rad/s

Space diagram
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity analysis of Slider Crank Mechanism
Solution. Example
Given : NBO = 180 r.p.m. or BO = 2  × 180/60 = 18.852 rad/s

Space diagram

Velocity of piston

1. Draw vector ob perpendicular to BO, to some

suitable scale, to represent the velocity of B
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity analysis of Slider Crank Mechanism
Solution. Example
Given : NBO = 180 r.p.m. or BO = 2  × 180/60 = 18.852 rad/s

Space diagram

Velocity of piston
2. From point b, draw vector bp perpendicular to
BP to represent velocity of P with respect
to B (i.e. vBP)
and
from point o, draw vector op parallel to PO to
represent velocity of P with respect
to O (i.e. vPO or simply vP). The vectors bp and op
Dr. Sathyan Krishnan
intersect at point p.
Dept. of Mechanical Engineering
College of Engineering, PMU
MANUFACTURING METHODS IN DESIGN
 Velocity analysis of Slider Crank Mechanism
Solution. Example
Given : NBO = 180 r.p.m. or BO = 2  × 180/60 = 18.852 rad/s

Space diagram

Velocity of piston

Angular Velocity of Connecting Rod

From the velocity diagram

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Velocity analysis of Slider Crank Mechanism
Solution. Example
Given : NBO = 180 r.p.m. or BO = 2  × 180/60 = 18.852 rad/s

Space diagram

Velocity of point E on connecting Rod

Ratio of lengths and velocity of point E on
connecting Rod must be same

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Home Work-2 + Quiz -2

Start working on position and velocity parts , but

submit after Acceleration analysis is done
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
Acceleration Analysis
 Acceleration analysis
Acceleration of bodies moving in Straight Lines

aA Acceleration aA is in same direction as direction

of velocity of bodies. This acceleration is also
called tangential acceleration (at)

Acceleration of bodies moving in circular paths

Tangential acceleration (at) = r α

α is angular acceleration
r is length of link

Radial acceleration (ar) = 2 r

 is angular velocity
We know that v = r 
ar = v2/r2 x r = v2/r
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Acceleration analysis
Acceleration of bodies moving in circular paths

Important:
• Tangential acceleration (at) represents change in magnitude of
velocity.
• So if body rotates with uniform or constant velocity its Tangential
acceleration (at) will be zero.
• It will have only Radial acceleration (ar)
Dr. Sathyan Krishnan
Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU
 Acceleration analysis of Four Bar Mechanism
Example
PQRS is a four bar chain with link PS fixed.
• The lengths of the links are PQ= 62.5 mm ; QR = 175 mm ; RS =
112.5 mm ; and PS = 200 mm.
• The crank PQ rotates at 10 rad/s clockwise.
• Draw the velocity and acceleration diagram when angle QPS = 60°
and Q and R lie on the same side of PS.
• Find the angular velocity and angular acceleration of links QR and
RS.

Position or space diagram

Scale 2 : 1 (divide each length by 2)
Or any convenient scale
Acceleration analysis of Four Bar Mechanism
Example
 Acceleration analysis of Four Bar Mechanism
Example
ar = 2 r = v2/r

at = r α

Assume crank rotates with uniform

velocity . It means atQP = 0
Acceleration analysis of Four Bar Mechanism
Example
p´,s´

arRS
atRS
y
r´
arQ
atRQ

q´
x arRQ
Acceleration analysis of Four Bar Mechanism
Example

at = r α

s
 Acceleration analysis of Slider Crank Mechanism
Example
• The crank of a slider crank mechanism rotates clockwise at a constant
speed of 300 r.p.m.
• The crank is 150 mm and the connecting rod is 600 mm long.
Determine :
• Linear velocity and acceleration of the midpoint of the connecting rod,
• angular velocity and angular acceleration of the connecting rod, at a
crank angle of 45° from inner dead centre position.

Solution. Given : NBO = 300 r.p.m.

or BO = 2  × 300/60 = 31.42 rad/s;
OB = 150 mm =0.15 m ; BA = 600
mm = 0.6 m, atb = 0
 Acceleration analysis of Slider Crank Mechanism
Example
NBO = 300 r.p.m. or BO = 2  × 300/60 =
31.42 rad/s; OB = 150 mm =0.15 m ;
BA = 600 mm = 0.6 m

We know that linear velocity of B

with respect to O or velocity of B,
 Acceleration analysis of Slider Crank Mechanism
Example
1. Linear velocity of
midpoint of connecting
rod
Draw vector ob
perpendicular to BO, to
some suitable scale, to
represent the velocity of
B with respect to O or
simply velocity of B i.e.
vBO or vB, such that
Since D is the midpoint of AB, therefore
d is also midpoint of vector ba.
 Acceleration analysis of Slider Crank Mechanism
Example

Acceleration of the midpoint of the connecting rod

ar = 2 r = v2/r
 Acceleration analysis of Slider Crank Mechanism
Example

1. Draw vector o' b' parallel to BO, to some suitable scale, to represent the radial
component of the acceleration of B with respect to O or simply acceleration of B i.e.
arBO or aB,
2. The acceleration of A with respect to B has the following two components:
(a) The radial component of the acceleration of A with respect to B i.e. arAB, and
(b) The tangential component of the acceleration of A with respect to B i.e. atAB.
These two components are mutually perpendicular.
 Acceleration analysis of Slider Crank Mechanism
Example

Therefore from point b', draw vector b' x parallel to AB to represent arAB = 19.3 m/s
and from point x draw vector xa' perpendicular to vector b' x whose magnitude is yet
unknown.
 Acceleration analysis of Slider Crank Mechanism
Example

3. Now from o', draw vector o' a' parallel to the path of motion of A (which is along
AO) to represent the acceleration of A i.e. aA . The vectors xa' and o' a' intersect at a'.
Join a' b'.
4. In order to find the acceleration of the midpoint D of the connecting rod AB, divide
the vector a' b' at d' in the same ratio as D divides AB
 Acceleration analysis of Slider Crank Mechanism
Example

2. Angular velocity of the connecting rod

We know that angular velocity of the connecting rod AB,
 Acceleration analysis of Slider Crank Mechanism
Example

Angular acceleration of the connecting rod at = r α

From the acceleration diagram, we find that

We know that angular acceleration of the connecting rod AB,

 Home Work-2

Midterm Exam-1
(Ch-1, 2, 3)

Dr. Sathyan Krishnan

Dept. of Mechanical Engineering MANUFACTURING METHODS IN DESIGN
College of Engineering, PMU