VELOCI , :;

,.
The faster I g hi er I get
AtrtoN. PBNN.

of velocity which can shed much light on a mec

effort. Finally, we will derive the analytical so
crank as examples of the general vector loop eq
lems. From these calculations we will be able t
our designs while they are still on the drawing

6.I DEFINITION OF VELOCITY

Velocity is defined as the rate of change of position with respect to time. Position (R) is
a vector quantity and so is velocity. Velocity can be angular or linear. Angular veloc-
ity will be denoted as o and linear velocity as V.

d0
dt'
v=4
dt
(6.1)

Figure 6-1 (p. 280) shows a link PA in pure rotation, pivoted at point Ainthe xy
plane. Its position is defined by the position vector Rp4. We are interested in the

279
 DESIGN OF MACHINERY CHAPTER 6

FIGURE 6- I
A link in Pure rototion

to an-angular velocity o' If we represent

velocity of point P when the link is subjected
vector Rp4 as a complex number in polar form'
the position
F.p4= peis 6'2)

We can easily differentiate it to obtain:

where p is the scalar length of the vector'
d9- (6.3)
p jrio = pa lrio
I'n ( i)
Y p,q,
+ =

(x4
/; /- fiIefentlatrollr Lrr(' vsrvwrlJ v^t/rvuurv^^
@fthtsveloc
4-8b, P. 1E6') Inrs
exoression is
ncifv exPression
ocity
7 - result, the velocitY
(L
* in a direction
ctorinadirection
ctor
. t.g? ' rrer-fnrwill 6erotatedyuoegr€esrruurLrrv."'6rvvvr!'v y-"-----
Thic of what You arrcauY
wnat alreadY
This radius of rota-
s alw
to the
th of
6'3 gives us the
entity (equation 4'4a,p' 185) into equation
y) components of the velocity vector'
(6'4)
pro j(cos0 + jsin0) = pcrr(-sinO +
,,wJ\vvu lcos0)
-
between the real and
.. 1 . rG . \,u . t , e) \r-r^
Note .r^^]
that +L^ ^i-a and cosine terms have swapped p sitions
the sine
*"I+i^lrrino hrr the i coefficient. his is evidence 90 de-
of the e0
i-uJ)n"iiv1#:':J.,"io ^ -"ntprying uv ,tor coefficient.^ rormlY,lo-nott"tt'
the position vector. Jne
gree rotaiion of the velocity vector versus
hasbecomethey.o-pon"nt,andtheformerycomponenthasbecomeamlnus'rcom-
why this is so'
ponent. Study Figure a-8b (p' 186) to review
^ I since it ts
2 ) ' - ori
referenced to A' which is the
As such'
| , -. \t implying
V .w'\-'+ ^ J) wecouldhavereferredtoitas t:^,.-^A1q
Figure.6-2a "-';' -- d srightlv
sliehtlY
{ #.:#::il;;i;'t""ffi;;;;;"'e svstem'
K\
I't,-\ u' t
 VETOCITY ANATYSIS

Y e,.; Axis of transmission

3
Y Azrtrp
t
Y tron,

Ytt,,,o
Rzeff

Q:"
V slip32 : YA3rtip - YAzrtip
FIGURE 5.19
Grophicol velocity

Vsli42 = VAtrtip - VArr,,o (b)

10 The angular velocity of link 3 can be calculated
from equat ion 6.7:

(c)

The above examples show how mechanisms

with sliding or halfjoints can be solved
graphically for velocities at one position. In
the next section, we wilidevelop the gener-
al solution using algebraic equations to solve
similar problems.

6.7 ANALYTICAT SOTUTIONS FOR VEt.OCIry

ANALYSIS

The Fourbor pin-Jointed linkoge

ointed linkage were derived in Section 4.5
4-6 (p. 184) and is shown again in Figure
angular velocity ro2 applied to link Z. itris
vector loop equation is shown in equations
ience.

R, +R, -R4 -Rr =0 (4.5a)

As before' we substitute the complex number
notation for the vectors, denoting their
scalar lengths as a, b, c, d as shown in Figure
6_20a.
 DESIGN OF MACHINERY CHAPTER 6

b1z o

orio, +beio3 -ce

To get an expression for velocity, differentiat

iaeioz 9*
'dt jbeist

But,
dlz djz _
i=rr; i=
and:
+ jbt.r,3ei% - ict.r,4eis+ =o (6.t4c)
furorelsz

rf er
derivative is zero. Note also that equation 6.14 is, in fact, the relative velocity or veloc'
aiffere nce e qu ation.
-iy
t'lg va +v6a (6.15a)
-va =o

where: Y1= iaa2eigz

YBA= ibtir,rsioz (6.1sb)

vu = ica4eioa

Please compare equations 6.15 to equations 6.3,6.5, and 6.6 (pp.280-281)' This
equation is solved graphicatly in the vector diagram of Figure 6-20b.

We now need to solve equation 6.14 for {D3 and to4, knowing the input velocity crl2,

ttre
ne the link angles before this velocity analysis can
be completed. We wish to solve equation 6.14 to get expressions in this form:

at = f(a,b,c, d,02,03,0+,trr'z) aq -- 8(a,b,c,d,02,03,0+,(r.|,z) (6.16)

The strategy of solution will be the same as was done for the position analysis. First,
substitute the Euler identity from equation 4.4a (p. 185) in each term of equation 6-l4c:

7aol2(cos02 + 7sin02) + jbtrl3(cos03 + 7sin03)

(6.17a)
-7'crrla(cos0a + Tsin 0o ) = 0

Multiply through by the oPeratorT:

co2(;cose z + i2 sine2)+ aol3(7cos03 * 72 sine3 )

g (6.17b)
-tro(i"oso4 *12 sineo)=

The cosine terms have become the imaginary, or y-directed terms, and becau se i2 - -1,
the sine terms have become real or x-directed.

arrr2 (-sin0 2+ i cos02) + bco3(-sin0, + 7cos03)

(6.17c)
-crrla(-sin 0a + 7cos0o) = 0
 VETOCITY ANATYSIS

Ynt

(b)

FIGURE 6.20
Position vector loop for o fourbor linkoge showing velocity vectors for o negotive (cw) roz

We can now separate this vector equation into its two components by collecting all
real and all imaginary terms separately:

real part (x component):

-aoJ2sin02 -batsin03 *cO4 sin0a - 0 (6.17d)

imaginary pafi (y component):

a@2cos02*bc\cosO3 -c0)+cos04 - 0 (6.17e)

Note that the j's have canceled in equation 6.t7 e. We can solve these two equations,
6.17d and 6.17e, simultaneously by direct substitution to get:

,r=ffffi (6.18a)

a6n, sin(02 -03)

a+=i"in1-e. (6.18b)
-%l
f Once we have solved for ro3 and {r14, we can then solve for the linear velocities by
substituting the Euler identity into equations 6.15,

ja (- sin 02 + (6.19a)
Y4 = tD 2(cos 02 + 7 sin 02 ) = a 0)z i cos 02 )

Ynt =7'bco3(cos03 +7sin03)= bror(-sin03 + jcosO3) (6.1eb)

Yp = jca4(cos0a +7sinOa)= co+(-sin04 t jcos0a) (6.19c)

. Equations
6.18 and 6.19 provide a complete solution for the angular velocities of the links and the
 DESIGN OF MACHINERY CHAPTER 6

linear velocities of the joints

two solutions to this velocit
of the linkage. TheY are fou
of 03 and 0a obtained
and 6.19 (P. 311). Fi

The Fourbor Slider-Cronk

de-
slider-crank rinkage (inversion #1) were
The position equations for the fourbar offset is shown
shown in Figure +-g (p.190) and
rived in Section ii (p 1g0). The linkage was
an input urrgulur velocity rD2 applied to link
again in Figure 6-2r;on which we also-show
2.ThisoJ2canbeatime-varyingirrprrrvelocity'Thevectorloopequation4'l4isre-
peated here for Your convenience'
(4.raa)
Rz -Ri -R4 -Rt =0

(4.14b)
ouio, -beiot -rrioo -deiot --0
to time noting that a, b, c,01' and 04 are
Differentiate equation 4'14b with respect
constant but the length of link d varies
with time in this inversion'
(6.20a)
ia.i'2eis2 - ibtu,rsiet - i =o

Thetermddotisthelinearvelocityofthesliderblock.Equation6.2oaistheveloc-
be written in that form'
ity difference equation 6.5 (p' 281) and can

Yt.-Ym-Va =0
or:
Ye=Yn+Ym
(6.20b)
but:
Y,qn = -Y ae
then:
Vr = Ve +Vre

6'5-and 6'15a (p' 310)' Note that be-

Equation 6.20 is identical in form to equations
cause we arranged the position vector R3
il Figures 4-g (p'190) and 6-2I with its root atA
of point
point B, directed from^B to A, its deriva Compare
with respect to point B,theopposite of gure6-2lb
thisalsotoequationO.iSU"oii"gthatitto equation
,-, 6'20b'
L.Ar
solution
shows the vector diagram of the graphical

Substitute the Euler equivalent, equation

4.4a(p.185), in equation6'20a'

ja<o2(cos02 + 7sin02)- ibro3(cos03 t isin03) - i =0 (6.Zra)

simplify,
=0 (6.21b)
acu2(-sinO 2 + i cos02)- aco3(-sin03 + 7cos03) - h'

and separate into real and imaginary components'

 VELOCITY ANATYSIS

"./ Yne
./ .' R" c

;^
11'2
,/ \VA (b)
.t \ d

FIGURE 6-2I
position vector loop for o fourbor slider-cronk linkoge showing velo )ity vectors for o negotive (CW) coz

real part (x component):

(6.2rc)
-a0)zsin02 + bo\sin03 - d=0

imaginary part (y component):

a@2cos02-bDZcos0, = Q (6.2rd)

t ,/' These are two simultaneous equations in the two unknowns, d dot and tD3. Equa-
l/ tion 6.21d can be solved for co3 and

ro.=otot92c,l,- (6.22a)
' b cosO-a
'in\
'' i--a0)zsin02*bt\sinO3 l (6.22b)

The absolute velociof point A andthe velocity difference of point A versus point
B are found from equation 6.20:
(6.23a)
Yn = a@z(-sin02 + 7cos02 )
(6.23b)
Y AB =bco3(-sin03 + 7coso3)
YBA=-vAB (6.23c)

The Fourbor Inverted Slider-Cronk

re derived in Sec-
is shown again in
ed to link 2. This
312 are valid for
this linkage as well.