“BRREISEEEE static Force Analysis 7 Example 1.1: Aslider crank mechanism is shown in Fig, 1.14 The force applied to the piston is 1000 N when the crank i at 60° from IDC. Calculate the driving torque T,, AB = 100 mm, BC = 300 mm P=1000N Solution : B c: kidd P=1000N 1 ae Scale 1:5 AB = 100mm, BC=300mm Fig: LIS 4 P=1000N 3 Fy ONE Fig: 1.168 5 Dynamics of Machines a __P=1000N ° Fig: 1.17 F, ForcePolygon a male FY b x scale = 10.5 x 100 = 1050.N bx scale = 3x 100 = 300N . Scale 1:5 Fig: 1.18 he 19x5 Fy F, - = 95mm FytFy= Fy Fy= Fy = Fy, = 1050N Fig: 119 | Fy Couple or Torque =\T, = F,,xh | Step:1 1050 x 95 = 99750 Nmm Draw the given figure to scale I : 5 as shown in Fig: 1.15. = 99.75 N.m Step:2 To find the forces and couple, draw the free body diagram of each link as shown in Figure : 1.16 Step:3 Consider link 4. Three forces are acting on it to keep it in equlibrium. Theyjare i) Force, Parallel to AC with known direction and magnitude, ii) Force F,,, perpendicular to the contact surface iil) ForceF,, : Parallel to BC (i.e., along BC) eee Step: 4 Draw the force polygon with scale, 1 m= 100 Nas shown in Fig : 1.17 iie., First draw a line oa equal to 1000 N (P) in the same direction. From ‘a’ draw a line parallel to BC and from’o' draw a line perpendicular to contact surface to intersect at 'b’ I ' Now, F,, = abxscale = 10.5x 100 = 1050N F,, = obxscale=3 x 100=300N Step:5 Consider link :3 i) F,,and F,, are equal and opposite, ii) F,,and F,, are equal and opposite to keep the link 3 in equilibrium since itis a two force member i. and F,, iil) F,, and F,, are equal and opposite Fy = Fy F,, = 1050N. Itis shown in Fig. 1.18static Force Analysis step:6 Consider link :2 ‘The rank is acted upon by two forces F,, and F, and a torque 7, Force F,, mist be equal and opposite to F,, to balance the forces'e ai Force F, “7 F, ‘onlink2. +. Fy = F,Thetwo equal, apposite and parallel forces produce a couple th the counterclockwise direction, which can only be balanced tyanother couple (7) inthe clockwise direction, Since F, and ,, are equal and opposite, =F,,= 1050N. Couple 7, = Fy h ae nay! (2 Fy = Fy, = 10500 [his perpendicular distance between the two forces Fy & F,} 1050 x 95 = 99750. N.nm : 99.75 Nm(ow) " Itis shown in Figure, 1.19 Example 1.2 Determine the various forces on the links and couple T, shown in the Fig. 1.20 Solution : Step :1 é Draw the given Fig. to scale 1 : 10. It is shown in Fig. 1.20 Step:2 Draw the free body diagram of link 4 and link 3 as shown in Fig : 1.20 (a) and Fig 1.20 (b) respectively. First consider link 3. Link 3 is a three force memberi.e., FQ and F, Therefore F,, is not acting along BC. F,, have tomponents, one along BC and the other perpendicular to BC. Let these components be denoted by F,," and F,,”(ie., Normal and tangential) respectively as shown in Fig, 1.20 b. Now find the F,,” by the equation of moments ie, Q.x = F,'xBC - ie, 800x165 = F,x600 F," = 220N (upward direction) Step:3 Consider Link 4 Link 4 is in equilibrium under the action of forces F,,", F,/, F,,and P. Force. F,,7is equal and opposite to that of F,,7. . . F,7=200 Ni.e., known in magnitude of direction Force P=2000N, known in magnitude and direction F, Nis along BC i.., direction known F,,f'is perpendicular to the contact si Therefore draw the force polygon as shown in P = 2000N in the same direction. ‘= 220N, perpendicular to BC, downward direction as surface Fig. 1.21 toascale of lem =200N ‘irst draw oa = From'a'drawalineab=F,," that of F’ on F7,, isoppositetoDynamics of Machineg Fig: 1.20 Scale 1:10 : 1.20 (a) F, ” Fig: 1.21 Scale, 1cm=200'N Fig : 1.22 Scale, 1em=200N Scale 1:10 Fig: 1.24Static Force Analysis 1 a Now from b’ draw a line parallel to BC and from o draw a line perpendicular to contact surface to intersect at ‘ct Now," = bexscale = 11.2%200 = 2240N F, = oexscale = 5x200 = 1000N Fy, = acxscale = 11.25 x200= 2250N Step:4 Again consider link 3 Link 3 is three force member, They are F,y,Qand F,, F,, known in magnitude and direction as F,, is equal and apposite to that of F,, ne Fy, = Fy = 250N, For force Q both magnitude and direction ae given, Therefore draw the force polygon as shown in Fig. 1.22toascale of 1cm=200N. First draw oa parallel to ca but in opposite direction of F,, and equal to 2250 N. From ‘a! draw ab= 800 N parallel to force Q in the same direction. Now join b too, Force F,, = boxscale. = 13.4%200 = 2680N The three forces on link 3 are shown in Fig : 1.23 G. 6x8? Step:5 Consider link :2 The crank isin equilibrium under the action of two forces F,» F,, and a torque T, F,, and F,, are equal and opposite -. F,, = 2680 N F,, and F,, are equal and opposite “. F,, = 2680 N. The perpendicular “' ” distance between those two forces from Fig. 1.24 ish ie.,h = 2.5x 10 = 25 cm=0.25 m. ‘The two equal and opposite parallel forces produce a couple in the counter clockwise direction, which can be balanced by another couple (7;) in the clockwise direction. s+ Couple, T, = Fy h = 2680%0.25 = 670Nm(cw) Example 1.3 Determine the various forces and couple T, shown in Fig: 1.25. S=1000Nye 12 Dynamics of Machin, > & 4 300mm, BC = 600mm BD = 200mm, AE = 200mm Solution : to the previous problem (i. repeat previous problem solution F,) = 220N, F,," = 2240N, F,, = 1000N F,, = 2250N=F,y F,, = 2680N = Fy, ( Step :5 The force $= 1000 N is applied to the link : 2 Now link 2 is in equilibrium under the action of fore Fy, Rand torque T;. Force R is the resultant of F,, and S and that can be found out from the force polygon, shown in Fig. 1.26. First draw a lineoa = 2680N in the direction of F,,. Scale, 1 cm =200N F,, =2680N S=1000Nstatic Force Analysis 43 1000 N in the same direction of 'S' Now join ob, which is equal to the resultant force’R 1200 = 2620N ‘The resultant R must pass through the intersection of forces Fy and S i.c., at "x’ as shown in Fig, 1.27, From "A" draw a line parallel to R but opposite in direction which is equal to Fy, F,.=2620.N Perpendicular distance between R and F,, = h = 2.05 x 10 = 20.5 em =0.205m x Couple, T, = F,, xh = 2620 x 0.205 = 937.1 Nm (cw) From‘a’drawab sR = obxscale =v7 Example 1.6 20 Dynamics of Machine, In the Fig, 1.52 a four bar mechanism is shown. Calculate the required value of T, and various “d on links fc n links for the equilibrium of the system, [B.U. Mar/April.2000, VTU, JunedSuly 2 011) Solution : Step: 1 Draw the given figure to scale 1 : 5. Itis shown in Fig, 1.52 Step:2 pe To find the forces and couple, draw the free body diagram of each link as shown in Fig : 1.53 Step:3 Consider link : 4 It isa three force member. They are F= 2000 N, F,, and F,,, F is known in magnitude and direction, for F,, direction known and magnitude is unknown. The direction of F,, is found as shown in Fig : 1.54 (For explanation refer analysis of 4 bar mechanism] Step :4 : Draw the force polygon for link 4 as shown in Fig. 1.55 [For explanation refer analysis of 4 bar © mechanism) From force polygon F,, = abxscale = 2.4500 = 1200N F,, = obxscale = 1.8x500 = 900N Step: Consider link : 3 Itis atwo force member i.,F,,and F,, For equilibrium these two forces are equal and opposite and acts along the axis of BC. But since F, and F,, are equal and opposite. F,,=F,,=F,,= 1200 N Itis shown in Fig. 1.56. Step:6 Consider link :2 Itis a two force member F,, and F,, and a torque T,. B, and F,, are equal and opposite Also for equilibrium F,, and F, Fig. 1.37 [For explanation refer analysis of 4-bar mechanism) Pi, = Fy = Fy, = 1200N Now, Torque, T, = F,,h, where h = 3.96 x5 = 19.8 cm = 198 mm = 1200x 198 = 237600 N mm = 237.6 Nm (ew) 2 are equal and opposite as shown inStatic Force Analysis ‘ Fig: 1.53 Force Polygon Scale, 1 em = 500.N Fig: 1.55 Fy Fig: 1.54 Fig: 1.56 Scale 1:5 Fig: 1.57> 22 Dynamics of Machines Example 1.7 A four bar mechanism under the action of two external forces is shown in Fig. 1.58. Determine the oe be applied on the link AB for static equilibrium. The dimensions of the links are AB=50mm, = 66mm, CD = $5mm, CE = 25mm, CF = 30mm, BAD = 60"and AD = 100mm [V-T.U. Mar. 2001, June/July 2009, Dec. 2011} Solution : Step: 1 Draw the given figure to scale | : 1 as shown in Fig: 1.58 Step :2 ‘To find the forces and couple, draw the free body dingram of each link as shown Step:3 , in Fig: 1.59 Consider link 3 and link 4s shown in Fig. 1.60 F,, is resolved into two components F,"and F,, which are parallel an Tink CD. The magnitude of F,,"is found by taking moments about 'D’ ie, F,1.CD = Pxa 500x21 = 190.9N On link 3 the reactions at Care equal and opposite to those at C on link 4. If we examine link 3, we notice that tho are three unknowns. Magnitude and direction of F,, and magnitude of F. The ‘magnitude of F," can be found by taking moments about B 1d perpendicular respectively to 1 Fylxd = Fyrxe+Qb Fl!x 66 = 1909x3.5+ 600x315 Ff = 2965N +r Tis equal and opposite to that of F,!. Ft = 190.9 (Assumed F, direction is towards left downward and F.,* direction is upward. Since F,," is positive (ie., + 269.5 N), the assumed directions are correct.) Scale, 1:1Fig: 1.59 Fig: 1.60 Fig : 1.62 Fig : 1.63 Scale 1 cm=200N= —_— ° ~*~ 24 Dynamics of Machines _ Step:4 Draw the force polygon for link 3 as shown in Fig. 1.61 ; a First draw oa parallel to Q and equal to 600N with scale 1em= 100 N in the same direction. From dravy the line ab perpendicular to CD and equal to 190.9 N to the same scale. From 'b' draw be parallel to CD and equal to 296.5 N to the same scale. Now join co, Since link 3 is in equilibrium under the action of forces FQ, F,.' and F,,%, co x scale = F,, Fy, = 5.5% 100 = SSON. Step:5 Consider link 2 FE must be equal and opposite of F,,. F,, must be equal and opposite to F,, since link 2 is a two force member op Fa 2g = Fy = 550 N. It is shown in Fig. 1.62 Now, Torque, T, = Fyh = 550% 21.5 = 11825 Nmm 11.825 Nm (ew) Step :6 F,,is obtained from the force polygon for bodies 2, 3 and 4, taken as whole system as shown in fig : 1.63 ‘To draw the polygon, first draw oa parallel to force P and equal to 500 N with scale em =200N, from ‘a’ draw ab = 600 N to the same scale and parallel to force Q. From b draw be =F, = 550 N to the same scale and parallel to force F,, (Fig : 1.62). Join o toc. Now, oc x scale=F,, Fy, = 3.35%200=670N