Scribd
Upload
65 views7 pages

Chapter 6

Uploaded by

Tiến Nguyễn Hữu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
65 views7 pages

Chapter 6

Uploaded by

Tiến Nguyễn Hữu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 7

4/21/2020

Chapter 6. VELOCITIES IN MECHANISMS


BY METHOD OF RELATIVE VELOCITIES
6.1 Introduction
This method is most important because the relative velocities must be
determined if an acceleration analysis is to be made for a linkage.

The velocity of A relative to B is the velocity that A would appear to have


to an observer in B.

VA/B = VA -  VB or VA/B = VA +  (-VB) or VA = VB +  VA/B

VA/B VB

VA

6.2 Linear velocities


- Considering the slider-crank mechanism.
Known: 2 =15 rad/s ccw
To be found: piston velocity VC.
- Solution
VB is directed perpendicular to O2B:

Using the relative-velocity equation:

First mark above a vector refer to its magnitude


and the second to its direction.
A dash mark: is unknown. A check mark: known.
A vector equation can be solved only if there
are no more than two unknowns
Choosing the pole O’2, with a suitable scale
(e.g: 1 in = 18in/s) VB is presented by O’2B’.
Through B’ drawing the direction line of VC/B
and through O’2 drawing the direction line of
VC. These lines intersect at C’, then O’2C’
presents VC.

1
4/21/2020

- Known: The angular velocity of the driving


crank 2 = 20 rad/s cw,
To be found: velocity of point D
- Solution:
The velocity of point B is:

Relative velocities

More than two unknowns, it cannot be solved.

Only two unknowns, VC and VC/B can be found.

More than two unknowns,


it cannot be solved.

Combining with the Eq above, both give VD, then

This vector equation can be solved. VD = 1.98 m/s and VC = 2.01 m/s.

Example: exercise 6.1 in the textbook

2
4/21/2020

6.3 Velocity Image

Lines B’C’, C’D’, and B’D’ were drawn


perpendicular to lines BC, CD, and BD,
respectively. Hence triangle B'C'D' is similar to
triangle BCD and is called its image.
Each link in a mechanism has an image in the
velocity polygon.
O’2B’ is the image of O2B, and O’4C’ is the
image of O4C.
If the velocities for any two points on a link
have been found in the velocity polygon, the
velocity of a third point on the link can readily
be found by drawing the velocity image.
For example, if points B’ and C’ have been
located, point D’ can be located by constructing
triangle B’C’D’ so that it will be similar to
triangle BCD.

The following are important properties of velocity images:


1. The velocity image of each link in the velocity polygon is a scale reproduction
of the shape of the real link.
2. The velocity image of each link is rotated 90◦ from the real link in the direction
of the angular velocity of that link.
3. The letters identifying the vertices of each link in the velocity polygon are the
same as, and progress around the velocity image in the same order and in the same
angular sense as, around the real link.
4. The ratio of the size of the velocity image of a link to the size of the link itself
is equal to the magnitude of the angular velocity of the link. In general, this is not the
same for different links in a mechanism.
5. The velocities of all points on a translating link are equal, and the angular
velocity of the link is zero. Therefore, the velocity image of a link that is translating
shrinks to a single point in the velocity polygon.
6. Point O’2 in the velocity polygon is the image of all points with zero absolute
velocity; it is the velocity image of the stationary link.
7. The absolute velocity of any point on any link is represented in the velocity
polygon by the line from O’2 to the image of the point. The velocity-difference vector
between any two points, say B and C, is represented by the line to image point B from
image point C (vector VB-VC = C’B’).

3
4/21/2020

6.4 Angular Velocities

The angular velocity of a rigid link is equal to the relative velocity of any two points
on the link divided by the distance between the points.
The velocity one point can have relative to another on the same link must be
perpendicular to a line joining the points.

For example:

VB/C is directed from C’ toward B’; thus B


is moving downward relative to C and
hence is rotating counterclockwise about
C. Therefore, 3 is counterclockwise.

VB/C
Note that all straight lines in a body have the
same angular velocity

Example:
- Known: The angular velocity of the driving
crank 2 = 5 rad/s cw,
To be found: velocity of point D and 3
- Solution:
The velocity of point B is:

and perpendicular to O2B.


Drawing the velocity polygon. A scale of 1 mm = a (m/s)
There are three unknowns, this
Eq can not be solved
Finding VC first

We know:

Then drawing to determine D’


Vector O2’D’ represents VD and B'D ' represents VD/B. By
scaling, finding VD = 0.387 m/s and VD/B = 0.457 m/s.

The angular
velocity

4
4/21/2020

6.5 Velocities of points on a rolling body

Point P is the instant center.

Velocity of the center C:

Q is a point on the disk, its absolute velocity is

Relative velocity of Q to C:

Vector VA/C must be perpendicular to the radius of rotation CQ.

Example: A quick-return mechanism, B2 is a


point on link 2
- Known: VB.
To be found: VD , 4, 5
- Solution:
B4 is a point on link 4 which is coincident with
B2 at the instant. -  -
VB4 = VB2 +  VB4/B2
(O4’B4’ is perpendicular to O4C, B2’B4’ is
parallel to O4C.
Determining O4’C’ (VC) by:

Determining VD by: -  -
VD = VC +  VC/D
(C’D’ is perpendicular to CD, O2’D’ is parallel
to the guide on which link 6 slides)
4 = VC/O4C and 5 = VC/D/CD
Note: VC is directed to the right and hence 4 is clockwise,
VC/D is downward and thus 5 is clockwise.

5
4/21/2020

Example: a direct-contact mechanism, rolling contact at the instant


- Known: VB.
To be found: VC
- Solution:
P2 and P3 are points on
links 2 and 3, respectively.
Determining VP2 by:
-  -
VP2 = VB +  VP2/B

(O2’P2’ is perpendicular to O2P2, B’P2’ is perpendicular to BP2.

VP3 = VP2

Determining VC by:
-  -
VC = VP3 +  VC/P3
(O3’C’ is perpendicular to O3C, P3’C’ is perpendicular to P3C)

In case of sliding contact, please read on the text book.

Example: an oscillating-cylinder steam-engine mechanism


- Known: VB.
To be found: VC
- Solution:
--  -
VC = VB +  VC/B

(Three unknown, Eq can not be solved)


D3 is a point on an extension of link 3 and
coincident with pivot O4 at the instant.
-  -
VD3 = VB +  VD3/B
(VD3 have direction of line BD3) B’D3’ is
perpendicular
This Eq can be solved to find VD3 to BD3

Determining point C’ by:

thus O2’D3’ is parallel to BD3

Vector O2’C’ is VC.

6
4/21/2020

6.6 Velocities in complex linkages


A floating link: a link in a mechanism does not have a fixed center of rotation
A complex mechanisms: Mechanisms have two or more floating links.
- Known: VE.
To be found: VB
- Solution:
--  -
VC = VE +  VC/E
C'* denotes that point C' lies somewhere along this perpendicular

Due to many unknowns in the vector equation,


a trial-and-error method may be used.
Need to determine the velocity of a point on link 3.
- - - Assuming point D’ to determine
VB = VD +  VB/D O2’D’, then B’ and C’
However, C’ is not lie on C'*E’ that it has to be  incorrect
The point of intersection of line C'*E' with line O2C' locates C'. Next, through C' line
D'B' is drawn parallel to D'B'.
and B’C’D’ is the image of BCD

(Please see the textbook for another solution)

You might also like