Velocity and Acceleration Analysis

We will consider the following 3 types of rigid body motion in plane:

1) Pure translation

All points move along paths with

identical shapes such that a line
segment AB on the rigid body
always remains parallel to its
original position. All points have
the same velocity and
acceleration at a specific instant along a curve of translation:
   
At a specific instant v A  v B and aA  aB for all points A , B
 Velocity and Acceleration Analysis
2) Pure rotation about a fixed point
  
From physics courses: v A   rA
 i
In complex numbers: rA  rAe 

 dr   
  d 
 irA    
 i 2
vA  A
 irA e  rA e
i

dt  dt 
• All points on the rigid body move on
concentric circular arcs with center A0.

• vP  vP  rP is proportional to rP and
 
vP  rP for all points P.
 Velocity and Acceleration Analysis
2) Pure rotation about a fixed point

 dv d  2 
aA  A   irA e   irA e  rA  e  irA  rA
i  i  2 i 

dt dt 



t
aA n
aA

d d2
where    2
dt dt
 
aA : Tangential acceleration perpendicular to rA 
t

 
aA : Normal acceleration  opposite to rA 
n
 Velocity and Acceleration Analysis
3) General plane motion: can be considered as translation + rotation

        

rB  rA  rB A  vB  v A  vB A and aB  aA  aB A
 
v A , vB : absolute velocities of points A and B
      
vB A : relative velocity of B with respect to A vB A   rB A   rB  rA 
 Velocity and Acceleration Analysis
3) General plane motion
     
B rB  rA  rB A  rA  be  vB  v A  ibei
i

b 
A   vB A  ibei
 
y aB  aA  ib  e i
b  2 i
e
 
  


aBt A anB A
 
rB  
rA aB A : Tangential relative acceleration perpendicular to AB 
t

 
n
 
aB A : Normal relative acceleration opposite to rB A
A0 x
 Graphical Velocity and Acceleration Analysis
12, 12, 12 are given. Position level
C
kinematic analysis is performed. We need to
y 12 A α3 determine 13, 13, v14, a14, vCx, vCy, aCx, aCy.
2 θ13
4
12 We will first work on the closed loop A0AB:
3 B a1
θ12
x
A0 s14
|A0A| = a2 , |AB| = a3 , |BC| = b3
Graphical solution
can be performed
using Geogebra or
any CAD software.

Velocity
polygon
 Graphical solution
can be performed
using Geogebra or
any CAD software.

Youtube video by Eres Söylemez:

https://www.youtube.com/watch?v=eQ4E6oCA8Zs
 Graphical Velocity and

Acceleration

Analysis
  Once v A and vB are
vB A vA determined from the velocity
P13 polygon, v C can be determined using the
 instantaneous center of rotation or the pole, P13,
vB between links 1 and 3. At any instant, any point

 vC on link 3 can be considered to be rotating about
C P13, so the location of  P13 is found
vA  by intersecting

y the perpendiculars of v A and vB . Direction of v C is
12 3 α3
2 A θ13 perpendicular to P13C. Speed of C is found by

 4   
12 vA vB vC
vB B 13   
θ12 a1
x AP13 BP13 CP13
A0 s14  
 vA vB
|A0A| = a2 , |AB| = a3 , |BC| = b3  v C  CP13  CP13
AP13 BP13
 Graphical Velocity and Acceleration Analysis
Alternatively, on the velocity polygons of the
 
loop, from the tip of vB , if we draw v C B , the

vector joining the starting point of v to the
 B
tip of v C B gives v C . Similarly, The acceleration
of point C can be determined
 by drawing
 the
acceleration vectors anC B and aCt B starting

from the tip of aB . The vector from 
 the

starting point of aB to the tip of aCt B , gives
the acceleration of point C.
Mehmke Theorem: Triangles abc in velocity
and acceleration polygon are similar to
coupler triangle ABC.
 Analytical Velocity and Acceleration Analysis
y C 12, 12, 12 are given. Position level
kinematic analysis is performed. We need to
b3 3 B
determine 13, 13, 14, 14, vCx, vCy, aCx, aCy.
   
3 a3 LCE for loop A0ABB0: A 0 A  AB  A 0B0  B0B
A 13 a2ei12  a3ei13  a1  a4ei14
12
12 Differentiate LCE to obtain the
  velocity loop
a4 4
2 equation (VLE): 
v A  vB A  v B 
a2 12 14 ia2ei12 12  ia3ei13 13  ia4ei14 14
A0 1 B0 x  a2ei12 12  a3ei13 13  a4ei14 14
a1
Re : a3 cos 1313  a4 cos 14 14  a2 cos 1212
Linear in 13, 14
Im:  a3 sin 1313  a4 sin 14 14  a2 sin 1212
 Analytical Velocity and Acceleration Analysis
Writing the Re and Im parts of the VLE in matrix form and using Cramer’s rule:
a3 cos 1313  a4 cos 1414  a2 cos 1212 a3 cos 13 a4 cos 14  13  a2 cos 12 
      12
a3 sin1313  a4 sin1414  a2 sin1212  a3 sin13 a4 sin14  14   a2 sin12 

a2 cos 12 a4 cos 14 Jacobian Matrix

J
a
c
o
b
i
a
n
m
a
t
r
i
x
a2 sin12 a4 sin14 a2a4  cos 12 sin14  sin12 cos 14  a2 sin 12  14 
13  12  12   12
a3 cos 13 a4 cos 14 a3a4   cos 13 sin14  sin13 cos 14  a3 sin 13  14 
a3 sin13 a4 sin14
a3 cos 13 a2 cos 12
a3 sin13 a2 sin12 a2a3  cos 13 sin12  sin13 cos 12  a2 sin 13  12 
14  12  12  12
a3 cos 13 a4 cos 14 a3a4  cos 13 sin14  sin13 cos 14  a4 sin 13  14 
a3 sin13 a4 sin14
 Analytical Velocity and Acceleration Analysis
Instead of Re and Im parts of VLE, we can use VLE and its complex conjugate:
i13 i14
a3e 13  a4 e 14  a2e 12  a3e i13 i12
a4e 
i14

 13   a2e 
i12
  i14      i  12
a3e 13  a4 e 14  a2e 12  a3ei13
 i13  i14  i12
a4e   14  a2e 12 
a2ei12 a4 ei14
a2ei12 a4ei14 a2a4 ei 12 14   ei 12 14   a2 sin 12  14 
13  12  12   12
a3a4 e  a3 sin  13  14 
i 3 14   i 13 14 
a3ei13 a4ei14 e
a3ei13 a4ei14
i13 i12
a3e a2e
a2a3 e   a2 sin 13  12 
i 13 12   i 13 12 
a3ei13 a2e i12 e
14  12    
a3a4 e    12 a sin     12
i13 i14 i 3 14   i 13 14
a3e a4e e 4 13 14

a3ei13 a4e i14

 Analytical Velocity and Acceleration Analysis
An alternative method for velocity analysis:
LCE: a2ei12  a3ei13  a1  a4ei14
i13
VLE: ia2e 12  ia3e 13  ia4ei14 14
i12

 i14 i 12 14  i 13 14 

Multiply with ie and rearrange: a4 14  a2e 12  a3e 13
a2 sin 12  14 
From Im part: 13  12
a3 sin 14  13 
i 12 13  i 14 13 
Multiply VLE with ie  i13
and rearrange: a2e 12  a313  a4e 14
a2 sin 12  13 
From Im part: 14  12
a4 sin 14  13 
 Analytical Velocity and Acceleration Analysis
a2 sin 12  14  a2 sin 13  12 
13   12 14  12
a3 sin 13  14  a4 sin 13  14 
What happens if sin(13 – 14) = 0? This happens when the Jacobian matrix is
singular, i.e. its determinant = 0. Such configurations are called singular
configurations, where dependent joint velocities are undetermined.
This case is possible if the input link is a rocker or l + s = p + q.
sin(13 – 14) = 0  13 = 14 or 13 = 14 + π (Coupler and rocker are collinear)
θ13 = θ14 + π
A B
θ14 θ13 = θ14 θ14
θ12 B A
A0 B0 A0 θ12 B0
 Analytical Velocity and Acceleration Analysis
We can differentiate VLE to obtain acceleration loop equation (ALE) and linearly
solve for the unknown accelerations using Cramer’s rule:
ia2ei12 12  ia3ei13 13  ia4 ei14 14
i12 i12 i13 i13 i14 i14
 ia
e
2     a e
   ia 2
e   a e   ia e2
    a e
 2


12 2


3 
12


13 
3

4 13

14 4

14

aAt aAn
aB A
t aB A
n aBt anB
i13 i14 i12 i12 i13
 ia3e 13  ia4e 14  ia2e 12  a2e   a3e 13
2
 a4ei14 14
2 2
12

 ia3ei13 ia4 e i14

 
 13   ia2e 12  a2e 12  a3e 13  a4e 14 
i12 i12 2 i13 2 i14 2
  i14      i14 2 
ia
 3 e  i13
  i12  i12 2  i13 2
ia4 e   14   ia2e 12  a2e 12  a3e 13  a4e 14 
1
13  a2 sin 12  14  12  a2 cos  12  14  12
2
 a3 cos  13  14  13
2
 a4 214 
a3 sin 14  13 
1
14  a2 sin 12  13  12  a2 cos  12  13  12
2
 a3 13
2
 a4 cos  13  14  214 
a4 sin 14  13 
 Analytical Velocity and Acceleration Analysis
Alternatively we can simply differentiate the obtained velocity terms:
a2 sin  12  14 
13   12 
a3 sin  13  14 
a2 sin  12  14  a2 cos  12  14  a2 sin  12  14  cos  13  14 
13   12   12  14  12   13  14  12
a3 sin  13  14  a3 sin  13  14  a3 sin  13  14 
2

a2 sin  12  14  a2 cos  12  14  a2 sin  12  14  cos  13  14  a2 sin  13  12 
 12  12  2
12 13  12 14
a3 sin  13  14  a3 sin  13  14  a3 sin  13  14 
2
a3 sin  13  14 
2
      
Tangential Centrifugal Coriolis
acceleration term acceleration term acceleration terms

a2 sin  13  12 

14  12 
a4 sin  13  14 
a2 sin  13  12  a2 cos  13  12  a2 sin  13  12  cos  13  14 
14  12   13  12  12   13  14  12
a4 sin  13  14  a4 sin  13  14  a4 sin  13  14 
2
 Analytical Velocity and Acceleration Analysis
y C
For point C:
 b3 3
A 0C  x C  iy C  a2ei12  b3e  13 3 
i   B

3 a3

x C  a2 cos 12  b3 cos  13  3  12

A 13

y C  a2 sin 12  b3 sin  13  3  12

2 a4
4

v Cx  a2 sin 1212  b3 sin  13   3  13 a2 12 14


v Cy  a2 cos 1212  b3 cos  13   3  13 A0 1 B0 x
a1

aCx  a2 sin 1212  a2 cos 12122

 b3 sin  13   3  13  b3 cos  13   3  13
2


aCy  a2 cos 1212  a2 sin 1212
2
 b3 cos  13   3  13  b3 sin  13   3  13
2
 Analytical Velocity and Acceleration Analysis
|A0B0| = a1, B0Q| = b1, |QC0| = c1, 16 C0
Input: 12, 12 (constant). LCE 1: |A0A| = a2, |AC| = a3
  
A 0B 0  B 0 A  A 0 A  a1  s 34 e i14  a2 e i12
A s34
e i 14
s 34  is 34 e i 14
14  ia2 e i 12
12 s65
 e i14 is 34 e i14   s 34   ia2 e i12  y 3
  12 14
  i14  i14     i12  12 12 2 Q
e  is 34 e   14   ia2 e  x C
A0 4 B0
ia2 e i12 is 34 e i14
 ia2 e  i12 is 34 e  i14  i 14 12  i 14  12  5
a2 s 34 e  a2 s 34 e 6
 s 34  12  12  a2 sin   14   12  12
e i14 is 34 e i14  2is 34
e  i14  is 34 e  i14
e i14 ia2 e i12
ia2 e 
i 14  12   i 14  12 
e  i14  ia2 e  i12  ia2 e a2
14   12  cos   14  12  12
 2is 34  2is 34 s 34
 Analytical Velocity and Acceleration Analysis
|A0B0| = a1, B0Q| = b1, |QC0| = c1, 16 C0
LCE 2: |A0A| = a2, |AC| = a3
   
A 0C 0  C0C  A 0 A  AC s34
A
s65
a1  b1  ic1  s65ei16  a2ei12  a3ei14 y 3 14
12
e s 65  is65e 16  ia2e 12  ia3e 14
i16 i16 i12 i14
2 Q
 i16 A0 x C
Multiplying both sides with e : 4 B0
s 65  is6516  ia2e  12 16  12  ia3e  14 16 14
i   i   5
6
 a2 sin  12  16  12  a3 sin 14  16  14  i a2 cos  12  16  12  a3 cos  14  16  14 

a2 cos  12  16  a3 cos  14  16 

s 65  a2 sin 12  16  12  a3 sin 14  16  14 , 16  12  14
s65 s65
 Analytical Velocity and Acceleration Analysis
s 34  a2 sin 14  12  12  s34  a2 cos  14  12  12  14  12 
a2 a2 a2
14  cos  14  12  12  14   2 cos  14  12  12s 34  sin 14  12  12  14  12 
s34 s34 s34
s 65  a2 sin 12  16  12  a3 sin 14  16  14 
s65  a2 cos  12  16  12  12  16   a3 sin 14  16  14  a3 cos  14  16  14  14  16 
a2 cos  12  16  a3 cos  14  16 
16  12  14 
s65 s65
 a2 cos  12  16  a2 sin 12  16  a3 cos  14  16  
 2
12s 65  12  12  16   14 
 s65 s65 s65 
16 
 a3 cos  14  16  a3 sin 14  16  
 2
14s 65  14  14  16  
 s65 s65 