ME-313

Mechanics of Machines
Lecture 9
velocity Analysis – Part C
By Adnan Munir
 Contents
1
Velocity Analysis of Four-Bar Pin-Jointed Mechanism using Vector Loop Method
2
Velocity Analysis of Four-Bar Crank Slider Mechanism using Vector Loop Method
3
Velocity Analysis of Four-Bar Slider Crank Mechanism using Vector Loop Method
4
Velocity Analysis of Four-Bar Inverted Slider Crank Mechanism using Vector Loop Method
5
Velocity Analysis of Geared-Five-Bar Mechanism using Vector Loop Method
6
Velocity of a Point
7
Velocity of Slip
8
Angular Velocity Ratio
9
Mechanical Advantage
 Velocity Analysis of Four-Bar Pin-Joined Mechanism
using Vector Loop Method
Example 6-7
Velocity Analysis of Four-bar Pin-Jointed Linkage with Vector Loop
Method

Problem
Given a four-bar linkage with the link lengths L1 = d = 100 mm, L2 = a =
40 mm, L3 = b = 120 mm, L4 = c = 80 mm. For θ2 = 40°and ω2 = 25
rad/sec, find the values of ω3 and ω4, vA, vBA, and vB for open circuit of
the linkage. Use the angles found for the same linkage and position in
Example 4-1
 Velocity Analysis of Four-Bar Pin-Joined Mechanism
using Vector Loop Method
Solution
1. From Example 4-1
θ3 = 20.298° and θ4 = 57.325° (open circuit)

2. Use these angles and (6.18) to find ω3 and ω4

a ω2 sin (θ4 − θ2) (40) (25) sin (57.325° − 4 0 ° )
ω3 = = = -4.121rad/sec
b sin (θ3 − θ4) 120 sin (20.298°− 5 7 .325°)

a ω2 sin (θ2 − θ3) (40) (25) sin (40° − 20.298°)

ω4 = = = 6.998 rad/sec
c sin (θ4 − θ3) 80 sin (57.325° − 20.298°)
(a)
 Velocity Analysis of Four-Bar Pin-Joined Mechanism
using Vector Loop Method
Solution
3. Use angular velocities and (6.19) to find the linear velocities of points A
and B
vA = a ω2 (j cos θ2 - sin θ2) = (40)(25)(- sin 40° + j cos 40°)
= - 642.79 + j766.04
vBA = - b ω3 (j cos θ3 - sin θ3) = (-120)(-4.121)(- sin 20.298° + j cos 20.298°)
= - 171.55 + j463.80
vB = b ω4 (j cos θ4 - sin θ4) = (80)(6.998)(- sin 57.325° + j cos 57.325°)
= - 471.242 + j302.243
Velocity Analysis of Four-Bar Pin-Joined Mechanism
using Vector Loop Method
Velocity Analysis of Four-Bar Crank Slider Mechanism
using Vector Loop Method
Velocity Analysis of Four-Bar Crank Slider Mechanism
using Vector Loop Method
Vector loop equation
R2 – R3 – R4 – R1 = 0 - 4.14a
a e jθ2 - b e jθ3 – c e jθ4 – d e jθ1 = 0 - 4.14b
Differentiate w.r.t. time
j a e jθ2 ω2 + j b e jθ3 ω3 – 𝑑ሶ = 0 - 6.20a
𝒅ሶ - linear velocity of slider block
Velocity difference equation
vA – vAB – vB = 0
vA = vB + vAB
vB = vA + vBA (6.20b)
 Velocity Analysis of Four-Bar Crank Slider Mechanism
using Vector Loop Method
Substitute Euler equivalent
j a ω2 (cos θ2 + j sin θ2) - j b ω3 (cos θ3 + j sin θ3) – 𝑑ሶ = 0 - 6.21a
a ω2 (j cos θ2 - sin θ2) - b ω3 (j cos θ3 - sin θ3) – 𝑑ሶ = 0 - 6.21b

Real component
- a ω2 sin θ2 + b ω3 sin θ3 – 𝑑ሶ = 0 - 6.21c

Imaginary component
a ω2 cos θ2 - b ω3 cos θ3 = 0 - 6.21d
Velocity Analysis of Four-Bar Crank Slider Mechanism
using Vector Loop Method
Two equations - two unknowns - 𝒅ሶ and ω3

a cos θ2 ω2
ω3 = - 6.22a
b cos θ3

𝑑ሶ = -a ω2 sin θ2 + b ω3 sin θ3 - 6.22b

 Velocity Analysis of Four-Bar Crank Slider Mechanism
using Vector Loop Method

Example 6-8
Velocity Analysis of Four-bar Crank-Slider Mechanism with Vector Loop
Method
Problem
Given four-bar crank-slider linkage with link lengths L2 = a = 40 mm, L3 =
b = 120 mm, offset = c = -20 mm. For θ2 = 60° and ω2 = -30 rad/sec, find
ω3 and linear velocities of points A and B for the open circuit. Use angles
and positions found for same linkage and its link 2 position in Example 4-
2
 Velocity Analysis of Four-Bar Crank Slider Mechanism
using Vector Loop Method
Solution
1. θ3 = 152.91° and slider position d = 126.84 mm for open circuit – Example 4.2

2. Using (6.22a) and given data

a cos θ2 ω2 40 cos 60 (−30)
ω3 = = = -5.616 rad/sec
b cos θ3 120 cos 152.91°

3. Using equation 6.22b and given data

𝑑ሶ = -a ω2 sin θ2 + b ω3 sin θ3
𝑑ሶ = (-40)(-30)sin 60° + (120)(5.616) sin 152.91°
𝑑ሶ = 1346 mm/sec
 Velocity Analysis of Four-Bar Crank Slider Mechanism
using Vector Loop Method
• Using equation 6.23 and the result from step 2, calculate the
linear velocities VA and VBA
Velocity Analysis of Four-Bar Slider Crank Mechanism
using Vector Loop Method
 Velocity Analysis of Four-Bar Slider Crank Mechanism
using Vector Loop Method

Example 6-9
Velocity Analysis of Four-bar Slider-Crank Linkage with the Vector Loop
Method

Problem
Given four-bar slider-crank linkage with link lengths L2 = a = 40 mm, L3 =
b = 120 mm, offset = c = 20 mm. For d = 100 mm and 𝑑ሶ = 1200 mm/sec,
find ω2 and ω3 for both branches of one circuit of the linkage. Use the
angles found for the same linkage in Example 4 -3
Velocity Analysis of Four-Bar Slider Crank Mechanism
using Vector Loop Method
Velocity Analysis of Four-Bar Slider Crank Mechanism
using Vector Loop Method
Velocity Analysis of Four-Bar Slider Crank Mechanism
using Vector Loop Method
Velocity Analysis of Four-Bar Inverted Slider Crank Mechanism
using Vector Loop Method
Velocity Analysis of Four-Bar Inverted Slider Crank Mechanism
using Vector Loop Method
Velocity Analysis of Four-Bar Inverted Slider Crank Mechanism
using Vector Loop Method
Velocity Analysis of Four-Bar Inverted Slider Crank Mechanism
using Vector Loop Method
Velocity Analysis of Four-Bar Inverted Slider Crank Mechanism
using Vector Loop Method
Velocity Analysis of Geared-Five-Bar Mechanism
using Vector Loop Method
Velocity Analysis of Geared-Five-Bar Mechanism
using Vector Loop Method
Velocity Analysis of Geared-Five-Bar Mechanism
using Vector Loop Method
Velocity Analysis of Geared-Five-Bar Mechanism
using Vector Loop Method
Velocity of a Point
Velocity of a Point
Velocity of a Point
Velocity of Slip
 Velocity of Slip
• Velocity analysis more complicated - when there is sliding joint
between two links and neither one is ground link

• Figure - Inversion of four-bar crank-slider mechanism – floating sliding

joint (not grounded)

• Solve velocity the sliding joint A - more than one “point A” at that joint
• Point A as part of link 2 - A2
• Point A as part of link 3 - A3
• Point A as part of link 4 - A4
 Velocity of Slip
• Given
• ω2

• Unknowns
• ω4 (angular velocity of link 4)
• Velocity of Slip at joint A

• Axis of slip
• Tangent to slider motion
• Line along which all sliding occurs between links 3 and 4
 Velocity of Slip
• Axis of transmission
• Perpendicular to axis of slip
• Pass through slider joint at A
• Line along which motion or force transmit across slider joint

• Any force or velocity vector applied at point A can be resolved into two
components along these two axes with translating and rotating local
coordinate system (LCS)

• Component along axis of transmission - do useful work at joint

• Component along axis of slip - does no work except friction

Velocity of Slip
Velocity of Slip
Velocity of Slip
Velocity of Slip
Velocity of Slip
Velocity of Slip
Velocity of Slip
Velocity of Slip
Velocity of Slip
Velocity of Slip
 Velocity of Slip

vA4
ω 4 = ω3 = Vslip42 = VA4slip – VA2slip
AO4
 Angular Velocity Ratio
• Definition
• Output angular velocity divided by input angular velocity

• Angular Velocity Ratio of Four-bar mechanism

ω4
mv = - 6.10
ω2

• Pair of effective link

• Two lines (mutually parallel) drawn through fixed pivots and intersecting
coupler extended - O2A' and O4B' - Figure 6-10a
• Infinity of possible effective link pairs
Angular Velocity Ratio

• From geometry:
O2A’ = (O2A) sin v
O4B’ = (O4B) sin µ
6.11a
• From equation 6.7
vA’ = (O2A’) ω2
vB’ = (O2B’) ω4
6.11b
vA’ = vB’ - 6.11c
Angular Velocity Ratio

(O2A’) ω2 = (O4B’) ω4
6.11d

ω4 Effective link 2 O2A’

= =
ω2 Effective link 4 O4B’
6.11e

ω4 (O2A) sin v
= = mv
ω2 (O4B) sin µ
6.11f
Angular Velocity Ratio

ω4 Effective link 2
=
ω2 Effective link 4

ω4 O2I2,4
= = mv
ω2 O4I2,4
6.11g
 Mechanical Advantage

• Power P in mechanical system

• Dot or scalar product of force vector (F) and velocity vector (V)
P = F . V = Fx Vx + Fy Vy - 6.12a
• Rotating system
• Power P = product of torque T and angular velocity ω
P = T ω - 6.12b

Pin = Pout + Losses - 6.12c

 Mechanical Advantage
• Mechanical efficiency
Pout
Є= - 6.12d
Pin

• Linkage systems
• Very efficient if made with low friction bearings
• Losses < 10% (generally)
• For simplicity - assume losses = 0

• Let
• Tin = input torque ωin = input angular velocity
• Tout = output torque ωout = output angular velocity
 Mechanical Advantage

Pin = Tin ωin - 6.12e

Pout = Tout ωout - 6.12e

Pout = Pin - 6.12f

Tout ωout = Tin ωin - 6.12f
Tout ωin
= - 6.12f
Tin ωout

Tout ωin ω2 1
Torque ratio = mT = = == =
Tin ωout ω4 mv
 Mechanical Advantage

• Mechanical advantage
Fout
mA = - 6.13a
Fin

• Assumption
• Fout and Fin applied at radii rin and rout perpendicular to their respective force
vectors
Tout
Fout = - 6.13b
rout
Tin
Fin = - 6.13b
rin
 Mechanical Advantage

𝑇𝑜𝑢𝑡 𝑟𝑖𝑛
mA = - 6.13c
𝑇𝑖𝑛 𝑟𝑜𝑢𝑡

ω𝑖𝑛 𝑟𝑖𝑛
mA = - 6.13d
ω𝑜𝑢𝑡 𝑟𝑜𝑢𝑡

O4B sin µ rin

mA = - 6.13e
O2A sin v rout
 Mechanical Advantage
O4B sin µ rin
mA = - 6.13e
O2A sin v rout

(O2A) sin v
mv = - 6.11f
(O4B) sin µ
“Angular Velocity Ratio” and “Mechanical
Advantage” provide useful, dimensionless
indices of merit by which we can judge
relative quality of various linkage designs
that may be proposed as solutions
 Reading Assignment
• Linkage Design using Instant Centers

• Centrodes