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Velocity in Mechanisms: Instantaneous Centre Method

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Drew Ladlow

The document discusses two main methods for determining the velocity of points on moving links in a mechanism: 1. The instantaneous center method, which determines velocity based on the centers of rotation between links. 2. The relative velocity method. It also discusses types of instantaneous centers, how to locate them, and gives an example problem solving for the velocity of a link using instantaneous centers.

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Velocity in Mechanisms: Instantaneous Centre Method

Uploaded by

Drew Ladlow
50 views17 pages
The document discusses two main methods for determining the velocity of points on moving links in a mechanism: 1. The instantaneous center method, which determines velocity based on the centers of rotation between links. 2. The relative velocity method. It also discusses types of instantaneous centers, how to locate them, and gives an example problem solving for the velocity of a link using instantaneous centers.

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The document discusses two main methods for determining the velocity of points on moving links in a mechanism: 1. The instantaneous center method, which determines velocity based on the centers of rotation between links. 2. The relative velocity method. It also discusses types of instantaneous centers, how to locate them, and gives an example problem solving for the velocity of a link using instantaneous centers.

Copyright:

© All Rights Reserved
Download as PPTX, PDF, TXT or read online from Scribd
Download as pptx, pdf, or txt
50 views17 pages

Velocity in Mechanisms: Instantaneous Centre Method

Uploaded by

Drew Ladlow
The document discusses two main methods for determining the velocity of points on moving links in a mechanism: 1. The instantaneous center method, which determines velocity based on the centers of rotation between links. 2. The relative velocity method. It also discusses types of instantaneous centers, how to locate them, and gives an example problem solving for the velocity of a link using instantaneous centers.

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© All Rights Reserved
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Velocity in

Mechanisms

Instantaneous Centre Method


Combined motion
Methods for Determining the
Velocity of a Point on a Link
 Though there are many methods for determining the
velocity of any point on a link in a mechanism whose
direction of motion (i.e. path) and velocity of some
other point on the same link is known in magnitude
and direction,
 following two methods are important

1. Instantaneous centre method


2. Relative velocity method.
Velocity of a Point on a Link by
Instantaneous Centre Method
Velocity of a Point on a Link by
Instantaneous Centre Method
Number of Instantaneous Centres in a
Mechanism
Types of Instantaneous Centres
1. Fixed instantaneous centres,
2. Permanent instantaneous centres, and
3. Neither fixed nor permanent instantaneous centres.
 The first two types i.e. fixed and permanent
instantaneous centres are together known as primary
instantaneous centres and
 the third type is known as secondary instantaneous
centres.
 Consider a four bar mechanism ABCD as
Types of Instantaneous Centres
 Consider a four bar mechanism ABCD as shown
 The number of instantaneous centres (N) in a four
bar mechanism is given by
 I12 and I14-
 fixed instantaneous centres.
 I23 and I34-
 permanent instantaneous centres
 .I13 and I24
 are neither fixed nor permanent
Location of Instantaneous Centres
 When the two links are connected by a pin joint (or
pivot joint), the instantaneous centre lies on the
centre of the pin as shown i(a). Such a
instantaneous centre is of permanent nature, but if
one of the links is fixed, the instantaneous centre
will be of fixed type.
 When the two links have a pure rolling contact (i.e. link 2 rolls
without slipping upon the fixed link 1 which may be straight or
curved), the instantaneous centre lies on their point of contact, as
shown The velocity of any point A on the link 2 relative to fixed link
1 will be perpendicular to I12 A and is proportional to I12 A .
 In other words
When the two links have a sliding contact, the
instantaneous centre lies on the common
normal at the point of contact
Aronhold Kennedy (or Three Centres in
Line) Theorem
 The Aronhold Kennedy’s theorem states that if three bodies
move relatively to each other,they have three instantaneous
centres and lie on a straight line.
 Consider three kinematic links A, B and C having relative plane
motion. The number of instantaneous centres (N) is given by
Method of Locating Instantaneous Centers in a
Mechanism
 Consider a pin jointed four bar mechanism as shown in
Fig.
Problem-1
 In a pin jointed four bar mechanism, as shown in Fig.
AB = 300 mm, BC = CD = 360 mm, and AD = 600
mm. The angle BAD = 60°. The crank AB rotates
uniformly at 100 r.p.m. Locate all the instantaneous
centres and find the angular velocity of the link BC.
solution
solution
solution

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