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Chapter Three

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24 views35 pages

Chapter Three

Uploaded by

nabyat.yazachew
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Addis Ababa Science and Technology University

Mechanical Engineering Department

Mechanism of Machinery
MEng4071

Chapter
Chapter3&4
2
Velocity and acceleration Analysis of Linkage

By: Nebyat Y.
November 2023
Velocity Analysis of Linkages
Velocities in mechanisms are determined by different methods.
I. Velocity analysis using the instant center method.
II. Velocity analysis using equations of relative motion
 Can be solved graphically by velocity and acceleration polygons or
by using trigonometric relations.
III. Velocity analysis using vector mathematics
velocity of a point are expressed relative to fixed or moving
coordinates.
IV. Velocity analysis by using complex numbers.
Velocity analysis using the instant center method.

Definition
 The definition of an instant center of a velocity is a point,
common to two bodies in plane motion, which the point
has the same instantaneous velocity in each body.
 The instantaneous center of velocity is defined as the
instantaneous location of a pair of coincident points of two
different rigid bodies for which the absolute velocities of
the two points are equal.
 It may also be defined as the location of a pair of
coincident points of two different rigid bodies for which
the apparent velocity of one of the points is zero as seen by
Cont..
Cont.
Types of Instantaneous Centers

The instantaneous centers for a mechanism are of the


following three types:
i. Fixed instantaneous centers,
ii. Permanent instantaneous centers, and
iii. Neither fixed nor permanent instantaneous centers.
The first two types i.e. fixed and permanent instantaneous
centers are together known as primary instantaneous centers
and the third type is known as secondary instantaneous
centers.
Location of Instantaneous Centres
Cont..
Cont..
Cont..
Aronhold Kennedy (or Three Centres in Line)
Theorem
Steps to determine Instantaneous centrs
Velocity analysis using relative velocity method

Consider two bodies A and B moving along parallel lines in the same
direction with absolute velocities vA and vB such that vA> vB , as shown in
Fig.
The relative velocity of A with respect to B,

The relative velocity of A with respect to B (i.e. vAB) may be written in the
vector form as follows :
Cont..
Cont..
Consider two points A and B on a rigid link AB, as shown in Fig. (a). Let one of the
extremities (B) of the link move relative to A, in a clockwise direction. Since the
distance from A to B remains the same, therefore there can be no relative motion
between A and B, along the line AB. It is thus obvious, that the relative motion of B
with respect to A must be perpendicular to AB.
Hence velocity of any point on a link with respect to another point on the same
link is always perpendicular to the line joining these points on the configuration
(or space) diagram.
Velocity Analysis by Vector Mathematics
Cont..
Velocity Analysis by Complex Numbers

Most of the systems of analysis using complex polar notation are based
on the following fundamental law:
If the elements of a mechanism are replaced by position vectors such that
their sum is zero, then their time derivatives are also equal to zero.
This law means that if one takes any linkage or mechanism and replaces
the members of the mechanism by vectors such that their sum is zero,
then the sum of the velocity vectors is zero, so also the sum of the
acceleration vectors.
Velocity Analysis by Complex Numbers
Thank you

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