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Lecture 9 - Velocity Analysis - Part A

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9 views30 pages

Lecture 9 - Velocity Analysis - Part A

Uploaded by

syedshahnoorhassan007
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ME-313

Mechanics of Machines
Lecture 9
velocity Analysis – Part a
By Dr. Rehan Zahid

[email protected] +92-323-4439474 Office 210-G


Contents
1

Introduction of Velocity Analysis

Definition of Velocity Analysis

Graphical Velocity Analysis


Introduction of Velocity Analysis

• Position analysis
• Done

• Next steps
• Determine velocities of all links and points of interest
• Calculate stored kinetic energy using mV2/2
• Determine accelerations of all links and points of interest
• Determine dynamic forces
Introduction of Velocity Analysis

• Methods for Velocity Analysis


1. Graphical Method
2. Velocity of Instant Centers
3. Vector Loop Method (analytical solution)
i. Four-bar pin-jointed mechanism
ii. Four-bar crank slider mechanism
iii. Four-bar inverted crank slider mechanism
iv. Four-bar slider-crank mechanism
v. Geared-five-bar mechanism
Definition of Velocity Analysis

• Velocity
• Rate of change of position with respect to time
• Vector quantity
• Angular and/or linear
• Angular velocity denoted as ω and linear velocity as V

= or = - 6.1
Definition of Velocity Analysis
Definition of Velocity Analysis
Definition of Velocity Analysis
Graphical Velocity Analysis
• Purpose of Graphical Velocity Analysis

• Quick check on results from computer program solution

• Check needs for few positions to prove validity of program

• Visual feedback on solution to help develop an understanding


of underlying principles for beginners
Graphical Velocity Analysis
• Graphical velocity analysis – three equations needed – 6.5a, 6.5b
and 6.7

VPA = VP – VA - 6.5a
Rearranging
VP = VA + VPA - 6.5b
v = rω - 6.7

• 6.7 defines magnitude v of velocity of any point on body in pure


rotation
Graphical Velocity Analysis

Example 6-1
Graphical Velocity Analysis for One Position of Linkage

Problem
Given a, b, c, d, θ2, θ3, θ4, ω2 find ω3, ω4, VA, VB, VC by graphical methods
Graphical Velocity Analysis
• Velocity Analysis of Four-bar pin-jointed mechanism
• Calculate angular velocities of links 3 and link 4 (ω 3, ω4)
• Calculate absolute linear velocities of points A, B and C (V A, VB,
VC)

• Point C
• Represents any general point of interest - coupler point

• Knowns
• Lengths of all links - a, b, c and d
• Angular positions of all links - θ2, θ3 and θ4
Graphical Velocity Analysis
Graphical Velocity Analysis
Instant Center of Velocity

• Definition - Point common to two bodies in plane motion which


has same instantaneous velocity in each body
• Also known centros or poles
• Two bodies or links create instant center (IC)
• Prediction of quantity of instant centers in any kinematic chain is
possible
• Combination formula for n things taken r at one time is:
C = - 6.8a
Instant Center of Velocity

• r=2
C = - 6.8b
• Four-bar mechanism - 6 instant centers
• Six-bar mechanism – 15 instant centers
• Eight-bar mechanism – 28 instant centers
• Figure 6-5 shows four-bar mechanism in arbitrary position
• Linear graph useful for keeping track of known ICs also shown
Instant Center of Velocity
Instant Center of Velocity
• Kennedy’s Rule
• Any three bodies in the plane will have exactly three instant centers, and they
will lie on the same straight line
Instant Center of Velocity
Instant Center of Velocity
Instant Center of Velocity
Instant Center of Velocity
Instant Center of Velocity
Instant Center of Velocity
Velocity Analysis using Vector Loop Method

• Representation of position vector RPA as complex number in polar form


RPA = p ejθ - 6.2
where p is scalar length of the vector

• Differentiate with respect to time


VPA = = p j ejθ = p j ejθ - 6.3

• Compare right side of 6.3 to right side of 6.2 - velocity expression


multiplied by complex operator j as result of differentiation

• Velocity vector at 90 degrees with respect to original position vector


Velocity Analysis using Vector Loop Method

• Velocity expression is also multiplied by ω (either positive or


negative)

• Velocity vector will be rotated 90 degrees from angle θ of


position vector in direction dictated by sign of ω

• Velocity
• Always perpendicular to radius of rotation
• Tangent to path of motion
Velocity Analysis using Vector Loop Method

• Substituting Euler identity into 6.3


VPA = p j (cosθ + j sinθ) = p (- sinθ + j cosθ) - (6.4)

• Sine and cosine terms swapped positions between real and


imaginary terms due to multiplying by j

• Evidence of 90-degree rotation of velocity vector versus position


vector

• Former x component become y component and former y


component become minus x component
Velocity Analysis of Four-Bar
Pin-Joined Mechanism
using Vector Loop Method

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