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Graphical Motion Analysis Roadmap

This document provides a roadmap for using graphical kinematic analysis to determine velocity and acceleration of links in constrained mechanisms. The process involves: 1) defining the mechanism and coordinate systems, 2) writing velocity equations and identifying knowns/unknowns, 3) constructing a velocity polygon, 4) writing acceleration equations and identifying knowns/unknowns, and 5) constructing an acceleration polygon. The method can also be applied to more complex mechanisms by placing additional moving axes at connection points.

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Wayde Wang
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80 views

Graphical Motion Analysis Roadmap

This document provides a roadmap for using graphical kinematic analysis to determine velocity and acceleration of links in constrained mechanisms. The process involves: 1) defining the mechanism and coordinate systems, 2) writing velocity equations and identifying knowns/unknowns, 3) constructing a velocity polygon, 4) writing acceleration equations and identifying knowns/unknowns, and 5) constructing an acceleration polygon. The method can also be applied to more complex mechanisms by placing additional moving axes at connection points.

Uploaded by

Wayde Wang
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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KINEMATIC ANALYSIS GRAPHICAL METHOD ROAD MAP

1. Identify the type of mechanism being analysed: a) 4-bar pin jointed mechanism b) 4-bar mechanisms using a sliding or rolling connection Overall Aim: to determine the magnitude and direction of the velocity and acceleration (linear and angular) of the links in a constrained mechanism

2. Define the location of the fixed and moving coordinate systems correctly placing the moving coordinate system is the important issue: This depends on mechanism type: a. 4-bar pin joint mechs: origin at the end of the driven link, axis attached to the coupler (usually link 3) b. Sliding/rolling mechanisms: origin at the coincident point where the sliding motion transfer occurs (for rolling, this is at the centre of the roller). The moving axis is attached to the link containing the guide (on axis usually tangent to the path)

An exception to the sliding case occurs when the guide is part of the fixed link. In this case treat the mechanism as 4 bar pin joint (i.e. type a. as discussed in box to the left), with the fourth link being an imaginary link going from the radius of curvature of the guide to the slider or roller.

Note: always refers to the angular velocity of the link the moving axis system is attached to. A good arrangement of the moving axis will result in either V=0 (type a.) or R = 0 (type b.)

3. Write out the velocity equation, and set up the magnitude and direction table. Tick off the known and unknown terms, and identify relevant magnitudes and directions (, //) if there are only 2 unknowns, the equation can be solved

Absolute velocities (i.e velocities with respect to the ground) should be shown as arrows starting at the origin of the velocity polygon. Remember the velocity image concept to find the velocity of other points along the links. Scale off and calculate relevant magnitudes.

4. Draw the velocity polygon, in accordance with the known terms identified above (in step 3). Solve for the unknown terms. Note: always refers to the angular acceleration of the link the moving axis system is attached to. A good arrangement of the moving axis will result in either A=0 and V=0 (type a.) or R = 0 (type b.) Remember that both normal and tangential components of acceleration are likely to exist, and can be used to reduce the number of unknowns

5. Write out the acceleration equation, and set up the magnitude and direction table. Tick off the known and unknown terms, and identify relevant magnitudes and directions (, //) if there are only 2 unknowns, the equation can be solved

Absolute accelerations should be shown as arrows starting at the origin of the acceleration polygon. 6. Draw the acceleration polygon, in accordance with the known terms identified above (in step 5). Solve for the unknown terms. Also remember the acceleration image concept to find the acceleration of other points along the links. Scale off and calculate relevant magnitudes.

7. For more complex mechanisms that build on the motion of this primary mechanism, place a new moving axis system at the connection point, and aligned with the transfer link, then repeat steps 1 to 6.

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