AME 352 GRAPHICAL VELOCITY ANALYSIS

5.2 GRAPHICAL VELOCITY ANALYSIS

Polygon Method

Velocity analysis forms the heart of kinematics and dynamics of mechanical systems.
Velocity analysis is usually performed following a position analysis; i.e., the position and
orientation of all the links in a mechanism are assumed known. In this course we concentrate on
one analytical and two graphical methods for planar mechanisms.
Velocity polygon is a graphical pencil-and-paper approach for determining unknown
velocities of a single degree-of-freedom mechanism. The method requires constructing a velocity
loop equation (a polygon) graphically. A polygon may have three or more edges depending on
the number of velocity vectors in the equation. For a vector loop equation, the polygon method is
the graphical procedure of solving two algebraic equations in two unknowns. The velocity
polygon method is demonstrated for several commonly used mechanisms.
Tools: ruler, right angle, protractor, drawing compass

Four-bar
For a known four-bar mechanism, in a given
configuration and for a known angular velocity of the RBA B
crank, ω 2 , we want to determine ω 3 and ω 4 . In this
A
example we assume ω 2 is CCW. RBO 4
RAO 2
For the position vector loop equation
R AO2 +R BA − R BO4 − R O4O2 = 0 RO4 O2
2 O 4 O
the velocity equation is
VA +VBA − VB = 0 (a)
Since vectors R AO2 , R BA , and R BO2 have constant lengths, their corresponding velocity vectors
are tangential; i.e.,
VAt +VBA
t
− VBt = 0 (b)
or,




ω 2 R AO2 +ω 3R BA − ω 4 R BO2 = 0 (b)
The unknowns are ω 3 and ω 4 since all vector axes are known.
Velocity polygon
1. Next to the diagram of the four-bar, select a point in a A
convenient position as the reference for zero velocities.
Name this point OV (origin of velocities). RAO 2
O2
2. Compute the magnitude of VA as RAO2 ω 2 . From OV
A
construct vector VA perpendicular to R AO2 by rotating
VA
R AO2 90o in the direction of ω 2 .
OV

3. From A draw a line perpendicular to R BA . VBA must

reside on this line.

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AME 352 GRAPHICAL VELOCITY ANALYSIS

RBA B
A

A
4. From OV draw a line perpendicular to R BO4 . VB must
VA
reside on this line.
OV

RBO 4

5. Construct vectors VBA and VB .

O4
6. Determine the magnitude of VBA from the polygon.
A
Compute ω 3 = VBA / LBA . Determine the direction of ω 3 .
VA
In this example it is CW since R BA must rotate 90o CW
to line up with VBA . OV

VA
VBA OV
VB
7. Determine the magnitude of VB from the polygon. Compute ω 4 = VB / LBO4 . Determine the
direction of ω 4 . In this example it is CCW since R BO4 must rotate 90o CCW to line up with
VB .
P
Secondary equation(s)
To determine the velocity of a secondary point, such R PA
as a coupler point, we refer to the position expression and y
the corresponding velocity expression: A
R PO = R AO + R PA RAO 2



2 2
R PO2
VP = VA + VPA = ω 2 R AO + ω 3R PA
2

Since the angular velocities are already known, VA and O2 x

VA
VPA are constructed. We add these two vectors VPA OV
graphically to determine VP . VP

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AME 352 GRAPHICAL VELOCITY ANALYSIS

Example FB-VP-1
A four-bar mechanism has the following constant B
data: LAO = 1.0 , LBA = 4.0 , LBO = 3.0 , LO O = 3.0 , P
2 4 4 2

LPA = 1.8 , β3 = 75o . The crank angle is at θ 2 = 170o

with an angular velocity of ω 2 = 1.0 rad/sec CCW.
The velocity polygon is constructed and the A
following velocities are determined from the polygon: O2 O4
V 0.96
ω 3 = BA = = 0.24 rad/sec, CCW O O
LBA 4.0 VB

VB 0.84
ω4 = = = 0.28 rad/sec, CCW VP
VA VA
LBO 3.0
4
VBA
A second polygon provides the velocity of point P
as VP = 1.3 in the direction shown. VPA

Slider-crank (inversion 1)
This slider-crank mechanism in the given configuration has a known angular velocity of the
crank, ω 2 . We want to determine ω 3 and the velocity of the slider block. In this example we
assume ω 2 is CCW.
The position vector loop equation is: A
R AO2 +R BA − R BO2 = 0 R
RAO 2 BA
The velocity (loop) equation is expressed as
VA +VBA − VB = 0
O2 B
We note that VA and VBA are tangential and VB is of
slip type (along the axis of R BO2 ). Therefore the
velocity equation can be expressed as



ω 2 R AO +ω 3R BA − VBs = 0
2

Velocity polygon A
1. Next to the diagram of the mechanism, select a point for
the origin of velocities. RAO 2
2. Compute the magnitude of VA as RAO2 ω 2 . From OV
O2
construct vector VA perpendicular to R AO2 by rotating
R AO2 90o in the direction of ω 2 . A
VA

OV
3. From A draw a line perpendicular to R BA . VBA must
reside on this line
4. From OV draw a line parallel to the axis of the slider; i.e.,
parallel to R BO2 . VB must reside on this line.

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AME 352 GRAPHICAL VELOCITY ANALYSIS

5. Construct vectors VBA and VB , considering their signs in A

the velocity equation. RBA
6. Determine the magnitude of VBA from the polygon.
Compute ω 3 = VBA / RBA . Determine the direction of ω 3 , B
which is CW in this example.
7. Determine the magnitude of VB from the polygon. The A
direction of this vector indicates that the slider block is VA
moving to the left. OV

VBA VA

VB OV

Example SC-VP-1
For a slider-crank mechanism, the following lengths are A
given:
LAO = 1.5, L BA = 3.0
2
B
The crank angle is θ 2 = 120o , and ω 2 = 1 rad/sec CW. O2
The mechanism is drawn for θ 2 = 120o . For the given VA
angular velocity, the velocity polygon is constructed. The VBA
following velocities are determined from the polygon: O
VB
ω 3 = 0.28 rad/sec, CW; VB = 0.94 to the right.

Slider-crank (inversion 2)
For this slider-crank mechanism (inversion 2), in the given configuration and for a known
angular velocity of the crank, ω 2 , construct the velocity polygon. Then determine ω 4 and the
velocity of the slider block. Assume ω 2 is CW.
The position vector loop equation is R AO2 − R O4O2 − R AO4 = 0 . Since R AO2 is a rotating fixed-
length vector, VAO2 is tangential. However, R AO4 is a variable-length, variable-angle vector, and
therefore VAO4 contains both tangential and slip components.
Hence the velocity (loop) equation is written as


A
t
VAO 2
− V s
AO 4
− V t
AO 4
= ω 2 R AO2
− V s
AO 4
− ω 4 R AO4 = 0 (3)
(4)
Note: In this velocity equation we do not drop the index of R AO4
the non-moving points, O2 and O4 . Dropping them R AO2
may cause confusion. O2 O4
RO4 O2

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AME 352 GRAPHICAL VELOCITY ANALYSIS

Velocity polygon A
1. Select a point for the origin of velocities.
2. Construct vector VAO2 . R AO2

3. From the end of VAO2 draw a line parallel to R AO4 . O2

s
VAO4
should reside on this line VAO
OV 2

4. From OV draw a line perpendicular to the axis of the

t A
slider; i.e., perpendicular to R BO2 . VAO4
should
reside on this line. R AO4

s t
5. Construct vectors VAO4
and VAO4
, considering their O4
signs in the velocity equation. VAO
t
6. Determine the magnitude of VAO 4
. Compute OV 2

ω 4 = VAO
t
4
/ RAO4 . Determine the direction of ω 4 . In
s
VAO
this example ω 4 is CW. V t
4

AO4
s
7. Determine the magnitude of VAO from the polygon.
4
VAO
OV 2

Secondary equation(s)
Determine the velocity of a secondary point, such P P
on link 4, where L4 = RPO4 is a known constant. R PA A

There are two possible ways to determine VP : R PO2

(a) We can position P with respect to the ground point R AO2
O2 as R PO2 = R AO2 + R PA . The corresponding O2
velocity expression is VP = VA + VPA , where VPA (a)
contains both tangential and slip components.
Computing the tangential component requires the
magnitude of R PA , which must be determined based VP

on L4 − RAO4 . The slip component of VPA must be

based on the slip component of R AO4 . It should be P
obvious that we have made a simple problem
unnecessarily difficult! R PO4
R PO2
(b) We can position P with respect to the ground point
O2 as R PO2 = R O4O2 + R PO4 . The corresponding O4


velocity expression is VP = VPO t
4
= ω 4 R PO4 as shown O2 RO4 O2

on the figure based on a CW direction of ω 4 . (b)

Example SC-VP-2
Consider the following lengths for a slider-crank,
inversion 2: LAO = 1.0, LO O = 2.0, LPO = 4.0 . The crank
2 4 2 4

angle is in θ 2 = 125o orientation. The angular velocity of the

P.E. Nikravesh 5-8

AME 352 GRAPHICAL VELOCITY ANALYSIS

crank is ω 2 = 1 rad/sec CW. P

A
The mechanism is drawn for the given crank angle. The
velocity polygon is constructed and the following values are
obtained: ω 3 = ω 4 = 0.3 rad/sec CW; V AO
s
= 0.61 in the O2
4 O4
direction shown. The velocity of point P is computed as s
VAO
VP = (4.0)(0.3) = 0.12 , in the direction shown. 4

VP t
Q: Is the slider moving away from O4 ? VAO4

VAO
O 2

Slider-crank (inversion 2 - offset)

For this offset slider-crank mechanism the position
vector equation is
R AO2 − R AB − R BO4 − R O4O2 = 0 B
The corresponding velocity equation is expressed as R AB RBO 4 θ4
t
VAO 2
− VAB
t
− VBOt
4
− VBOs
4
=0 RAO 2 A
Or, R AO4



O2 O4
ω 2 R AO2 − ω 4 R AB − ω 4 R BO4 − VBO
s
4
=0
Unlike the velocity equation for the four-bar or the t
standard slider-crank, this velocity equation contains four t VBO
VAO 4
VAO 4
VAO
2
vectors. Since three of the vectors contain the unknowns, 2

constructing this polygon may not appear easy. t

However, we can combine two of the vectors and reduce VAB
s
VBO4 V O s
VBO OV
the number of vectors in the polygon from four to three: 4






ω 2 R AO2 − ω 4 (R AB + R BO4 ) − VBO
s
4
= 0 ⇒ ω 2 R AO2 − ω 4 R AO4 − VBO
s
4
=0
For a known angular velocity ω 2 , we first construct VAO
t
2
. We add an axis perpendicular to
t s
R AO4 for VAO4
, and another axis parallel to R BO4 for VBO4
to complete the polygon. Then the
t t t
tangential velocity VAO4
can be decomposed into its components VAB and VBO4
.

Slider-crank (inversion 3)
For this slider-crank mechanism (inversion 3), in the given configuration and for a known
angular velocity of the crank, ω 2 , construct the velocity polygon. Then determine ω 4 and the
velocity of the slider block. Assume ω 2 is CW. A
The position vector loop equation is written as: (3)
RO A
R AO2 + R O4 A − R O4O2 = 0 4

R AO2
The corresponding velocity equation is (4)



t
VAO 2
+ VOs 4 A + VOt 4 A = ω 2 R AO2 + VOs 4 A + ω 3R O4 A = 0 O2
R O4O2
O4

Velocity polygon
1. Select a point for the origin of velocities.
2. Construct vector VAO2 .

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AME 352 GRAPHICAL VELOCITY ANALYSIS

3. From the end of VAO2 draw a line parallel to R O4 A .

RAO2
VOs 4 A should reside on this line
O2
4. From OV draw a line perpendicular to the axis of the
VAO
slider; i.e., perpendicular to R O4 A . VOt 4 A must reside
2

OV
on this line.
A
R O4 A

O4
s t
5. Construct vectors V AO4 and V AO4 , considering their
VAO
2
signs in the velocity equation.
OV

VAO
2

OV VOt 4A
s
V O4 A

6. Determine the magnitude of VOt 4 A . Compute ω 3 = ω 4 = VOt 4 A / RO4 A . Determine the direction of
ω 3 . In this example, it is CW.
7. Determine the magnitude of VOs 4 A . A
(3)
Secondary point R PA
Determine the velocity of point P on link 3, where R AO2
RPA = L3 is a known constant.
O2 O4
Point P can be positioned with respect to the ground P
R PO4
point O2 as R PO2 = R AO2 + R PA . The corresponding
velocity expression is VAO


2

VP = VA + VPA = ω 2 R AO + ω 3R PA OV
2 t
VPA
Since both angular velocities are known, VP can be VP
constructed graphically. P

Example SC-VP-3
The following lengths are provided for a slider-
crank (inversion 3) mechanism: P
A
LAO = 1.0, LO O = 1.5, LPA = 0.5 .
2 4 2

The crank angle in the shown configuration is

θ 2 = 30o . The angular velocity of the crank is ω 2 = 1 O2 O4
rad/sec CCW.
The velocity polygon is constructed and the
following velocities are determined from the polygon:

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AME 352 GRAPHICAL VELOCITY ANALYSIS

ω 3 = ω 4 = 0.46 rad/sec CW, VOs4 A = 0.9 in the t

VPA
direction shown. VOt 4A
A second polygon provides the velocity of P as VP
VOt 4A
VP = 1.1 in the direction shown.
VOt 4A
VOs 4A
O O

Exercises

In these exercises take direct measurements from the figures for link lengths and the
magnitudes of velocity vectors. Construct velocity polygons to determine the unknowns.
Exercises P.1 – P.4 are examples of four-bar mechanism. Assume known value and direction
for ω 2 . Determine ω 3 , ω 4 , and VP .
P.1 P.2

P
(2)
(3)
(4)
(3)
(4)
(2)
P

P.3 P.4
P
(2)

(3) (3)
(2) (4)
(4)
P

Exercises P.5 – P.8 are examples of slider-crank mechanism. Assume known value and
direction for ω 2 . For P.5 and P.6 determine ω 3 , ω 4 , and the velocity of the slider block. For
P.7 and P.8 determine ω 3 , ω 4 , and VP .
P.5 P.6

(3) (3)
(2)
(4) (2)
(4)

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AME 352 GRAPHICAL VELOCITY ANALYSIS

P.7 P.8

(3) (2)
(3)

(2)

(4)
(4)

P.9
For this six-bar mechanism ω 2
is given. Determine ω 5 , velocity of P
P, and the velocity of the slider Q
block.
(3)
(4) (5)
(6)
(2)

P.10
For this six-bar mechanism ω 2
is given. Determine ω 5 and the (2)
velocity of the slider block (6). (3)

(6)
(4)

(5)

P.E. Nikravesh 5-12