Position , velocity and acceleration analysis of mechanisms 1) Postion analysis Closed-Form Position Equations for a Four-Bar Linkage «Figure below illustrates a general four-bar linkage. Ty Caas - Atypical analysis involves determining the interior joint angles and for known links}, !2 2 4 Ly and at a certain crank angle ().,. + the interior joint angles [)s, 9, } ®4 must be determined. BD = V3 + 1 — 2(14)(La)c0s(0,) + _ af Ua? + (ay? - (BD? ( raniecpecit™| 97 ne [ 2(5) (La) ] acne = Iysin , + Lysiny ] 63 = 2tan! Ly + Ly — Lycos; — Lycosy Iysin 8, — Ly siny ] 0, = 2tan | + — By physically disconnecting joint, the links can be reoriented and reassembled into the configuration shown in Figure below. «For four-bar mechanisms operating in the second circuit below equation for @30. must be slightly altered as follows: iano Lany 1, + Ly ~ Lycosth ~ Lycosy 3 = 2tan {Closed-Form Position Equations for an In-Line Slider-Crank + Atypical analysis involves locating the position of the links, given their lengths L.'s and the crank angle é. + Specifically, the position of the slider. and the interior joint angles and 6, must be determined. ‘y = 180°— (8, + 63) y= VB + B - 2L,)(Is)cos ¥* Closed-Form Position Equations for an Qffset Slider-Crank + Atypical analysis involves locating the position of the links,given the lengths 4,s'.$L,and a crank angle @,. + Specifically, the position of the slider Land the interior joint angles % and ©, must be determined. a sin t+ fa > ] Ly = Ly cos 0 + Ls cos 03 y= 180°— (0, + 43) Note that: if graphical method is used the required angles and link dimensions can be obtained by measurement (without using trigonometric relations)II) Veloncity analysis Velocity analysis involves determining “how fast” certain points on the links of a mechanism are traveling. Velocities and accelerations in mechanisms are determined by different methods. ' 1. Velocity and acceleration analysis using vector mathematics velocity and acceleration of a point are expressed relative to fixed or moving coordinates. Velocity and acceleration analysis using equations of relative motion (can be solved graphically by velocity and acceleration polygons or by using trigonometric relations). Velocity and acceleration analysis by using complex numbers. Vectors velocity analysis using the instant center method. Among this the second method is discussed and mainly used for this course This method involves in finding the required velocity of links by constructing the velocity polygons. If the veloncity polygons are constructed with correct scale or dimensions ,then the corresponding required velocity values are obtained by measurement Trigonometric properties can be used to find the required veloncity if the polygon isn't drawn by correct scale.Relative velocity * The difference between the motion of two points is termed relative motion. «It is a term used when the velocity of one object is related to that of another reference object, which can also be moving. + The following notation distinguishes between absolute and relative velocities: Vas absolute velocity of point A \'2 = absolute velocity of point B ®/\ = relative velocity of B when observed from A A, Ve, 4a Ve2 Va 4 \t/q Oo 'S Veloncity of rigid links i a + Velocity is always tangent to a curve for rotational motion of links. * Two points that reside on the same link can only have a relative velocity that is in a direction perpendicular to the line that connects the two points. * when Va is directed up and to the left, the angular velocity of the link is counterclockwise. Conversely, when Vd is directed down and to the right, the angular velocity of the link is clockwise.+ Parallel to the the direction of motion, for rectilinear motion of link. je Ve 77I)/7/)] + Note: The veloncity polygons and The actual solution can be completed using manual drawing techniques (using a protractor and compass) . * By making rough sketches of the polygon, Trigonometric relations can also be used to find the solution. Steps of drawing basic mechanisms and their veloncity polygons 600 0%, ve Ve=? ® ead Vez? vaz bomen Yaz Soon Vy> 0X Soe sre ol nic (AS, Be co) Exnat + a Oe Re ae apaate ve ht V —Ptne Vewnurdi of fohr 8 iS Ap ‘/2, Pevkenarcuar gine AG and y Wave ne Same Sense wits b On 4yurav Veronese 4 — the Veunits of font C & Ye PavPenrdarcurar To Ane Ve onary Poisson c D _ ne Veron we Ane BC vs Pergendicurav to BeAB= Pomm Gc= [2mm Ris, Vee? Vg-7 Yeigz? = bre yewrnenss of B ip thifauy Weg a7 FROWN OS Sere antulav Velonesty andre Lesh, 1S SNen. f-c VB =W¥ Yer loxzos OOMMY- 7 ko Fma he Yeuneis 0 & Femaey Polat! we Use Bvolnice\ OY pualyptar Metned. ( Merner Anan picar metwe d x Ser AB 2 Be 9. ear? EmWaks arent = Sine Sinzo Ys (go — (8430) =] 35.05° * Anened Aesy Apd+ ec —2avec cosy = (FSi mu — Stel r Veron (defng + ne Vevreh Yectoy Avecthng and Fhalvy andre perweGn them nz 1B0- (Fer lasor-aey \- 46-467 Kz 199 - (40+1h-35) = F3006 OC TO : Fraatng tne Sioby Sinjses = e \e reps DET Veouted Ne oe es cae é Ve fo Sinagas Soazw Nee Val x Mofer-~ Cwece tne yeruige Eire Svalhical rmetword Weis = Jeo Veg:The crank of a slider crank mechanism rotates clockwise at a constant speed of 3oor.p.m. ‘The crank is 150 mm and the connecting rod is 600 mm long. Determine: a) Vs=? @) © Az? vy) VAs? VB (p>? &) Vo =? we} Anutasiuas Maer’ Gren Rie N=S 00 rem a) Vs=? @) 0eAz? OS= 1Somm by) VA=7 ~~ Aes boom 2) Vo =? pvt 200" pW B/a we dejyeymiane THE Ve a ie my) > Or) . S 4H ee ((2 £ Frnawn VeronIgo Sow ° — = © <= Iv. ‘ Swe Saas 10-19 @ 7x IB- (O+45) = 124-819 HSWCA- ro Fs tre Vetonets of Rahs A ONS Al ge KnE Yeunds err den dlasyew O”~S Wwyenby anser ave yesuied P = 130- (40+ ors) Ps 74-979 Pi yeteo—(4or(a-9) NV xe hee B= [B0- (xat) AS? 0,0, oe Yewrets Vawwes ang bh feo Smal S24 Vy - Ss VF; cana: AS 2 Ve » ~ Gin afay Sin 340 BAe Sta Maga) 3:44 cp We Eres Tan | Ve/q2 WoraX Pn, von git 2 SB Ve - VA a ON = 3-33” LnF4ig2 Sie Sa.2 Va 3°38 Mr 7 Yo Woy Ory -. (aa Cries Merued Aa ——_—— Nona a Yeo rs, Ver W 05 X Ys0 sae) rfb Sone Leure Jj ilo OB I\Se™ AS: 6om™ AQ % qo e & Ao Scasea ConGianateon|) 07841 NR BSAS Va WK ~ Scud Veunery Qos, vn; Go 34 oo” od utren SKeachsy we acct = 1130" Ooraha: ANWR Meluvmens pe “) Voy BS y Va 239 I¢ YO cAM~ Exeesisve — detevmne the Vetores') of ———— Syne Xie Mechanti nn loerowW Using Anan bear and @ Bvarluccas Mewmed Crushing chamber een driveshaft rotates clockwise with an angular velocity of 200 rpm.