to

~
mechanismsintro

%
On
4

I
,

base link (1)

crank (input) (2)
coupler/connecting (b)
Slider (4)
base
pivot (02)

Skeleton
diagram

insert

crank
slider mechanisms ex (concrusher

Four bar mechanism

D

%
a a

base link (1)

base pivot (02 + Oul
2 4 connect to base
pivot
coupler (3)
 select
coupler point :
point on 4 bar mechanism on the coupler

Planar Mechanism : the motion of all its links must take place in a
single
plane or in
parallel planes

Spatial mechanism : links translate

n #
links
=

m
=
3(n 1) -
-

2j ja
-

J1 =
Sigly Dof pairs

J = 2
Dot pairs

M= 3 (n 1) 2) , + Ni
Nr
-

redundant
-

z
=
constraints

wants 0:0
·
ine
O.
V2

input
-
&
Kambert
-2 n
constants
-

Re R3
re 03 0 ,

=
&E
02
>
R
G = 0
ints
Oz
devar
solve when R2 -

R3
-
R ,
= 0

G2 = 450 (r2 Cos +

[Sin02) -

(rycosO3 +
jus Sin

= 30 rad/s -

(r , coso + jr , Sing , )=o

G I

-
= O radis real : rz COSO2
-

Vycos03-r,
=
O

S imag r2SirG2-VySinGy- r Sin G 0

: , ,
=

-w
I g

rz(OSO2 vi
=
0 12 Sin 02-ry = 0

=
J2COSO2 10cm cos"5 is
=
VzSinGe 10 cm Sin 45
=
↑ =

r =
r (- sin 01) On is : Ve COS O2 Ez

↓ 1
G O

r =
rz(SinG2) +
ratcos02) O = cost (sine
ri = -
r
=
Cos 0282 2 is = -

Sin 02
2
=
(45) (30) =
6363 9 I 10 Sin (43) (30)
16363
-

10 cas 9
-
- .
= -
.

--

velocity velocity
↑ = 10(-SM45)30 = -212 . 13m/s ↓ =
10 cos(45)30 = 212 .

1am/s
- -
continuing handout

rycos@z =
ry -

reCOSE2

V > Sin #3
=
V .
-

E Sin Ge

a of Ez
angular velocity link 3 .

Need ry +
Og so save those first
from handout

-
(F(n)x + (For(x =
mc(aaz)X
-

(Fizby +
(Fez]y = ma(age] y

(F3z)y(rzs02) (Fzz(r2 Sinful -

+
Miz
=
o

-
(Fem(x -

(Fuz)x =
my(a2z)x
-

(F2)y -

(Fuzly = my(aaz)y
-

(Fez) x [by Sin (83 +

131] + (F23)y[by cos (03 + 131]

↓
(Fuzlx[Vg SinGy-by sin (Eg 63)] +
-

(Fuely [Vecos by -

by 20s(b3 + 43]

=
IG : Ge

link 4 equations
-
(f(x) x + (fya)x my(aca)x
=

-
(F x(y
,
+
(fzy(y =
my(92y)y
& Mo =
Io I rotation about fixed axis)

(Forly ( Cos
a) - (g)x(rySint)
My bu2) +
y

parallel axis thereem

unknowna
-w
Equation 1-9 can be combined into the
following form :

[A][X] FBY =

Ex = Vector of unknown forces/moments

FBS =
Vector of known masses/accel

9x9
[A] = matrix
Last problem on exam

Constants
Loop
V= Es r, G , 84
↑
0= 0
⑧2 Ry
Ri
G -4 90 input
=

&
Ry
On
R2
14 Ge

Rz + Rz -
Ry -
R ,
=G
01
t
-2 Cos E2+ E20sEy-rusoy- , r = o

r2 SinG2 +
raSinty-ryscy-r ,
sintf ,
=
o

(1) 2 Coste + z Cos #3 -

V, = 0

(2) VeSinO2 +
VgSin 03 -

ry = 0

/FrcosI

↑
Ex = cos" in = -128 8 .
cm/s

-3 = 32 820 .

↑c =
E2 Sin G2 +
Vy Sin Oy

↑4 =
=Cost22 +
13 Cosz Es

derive
eq
-
r2 Sin 02 (82) -

raSinGs (83) = O

= -

ruSinGeEr/rySinty 8= -
6 65.
rad/s
 Loop 2

· G
ser
05 Gh
,

R2
Ru =
↓2 G3 Iv
R2 + Rz +
Ry Rh - -

R5 = 0
15 V

vecosen-ractp-Escoston
C

↓z Coste +
racosty
+ = o
Dupl
& O + 150
03 8 =
G
SinG-rosine-resis
-
r2SinG2 try Singa + > =o

↓ COSE2 +
VycosEz +
VyCOSOy-15 = 0

r2SinGz +
rySinEy +
rysinEy ru = O

g= -
E2SinteEe-rySinGyEs-rySinGy ·
6= recost22 + EzcosE38z + r
-
8, 8

Final
answerearly
= -
2 . 95 cm/s

rj =
-
69 .
1 am/s /
 ME 380: Machine Dynamics

Handout 9-3: Dynamic Force Analysis of a Slider Crank

Mechanism using a Lumped Mass Model

On the mechanism shown, the mass of link 2 is located at G2

and the mass of link 3 is located at G3. The mass of slider 4 is
located at pin joint D. Find the torque, T0, on link 2 required to
drive this mechanism. Also, find the shaking force. Use the
lumped mass approximation.

for solution
~full to canvas

#I
& 610 2 .

-
Fz
To 8
↑ 45' M169
.

10 20 e
Fox
.

↓
Foy
F3

192
M

↓
Fi
 Kinetic
Diagram
Mix
↓ MD9DX ①

MBABY
B

#2
# I

FBI
A

From
( 013kg)( 53 73 m/st)
Fo
-
.

COS 10 2
- = .

Fz = 0 . 7 IN

Solve 4
torque
= Mo
=
loto
[M .
= O
-

cos45 ) = 0
%

(2 5
(2 5 Sin 45 -

FaSin 10 2
.
.

To Escos10 2 .
-
.

1 46 N-cm
To = .

From the distributed mass model

To = 1 .
569 N-cm

1146-1569(x100 95%
= 6 .

error :
Shaking Forces

Fs =f

Overall FBD/KD

(Picture)
 5494 07 1987 44 A planet not needed
years
. .

494 84

-Yo e
.
-

* shaft 5
- -
,
visualize Spinning
60
1412 .

yearl Crank 2 years years

all rotate
eX
X ()x () +
(x
Crank O O -

Y Y
fixed

add X (E) :

( -

>
( +
+

input output output 2

Coutput 2 ends

= up as zero)

= (i) w ,

w ,
= X

WWW :
Case
-
:
driving straight
= Wi
We = Wy

CaseC
: full sla

Wi = 0 Cortpot 2)
 year , crank 6
year >
5 4
8

all rotate X X X

crank

fixed Y (Y O

add X +
y
(n + x
X

133 3 .

7 is WT
year
=
son

524 are son years ~

leave Wa 100rpm
= = 400)
=

gears Wy Wi =
out
W5 =
w = 133 3.

that are not in

System
W:
=-
35 is
-(
-
=

w=

- 188 9 .

X
=

= 322 2 .

188 9
upm
- .

=
Wy

= - 4 p is
: Wo
=
133 .
Vi ..
-

undamped free vibrati

Exam 2 review

a)
Area TL =
Area
under under
Th
200(42) 1000()
= 1000/
+
800()
-

200(E)
+
+
↑ (2 + ) =

Tc =
600 Nm

E, = E,

Ez = E ,
-(600 -

200) E -135 3 =
,
.

333 3 E,
60072 + (600 E2
+ =

Ez + 1800 -

=
.

Ez =

(600 (2001) Eg 400

= -

En =
Eg
-
-

.........

b)

Cs = = %
0 0

=
238 m
In 6kg
= .

1807
.

Ftatal
=5py = 357 ,
9 kg
. m

m2
Ffiy 357 9-238 6 119 3 ky
.

= . . = .
2)
Ifiy = edit

=" = 0 .
765

2 )
+
.

(04) 0
zme
= 0 .

+ = 04
reBe
=
My
a)

= +0 0
09
= mm5
=

(1)
.

Mc

075
=5 z( 0) 04 =

my + .
= =

my
+
my
.

b)

lit
a

Be =
Gise/o
=
Con = - rei =
( - 10 04m)
. (2012]50 = -

165

( 16 Sin(30)5 11
8565
16
& Belo = - 1620s(30)[ +
= .

B
- 8 7 m/s2
L

1300
·

O2
 link 3

= yo ,
+
aho
a
=

+
@
%

=
(0)[0 + (g) to -

[ -
10 12)(7
.
.
36812]i1 (( + .
12)(28
.

2881)

3455
442
↑ =
- 6 .
5142 + 3 . 455T

22
[

43520923 442)i +

[-
L 578 3 .

b 514 10s66
- .

= .
.

1- 6 . 544 Sin 66 578

.
+ 3 455 Sin 23
.
.

422)]
578
166
ac
.

03
=

75 . 759 ,
-4 .

604772

D
link

I.
Miles
a
9 8 .
113,
 22-3 Undamped Free Vibration
Handout :

* Note :
Springs in series =
++ springs in parallel K+ K

Springs are in parallel

EBD ens
Oy =
To X
[Mo

↑ ox Fo =
Mr lo + m
, y
was

Y
collar
A I. for
I
a

for sender rod

is

Mcg
M·

t
9
7 25s
s
- E &

Mo =
to L cost =
% X 1
g(E sinc
&
= X= Mr Cos
-
27s Mr cost-megysinG-m .

Sin G
Z = Mr
7
Irf
[smulr y2]
D

+ - A
m
,
O Z
⑨

assume O is small (small angle approx

q
=
Sin O TY
SAA : SinGE

cost
tanf G

-
E
so
u
↓
2klr0 mog()0 [
mrlr=
= m
]g
,
- -
m ,
g40 -

Standard Form : + Wh = 0

mog(E))0
2xei

[ sm -
+
mcgy +
= 0

1r
2
+ Mc

-
I grad we
I
T=
2ad
Fra
Wn =

3 469 4 9054 4π 905y 2 522 = 0

19
739y2 4
+ -
.

>
.
. -
.
=
.

0 024
. + 0 .

5y2 un
u
:
Wi

a
7
Wa = 19.

& b= -
4 . 905
(c 2 522
:
= -
.

y = 0 . 503m
error in #2

2nd term ([(2)(0 18) "

.
trata dot
 Free vibration no
damping

Steady State

Force vibration no
damping