9- Velocity Analysis
9- Velocity Analysis
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Up on completion of this chapter, the student
will be able to
Determine velocities of links and points on the fourbar
mechanism by using graphical and analytical approaches.
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Velocity of point P
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Velocity Difference / Relative Velocity
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Analytical Approach
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Write the vector loop equation
R2 + R3 − R4 − R1 = 0
ae j 2 + be j 3 − ce j 4 − de j1 = 0
Position analysis, where: θ1=0o
aCos 2 + jaSin 2 +
bCos 3 + jbSin 3 −
cCos 4 − jcSin 4 − dCos1 − jdSin1 = 0
aCos 2 + jaSin 2 +
Cos0 o = 1 bCos 3 + jbSin 3 −
with
Sin 0 o = 0 cCos 4 − jcSin 4 − d = 0
Position Equation
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After solving the position analysis, take the
derivative to get the velocity equation
d 2 d 2 d 3
− aSin 2 + jaCos 2 − bSin 3 +
dt dt dt
d 3 d 4 d 4
jbCos 3 + cSin 4 − jcCos 4 =0
dt dt dt
− a2 Sin 2 + ja2Cos 2 − b3 Sin 3 +
jb3Cos 3 + c4 Sin 4 − jc4Cos 4 = 0
Velocity Equation
VA = −a2 Sin 2 + ja2Cos 2 = j2 ae j 2
j 3
V A + V BA − V B = 0 BA
V = − b Sin + jb Cos = j be
3 3 3 3 3
j 4
Where V B = − c 4 Sin 4 + jc 4 Cos 4 = j 4 ce
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Separate Velocity Equation into Real and
Imaginary Parts
a2 Sin ( 4 − 2 )
3 =
b Sin ( 3 − 4 )
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Eliminate ω3 and Solve the equations for ω4
− b3 Sin3 + c4 Sin 4 = a2 Sin 2 * Cos 3
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sin(A-B)=sin A cos B - cos A sin B
a2 Sin ( 2 − 3 )
4 =
c Sin ( 4 − 3 )
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Calculate the angular velocity of link 3 and link
4, (ω3 & ω4) when θ2=57.3o =1rad and the input
angular velocity, ω2=-1 rad/s
ω3
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Using Position Analysis (Chapter 2)
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Using Velocity Analysis
Rad/s Rad/s
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Link 2 (the crank) is the input and link 4 is
the output. Given r1, θ1=0o, r2, θ2, r4, θ4, ω2.
Find r4 and ω4. Remember r4 is a variable so
r4≠ 0 in general.
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Write the vector loop equation
R2 − R4 − R1 = 0
r 2 e j 2 − r4 e j 4 − r1e j1 = 0
Position analysis, where: θ1=0o
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After solving the position analysis, take the
derivative to get the velocity equation
d 2 d 2 d 4
− r2 Sin 2 + jr2Cos 2 + r4 Sin 4
dt dt dt
d 4
− r4Cos 4 − jr4Cos 4 − jr4 Sin 4 = 0
dt
− r22 Sin 2 + jr22Cos 2 + r44 Sin 4
− r4Cos 4 − jr44Cos 4 − jr4 Sin 4 = 0
Velocity Equation
R 4 = −r4Cos 4 + jr4 Sin 4 = jr4 e j 4
V4 = r44 Sin 4 − jr44Cos 4 = j4 r4e j 4
R 4 + V4 − V2 = 0
j 2
V
Where 2 = r
2 2 Sin 2 − jr
2 2 Cos 2 = j r
2 2 e
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Separate Velocity Equation into Real and
Imaginary Parts
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Eliminate r4 and Solve the equations for ω4
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cos(A-B)=sin A sin B + cos A cos B
( )
r44 Sin 2 4 + Cos 2 4 =
Factorize
r22 (Sin 4 Sin 2 + Cos 4Cos 2 )
r44 = r22Cos(4 − 2 )
r22
4 = Cos( 4 − 2 )
r4
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Calculate the angular velocity and linear velocity
of link 4, (ω4 & r4) when r1=0.2m, θ1=0o, r2=0.1m,
θ2=70o, and the input angular velocity,
ω2=25rad/s
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Using Position Analysis (Chapter 4) - Mathcad
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Using Velocity Analysis (Chapter 5) - Mathcad
r22
r4 = r22 Sin(4 − 2 ) 4 = Cos( 4 − 2 )
r4
m/s Rad/s
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2
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Write the vector loop equation
R2 − R3 − R4 − R1 = 0
ae j 2 − be j 3 − ce j 4 − de j1 = 0
Position analysis, where: θ1=0o,
and θ4=90o
aCos 2 + jaSin 2 − bCos 3 − jbSin 3 −
cCos 4 − jcSin 4 − dCos1 − jdSin1 = 0
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After solving the position analysis, take the
derivative to get the velocity equation
d 2 d 2 d 3
− aSin 2 + jaCos 2 − bSin 3 +
dt dt dt
d 3 d (d )
jbCos 3 − =0
dt dt
− a2 Sin 2 + ja2Cos 2 + b3 Sin 3 −
jb3Cos 3 − d = 0
Velocity Equation
VA = −a2 Sin 2 + ja2Cos 2 = j2 ae j 2
j 3
V A + V BA − V B = 0 V = b Sin − jb Cos = j be
BA 3 3
3 3 3
V =
d
Where B
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Separate Velocity Equation into Real and
Imaginary Parts
aCos 2
3 = 2
bCos 3
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From real part:
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