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9- Velocity Analysis

This document covers velocity analysis in four-bar mechanisms, detailing both graphical and analytical methods for determining velocities of links and points. It includes vector loop equations, position analysis, and the derivation of velocity equations through differentiation. The document also emphasizes the importance of trigonometric identities in solving for angular velocities and linear velocities of the links.

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majdchazbek1
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0% found this document useful (0 votes)
7 views

9- Velocity Analysis

This document covers velocity analysis in four-bar mechanisms, detailing both graphical and analytical methods for determining velocities of links and points. It includes vector loop equations, position analysis, and the derivation of velocity equations through differentiation. The document also emphasizes the importance of trigonometric identities in solving for angular velocities and linear velocities of the links.

Uploaded by

majdchazbek1
Copyright
© © All Rights Reserved
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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Velocity Analysis

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1
 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.

2
3
 Velocity of point P

Multiplying by J rotates the vector by 90°


Velocity is perpendicular to radius of rotation & tangent to path of
motion

4
 Velocity Difference / Relative Velocity

5
Analytical Approach

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2

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8
 Write the vector loop equation
R2 + R3 − R4 − R1 = 0
ae j 2 + be j 3 − ce j 4 − de j1 = 0
 Position analysis, where: θ1=0o
aCos 2 + jaSin 2 +
bCos 3 + jbSin 3 −
cCos 4 − jcSin 4 − dCos1 − jdSin1 = 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
9
 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
− a2 Sin 2 + ja2Cos 2 − b3 Sin 3 +
jb3Cos 3 + c4 Sin 4 − jc4Cos 4 = 0
Velocity Equation

VA = −a2 Sin  2 + ja2Cos 2 = j2 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
10
 Separate Velocity Equation into Real and
Imaginary Parts

− a2 Sin 2 − b3 Sin3 + c4 Sin 4 = 0 Real Part

a2Cos 2 + b3Cos3 − c4Cos 4 = 0 Imaginary Part

 Eliminate ω4 and Solve the equations for ω3


− b3 Sin3 + c4 Sin 4 = a2 Sin 2 * Cos 4
b3Cos3 − c4Cos 4 = −a2Cos 2 * Sin4
− b3 Sin3Cos 4 + c4 Sin 4Cos 4 = a2 Sin 2Cos 4
b3Cos3 Sin 4 − c4Cos 4 Sin 4 = −a2Cos 2 Sin 4
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sin(A-B)=sin A cos B - cos A sin B
 Summation of two last equations:
− b3 Sin 3Cos 4 + b3Cos 3 Sin 4 =
a2 Sin 2Cos 4 − a2Cos 2 Sin 4

b3 (Sin 3Cos 4 − Sin 4Cos 3 ) =


Factorize
a2 (Sin 4Cos 2 − Sin 2Cos 4 )

 Using Trigonometric Identity:


b3 Sin (3 −  4 ) = a2 Sin ( 4 −  2 )

a2 Sin ( 4 −  2 )
3 =
b Sin ( 3 −  4 )
12
 Eliminate ω3 and Solve the equations for ω4
− b3 Sin3 + c4 Sin 4 = a2 Sin 2 * Cos 3

b3Cos3 − c4Cos 4 = −a2Cos 2 * Sin 3

− b3 Sin3Cos3 + c4 Sin 4Cos3 = a2 Sin 2Cos3


b3Cos3 Sin3 − c4Cos 4 Sin3 = −a2Cos 2 Sin3

 Summation of two last equations:

c4 Sin 4Cos 3 − c4Cos 4 Sin 3 =


a2 Sin 2Cos 3 − a2Cos 2 Sin 3

13
sin(A-B)=sin A cos B - cos A sin B

c4 (Sin 4Cos 3 − Cos 4 Sin 3 ) =


Factorize
a2 (Sin 2Cos 3 − Cos 2 Sin 3 )

 Using Trigonometric Identity:

c4 Sin ( 4 − 3 ) = a2 Sin ( 2 − 3 )

a2 Sin ( 2 −  3 )
4 =
c Sin ( 4 −  3 )

14
 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

 We have all the requirements except θ3 and θ4


 How can we obtain θ3 and θ4?

15
 Using Position Analysis (Chapter 2)

16
 Using Velocity Analysis

a2 Sin ( 4 −  2 ) a2 Sin ( 2 −  3 )


3 = 4 =
b Sin ( 3 −  4 ) c Sin ( 4 −  3 )

Rad/s Rad/s

17
 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.

18
 Write the vector loop equation
R2 − R4 − R1 = 0
r 2 e j 2 − r4 e j 4 − r1e j1 = 0
 Position analysis, where: θ1=0o

r2Cos 2 + jr2 Sin 2 − r4Cos 4 − jr4 Sin 4


− r1Cos1 − jr1Sin1 = 0

Cos0 o = 1 r2Cos 2 + jr2 Sin  2


with Sin 0 o = 0 − r4Cos 4 − jr4 Sin  4 − r1 = 0
Position Equation

19
 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
− r4Cos 4 − jr4Cos 4 − jr4 Sin  4 = 0
dt
− r22 Sin 2 + jr22Cos 2 + r44 Sin 4
− r4Cos 4 − jr44Cos 4 − jr4 Sin 4 = 0
Velocity Equation
R 4 = −r4Cos 4 + jr4 Sin 4 = jr4 e j 4
  
V4 = r44 Sin 4 − jr44Cos 4 = j4 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
20
 Separate Velocity Equation into Real and
Imaginary Parts

− r22 Sin2 + r44 Sin4 − r4Cos4 = 0 Real Part

r22Cos2 − r44Cos4 − r4 Sin4 = 0 Imaginary Part

 Eliminate ω4 and Solve the equations for r4

− r22 Sin2 + r44 Sin4 − r4Cos4 = 0 * Cos 4


r22Cos2 − r44Cos4 − r4 Sin4 = 0 * Sin4

− r22 Sin 2Cos 4 + r44 Sin 4Cos 4 − r4Cos 2 4 = 0


r22Cos 2 Sin 4 − r44 Sin 4Cos 4 − r4 Sin 2 4 = 0
21
sin(A-B)=sin A cos B - cos A sin B
 Summation of two last equations:
− r22 Sin 2Cos 4 + r22Cos 2 Sin 4
− r4Cos 2 4 − r4 Sin 2 4 = 0
r22 (Sin 4Cos 2 − Cos 4 Sin 2 )
( )
− r4 Cos  4 + Sin  4 = 0
2 2 Factorize

 Using Trigonometric Identity:


r22 Sin(4 − 2 ) − r4 = 0

r4 = r22 Sin(4 − 2 )

22
 Eliminate r4 and Solve the equations for ω4

− r22 Sin2 + r44 Sin4 − r4Cos4 = 0 * Sin4


r22Cos2 − r44Cos4 − r4 Sin4 = 0 * −Cos4

− r22 Sin 2 Sin 4 + r44 Sin 2 4 − r4Cos 4 Sin 4 = 0


− r22Cos 2Cos 4 + r44Cos 2 4 + r4Cos 4 Sin 4 = 0

 Summation of two last equations:

− r22 Sin 2 Sin 4 − r22Cos 2Cos 4


+ r44 Sin 2 4 + r44Cos 2 4 = 0

23
cos(A-B)=sin A sin B + cos A cos B

( )
r44 Sin 2 4 + Cos 2 4 =
Factorize
r22 (Sin 4 Sin 2 + Cos 4Cos 2 )

 Using Trigonometric Identity:

r44 = r22Cos(4 − 2 )

r22
4 = Cos( 4 −  2 )
r4

24
 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

 We have all the requirements except r4 and θ4


 How can we obtain r4 and θ4?

25
 Using Position Analysis (Chapter 4) - Mathcad

26
 Using Velocity Analysis (Chapter 5) - Mathcad
r22
r4 = r22 Sin(4 − 2 ) 4 = Cos( 4 −  2 )
r4

m/s Rad/s

27
28
2

Remember d is a variable so d≠ 0 in general.

29
30
 Write the vector loop equation
R2 − R3 − R4 − R1 = 0
ae j 2 − be j 3 − ce j 4 − de j1 = 0
 Position analysis, where: θ1=0o,
and θ4=90o
aCos 2 + jaSin 2 − bCos 3 − jbSin 3 −
cCos 4 − jcSin 4 − dCos1 − jdSin1 = 0

Cos0o = 1, Sin 0o = 0 aCos 2 + jaSin 2 − bCos 3 −


with Cos90o = 0, Sin90o = 1 jbSin 3 − jc − d = 0
Position Equation

31
 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
− a2 Sin 2 + ja2Cos 2 + b3 Sin 3 −
jb3Cos 3 − d = 0
Velocity Equation

VA = −a2 Sin 2 + ja2Cos 2 = j2 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
32
 Separate Velocity Equation into Real and
Imaginary Parts

− a2 Sin 2 + b3 Sin 3 − d = 0 Real Part

a2Cos 2 − b3Cos 3 = 0 Imaginary Part

 From imaginary part:


b3Cos3 = a2Cos 2

aCos 2
3 = 2
bCos 3

33
 From real part:

− a2 Sin 2 + b3 Sin3 = d

d = −a2 Sin 2 + b3 Sin3

d dot is horizontal speed of slider relative to ground

34

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