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ME-313 Mechanics of Machines Velocity Analysis - Part A: Adnan Munir

This document discusses velocity analysis of mechanisms using graphical methods. It introduces velocity analysis and defines linear and angular velocity. It describes graphical velocity analysis as a quick check method to determine velocities of links and points of interest for a mechanism. The document provides an example problem to find angular velocities of links and absolute linear velocities of points using given link lengths, angular positions, and the equation relating linear and angular velocity for a four-bar pin-jointed mechanism.

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Hafsa Rahmeen
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44 views

ME-313 Mechanics of Machines Velocity Analysis - Part A: Adnan Munir

This document discusses velocity analysis of mechanisms using graphical methods. It introduces velocity analysis and defines linear and angular velocity. It describes graphical velocity analysis as a quick check method to determine velocities of links and points of interest for a mechanism. The document provides an example problem to find angular velocities of links and absolute linear velocities of points using given link lengths, angular positions, and the equation relating linear and angular velocity for a four-bar pin-jointed mechanism.

Uploaded by

Hafsa Rahmeen
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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ME-313

Mechanics of Machines
Lecture 7
velocity Analysis – Part a
Adnan Munir

+92-323-4439474 Office 210-G


Contents
1

Introduction of Velocity Analysis

Definition of Velocity Analysis

Graphical Velocity Analysis


Introduction of Velocity Analysis

• Position analysis
• Done

• Next steps
• Determine velocities of all links and points of interest
• Calculate stored kinetic energy using mV2/2
• Determine accelerations of all links and points of interest
• Determine dynamic forces
Introduction of Velocity Analysis

• Methods for Velocity Analysis


1. Graphical Method
2. Velocity of Instant Centers
3. Vector Loop Method (analytical solution)
i. Four-bar pin-jointed mechanism
ii. Four-bar crank slider mechanism
iii. Four-bar inverted crank slider mechanism
iv. Four-bar slider-crank mechanism
v. Geared-five-bar mechanism
Definition of Velocity Analysis

•  Velocity

• Rate of change of position with respect to time


• Vector quantity
• Angular and/or linear
• Angular velocity denoted as ω and linear velocity as v

= or = - 6.1
Definition of Velocity Analysis
Definition of Velocity Analysis
Definition of Velocity Analysis
Graphical Velocity Analysis
• Purpose of Graphical Velocity Analysis

• Quick check on results from computer program solution

• Check needs for few positions to prove validity of program

• Visual feedback on solution to help develop an understanding


of underlying principles for beginners
Graphical Velocity Analysis
• Graphical velocity analysis – three equations needed – 6.5a, 6.5b
and 6.7

VPA = VP – VA - 6.5a
Rearranging
VP = VA + VPA - 6.5b
v = rω - 6.7

• 6.7 defines magnitude v of velocity of any point on body in pure


rotation
Graphical Velocity Analysis

Example 6-1
Graphical Velocity Analysis for One Position of Linkage

Problem
Given a, b, c, d, θ2, θ3, θ4, ω2 find ω3, ω4, VA, VB, VC by graphical methods
Graphical Velocity Analysis
• Velocity Analysis of Four-bar pin-jointed mechanism
• Calculate angular velocities of links 3 and link 4 (ω3, ω4)
• Calculate absolute linear velocities of points A, B and C (V A,
VB , V C )

• Point C
• Represents any general point of interest - coupler point

• Knowns
• Lengths of all links - a, b, c and d
• Angular positions of all links - θ2, θ3 and θ4
Graphical Velocity Analysis

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