VELOCITY ANALYSIS

ENT 348 MECHANICAL SYSTEM DESIGN

K I N E M AT I C S AN D D Y N AM I C S O F M AC H I N E R Y , 2 ND
EDITION, ROBERT NORTON,2013
 INTRODUCTION

Position analysis is done and the next step is to

determine the velocities of all links and points of
interest in a mechanism.
By knowing the velocities, we can calculate the
kinetic energy and links acceleration.
 DEFINITION OF VELOCITY

Velocity is defined as the rate of change of position

with respect to time
Position ( R ) is a vector quantity and so is velocity.
Velocity can be angular or linear.
Angular velocity will be denoted as
Linear velocity as V
=

=
 DEFINITION OF VELOCITY

A link in pure rotation

Position vector
=
Velocity vector
= = =

Absolute velocity
 DEFINITION OF VELOCITY

Pivot A is moving
Velocity difference equation

VPA VP VA
VP VA VPA
 DEFINITION OF VELOCITY

Relative velocity
 GRAPHICAL VELOCITY ANALYSIS

Given 2, 3, 4, 2
Find 3, 4, VA, VB and VC

=
=( )

= +
Line pp represent the
direction of VB

Line qq represent the direction of VBA

GRAPHICAL VELOCITY ANALYSIS

= =

VA
p p
VBA VB
q
 GRAPHICAL VELOCITY ANALYSIS

Next find VC
=
= +

r
VA

VCA
VC
r
 INSTANT CENTERS OF VELOCITY

An instant centers of velocity is a point, common to

two bodies in plane motion, which point has the same
instantaneous velocity in each body.

Instant centers are sometimes called centros or poles.

Kennedys rule:
Any three bodies in plane motion will have exactly three instant centers and
they will lie on the same line
 INSTANT CENTERS OF VELOCITY

Given a fourbar linkage in one position, find all ICs

by graphical methods.

( 1)
=
2

( )
= =6
 INSTANT CENTERS OF VELOCITY

All pin joints are instant centers

4 2

3
 INSTANT CENTERS OF VELOCITY

All pin joints are instant centers I1,3

1 2 triangles

4 2

Sides 13, 23,12

Sides 13, 34,14
3
 INSTANT CENTERS OF VELOCITY

All pin joints are instant centers I1,3

Sides 24, 12,14

1 2 triangles

4 2

Sides 24, 23,34

3
I2,4
INSTANT CENTERS OF VELOCITY

A slider joint will have its

instant center at infinity
along a line
perpendicular to the
direction of sliding
 INSTANT CENTERS OF VELOCITY

Given a crank slider linkage in one position, find all

ICs by graphical methods.
INSTANT CENTERS OF VELOCITY
I1,3

1 Sides 13, 23,12

4 2

Sides 13, 34,14

3
INSTANT CENTERS OF VELOCITY
I1,3

1 Sides 24, 14,12

I2,4
4 2

Sides 24, 23,34

3
VELOCITY ANALYSIS WITH INSTANT
CENTERS

=
( , )

=( , )

= =
( )

=( , ) 3
 ANGULAR VELOCITY RATIO

The definition of effective

link pairs is two lines,
mutually parallel, draw
through the fixed pivots
and intersecting the
coupler extended.

= =
 ANGULAR VELOCITY RATIO

The definition of effective

link pairs is two lines,
mutually parallel, draw
through the fixed pivots
and intersecting the
coupler extended.

,
= =
,
 CENTRODES

The successive positions of an instant center or

centro form a path of their own.
This path, or locus, of instant center is called the
centrode.
 ANALYTICAL SOLUTIONS FOR
VELOCITY ANALYSIS
The fourbar pin-jointed linkage
 ANALYTICAL SOLUTIONS FOR
VELOCITY ANALYSIS
The vector loop equation:
R2 + R3 R4 R1 = 0

Vector equation:
+ =0

Differentiate:
+ =0

But:
= ; = ; =

Then:
+ =0
 ANALYTICAL SOLUTIONS FOR
VELOCITY ANALYSIS

Then:
+ =0

Substitute Euler equation:

(cos + )+ (cos + ) (cos + )=0

( + 2 )+ (jcos + 2 ) (jcos + 2 )=0

2=-1
( )+ (jcos ) (jcos )=0
 ANALYTICAL SOLUTIONS FOR
VELOCITY ANALYSIS
2=-1
( )+ (jcos ) (jcos )=0

+ =0

+ cos cos =0

sin ( )
=
sin ( )

sin ( )
=
sin ( )
 ANALYTICAL SOLUTIONS FOR
VELOCITY ANALYSIS
Then:
+ =0

The vector loop equation:

VA + VBA VB = 0

=
=
= =0

= ( + )=a ( )
= ( + )= ( )
= ( + )=c ( )
 EXAMPLE 6-7

Given a fourbar linkage with the link lengths L1=d= 100 mm, L2
= a= 40 mm, L3=b= 120 mm, L4=c= 80mm. For = 400 and
=25 rad/s find the values of and , , and for the
open circuit linkage. Use the angle found for the same linkage
and position in Example 4-1.
 EXAMPLE 6-7

( ) ( ) ( . o o)
= = o o) = 4.121 /
( ) ( . .

sin ( ) 40(25) sin (40o 20.298o)

= = = 6.998 /
sin ( ) 180 sin (57.325o 20.298o)

= ( )=40(25)(-sin40o+jcos40o)=-642.79+j766.04
= ( )= 120(-4.121)(-sin20.298o+jcos20.298o)=171.55+j463.08
=c ( ) = 80(6.998)(sin57.325o+jcos57.325o)=471.242+j302.243
 ANALYTICAL SOLUTIONS FOR
VELOCITY ANALYSIS
The fourbar crank slider
 ANALYTICAL SOLUTIONS FOR
VELOCITY ANALYSIS
The vector loop equation:
R2 - R3 R4 R1 = 0

Vector equation:
=0

Differentiate:
=0

Substitute Euler equation:

(cos + ) (cos + ) =0

Simplify:
(jcos ) (jcos ) =0
 ANALYTICAL SOLUTIONS FOR
VELOCITY ANALYSIS
Simplify:
(jcos ) (jcos ) =0

Seperate:
Real part
=0

Imaginary part
cos cos =0

cos
=
cos

=
 ANALYTICAL SOLUTIONS FOR
VELOCITY ANALYSIS

The vector loop equation:

VA - VAB VB = 0
VA = VB + VAB = 0
VAB = -VBA
VB = VA + VBA

= ( + )
= ( + )
=
 EXAMPLE 6-8

Given a fourbar crank-slider linkage with the link lengths L2 = a= 40

mm, L3=b= 120 mm, offset=c=-20 mm. For = 60 and =-30 rad/s,
find and linear velocities at points A and B for the open circuit. Use the
angle and positions found for the same linkage and its link 2 position
in Example 4-2.
 VELOCITY OF SLIP

Sliding joint between two links and neither one is

ground link
Sliding joint is floating,
not grounded
 EXAMPLE 6.5

Graphical velocity analysis at a sliding joint

=( )

= =