Coursework problem

solution

AS2=3/4AB

1. Degree of freedom
N=5 P5=5 P4=1 h=3(n-1)-2p5-p4 h=3(5-1)-2.5-1 h=1

2. Replacing kinematic pair with class IV with kinematic pair with class V
- Replace pair between links 2 and 4 with slider along link 2 (line AB) that make turning pair with link 5 at point C

3. Groups with zero degree of freedom

- Links 4 and 5 first group with zero degree of freedom - Links 2 and 3 second group with zero degree of freedom - Fixed link and link 1 group with degree of freedom one

4. Velocity
a) Fixed link and link 1

V A VO V
1 1
1 1

t A O1 1

t VA O w1 lOA direction OA

kv
a2 Vt
B2A2

ms mm

b) Links 2 and 3. Known velocity of point A and direction of velocity of point B -

V B VA V
2 2

t B2 A2

Direction of VB paralel to line of sliding between fixed link and link 3 t Direction of VBA to line AB

VtC2A2 c2 VtC2B2

VA2 VC2

V C VA V
2 2

t C2 A2 t C2 B2

CA CB

b2

VB2
t vBA ba kv w2 lBA l AB

2 B2 P=d5 VtC5D5 c) Links 4 and 5. Known velocity of point C and c5 velocity of point D

VC V V

V C VC V
4 2

r C 4C2 t C5 D5

// AB CD

t vC D c5 d 5 kv w5 lCD lCD
5 5

V C VD V
5 5

4. Acceleration
a) Fixed link and link 1

a A aO a
1 1
1 1

ct A O1 1

t A O1 1
ct a A O w12 lOA
1 1

t a A O 0 w1 const. 1 0

direction from A to O
t B2 A2 AB
a B A w2 lBA
2 2

ka

ms mm

b) Links 2 and 3. Known velocity of point A and direction of velocity of point B ct 2 -

aB aA a
2 2

ct B2 A2

a
a a

direction from B to A
ct 2 a C A w2 lCA
2 2

b2
atC2A2

aS2

aB2 aA1 a2

aC aA a
2 2

ct C 2 A2 ct C 2 B2

t C 2 A2 CA t C 2 B2 CB

direction from C to A
ct 2 a C B w2 lCB
2 2

c2
actC2A2

aC aB a
2 2

direction from C to B

s5

c) Links 4 and 5. Known velocity of point C and velocity of point D

a C aC a
4 2

cor C 4C 2 ct C5 D5

a a

r C4C 2 // AB

cor a C C 2 w2 VCr C
4 2 4

a e2 = l AB

t B2 A2

a e5 lCD

t C5 D5

turn in 90 V

r C 4C 2

direction of w2

c5

aC aD a
5 5

t ct 2 C5 D5 CD a C D w5 lDC direction from C to D

5 5

5. Force analysis - graphical solution

a) Links 4 and 5. Known moment M5, Inertia Force IF5 and Inertia Moment IM5 1) IF5 5
ct M5 D R 05

MC 0
5

for link 5

t R05

t IF5 hIF IM 5 M 5 R05 lCD 0 t R05 .......

hIF5

S5 C 4 h24 R24

R05 IM5 Rt05

2)

Fi 0
t 05

for link 5 and 4

ct 05

ct R05 , R24

IF 5 R R R24 0
3) IF5 R05 R45 4)

Fi 0 MC 0

for link 5

R45

IF 5 R05 R45 0
for link 4

Rt

IF5
05

h24

R24=-R45

Rct05

R24 h24 0 h24 0

b) Links 2 and 3. Known force F3, Inertia Force IF2 and Inertia Moment IM2 1) R12 Rt12 IM2 Rct12 A 2 R03 h03 B R42

MB 0

for link 2

t R12

t IF2 hIF2 IM 2 R12 l AB R42 h42 0

h42 IF2

t R12 .......

2) hIF2 3 Check link 2 R12 IF

2

Fi 0 Fi 0 MB 0

for link 2 and 3

t 12 ct 12

ct R12 , R03

F3 3)

R42 F3 IF 2 R R R03 0
for link 3

R23

R03 F3 R23 0
for link 3

R42 IF2 F3 Rt12 Rct

R03
12

R03

R23 F3

R32

R42 4)

h03

R03 h03 0 h03 0

c) Fixed link and link 1

MO 0
R21 h21 M 1 0
R21 M1 h21 O A

M 1 R21 h21

6. Force analysis - analytical solution

a) Links 4 and 5. Known moment M5, Inertia Force IF5 and Inertia Moment IM5 1) 5
ct M5 D R 05 2 R05 S5 IM5 Rt05
5

MC 0

for link 5

t R05

hIF5 1 C

IF5

t t IF 5 h IF IM 5 M 5 R 05 l CD 0 R 05 .......
ct Fi 0 for link 5 and 4 R05 , R24 t ct F 0 IF5 cos 1 R05 cos 2 R05 cos(90 2 ) 0

2)

y h24 R24

F 0 IF y
3)

t ct sin 1 R 05 sin 2 R 05 sin(90 2 ) R 24 0

x 4)

Fi 0 for link 4 F 0 R R y
24

R45
54

0 R51 R 24

MC 0

for link 4

h24

R24 h24 0 h24 0

b) Links 2 and 3. Known force F3, Inertia Force IF2 and Inertia Moment IM2 1) R12

MB 0 Fi 0
2 ,3

for link 2

t IF2 h IF2 IM 2 R12 l AB

t R12 t R 42 h 42 0 R12 .......

Rt12 IM2 R42

h42 IF2

2)

for link 2 and 3

F x

ct R12 , R03

2, 3

Rct12 A y 2 x

ct t R 12 cos 3 R 12 cos(90 3 ) R 42 cos(90 3 ) IF2 cos( 4 3 ) F3 0

3
R03 h03 B

4 hIF2
3

F3

F y
12

0
12

R ct sin 3 R t sin(90 3 ) R 42 sin(90 3 ) IF2 sin( 4 3 ) R03 0

R23 y y F 3 0 R 03R 23 0 R 23 R03

y x x F 3 0 F 3 R 23 0 R 23 F3 x

3)

Fi 0

for link 3

4)

MB 0

for link 3

h03

R03 h03 0 h03 0

c) Fixed link and link 1

MO 0
R21 h21 M 1 0
R21 M1 h21 O A

M 1 R21 h21