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Analysis of Mechanisms
Theory of Mechanics & Machines
Mechanics of Machines
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rBA rBAirBA
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But,
d
d
vBA rBA rBAirBA
dt
dt
d
rBAirBA rBA irBA
dt
d
irBA BAiBA BAiBA
dt
For two points separated by a fixed distance, the relative velocity will be in a direction
perpendicular to the line segment joining the points .
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Mechanics of Machines
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Figure 2.3 Relative velocities between points on mechanism links: (a) mechanism, (b) link 2, (c) link 3.
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vB rBO2BO2 iBO2
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B3 A
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irB3 B2 irB2 A
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irB3 B2 irB2 A
But, rB B 0
3 2
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ir i
i ir
d
d
a BA vBA
rBAirBA rBABAiBA
dt
dt
rBAirBA rBAirBA
r i r i r i
BA BA BA
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BA BA BA
BA BA BA
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Normal acceleration
Relative normal acceleration, illustrated
in Figure, is designated as,
N
2
a BA
rBABA
In general,
a N r 2 r 2
Figure 2.7 Circular motion.
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Sign Convention
Positive angular
displacements, angular
velocities, and angular
accelerations are typically
taken to be in the counter
clockwise direction.
d
Sli
-ve
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d
Sli
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e
+v
e
+v
er
-ve
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Coriolis acceleration
Corriolis acceleration occurs
when a slider block moves
along a slide, while at the same
time the slide has rotational
motion.
The direction of the Coriolis
acceleration is dependent
upon both the sign of the
sliding velocity and the sign
of the angular velocity.
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B er
d
Sli
d
Sli
Coriolis acceleration
Figure (b) shows the
combination of positive
sliding velocity and
positive
angular
(a)
(b)
velocity. The resultant
Coriolis acceleration is
then in the positive
transverse direction.
(c)
(d)
Shows the four possible
combinations of positive
and negative angular velocity and sliding velocity. The relative
Coriolis acceleration component has been drawn for each
combination. All Coriolis acceleration components have a
magnitude of,
a C 2r
BA AB
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Components of relative
acceleration expression
(a)
(b)
(c)
(d)
Sliding acceleration,
Normal acceleration,
Tangential acceleration,
Coriolis acceleration.
a BA a
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S
BA
N
BA
rBA
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T
BA
C
BA BA
a i
2
aBA rBABA
irBA rBABA iBA
N
BA
a
rBA
BA iBA
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Figure 2.10 Relative accelerations between points on mechanism links: (a) mechanism, (b) link 2, (c) link 3.
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Input Link
Since O2 is fixed, the relative acceleration
also represents the absolute acceleration,
2
i
aBO2 rBO2BO
i
2
a BO2 rBO2BO
i
2 rBO2
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Couplar Link
Since points Band C are on the same link
3, they are separated by a fixed distance.
Therefore
2
aCB rCBCB
irCB rCBCB iCB
aC a B aCB
r 2 i
BO2
BO2
rBO2
2
rCBCB
irCB rCBCB iCB
2 i
2 i r i
BO2 2 rBO2
CB 3 rCB
CB 3 CB
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r i
a i
S
B3 B2
2
r
rB2 A
B3 B2 B3 B2 iB2 A
a
rB2 A
B3 B2 iB2 A
That is, for two points that momentarily coincide, it is possible to have
relative sliding acceleration and relative Coriolis acceleration
occurring between the two points.
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a N 2
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vB3B2
vB3B2
Limit Position
Limit Position
Figure 2.12 Limit positions of a slider crank mechanism: (a) mechanism, (b) geometry of first limit position, (c) geometry of second limit position.
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Limit Position
stroke s s1 s2
2 180 2 1
r1
r1
2 sin 1
r
r
r
2 3
3 2
1 sin 1
s2
r3 r2 2 r12
s1
r2 r3 2 r12 r3 r1 2 r12
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r2 r3 2 r12
Between the limit positions, The time taken for the slider to move
To the left
2
t1
2
2 2
2
t
2
TR 1
t 2 2 2
To the right t 2
To the right, v
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4 , avg left
4 ,avg left
stroke s1 s2
2
t1
2
stroke
s1 s2
2 2
t 2
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sin
sin
17
.
92
sin
1 sin
2
8.52
r r
10 3.5
3 2
3.5 10
r2 r3
1
stroke s s1 s2
4 , avg left
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4 , avg left
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r2 r3 2 r12 r3 r1 2 r12
7.17cm
stroke s1 s2
17.17
43.35cms 1
2
3.31
t1
20
2
stroke
s1 s2
2 2
t1
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48.14cms 1
(b)
(c)
r12 r2 r3 2 r42
1 cos
2
r
r
r
1
2
3
1 cos
2
r
r
1
4
(c)
2
2
2
r
1
1
3
2
4
2 cos
2r1r4
2
2
r42
1
1
3
2
2 cos
2r1 r3 r2
CCW
4
2
2
To the right,
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4 , avg CW
4
2 2
r2
r1
cos 1
Where,
r1 rO2O4
r2 rO2 P 2
t1
2
2
the time required to move link 6 to the left, from
the first limit position to the second, is
2 2 cos 1 r2
r1
2 2
t 2
2
2
The time ratio of the motions of link 6 to the
right and to the left is
t1
TR
t 2
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Driving torque M12 is applied to link 2. As shown in Figure (b), the direction of
force transmitted from link 3 on link 4 results in a small torqueM 14 about point
O4 , but a high bearing force at the same point. For transmission angles close to
0 or 180, there is a tendency for a mechanism to bind.
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2
2
2
rBO
r
1
2 2r1r2 cos 2
4
r
3
4 2r3 r4 cos
4
r
3
4
BO4
cos 1
2r3 r4
max
min
2 00
and , 2 180 0
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v A2 v A3 vP2 ,3
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P12
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P12
P12
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Instantaneous center
The total number of instantaneous centers, P. in a
mechanism having n links is,
n n 1
The factor in Equation
p
(2.8-4) takes into account
2
the fact that instantaneous
centers Pi,j and Pj,i are the same. In the four-bar
mechanism, where, n =4, the number of instantaneous centers is 6.
The complete set of instantaneous centers is:
P1,2, P1,3, P1,4, P2,3, P2,4, and P3,4. Some of the
instantaneous centers are found by examining
the kinematic pairs and using Table2.1. These
are P1,2, P1,4, P2,3, and P3,4.
P12,P14,P24
2
3
P23,P34,P24
P12,P23,P13
P14,P34,P13
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Instantaneous centers
P14@
infinity
n(n 1) 4(4 1)
Pi , j
6
2
2
infinity
P24
P13
P24
P34@
P23
P13
P12
P12
P23
P12,P13,P23
2
P14
3
P23,P34,P24
P12,P24,P14
P12,P14,P24
P13,P34,P43
P14,P34,P13
P12,P23,P13
P34
P23,P34,P24
This mechanism has four links and six instantaneous centers. The following instantaneous centers are
determined by examining the kinematic pairs: P1,2,P1,3, P2,4,P3.4. Then, by using an auxiliary polygon
(i.e., Kennedy's Theorem), we locate P1,3 and P2,4
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Instantaneous centers
Pi , j
n(n 1) 3(3 1)
3
2
2
Instantaneous centers
Figure 2.29
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