MECH3030

Mechanisms of Machinery
Tutorial 3
Analysis of Slider-Crank Mechanism using Graphical approach
Tutorial Schedule

Section Date & Time Room

T1 Fr 06:00PM - 06:50PM 2464

T2 We 10:30AM - 11:20AM 2502

2
Goal of this session

• Mobility on HW1 questions

• Analysis of Slider-Crank Mechanism using Graphical approach
• Construction of Velocity Vector Polygon
 Tutorial 1 Assignment solution

From the above linkage,

(a) Determine the number of links n
(b) Determine the number of joints j
(c) Determine the mobility.

4
HW1 – Q5
The dragonfly robot shown below has a body, four legs, and four wings as shown.
Each leg is connected to each of its adjacent legs by a chain of U (Universal) - S
(Spherical)- P (Prismatic) joints. Use Grűbler’s formula to answer the following
questions:
(a) Suppose the body is fixed, and only the legs
and wings can move. How many degrees of
freedom does the robot have?

(b) Now suppose the robot is flying in the air.

How many degrees of freedom does the robot
have?

(c) Now suppose the robot is standing with all

four feet in contact with the ground. Assume
that each foot-ground contact can be modelled
as a point contact with no slip (that is, a
spherical joint). How many degrees of freedom
does the robot have?
HW1 – Q6
The UR10 manipulator shown on the left has six degrees of freedom. It consists of
six rigid links assembled in series by six R (Revolute) joints. Now suppose that the
most distal link of the robot is rigidly attached to the handle of a refrigerator door
and the robot is controlled to open the door. How many degrees of freedom does
the mechanism formed by the arm and the door have? According to your answer
to the question, is it possible to open the door with the robot?
Graphical Analysis of Slider-Crank
Mechanism
Construct velocity vector polygon
Example of Slider-Crank Mechanism

Use mm
[Waldron p.183-186]
using graphical method

Find velocity of link 3

Graphical Analysis Steps

Velocity Acceleration
Position
Vectors Vectors
Drawing
Drawing Drawing
Tut 3 Tut 4

The Graphical Drawings need to be in scale

• Using angle projector, compass, ruler drawing on paper
• Less precision, need to be applied in exam
• Using SolidWorks sketch (or any CAD software)
• Better accuracy, convenient

Draw the Vectors to derive the linkage mechanism relationship

A rotating link – Position relationship
Vector from origin to point has one
subscript (rA, rB) Angular velocity written as

ω  d
dt

Position Vector of
B reference to A is
written as rBA

Position relationship rB  rA  rB/ A

Relationship applied to each link

A rotating link – Velocity relationship

Position rB  rA  rB/ A
Velocity v  dr
dt
drB/ A
vB  vA 
dt
Velocity relationship vB  vA  ω rB/ A

Relationship applied to each link

 Velocity Polygon – Link 2
Differentiate rA=rA*+rAA*

0, fixed pt
Vector
𝑣𝐴2 = 𝑣𝐴2∗ + 𝑣𝐴2𝐴2∗ = 𝑣𝐴2𝐴2∗ = 𝜔2 × 𝑟𝐴𝐴∗
|𝑣𝐴2𝐴2∗ | = |𝜔2 ||𝑟𝐴𝐴∗ |
y rA=rA*+rAA* Angular Velocity Magnitude vy
A 10 rad/s (given)
Angular Velocity Direction
CCW (given) 𝑣𝐴2𝐴2∗
Velocity Magnitude
rA 10rad/s 5mm = 50mm/s
rAA*=5 Velocity Direction
Perpendicular to AA*= 135deg
rA* A*
x -vx
Position Vector Velocity Vector
 Velocity Polygon – Link 3
Differentiate rB = rA+rBA
𝑣𝐵3 = 𝑣𝐴3 + 𝑣𝐵3𝐴3 = 𝑣𝐴2𝐴2∗ + 𝑣𝐵3𝐴3 = 𝑣𝐴2𝐴2∗ + 𝜔3 × 𝑟𝐵𝐴
Already
drawn
We know that 𝑣𝐵3𝐴3 is
perpendicular to AB
We can draw a line originate from head of 𝑣𝐴2𝐴2∗
y with direction perpendicular to AB and with vy
A rB=rA+rBA arbitrary length
Angular velocity direction is CW
rBA= 8
𝑣𝐴2𝐴2∗
rA
𝑣𝐵3𝐴3
B
rB

x -vx
Position Vector Velocity Vector
 Velocity Polygon – Link 4
Differentiate rB = rA+rBA
𝑣𝐵3 = 𝑣𝐴3 + 𝑣𝐵3𝐴3 = 𝑣𝐴2𝐴2∗ + 𝑣𝐵3𝐴3 = 𝑣𝐴2𝐴2∗ + 𝜔3 × 𝑟𝐵𝐴
Already Already
drawn drawn

We know that 𝑣𝐵3 is travel

in horizontal
We can draw a line originated from
y origin, with direction parallel to A*B, and vy
A rB=rA+rBA
with end point merge with 𝑣𝐵3𝐴3
rBA= 8
𝑣𝐴2𝐴2∗
rA 𝑣𝐵3𝐴3
B
rB
𝑣𝐵3
x -vx
Position Vector Velocity Vector
SolidWorks Approach

Start with Part

Setup 2. Start a new sketch

3. We are going to
work on front plane

1. Select Front Plane

Start a new sketch for drawing the position vectors

 Construct the Position Drawing
Exit Sketch
when
finished the
drawing

Position relationship of Slide Crank

 Construct velocity polygon

3. Start a new
sketch

B
2. Select Front Plane

1. Name the
Sketch1 as
Position A* A
Start a new sketch on front plane for drawing the
velocity vectors
Construct velocity vector 𝑣𝐴2

A
A* B
Construct a line perpendicular
to AA* and assign the
dimension to 50

𝑣𝐴2

o
Construct Velocity Vector 𝑣𝐵3

Construct a line parallel to A*B

𝑣𝐵3
Construct Velocity Vector 𝑣𝐵3𝐴3

Construct a line
perpendicular to
AB
𝑣𝐵3𝐴3

𝑣𝐵3
Complete the Velocity Polygon

Merge
the 2
points
Measure Velocities from Vector Polygon

𝑣𝐴2
𝑣𝐵3𝐴3
39.41mm/s
243.77deg

𝑣𝐵3
52.77 mm/s
180.00deg
Angular velocity of link 3

Now we know the magnitude of 𝑣𝐵3𝐴3 form velocity vector

𝑣𝐵3𝐴3 = 𝜔3 × 𝑟𝐵𝐴

|𝑣𝐵3𝐴3 | 39.41mm/s
|𝜔3 | = =
|𝑟𝐵𝐴 | 8mm

|𝜔3 | = 4.93rad/s ClockWise

Tutorial 3 Assignment
Based on the graphical analysis result

60

Find 𝑣𝐵3𝐴3 and 3 ?

8mm
5mm

60 deg
Appendix
Solution to tutorial 1 questions
 3, f=3
2, f=3 4, f=3
3
2 5
4
1, f=1 5, f=1
1 6, f=1

From the above linkage,

(a) Determine the number of links n
(b) Determine the number of joints j
(c) Determine the mobility.

M  6(5  6 1)  (1 3  3  3 11)  0

27
 8, f=3 9, f=1
5 5, f=3 7
6, f=3
3, f=2
3 6

4, f=3 8 10, f=3

4 7, f=3
2
1
1, f=2
2, f=1

From the above linkage,

(a) Determine the number of links n
(b) Determine the number of joints j
(c) Determine the mobility.

M  6(8 10 1)  (2 1 2  3  3  3  3  3 1 3)  18  24  6 28