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Analysis of Mechanisms
(Graphical Methods)
Hareesha N G
Asst. Professor
Dept of Aeronautical Engg
Dayananda Sagar College of Engg
hareeshang@gmail.com
5/28/16
Syllabus
UNIT 3: Velocity and Acceleration Analysis of Mechanisms
(Graphical Methods)
Velocity and acceleration analysis of Four Bar mechanism,
slider crank mechanism and Simple Mechanisms by vector
polygons:
Relative velocity and acceleration of particles in a common link
Relative velocity and accelerations of coincident Particles on
separate links.
Coriolis component of acceleration
Angular velocity and angular acceleration of links, velocity of
rubbing.
07 Hours
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Motion of a link
Consider two points A and B on a
rigid link AB as shown in Fig.
Let one of the extremities (B) of
the link move relative to A, in a
clockwise direction.
Since the distance from A to B
remains the same, therefore
there can be no relative motion
between A and B, along the line
AB.
It is thus obvious, that the relative motion of B with
respect to A must be perpendicular to AB.
Hence velocity of any point on a link with respect to
another point on the same link is always
perpendicular to the line joining these points on the
configuration (or space) diagram.
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The relative velocity method is based upon the relative velocity of the
various points of the link.
Consider two points A and B on a link as shown in Fig. 4 (a).
Let the absolute velocity of the point A i.e. vA is known in magnitude and
direction and the absolute velocity of the point B i.e. vB is known in
direction only.
Then the velocity of B may be determined by drawing the velocity
diagram as shown in Fig. 4 (b). The velocity diagram is drawn as follows :
b
VBA
VB
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VA
a
6
c
VBA
VB
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VA
a
7
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Consider two points A and B on the rigid link, as shown in Fig. (a).
Let the acceleration of the point A i.e. aA is known in magnitude
and direction and the direction of path of B is given.
The acceleration of the point B is determined in magnitude and
direction by drawing the acceleration diagram as discussed below.
1. From any point o', draw vector o'a' parallel to the direction of
absolute acceleration at point A i.e. aA , to some suitable scale, as
shown in Fig.(b).
o'
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a'
11
2.
o'
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a'
12
5. By joining the points a' and b' we may determine the total
acceleration of B with respect to A i.e. aBA. The vector a' b' is
known as acceleration image of the link AB.
6. The angular acceleration of the link AB
b'
is obtained by dividing the tangential
aBA
components of the acceleration of B
aB
t
with respect to A (a BA ) to the length
of the link.
o'
a'
Mathematically, angular acceleration of the
atBA
arBA
link AB,
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1.
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b
vB
o
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vAB
vA
15
4.
b
vB
vD
o
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vA
d
vAB
a
16
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