MP2002 Kinematics and Dynamics of Machinery Tutorial 4&5 2009/2010 Sem 2

MP2002 Kinematics and Dynamics of Machinery Tutorial 4&5

Q1. (Tutorial) The Figure below shows the kinematic diagram of a six-bar mechanism. The input link O B is rotating at a constant angular
2

velocity of 2 rad/s (ccw).

D
5

E
6

O
4

= 2 rad/s (ccw)

C
3

O B = 15 mm 2 BC = 40 mm CD = 30 mm O C = 15 mm 4 O D = 37 mm 4 DE = 25 mm O E = 15 mm
6

2 1

(i) Complete the velocity polygon on the answer sheet and find the velocities of points D and E, and the angular velocities of link 3, link 4, link 5 and link 6. Contruct the velocity polygon V =V +V
C B

CB

from the diagram V = 22 mm/s ;

C

CB

= 17.5 mm/s
3 4

Use V
3

CB

& V to calculate the angular velocities and :

C

= 0.44 rad/s (ccw) ;

= 1.46 rad/s (cw)

4

Use velocity image of link 4 to locate D directly on the velocity diagram.

MP2002 Kinematics and Dynamics of Machinery Tutorial 4&5 2009/2010 Sem 2

Q1 (cont.) Contruct the velocity polygon V =V +V

E D ED

from the diagram V = 46 mm/s ;

E

ED

= 9.5 mm/s
5 6

Use V
3

ED

& V to calculate the angular velocities and :

E 4

= 0.38 rad/s (cw) ; = 3.06 rad/s (cw) (ii) Construct the required acceleration polygon on the answer sheet and find the angular acceleration of link 4 and the acceleration of point D.

Contruct the acceleration polygon A

n C

+A =A
C

n B

+A +A
B t C

(zero)
CB

+A
2

t CB t CB

from the diagram A = 40.5 mm/s ; A Use A

3 t CB t C

= 81 mm/s

& A to calculate the angular accelerations and :

3 4 2 2 4

= 2 rad/s (cw) ; = 2.7 rad/s (cw) Use acceleration image of link 4 to locate D directly on the acceleration diagram. 2 A = 127 mm/s
D

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MP2002 Kinematics and Dynamics of Machinery Tutorial 4&5 2009/2010 Sem 2

Q2. The Figure below the kinematic diagram of a six-bar mechanism. The input link O C is rotating at a constant angular velocity of 2 rad/s
2

(ccw).
O
1

D A
2 5 3

= 2 rad/s (ccw)
2

C
6

B
4

O A = 15 mm 2 O C = 30 mm 2 AB = 25 mm CD = 40 mm DE = 70 mm O D = 50 mm
6 6

(i) Complete the velocity polygon on the answer sheet and find the sliding velocity of link 4, the velocity of point E and the angular velocities of link 3, link 5 and link 6. Contruct the velocity polygon V =V +V
B A

BA

from the diagram V = 32 mm/s ;

B

BA

= 16 mm/s
3

Use V
3

BA

to calculate the angular velocities :

= 0.64 rad/s (cw) Contruct the velocity polygon V =V +V

D C

DC

from the diagram V = 54 mm/s ;

D

DC

= 57 mm/s

MP2002 Kinematics and Dynamics of Machinery Tutorial 4&5 2009/2010 Sem 2

Q2(cont.) Use V & V to calculate the angular velocities and :

DC D 5 6

= 1.43 rad/s (cw) ; = 1.1 rad/s (cw)

5 6

Use velocity image of link 5 to locate E directly on the velocity diagram. V = 92 mm/s
E

(ii) Complete the acceleration polygon on the answer sheet and find the sliding acceleration of link 4, the acceleration of point E and the angular accelerations of link 3, link 5 and link 6. Contruct the acceleration polygon A =A
B n A

+A +A
A B

(zero)
n BA

+A

t BA 2

from the diagram A = 23 mm/s ; Use A

3 t BA

t BA

= 51 mm/s
3

to calculate the angular accelerations :

2

= 2 rad/s (ccw) Contruct the acceleration polygon A

n D

+A =A
D

n C

+A +A
C t D

(zero)
DC

+A
2

t DC

from the diagram A = 138 mm/s ; Use A

5 t DC t D

t DC

= 96 mm/s

& A to calculate the angular accelerations and :

5 6 2 2 6

= 2.4 rad/s (cw) ; = 2.76 rad/s (ccw)

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MP2002 Kinematics and Dynamics of Machinery Tutorial 4&5 2009/2010 Sem 2

Answer Sheet MP2002

O
2

D A
2 5 3

= 2 rad/s (ccw)

O A = 15 mm 2 O C = 30 mm 2 AB = 25 mm CD = 40 mm DE = 70 mm O D = 50 mm
6

C
6

B
4

Velocity polygon Scale : Acceleration polygon Scale :

MP2002 Kinematics and Dynamics of Machinery Tutorial 4&5 2009/2010 Sem 2

Q3. The Figure below shows the kinematic diagram of a five-bar mechanism. At the instant, the angular velocity and angular acceleration of link 2 are 1 rad/s (ccw) and 1 rad/s (ccw) respectively. The velocity of slider 5 is 50 mm/s to the right and its acceleration is 50 mm/s to the left.
B
3

C
4 2

= 1 rad/s (ccw)
2 D D

V2 A

= 1 rad/s (ccw) = 50 mm/s (to the right)

2

= 50 mm/s (to the left)

D O
1
2

O B = 50 mm 2 BC = 30 mm CD = 25 mm

(i) Complete the velocity polygon on the answer sheet and find the velocity of point C, and the angular velocities of link 3 and link 4.

This is a 2-dof mechanism and two inputs are needed. Contruct the velocity polygon V =V +V C B CB
V =V +V
C D CD

from the diagram V V = 58 mm/s C Use V & V

CB 3

CB

= 45 mm/s ; V

CD

= 107 mm/s ;

CD

to calculate the angular velocities and :

3 4 4

= 1.5 rad/s (cw) ; = 4.3 rad/s (ccw)

MP2002 Kinematics and Dynamics of Machinery Tutorial 4&5 2009/2010 Sem 2

Q3(cont.) (ii) Construct the acceleration polygon on the answer sheet and find the acceleration of point C, and the angular accelerations of link 3 and link 4.

Contruct the acceleration polygon A =A

C C n B

+ A +A
B CD

n
CB t CD

+A

t CB

n A = A + A + A
D

from the diagram A A = 535 t mm/st C Use A & A

CB 3 2

t CB

= 475 mm/s ; A

t CD

= 300 mm/s

CD 2

to calculate the angular accelerations and :

3 4

= 15.8 rad/s (ccw) ;

= 12 rad/s (cw)
4

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Note: the normal component of acceleration depends only on velocity and therefore its magnitude and deirction are known when performing acceleration analysis: A = r The tangential component can only be calculated if the angular acceleration is known: A =r
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t n 2