Chapter 6

Velocity Analysis


Position Analysis
Velocity Analysis

Kinematic
Analysis

Acceleration Analysis

Force Analysis

Stress Analysis

(Velocity)


The rate of change of position w.r.t. time.
Linear Velocity V
Angular Velocity

pejq
p(),q

= ( )

= =

() ejq j
90

VR
Rw

Case 1:
VPA

VPA

P2A2, 33
(velocity difference equation)
P

VPA VP - VA
or
VP VA + VPA = +

Case 2:

VPA

VPA

P1A23
(relative velocity equation)

VPA VP - VA

()

VB VA + VBA = VA +

3 =

??

VC VA + VCA =

VA +

= 3

4 =
4


(Instant center)

(i j)

(Instant center, instantaneous

center, centro) Iij

Instantaneous center (IC) or

( I,

5
1. (R)
R

2.
VAVB

VA

A
B
I12

VB

=
=
12 12

3. (P)
or sliding motion
I V(sliding direction)

VA

4 (cam pair)
(roll-slide)
I23(O2O3)

O2
O3

I23

()

5 (pure rolling)

 (Kennedy theorem) or
3

Ijk
Iik

Iij

1. i j Iij
2. N N(N-1)/2

3. 1 2 3 N N

4.

5. i j i j

6. (Kennedy theorem)
()

(1)
n2 =

1. nijIij

2.5
Iij ij

3. Iik ik
()
4. IimImkIijIjkIik
5. 34

I13
1

I24

1i(wi)
j(wj)
I1i, I1j, Iij
I1i, I1jij

2 Iijij
Vij
= 1
= 1


w2 or VAw3, w4, VC,VB
1. A, B, C

I13
VC,VB
2. I13

3.
= = = 3 ()
23 13

13

w3, VC,VB

4. 4 =
14

13

w2 or VAw4
1.I24
2.24 = 24 2 2 = 24 4 4

4 24 2
=
2 24 4

(A) Angular velocity ratio

(B) Torque ratio mT =

mv =

(C) Mechanical advantage mA =

=

4
2

P = Tw

=


=
=

mA,mv
mA
mV

I24

2
=
=
=

4
=

24 4
24 2

24 2

24 4
mA

23

Example:
I24

24 4
24 2

24 4 108.2
24 2 25.4

Example:

= 24 4

24 2
24 4 2
=
24 2 4

=
I24

Example 1: Four-bar linkage

Input: w2
Output: w3, w4

+ 3

R2 + R3 R4 R1 = 0

1 =0

2 2 2 + 3 3 3 4 4 4 = 0

()
Euler identity

2 2 (cos 2 + sin 2 ) + 3 3 (cos 3 + sin 3 ) 4 4 (cos 4 + sin 4 ) = 0

Re: 2 2 sin 2 3 3 sin 3 +4 4 sin 4 = 0
Im: 2 2 cos 2 + 3 3 cos 3 4 4 cos 4 = 0

3 sin 3
3 cos 3

4 sin 4
4 cos 4

3
2 2 sin 2
4 = 2 2 cos 2

w3, w4


Example 1: Four-bar linkage

Input: w2
Output: w3, w4
= 2 2

0 2
= 0
2 2 0
= (2 sin 2 2 )i + (2 cos 2 2 )

= 4 4

0 4
= 0
4 4 0
= (4 sin 4 4 )i + (4 cos 4 4 )

= +

= 3 3

0 3
= 0
4 sin 4 4 =2 sin 2 2 +(3 sin 3 3 )
3 3 0
= (3 3 )i + (3 3 )
4 cos 4 4 =(2 cos 2 2 )+ (3 cos 3 3 )
= (3 sin 3 3 )i + (3 cos 3 3 )
w3, w4


Example 2: Crank-Slider mechanism
Input: w2
Output: w3, 1

R2 R3 R4 R1 = 0

2 2 3 3 4 4 1 =0
2 2 2 3 3 3 1 = 0

()
Euler identity

2 2 (cos 2 + sin 2 ) 3 3 (cos 3 + sin 3 ) 1 = 0

Re: 2 2 sin 2 +3 3 sin 3 1 = 0

Im: 2 2 cos 2 3 3 cos 3 = 0

3 sin 3
3 cos 3

1 3
2 2 sin 2
=
0 1
2 2 cos 2

:
w3, 1

Example 2: Crank-Slider mechanism

= 2 2

0 2
= 0
2 2 0
= (2 sin 2 2 )i + (2 cos 2 2 )

Input: w2
Output: w3, 1 ( )
= + 0 j

= +

=(2 sin 2 2 )+(3 sin 3 3 )

= 3

0=(2 cos 2 2 )+(3 cos 3 3 )

0 3
= 0
3 3 0
w3,
= (3 3 )i + (3 3 )
3
= (3 sin 3 3 )i + (3 cos 3 3 )

Example 3: Inverted Crank-Slider mechanism

Input: w2
Output: 3 w3, w4
Constraint: w3 = w4

R2 R3 R4 R1 = 0

2 2 3 3 4 4 1 =0

()

2 2 2 3 3 3 3 3 4 4 4 = 0
2 2 (cos 2 + sin 2 ) 3 3 (cos 3 + sin 3 )
3 (cos 3 + sin 3 ) 4 4 (cos 4 + sin 4 ) = 0
Re: 2 2 sin 2 +3 3 sin 3 3 cos 3 +4 4 sin 4 = 0
Im: 2 2 cos 2 3 3 cos 3 3 sin 3 4 4 cos 4 = 0

3 sin 3 + 4 sin 4
3 cos 3 4 cos 4

cos 3 3
2 2 sin 2
=
sin 3 3
2 2 cos 2

w3, 3

Example 3: Inverted Crank-Slider mechanism

Input: w2
Output: 3 w3, w4
Constraint: w3 = w4

= 2 2
= (2 sin 2 2 )i + (2 cos 2 2 )

= 4 4
= (4 sin 4 4 )i + (4 cos 4 4 )

= 3 +
= (3 sin 3 3 )i + (3 cos 3 3 ) + 3 cos 3 + (3 sin 3 )

= +
(4 sin 4 4 ) = (2 sin 2 2 ) + (3 sin 3 3 )+ 3 cos 3

(4 cos 4 4 ) = (2 cos 2 2 ) + (3 cos 3 3 )+3 sin 3

w3, 3
3

VBA
3B(B3)
A4
B(B4)
B3