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ME 3507: Theory of Machines

Velocity Analysis: Analytical


Approach

Dr. Faraz Junejo

Introduction
One of the major criteria of which a
designer must be aware is the
ability for a particular mechanism to
transmit torque or force.

Angular Velocity Ratio


(mVdivided
) by input
Output angular velocity
angular velocity.
For a four bar mechanism it can be expressed
as:
mV = 4 / 2

Can derive this ratio for any linkage by


constructing a pair of effective links as shown
in Figure 6-10a.
Effective link pair =
Two lines (links),
mutually parallel, drawn through the fixed pivots
and intersecting the coupler extended. For
example, O2A & O4B in Figure 6-10a.

The only requirement on the effective link pairs is


that they be parallel lines
Now proceed to derive mv expression

VA lies along the Link AB.


Just as with a two-force member in
which a force applied at one end
transmits only its component that
lies along the line to the other end,
this velocity can be transmitted
along the link to point B

We can equate these components at


either end of the link:

As angle v goes to zero, the angular


velocity ratio will be zero regardless of the
values of 2 or the link lengths, and thus
4 will be zero.
Since, when links 2 and 3 are collinear (i.e.
in their toggle positions), the limiting
positions of link 4 are reached.
Hence, we should expect that the velocity
of link 4 to be zero when it has come to
the end of its travel.

If we allow transmission angle to go to


zero, 4 will go to infinity, regardless of the
values of 2 or the link lengths.
We clearly cannot allow to to reach zero.
In fact, we learned earlier that we should
keep at least above about 40 degrees to
maintain good quality of motion and force
transmission.

Using IC to determine mV

Mechanical Advantage
Work = Force * Distance
Power is the rate of doing work.

Power = Force * Velocity


Or in a rotational system
Power = Torque * (Angular Velocity)
By equilibrium,
Power In = Power Out + Losses
Mechanical Efficiency can be defined
as
Efficiency = (Power Out)/(Power In)

Mechanical Advantage (contd.)

By using low-friction bearings, linkages


can be very efficient w/ losses < 10%
Assume that losses are zero
Power In = T22
Power Out = T44
And using Power In = Power Out +
Losses
T22 = T 44
Torque ratio (mT) = T4 /T2 = 2 /4
Note torque ratio is inverse of angular
velocity ratio

Mech. Advantage (mA) = Output Torque/Input Torque


Mech. Advantage (mA) = T4 /T2 = 2 /4

or

As approches 0 (which we dont want)


Output Torque, T4 0 implying mA 0
As approaches 0 (which it does twice per
cycle in a Grashof linkage) implying mA
Note: mV & mA provide useful, dimensionless
indices of merit by which we can judge the relative
quality of various linkage designs which may be
proposed as solutions.

Mechanical Advantage (contd.)

Mechanical Advantage (contd.)


Becaus
e,

Thus the mechanical advantage is a product of two factors:


(1) a ratio of distances that depend on the placement of the
input and output forces and
(2) an angular velocity ratio.
The first factor may not change in value as the mechanism
moves, but the second
one will change in most linkage mechanisms. Since the angular
velocity ratio can be expressed entirely in terms of directed
distances (based on the instant-center development), the
mechanical advantage can be expressed entirely in terms of

Example

Exercise
Figure shows a four bar chain in which link AD is the
driver and link BC is the driven. The driver rotates
uniformly at a speed of 120 rpm, and the constant
driving torque is 50 Nm. At a particular phase of the
mechanism, the angular velocity of the driven link is 2
rad/sec.
M.A (ideal)= 6.28
a. Calculate the ideal mechanical advantage.
b. What will be the resisting torque at this instant
220N.m
if the efficiency of the four barAns.
chain
is 70%.

Analytical Velocity Analysis

Velocity Analysis of Fourbar Linkage


using Vector Loop Method

Step 1: From Position analysis the


associated vector loop equation is:

2. Represent Each Vector using Complex


Number Notation

3. To get an expression for velocity,


differentiate above equation w.r.t. time

Note that 1 has dropped out, b/c it is a


constant, and hence its derivative is zero.

A careful attention will show that above


equation is in fact the relative velocity or
velocity difference equation:

Where,

This equation is solved


graphically in the Vector
diagram of Figure 6.20b
on previous slide.

Eq: 615

4. Now solving following equations for 3 and 4

5. Substitute Euler Identity into above


equation

6. Now multiply throughout by complex


operator j

7. Above equation can now be separate into real and


imaginary parts, and each set to zero.

8.Solving above two equations


simultaneously by direct substitution
yields:

and

There will be two solutions since


mechanism can be open or crossed
(Figure 6-20, shows open
configuration)

Example: 1
Calculate the angular velocity of Link
4, 4 when the input angular velocity,
2 = 1 rad/s and 2 =30

Since,
We have all the required parameters except
3 and 4
How can we obtain 3 and 4?
Using methods from Position analysis:
Open Configuration:
3 = 35.4, 4 = 84.4 4 = -0.075 rad/s
Cross Configuration:
3 = -73, 4 = -122 4 = -0.775 rad/s

Plot of Output Velocity versus Input


Variable

Using a Matlab program, we can plot the


output velocity (4) for all values of the input
variable (0 2 360).
For instance when 2 = 1 rad/s:

Velocity Analysis of Offset Slider-Crank


Linkage using Vector Loop Method

Step 1: From Position analysis the associated


vector loop equation is:

R2 - R 3 - R 4 - R 1 = 0

2. Letting the vector magnitudes (link lengths) be


represented by a, b, c, d as shown, we can substitute
the complex number equivalents for the position
vectors.

Eq:
4.14b

3. Substitute Euler Identity into equation


6.20a yields
4. Now it can be rewritten as:

5. Above equation can now be separate into real and


imaginary parts, and each set to zero.

Solving above two equations simultaneously yields:

Velocity Analysis of Offset Slider-Crank


Linkage Solution

Velocity of Any Point on


a Link

Velocity of Point S & U


RU ue j
4

VU j4 ue

j 4 4

kewise, velocity of point U can be found in similar manner.

Velocity of Point P
At first,
finding
the
position
vector of
point P.

Velocity of Point P (contd.)

Velocity of Point P relative to


Point O2

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