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Chapter 6 Notes Velocity Analysis Velocity Analysis: R DT R D V DT D
Chapter 6 Notes Velocity Analysis Velocity Analysis: R DT R D V DT D
Chapter 6 Notes Velocity Analysis Velocity Analysis: R DT R D V DT D
Chapter 6 Notes
Velocity Analysis
MENG 371
Dr. Keith Hekman
The American University in Cairo
Mechanical Engineering Department
&
4.2 Definitions
& dR &
Linear Velocity (V) V = dt = R
d
=
Angular Velocity () =
dt
4.3& Velocity of a point
RPA = pei
&
&
&
VPA = VP = RPA
= pei i = pei (i )
( )
if point A is moving
All figures taken from Design of Machinery, 3rd ed. Robert Norton 2003
1
&
&
VP = V A + pei (i )
VBA
VB
VBA Direction
VBA
VA
VCA
VA
VB
Double Scale
VCA
VC
VB Direction
Instant Centers
Instant Centers
I13
I24
Instant Centers
Instant Centers
I13 has zero velocity since link 1
is ground
3 is the same all over link 3
Velocity relative to ground=r,
perpendicular to r
VA2=a2=VA3=-p3
From this,3 is in the opposite
direction as 2 since a and p are
VA2
in opposite directions, and
smaller in magnitude since p>a A
p
3
a
7
I13
I24
VA3
8
VI4 V
I2
l2
A
B
O2
O4
Power=Tinin=Toutout
A
O4
O2
10
( )
( )
( )
i 2 ae i 2 + i 3bei 3 i 4cei 4 = 0
or
&
&
&
V A + V BA V B = 0
where
11
&
V A = i 2 aei 2
&
VBA = i 3bei 3
&
VB = i 4cei 4
cei 4 3 2 aei 2
=
cei 4 4 2 ae i 2
1
3 bei 3
cei 4 2 aei 2
Invert matrix
= i 3
ce i 4 2 ae i 2
4 be
bei 3
i 3
be
12
14
i 3
+ i 3 be
i 3
+ ce
i 4
)= i ae
2
i 2
be i 3 i 3 be i 3 + ce i 4 = i 2 ae i 2
Similarly
V p = i 2 aei 2 + i 3 pei ( 3 + 3 )
RS = sei ( 2 + 2 )
(
(
i 3
i 4
(
(
VS = i 2 sei ( 2 + 2 )
b i 2 aei 2
=
i
3 i 2 ae 2
e
i be + ce
i 3
i be i 3 + ce i 4
e
1
b ei 3
i bei 3 + cei 4 i 2 aei 2
= i 3
i be i 3 + ce i 4 i 2 ae i 2
15 3
e
bei 3 + i 3 be i 3 + cei 4 = i 2 ae i 2
RU = uei ( 4 + 4 )
VU = i 4uei ( 4 + 4 )
16
RP