Professional Documents
Culture Documents
Acceleration Analysis: JB Kim Mechanism Design
Acceleration Analysis: JB Kim Mechanism Design
Acceleration Analysis: JB Kim Mechanism Design
Acceleration Analysis
Lecture
JB Kim
Mechanism Design
d RPA
j p e j
dt
d VPA
j d
dt
j p(e
dt
j e
d
)
dt
j p e j p 2 e j
t
APA
Tangential
n
APA
Normal
Regardless of the
direction of
Mechanism Design
Acceleration Difference
AP AA APA
A A A A
t
P
JB Kim
n
P
t
A
n
A
A A
t
PA
n
PA
Mechanism Design
Relative Acceleration
JB Kim
Mechanism Design
AAt
AB
Given 2 ,3 , 4 , 2 , 3 , 4 , 2 ,
ABn
AA
t
B
Find 3 , 4 , AA , AB , AC
A
t
BA
AAn
ABA
n
ABA
AA AAn AAt
______
| A | O2 A 22
n
A
______
| A | O2 A 2
t
A
AB AA ABA
A A AA A A
n
B
AB A A
n
B
______
| A | O4 B
n
B
______
t
B
JB Kim
n
BA
t
BA
______
_____
AB
_____
| A | AB 32
n
BA
2
4
| A | O4 B 4 ? O4 B
t
B
t
B
t
| ABA
|
______
t
| ABA
| ? AB
| ABt |
_____
BO4
Mechanism Design
ACA
??
JB Kim
Mechanism Design
JB Kim
Mechanism Design
R2 R3 R4 R1 0
d
dt
d
dt
ae
j 2
be
j 3
ce
j 4
de
j 1
1 0o , d constant
ja 2 e j 2 jb3 e j 3 jc4 e j 4 0
AAt )
AA
n
( ABA
t
ABA
)
ABA
( ABn
ABt ) 0
AB
Do it yourself!
Mechanism Design
JB Kim
Mechanism Design
R2 R3 R4 R1 0
d
dt
d
dt
a e j 2 b e j 3 c e j 4 d e j 1 0
ja 2 e
j 2
jb3 e
j 3
0d 0
(a22 e j 2 ja 2 e j 2 ) (b32 e j 3 jb 3e j 3 ) d 0
( AAn
AAt )
AA
n
( AAB
t
)
AAB
AAB
AB
AB
Mechanism Design
Eulers identity
Separate Re & Im
Solve
JB Kim
Mechanism Design
Coriolis Acceleration
RP p e j2
dR P
j 2
VP
jp2 e p e j2
dt
JB Kim
trans
p
Mechanism Design
slip
p
dR P
VP
jp2 e j2 p e j2
dt
d
dt
V
AP jp 2 e
APt
JB Kim
j 2
trans
p
p e
2
2
APn
j 2
slip
p
2 j p 2 e
APCoriolis
j 2
pe j 2 0
APslip
Mechanism Design
JB Kim
Mechanism Design
Mechanism Design