3.

Velocity Analysis
Lecture

JB Kim

Mechanism Design

 Definition

p j (cos j sin )
p ( sin j cos )
+ 90 degree rotation of RPA vector
depending on the direction of rotation

VPA in this case: absolute velocity = VPO = VP

JB Kim

Mechanism Design

Velocity Difference

JB Kim

Mechanism Design

Relative Velocity

JB Kim

Mechanism Design

Graphical Velocity Analysis

Solving for the velocities of particular points in a
mechanism for any one input position by drawing vector
diagrams
Easy to get velocity quickly good for checking
analytical solution
Given:
Length of all the links
Angular positions of all the links complete position analysis
should be performed first!!
Instantaneous input velocity of a driving link (or driving point)

JB Kim

Mechanism Design

Graphical Velocity Analysis

Given: 2, 3, 4, 2
Find: 3, 4, VA, VB, VC
q

VBA

VA
p
VB
q

JB Kim

Mechanism Design

Graphical Velocity Analysis

3, 4, VA, VB, VC

??

VCA

VA
VC
r

JB Kim

Mechanism Design

In summary,
______

______

|VA | O2 A 2 , O2 A
_______

Direction of VB O4 B

VBA

VB VA VB A

VB

_______

Direction of VB A AB

V
4 B
BO4

V
3 BA
BA

VCA

VA
VC

VC VA VC A
______

VA

______

|VCA | AC 3 , AC
JB Kim

Mechanism Design

Instant Center of Velocity (Centro, Pole)

- A point, common to two bodies in plane motion, which has the same
instantaneous velocity in each body

Number of I .C.

n ( n 1)
,
2

n : # of links

- A centro can be either stationary or moving point

JB Kim

Mechanism Design

(Aronhold-) Kennedy Rule

-Any three bodies in plane motion will have exactly three instant centers,
and they will lie on the same straight line

JB Kim

Mechanism Design

Finding Instant Centers

I1,3
1
4

VI23
VI34

I2,4

3
Linear Graph
In a Linear Graph,
lines become points,
and points become
lines.

JB Kim

Mechanism Design

JB Kim

Mechanism Design

ICs Can Be At Infinity

V I 34

JB Kim

V I 34

Mechanism Design

JB Kim

Mechanism Design

JB Kim

Mechanism Design

JB Kim

Mechanism Design

JB Kim

Mechanism Design

Velocity Analysis with Instant Centers

vA
3
( AI1,3 )
vB ( BI1,3 ) 3

vB
4
( BO4 )
vC (CI1,3 ) 3

JB Kim

Mechanism Design

Angular Velocity Ratio (mv)

4
Definition: output/input = mv
2
O2 A (O2 A) sin
O4 B (O4 B ) sin

v A (O2 A) 2

v A vB

Principle of
Transmissibility

O2 A 2 O4 B 4

4 O2 A

2 O4 B
4 O2 A sin

mV
2 O4 B sin
JB Kim

Mechanism Design

4
mv
2
4 O2 A sin

mV
2 O4 B sin
4 O2 A

2 O4 B
mV

4 O2 I 2, 4

2 O4 I 2, 4

When 0o , 4 0.
4 O2 A sin

mV
2 O4 B sin
JB Kim

Mechanism Design

Toggle

Mechanical Advantage (mA)

Power:

P F V FxVx FyV y

Power
conservation

P T

Pin Tin in
Definition:

Fout
mA
Fin

in
Tout

Tin
out

Pout Tout out

Tout
Fout
rout

Tin
Fin
rin

Fout Tout rin in rin O4 B sin rin

mA

Fin Tin rout out rout O2 A sin rout
4 O2 A sin

mV
2 O4 B sin

JB Kim

Mechanism Design

 Tout rin in rin O4 B sin rin

m A
Tin rout out rout O2 A sin rout

JB Kim

Mechanism Design

 Tout rin in rin O4 B sin rin

m A
Tin rout out rout O2 A sin rout

JB Kim

Mechanism Design

[Design Example using I.C.]

When bumping,
I1,3 moves backward and
lower, which creates more
forwarding velocity.

JB Kim

Mechanism Design

Centrode (Polode)
Locus of all possible positions of the instant center for the velocity of one link
w.r.t. another link

JB Kim

Mechanism Design

Moving Centrode

Fixed Centrode

JB Kim

Mechanism Design

JB Kim

Mechanism Design

JB Kim

Mechanism Design

JB Kim

Mechanism Design

JB Kim

Mechanism Design

JB Kim

Mechanism Design

JB Kim

Mechanism Design

Velocity of Slip

Given 2 , 4 ?
______

|VA 2 | O2 A 2
- Decompose VA2 along
axes of trans & slip.
- Vtrans common to all
A2, A3, A4.
-VA3 = VA2.
______
-Direction of VA4 O4 A.
-Projection of Vtrans
=> determine VA4.
-VA4Slip
-Vslip42 = VA4slip VA2slip

3 4

JB Kim

VA 4
______

O4 A
Mechanism Design

[Example]

JB Kim

Mechanism Design

Analytical Velocity Analysis

Fourbar Linkage

3 = f(a,b,c,d,2, 3, 4, 2)
4 = f(a,b,c,d,2, 3, 4, 2)

JB Kim

Mechanism Design

Velocity
of a Point
on a Link

JB Kim

Mechanism Design

Slider-Crank

2 given, 3 & VB ?

JB Kim

Mechanism Design

Vector loop equation

R2 R3 R4 R1 0

a e j 2 b e j 3 c e j 4 d e j 1 0

AB

AO2

Const Vector

1 0o , 4 90o
d = time-varying

CO2

Differentiate w.r.t. time.

ja 2 e j 2 jb3 e j 3 0 d 0
VA

VAB

VB

ja 2 (cos 2 j sin 2 ) jb3 (cos 3 j sin 3 ) d 0

Eulers Identity

Re : a 2 sin 2 b3 sin 3 d 0
Im : a 2 cos 2 b3 cos 3 0
B

JB Kim

a cos 2
3
2
b cos 3

A
B

VB d a 2 sin 2 b 3 sin 3
Mechanism Design

[More Examples]

Do it yourself !
JB Kim

Mechanism Design

Mechanism Examples

Can crusher
Simple press

JB Kim

Mechanism Design

Mechanism Examples

Rear-window wiper

Moves packages from an assembly

bench to a conveyor

JB Kim

Mechanism Design

Mechanism Examples

Device to close the

top flap of boxes

JB Kim

Conceptual design for an

exercise machine
Mechanism Design