Velocity Analysis Using

Instant Centers
MEE321
 Velocity Analysis
We discussed a means for getting the velocity equation by
taking the derivative of the position vector loop with
respect to time:

Position: cos 𝜃2 cos 𝜃3 0

𝑎 −𝑠 + =0
sin 𝜃2 sin 𝜃3 𝑑
ሶ − sin 𝜃2 cos 𝜃3 ሶ − sin 𝜃3
Velocity: 𝑎𝜃2 − 𝑠ሶ − 𝑠𝜃3 =0
cos 𝜃2 sin 𝜃3 cos 𝜃3
This is great for using code to solve for the velocities over
time, but a graphical method may give additional insights
more quickly
One such method is instant centers
Instant Centers
A point relative to two bodies (links) that has the same velocity
An easy to see example of one is the point located on the shared joint between the two links

Same 𝑣Ԧ relative to
both link 2 and 3

2 3
Instant Centers
If one of the links is fixed, all velocities on the
moving link are tangential to circles centered on
the IC. We can solve for velocity of any point via
𝑉 = 𝜔𝑅

Since the IC is “fixed” between two links, we can

do the same with any IC. All points on both links
move perpendicular to lines pointing through the
IC
Instant Centers
For a mechanism with 𝑛 links, including the ground link, the number of instant centers is
𝑛 𝑛−1
𝐶=
2

4 4−1
𝐶= =6
2
Instant Centers
For a mechanism with 𝑛 links, including the ground link, the number of instant centers is
𝐶=6
Using the joints, we get four of the instant centers: Where are the other two?

Instant center
between links 3
𝐼23 and 4
𝐼34

Instant center
between links 1
and 2 𝐼14
𝐼12
Instant Centers
Using the joints, we get four of the instant centers: Where are the other two?
Kennedy’s Theorem: For any three links there are three instant centers and they lie along the
same line.
Let’s try that to find 𝐼13
 Instant Centers
Kennedy’s Theorem: For any three links there are three instant centers and they lie along the
same line.
Let’s try that to find 𝐼13 : For links 1, 2, and 3, 𝐼12 , 𝐼23 , and 𝐼13 must be on the same line. We
already know two of these, so the third is on the green line connecting 𝐼12 and 𝐼23

𝐼23
𝐼34
4 2

3
𝐼12 𝐼14
 Instant Centers
Repeat for links 1, 3, and 4 to get the line connecting 𝐼14 , and 𝐼34 . 𝐼13 must lie on this line as well
as the one in the previous slide. Therefore 𝐼13 is where those two lines intersect.

𝐼13
1

𝐼23
𝐼34
4 2

3
𝐼12 𝐼14
 Instant Centers
Similarly, we can find 𝐼24

𝐼13
1

𝐼23
𝐼34
4 2

𝐼12 𝐼24
3
𝐼14
Instant Center for Sliding Joint
Sliding joints don’t rotate, so they can’t have an instant center….or do they?
Instant Center for Sliding Joint
Sliding joints have an Instant Center located at ∞ along a line normal to the direction of slide:

IC at ∞ along IC at ∞ along
this line this line
Instant Center for Sliding Joint
Sliding joints have an Instant Center located at ∞ along a line normal to the direction of slide:

𝐼14
∞

𝐼14
∞ 𝐼23
2 3 4
𝐼34
𝐼12
1
 Instant Center for Sliding Joint
Sliding joints have an Instant Center located at ∞ along a line normal to the direction of slide:

1 𝐼14
𝐼24 ∞

4 2 𝐼14
∞ 𝐼23
2 3 𝐼344
3
𝐼12
1
 Instant Center for Sliding Joint
Sliding joints have an Instant Center located at ∞ along a line normal to the direction of slide:

𝐼13

1 𝐼14
𝐼24 ∞

4 2 𝐼14
∞ 𝐼23
2 3 𝐼34 4
3
𝐼12
1
Example
Given: 𝑎 = 2, 𝑏 = 4, 𝑐 = 4, 𝑑 = 3, 𝜃ሶ2 = 10𝑅𝑃𝑀, 𝜃2 = 135°
Find 𝜃ሶ4
Example
Given: 𝑎 = 2, 𝑏 = 4, 𝑐 = 4, 𝑑 =
3, 𝜃ሶ2 = 10𝑅𝑃𝑀, 𝜃2 = 135°
Find 𝜃ሶ4

𝐼24
 𝑣Ԧ𝐵

Example
Given: 𝑎 = 2, 𝑏 = 4, 𝑐 = 4, 𝑑 = 𝜃ሶ4 = 𝜔4
3, 𝜃ሶ2 = 10𝑅𝑃𝑀, 𝜃2 = 135° 𝑣Ԧ𝐴

Find 𝜃ሶ4

𝜃ሶ 3 = 𝜔3

𝐼24
 𝑣Ԧ𝐵

Example
Given: 𝑎 = 2, 𝑏 = 4, 𝑐 = 4, 𝑑 = 𝜃ሶ4 = 𝜔4
3, 𝜃ሶ2 = 10𝑅𝑃𝑀, 𝜃2 = 135° 𝑣Ԧ𝐴

Find 𝜃ሶ4

𝑣Ԧ𝐴 = 𝑎𝜃ሶ 2 = 𝑝𝜃ሶ 3

𝑣Ԧ𝐴 8.23 = 𝑝
𝜃ሶ 3 = 8.63 = f
𝑝

𝑣Ԧ𝐵 = 𝑐𝜃ሶ4 = 𝑓𝜃ሶ 3

𝑓 𝑓 rad 𝜃ሶ 3 = 𝜔3
𝜃ሶ4 = 𝜃ሶ3 = 𝜃ሶ 2 = 0.549
𝑐 𝑐𝑝 sec

𝐼24