Lecturer 8

5. Dynamic analysis of linkage mechanism

In the dynamic study of linkage mechanisms the forces that produce motion of mechanism,
the weight of elements and their distribution are taken into account.
In the dynamic study is used the dynamic model which consists of the kinematic model is
filled with external forces, the weight and their distribution.

In the dynamic analysis the dynamic model is known and the mechanical properties of
mechanism are found.

5.1. Forces in mechanisms

The forces that operate in the mechanisms can be divided into:

- External forces:
 driving forces;
 resistant forces;
- Internal forces:
 gravity forces;
 Inertial forces;
 Geometrical constraints forces in joints;
 Friction forces.
External Driving Forces:
 generate power;
 their size is power consumption;
 Their size is found experimental and their represents the variation of a driving
characteristics (speed or a position);
Ex:

Mechanical characteristics in case of

gravity action

Mechanical characteristics in case of an

electromagnet action
 Mechanical characteristics in case of
spring action

Driving characteristics for an

asynchronous engine

DC engine

External Resistant forces

 consume power;
 their size represents the useful power;
 their size is found experimental like diagrams which represents the dependence
between the force and displacement or speed.
Ex

characteristic of a drill press characteristic of a centrifugal pump

From interaction between the driving forces and resistance forces the mechanism motion
results.
Gravity forces
 each element has a mass ”m”=> G=mg;
 depending of the mass and their size and orientation the gravity forces are or are not
taken into account.
Inertial forces
 occur as a kinetic constraints;
 The inertial moments in a planar motion are:
 
 i  F i  m  a
G   G

i
M   J G  
Where: aG- is the acceleration for G
JG- is the mechanical inertial moment relative to an axis passing through G.
Particular forms of inertia forces:
- Element in planar motion (translational and rotational)

- Element in rotational motion

ω=const;
ε=0

Element in rotational motion around of G

ω=const=>ε=0
ω=dif.=>ε= dif=>Mi

- Element in translational motion

Geometrical constraints forces

Because of the driving, gravity and inertial forces in mechanism joints geometrical constraints
forces appear which have to be found in order to dimension the joints.
The number of geometrical constraints is given by rg.
In order to calculate the geometrical constraints forces, first is checked if the system obtained
is statically determined (no. of eq. is equal with the no. of unknowns).
In calculus the external forces are considered to be known and the other are found from the
equilibrium equations
 5.2. Conditions of forces transmission
0
1 . Avoiding blocking
The blocking is the position where the force which acts over the mechanism cannot move
it.
Ex.

In practice this phenomena appears because of the friction.

These situations can be avoided by applying an external force (ex. spring) or by installing
in parallel of a mechanism.

20. Pressure angle

The pressure angle in the angle between the force directions and the speed directions of the
element where the force acts.

If the pressure angle is higher than the transmission, efficiency is lower, so:

   a  50 0
Ex.

4linkage mechanism
 Slider crank mechanism

5.3. Dynamic equilibrium of linkage mechanism

In motion, under the action of external driving and resistance force and gravity forces, the
inertial forces appear. These are passed by means of linkages and joints to base of
mechanisms.
The inertial forces introduce a variable vibration of a base.
In order to minimize this effect the mass of elements is redistributed. This redistribution is
called equilibrium. The equilibrium is the procedure of redistributed mass of elements in
order to minimized the effect of inertial forces.
The equilibrium can be:
- Static, when ag=0=> Fi=0 (mass center is a fix point)
- Dynamic, when ag=0 and effect of inertial moment is minimized
The equilibrium of planar of linkage mechanism
In case of planar mechanism for static equilibrium
Fxi  0;
F yi  0;
 m j x j  mG xG
The position of mass center has to be fixed (xG, yG= const).
This condition is fulfilled by redistribution the mass or by using counterweights.

4R
  m2 B  m2C  m2 m
   2B
m2 B  G2 B  m2C  G2C m2C

 (m1B  m2 B )  AB  m IrI
(m  m )  CD  m
 2C 3C IIrII
Steps for equilibrium:
- mass of elements are concentrated in points;
- counterweight are added in order to obtain the mass center in a fixed point.
The mass center of mechanism will be on the line AD, and from eq. 2 the distances rI, rII are
calculated.

3RT

 m IrI  (m2C  m2 B )  BC

m IIrII  (m1B  m2  m3  m I )  AB
In case of the inertial forces for element if no. 3 is small, the counterweight mI is neglected
and the mechanism is partial static in equilibrium.