Velocity Analysis of Stone Crusher Mechanism

Refer Fig.1

Fig.1
In this mechanism shown in the Fig.1(a), the crank O1B revolves
with a uniform angular velocity of ‘ω’ rad/s clockwise. Therefore, the
velocity of ‘B’ can be obtained as vb = ω r m/s, where ‘r’ is the
length of the crank O1B (in m). So, draw a line from any fixed point O1
(or O2 or O3) ∟ to O1B, and in the sense from O1 to b in the velocity
diagram, with a magnitude of (ω r) m/s as per a suitable scale (say 1
cm = x m/s).
Problem :
The following data corresponds to a Stone – crusher mechanism, shown
in Fig.1 above :Length of the crank O1B = 25 cm ; O1B makes an angle of 350
with the horizontal (measured cw) ; horizontal distance between the fixed
centers O1 and O2 = 15 cm ; vertical distance between O 1 and O2 = 36 cm ;
length of crank O2A = 30 cm ; O2A makes an angle of 400 with the horizontal
(measured ccw) ; BC = 30 cm ; AC = 75 cm ; horizontal distance between the
fixed centers O1 and O3 = 85 cm ; vertical distance between O1 and O3 = 15
cm ; O3D = 21.7 cm ; CD = 35 cm ; DE = 17.25 cm ; O3E = 21.85 cm ;
The crank O1B rotates uniformly with a speed of 334 rpm. How to find the
velocity of the ‘E’ at which the stone – crusher is attached?

Solution : Draw the configuration diagram to a suitable scale as per the data
given above Refer Fig.1(a).
Construction of the Velocity diagram : Refer Fig.1(b)

Since N = 334 rpm ωO1B = 35rad/s ;

∴vb = ω r = 35 25 = 875 cm/s = 8.75 m/s ;
Therefore, draw a line o1b from any fixed point in space (to represent o1 or
o2 or o3) perpendicular to O1B (in the configuration diagram) equal to the
magnitude of vb to a suitable scale (here, a scale of 1 unit = 25 cm/s is
used).
To get the velocity of A (va) :
To get the velocity vector va use the velocity relation :
va = vb + vab .
Therefore, draw a line from O2 ∟ to O2A, and draw another line from b
∟ to AB, to intersect at the point ‘a’ in the velocity diagram. Now, the
vector O2a represents the velocity va of ‘A’, and the vector ba represents
the relative velocity vab of ‘A’ w.r.t. ‘B’, and in the sense from ‘b’ to
‘a’ in the velocity diagram.
To get the velocity of C (vc) :
Now, to get the velocity of ‘C’, draw the velocity image of the link
ABC. For that, draw a line from a (in the velocity diagram) ∟ to AC,
and draw another line from b (in the velocity diagram) ∟ to BC, to
intersect at the point ‘c’. Thus, abc is the velocity image of the link
ABC. If we join O2 with ‘c’, the vector o2c represents the velocity (vc)
of the point ‘C’ in magnitude, direction, and sense (from o2 to c).
To get the velocity of D (vd) :
Now, to get the velocity of ‘D’ use the velocity relation : vd = vc +
vdc . Thus, draw a line from O3 ∟ to the line joining O 3 with D, and
draw another line from ‘c’ ∟ to CD, to intersect at the point ‘d’. Now,
the vector O3d represents vd in magnitude, direction, and sense (from O3
to d). Similarly, the vector dc represents the relative velocity of ‘D’
w.r.t. C’ in magnitude, direction, and sense (from c to d).
To get the velocity of E (ve) :
Now, to get the velocity of ‘E’, draw the velocity image of the link
O3DE. For that, draw a line from o3 (in the velocity diagram) ∟ to the
line joining O3 with E, and draw another line from d (in the velocity
diagram) ∟ to the line joining D and E, to intersect at the point ‘e’.
Thus, O3de is the velocity image of the link O3DE.If we join o3 with ‘e’,
the vector o3e represents the velocity (ve) of the point ‘E’ in magnitude,
direction, and sense (from o3 to e).
Now, if ‘F’ is the horizontal force to be overcome to crush the
stone, and ‘T’ is the torque needed for this at the crank, then

T.ω = F (Horizontal component of ve) -- or -- T =

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