BITS Pilani

Pilani Campus

Analytical approach

Lecture-15 25 Feb, 2022

Dr J S Rathore
Outline

 Only one evaluative tutorial before midsem exam on 7th March

 Mathematical modeling of Kinematic analysis
1. Four link mechanism with all turning pair
2. Slider crank mechanism
3. Shaper mechanism

Formulation of static/dynamic equilibrium equation of each link

 Static Force Analysis

 Dynamic Force Analysis

2
BITS Pilani, Pilani Campus
Shaper mechanism

4 S4 5 S6

l 1 + s4 = l 2 - - - (1)

l2 + (l4 - s4) + l5 = l6 + s6 - - (2)

s4 cos 4  l2 cos 2
- - (3)
S 4  (l  l  2l1l2 sin  2 )
1
2 2
2
1/ 2
 l1  s4 sin  4  l2 sin  2
 (l1  l2 sin  2 ) 
 4  tan  1
 Refer Fig 2.9, page 61 (Ghosh - Malik)
 l2 cos 2  Problem 2.19, page 107
3
BITS Pilani, Pilani Campus
Shaper mechanism

l 1 + s4 = l 2 - - - (1)

s4 cos 4  l2 cos 2
- - (3)
 l1  s4 sin  4  l2 sin  2

S 4  (l12  l22  2l1l2 sin  2 )1/ 2

 (l1  l2 sin  2 ) 
 4  tan 1   4 S4 5 S6
 l2 cos 2 

s4 cos 4  s44 sin  4  l22 sin  2 l2 + (l4 - s4) + l5 = l6 + s6 - - (2)

s4 sin  4  s44 cos 4  l22 cos 2

Refer Fig 2.9, page 61 (Ghosh - Malik)
- - (4) Problem 2.19, page 107
4
BITS Pilani, Pilani Campus
Shaper mechanism

Home assignment: Acceleration analysis

4 S4 5 S6

s4 cos 4  s44 sin  4  l22 sin  2 l2 + (l4 - s4) + l5 = l6 + s6 - - (2)

s4 sin  4  s44 cos 4  l22 cos 2

- - (4)
5
BITS Pilani, Pilani Campus
Force analysis: Analytical approach

R3

PB
F1
B R4
R2

PA M1 F = Weight
2
A
PB
aG3 
Resultant Force 
 F  ma cg
B

α3
 
PA  M  J cg
A

6
BITS Pilani, Pilani Campus
Force analysis: Analytical approach

1. Formulation of static/dynamic equilibrium equation of each link

 Static Force Analysis

 Dynamic Force Analysis

Static Force Analysis

1. Newtonian approach (based on FBD and complete approach)
2. Principle of Virtual work (based on energy principle)

7
BITS Pilani, Pilani Campus
Force analysis: Analytical approach

R3  
 F  ma cg
 
R4  M  J cg
R2

Inertial loading

1. Motion generated forces are comparable with external forces

2. Must be included in calculation for safe design

8
BITS Pilani, Pilani Campus
Static Force analysis:
1) Situations, where INERTIA FORCES are negligible
2) Operating speeds are low

 
 F  ma cg F 0
 
 M  J cg  M 0

9
BITS Pilani, Pilani Campus
Static Force analysis:

F 0  Mass of the link is small 1. Newtonian approach

 Inertial loading is negligible 2. Principle of Virtual work
 M 0

F34

10
BITS Pilani, Pilani Campus
Ex 1: Static Force Analysis
Sketch complete FBD of the four-bar mechanism. Find the input crank torque
M12, required for equilibrium of the four bar linkage subjected to an external load
P = 120 kN acting as shown.
O2A = 6, AB = 18, O4B = 12, O4Q = 5, O2O4 = 8 O2 A  6135 
O4Q  568.4
B P = 120 kN O4 B  1268.4
3 22.4°
40° P  120 kN220 
4
Q
A O2 A  4.24iˆ  4.24 ˆj
135°
M12 2 68.4°
O4Q  1.84iˆ  4.65 ˆj
1
O2 O4 O4 B  4.42iˆ  11.16 ˆj
P  91.9iˆ  77.13 ˆj
11
BITS Pilani, Pilani Campus
Ex 1: SFA
B P = 120 kN

3 40°
22.4°
4
Q
A
135°
M12 2 68.4°
1
O2 O4

12
BITS Pilani, Pilani Campus
Ex 1: SFA

13
BITS Pilani, Pilani Campus
 BITS Pilani
Pilani Campus

Analytical approach

Lecture-16 28 Feb, 2022

Two and three force members:

F 0  Mass of the link is small 1. Newtonian approach

 Inertial loading is negligible 2. Principle of Virtual work
 M 0

PB
Fresultant B

PA
A

15
BITS Pilani, Pilani Campus
Ex 2: SFA
Sketch complete free body diagrams for the illustrated four-bar linkage. What torque
must be applied to link 2 to maintain static equilibrium at the position shown?
A
M12
2
60° O4
O2
3 46.06° 109.05°
B
P = 350 N 45 N-m
4

C
O2 A  200 mm60 O4C  350 mm  109.05
AB  200 mm  46.06 AC  700 mm  46.06
16
BITS Pilani, Pilani Campus
Ex 2: SFA F23 F14
A O4
A
F32 109.05°
M12
2 3 45 N-m
F12 46.06°
60° 4
B
O2 P = 350 N

 M o2 0  M12 F34θ
C
r
 M A 0  F43 F43θ F34r F34


F43r
F43  M o 4 0  F34
r 
 Flink 3 0  F23  P  F43  F43  0
iˆ ˆj kˆ

 45  F34  114  331 0 0
cos19.05  sin 19.05 0
17
BITS Pilani, Pilani Campus
Ex 3:
A four link mechanism subjected to external forces as shown in Figure. Determine
torque required to apply on link AB for static equilibrium. Also find pin reactions at
A, B, C & D.
Link Length Force Magnitude Point of application
AB 500 mm F2 80 N@ 73.5˚ 325 mm from A
 Graphically
BC 660 mm F3 144 N@ 58˚ 297 mm from B
 Analytically
CD 560 mm F4 60 N@ 42˚ 373 mm from D
AD 1000 mm Fixed link

1. By considering the combined action

of all the forces simultaneously.

2. By determining the effect of

each force separately and then
finding the overall effect by
vectorial superposition of
individual effects. 18
BITS Pilani, Pilani Campus
Static Force analysis:

F34r F34

F34θ
F23 F43θ

F32 F43r

19
BITS Pilani, Pilani Campus
Static Force analysis:

20
BITS Pilani, Pilani Campus
Static Force analysis:

 T2  T2a  T2b  T2c

21
BITS Pilani, Pilani Campus
Principle of Virtual Work:
1. Newtonian approach
2. Principle of Virtual work

 Based on the assumption that virtual work done by constraint forces is zero.
 Virtual work principle is easier to implement but gives less information.

“If a system is in static equilibrium is subjected to a virtual displacement, the work

done by all the externally applied forces in the system will sum to zero”.

F  0 Fapplied  Fconstraint  0
n
 Fapplied .δr   Fconstraint .δr  0   Fappliedi .δri  0
i 1

22
BITS Pilani, Pilani Campus
 BITS Pilani
Pilani Campus

Analytical approach

Lecture-17 2 March, 2022

ME/MF F221: Mid sem exam 2021-22
Syllabus: Closed book
1. Gruebler’s criterion, Kutzbach equation and Grashof’s law
2. Graphical analysis: Vector polygon method * Removed from midsem
 4-bar, Slider-crank, Shaper Mechanism etc
(Velocity and acceleration analysis)
 Instant center method for velocity analysis
3. Analytical approach:
 4-bar, Slider-crank, Offset slider-crank, Shaper Mechanism etc
4. Static Force Analysis
 Newtonian approach
 Principle of Virtual work

24
BITS Pilani, Pilani Campus
Ex
Figure illustrates a four-bar mechanism with external forces applied at point B and D. Find
the magnitude and direction of the moment that must be applied to link 2 to maintain static
equilibrium at the position shown.

B PB = 445 N

C
3
D
PD = 890 N
34.61 15
4
A
2 30 67.81 84.34

O2 O4
25
BITS Pilani, Pilani Campus
Ex
r
F43
B PB = 445 N
t
F43

C
3
D
PD = 890 N F23
34.61 15 r
F34
4
A
2 30 67.81 84.34 t
F34

O2 O4
F32

26
BITS Pilani, Pilani Campus
Ex

 M O2  0  M12  O2 A  F32  0
 M12  56.154 kˆ N - m

27
BITS Pilani, Pilani Campus
Principle of Virtual Work:
1. Newtonian approach
2. Principle of Virtual work

 Based on the assumption that virtual work done by constraint forces is zero.
 Virtual work principle is easier to implement but gives less information.

“If a system is in static equilibrium is subjected to a virtual displacement, the work

done by all the externally applied forces in the system will sum to zero”.

F  0 Fapplied  Fconstraint  0
n
 Fapplied .δr   Fconstraint .δr  0   Fappliedi .δri  0
i 1

28
BITS Pilani, Pilani Campus