UNIVERSIDAD INTERNACIONAL DEL ECUADOR

MECHATRONICS ENGINEERING SCHOOL

MECHANICS VIII

Date: 06-05-2022
Professor: Edgar Cando, Ph.D
E-mail: cando_edgar@yahoo.com
Tel.: 0979288606
Phrase of the day:
• “It is better to fail in originality than to succeed in imitation.”

Herman Melville
INTRODUCTORY VIDEO: BETAVOLTAIC
BATTERIES
Algebraic Velocity Analysis – SELF EVALUATION
• Find the velocities at A and B for the linkage.

Parameter Name Value

Link length 1 d 100 mm
Link length 2 a 40 mm
Link length 3 b 120 mm
Link length 4 c 80 mm
Link angle 2 θ2 40°
Link angle 3 θ3 20.298°
Link angle 4 θ4 57.325°
Link angular velocity 2 ω2 25 rad/sec
Algebraic Velocity Analysis – Self evaluation solved
• Given the following fourbar linkage, find the values of ω3 and ω4, VA, VBA, and VB for the open
circuit of the linkage.
• Find the constants:

• Find 𝜃4 : • Find 𝜃3 :
Algebraic Velocity Analysis - Self evaluation solved
• Use the equations to find link angular velocities ω3 and ω4 :

• Use the angular velocities to find linear velocities of the links:

Velocity analysis of five bar geared linkages
• The position loop equation for the geared fivebar mechanism
was derived during the position analysis and is repeated
here.

• Differentiate this with respect to time to get an expression

for velocity

• Substitute the Euler equivalents:

• Note that the angle θ5 is defined in terms of θ2, the gear ratio
λ, and the phase angle φ, which differentiated results in:
𝑑𝜃5 𝑑(λ𝜃2 + ϕ)
= → 𝜔5 = λ𝜔2
𝑑𝑡 𝑑𝑡
Velocity analysis of five bar geared linkages
• Substituting and separating into real and imaginary: • With all link angles and angular velocities known, the linear
velocities of the pin joints can be found from:

• These two equations can be solved through direct

substitution for the two unknown variables 𝜔3 and 𝜔4 :
Velocity Analysis of fivebar geared linkages- EXAMPLE
• The link lengths, gear ratio (λ), phase angle (𝜙), and the values of 𝜔2 and 𝜃2 are defined in
the table. Find ω3 and 𝜔4 , using an analytic method. Draw the linkage to scale and label it
before setting up the equations.
Parameter Name Value
Link length 1 d 4m
Link length 2 a 1m
Link length 3 b 7m
Link length 4 c 9m
Link length 5 f 6m
Link angle 2 θ2 60°
Link angular velocity 2 ω2 10 rad/sec
Gear ratio λ 2
Phase angle ϕ 30°
Velocity Analysis of fivebar geared linkages- SOLUTION
• 1. Draw the linkage to scale and label it. • 2. Determine the values of the constants needed
for finding θ3 and θ4
Velocity Analysis of fivebar geared linkages- SOLUTION
• 3. find values of θ3 and θ4 for the open and • 5. Determine the angular velocity of links 3 and 4:
crossed circuits.

• 4. Determine the position and angular velocity of

gear 5
Graphical velocity Analysis of fivebar geared linkages-
EXAMPLE
• The link lengths, gear ratio (λ), phase angle (𝜙), and the values of 𝜔2 and 𝜃2 are defined in
the table. Find ω3 and 𝜔4 , using a graphical method.

Parameter Name Value

Link length 1 d 6 in
Link length 2 a 1 in
Link length 3 b 7 in
Link length 4 c 9 in
Link length 5 f 4 in
Link angle 2 θ2 60°
Link angular velocity 2 ω2 10 rad/sec
Gear ratio λ 2
Phase angle ϕ 30°
Velocity Analysis of fivebar geared linkages- SOLUTION
• 1. Determine the angle of link 5 using the
equation:

• 2. Draw the linkage and perform a graphical

position analysis to determine all angles:

• 3. Indicate the directions of the velocity vectors of

interest.

• 4. Use equations to calculate the magnitude of the

velocity at points A and C.
Velocity Analysis of fivebar geared linkages- SOLUTION
• 5. Graphically determine the magnitudes of the relative
velocity vectors VBA and VBC. The equation to be
solved graphically is the last of the following three.

a) Choose a convenient velocity scale and layout the

known vector VA.
b) From the tip of VA, draw a construction line with the
direction of VBA, magnitude unknown.
c) From the tail of VA, layout the known vector VC.
d) From the tip of VC, draw a construction line with the
direction of VBC, magnitude unknown.
e) Complete the vector triangle by drawing VBA from the
tip of VA to the intersection of the VBC construction
line and drawing VBC from the tip of VC to the
intersection of the VBA construction line.
Velocity Analysis of fivebar geared linkages- SOLUTION
• Determine the unknown velocities graphically:

• Determine the angular velocity of links 3 and 4 using

equations:
Velocity Analysis of fivebar geared linkages- SELF EVAL
• The link lengths, gear ratio (λ), phase angle (𝜙), and the values of 𝜔2 and 𝜃2 are defined in
the table. Find ω3 and 𝜔4 , using a graphical method.

Parameter Name Value

Link length 1 d 3 in
Link length 2 a 5 in
Link length 3 b 7 in
Link length 4 c 8 in
Link length 5 f 4 in
Link angle 2 θ2 45°
Link angular velocity 2 ω2 -15 rad/sec
Gear ratio λ -0.5
Phase angle ϕ 0°
Velocity Analysis of fivebar geared linkages- SOLUTION
• The link lengths, gear ratio (λ), phase angle (𝜙), and the values of 𝜔2 and 𝜃2 are defined in
the table. Find ω3 and 𝜔4 , using a graphical method.
• Next class

ACCELERATION ANALYSIS