DESIGN OF MECHANISMS

Introduction to Kinematics & Mechanisms

Position, Velocity & Acceleration analysis

using graphical method

MECHANICAL ENGINEERING DEPARTMENT

 Linkage Analysis
• Planar linkage analysis has been solved traditionally using a graphical approach
which relies on the use of drafting equipment.

• With the development of computers and numerical methods this has shifted towards
the analytical approach.

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 Analysis sequence

• It is always necessary to determine the positions Position Analysis

of the links before a velocity analysis can be
performed.

• You must know the links velocities before doing

the acceleration analysis. Velocity Analysis

Acceleration
Analysis

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Position Analysis

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 Position and Displacement
Position

• The position of a point in the plane can be defined by the use of a position vector as shown
in Figure 4‐1.
• The choice of reference axes is arbitrary and is selected to suit the observer.
• Figure 4‐1a shows a point in the plane defined in a global coordinate system and
• Figure 4‐1b shows the same point defined in a local coordinate system with its origin
coincident with the global system.
• A two‐dimensional vector has two attributes, which can be expressed in either polar or
cartesian coordinates.
• The polar form provides the magnitude and the angle of the vector. The cartesian form
provides the X and Y components of the vector.

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 Position and Displacement

Coordinate Transformation
• It is often necessary to transform the
coordinates of a point defined in one
system to co‐ ordinates in another.

• If the system’s origins are coincident as shown in Figure 4‐1b and the required
transformation is a rotation, it can be expressed in terms of the original coordinates and the
signed angle δ between the coordinate systems.
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 Position and Displacement
Displacement
• Displacement of a point is the change in its position and can be defined as the
straight-line distance between the initial and final position of a point which has
moved in the reference frame.
• Note that displacement is not necessarily the same as the path length which the
point may have travelled to get from its initial to final position.

• Figure 4‐2a shows a point in two positions,

A and B.
• The curved line depicts the path along
which the point travelled.
• The position vector RBA defines the
displacement of the point B with respect to
point A.

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• Figure 4‐2b defines this situation more rigorously and with respect to a reference
frame XY. The notation R will be used to denote a position vector.
• The vectors RA and RB de‐ fine, respectively, the absolute positions of points A and
B with respect to this global XY reference frame.
• The vector RBA denotes the difference in position, or the displacement, between A
and B.
• This can be expressed as the position difference equation:

• This expression is read: The position of B

with respect to A is equal to the (absolute)
position of B minus the (absolute) position
of A, where absolute means with respect to
the origin of the global reference frame.
• This expression could also be written as:

with the second subscript O denoting

the origin of the XY reference frame.
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Translation
• All points on the body have the same displacement.
Rotation
• Different points in the body undergo different displacements and thus there is a
displacement difference between any two points chosen.
Complex Motion
• The general case of complex motion is the sum of the translation and rotation components.
Total displacement = translation component
+ rotation component

• The new absolute position of point B

referred to the origin at A is:

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 Position Analysis

• Graphically this means drawing the linkage to a selected Scale.

• Representation of the link as a geometric skeleton

• Geometric skeleton

– Links – lines

– Revolute Joints- points (intersection of their axes with the plane of motion)

– Prismatic (sliding) joints- lines in the direction of sliding

• Example: 4-bar linkage

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 Graphical Position Analysis Of Linkages
• For any one ‐ DOF linkage, such as a four-bar, only one parameter is needed to completely
define the positions of all the links. The parameter usually chosen is the angle of the input
link. This is shown as θ2 in Figure 4‐4.
• We want to find θ3 and θ4.
• The link lengths are known. Note that we will consistently number the ground link as 1 and
the driver link as 2 in these examples.
• If we draw the linkage carefully to scale with rule, compass, and protractor in a particular
position (given θ2), then it is only necessary to measure the angles of links 3 and 4 with the
protractor.

• Note that all link angles are measured from a

positive X axis.
• In Figure 4‐4, a local xy axis system, parallel
to the global XY system, has been created at
point A to measure θ3.
• The accuracy of this graphical solution will be
limited, however, a very rapid approximate
solution can be found for any one position.
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• Figure 4‐5 shows the construction of the graphical position solution.
• The four link lengths a, b, c, d and the angle θ2 of the input link are given.
• A graphical solution is only valid for the particular value of input angle used.
• For each additional position analysis we must completely redraw the linkage.
• This can become burdensome if we need a complete analysis at every 1 or 2 degree
increment of θ2.

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Velocity Analysis

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 Velocity Analysis
Relative Velocity of Two Bodies Moving in Straight Lines

• Vector addition Polygon Technique is used to solve the velocity and

acceleration equations

Relative velocity of A with respect to B

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 Velocity analysis
Velocity of rotating link

w is the angular velocity of the link AB about A.

• velocity of the point B with respect to A

• velocity of any point C on AB with respect to A

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 Velocity analysis𝞹
Velocity of rotating link

𝜔 = (2 𝞹 N)/ 60. [rad/sec]

N = Revolution Per Minute (RPM)

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 Velocity analysis of Four Bar Chain

Example -1
In a four bar chain ABCD:

• AD is fixed and is 150 mm long.

• The crank AB is 40 mm long and rotates at 120 r.p.m. clockwise,
• link CD = 80 mm oscillates about D.
• BC and AD are of equal length.
• angle BAD = 60°.
• Find the angular velocity of link CD
Position or space diagram Scale 5 : 1
(divide each length by 5) Or any
Given convenient scale

Since the length of crank AB = 40 mm = 0.04 m, therefore velocity of B with respect

to A or velocity of B, (because A is a fixed point),

vBA= vB = w BA× AB = 12.568 × 0.04 = 0.503 m/s

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 Example -1 ..continued Vcb

Vcd
0.503
m/s

Scale 100:1 ???

1. Since the link AD is fixed, therefore points a and d are taken as one point in the
velocity diagram.

Draw vector ab perpendicular to BA, to some suitable scale, to represent the velocity of
B with respect to A or simply velocity of B

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 Vcb
Example -1 ..continued

Vcd

2. Now from point b, draw vector bc perpendicular to CB to represent the velocity of C

with respect to B (i.e. v CB)
and
from point d, draw vector dc perpendicular to CD to represent the velocity of C with
respect to D or simply velocity of C (i.e. v CD or vC).

The vectors bc and dc intersect at c.

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 Velocity analysis of Four Bar Chain
Example
Vcb

Vcd

We know that CD = 80 mm = 0.08 m

Angular velocity of link CD

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 Example -2
The crank and connecting rod of a theoretical steam engine are 0.5 m and 2 m long
respectively. The crank makes 180 r.p.m. in the clockwise direction. When crank has
turned 45° from the inner dead centre position,
determine :
1. velocity of piston,
2. angular velocity of connecting rod,
3. velocity of point E on the connecting rod 1.5 m from the gudgeon pin,

Solution.
Given : NBO = 180 r.p.m. or wBO = 2 p × 180/60 = 18.852 rad/s

1.5 m

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Solution.
Given : NBO = 180 r.p.m. or wBO = 2 p × 180/60 = 18.852 rad/s
VBO
VPB

VPO
1.5 m

Velocity of piston

1. Draw vector ob perpendicular to BO, to some suitable

scale, to represent the velocity of B

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Solution.
Given : NBO = 180 r.p.m. or wBO = 2 p × 180/60 = 18.852
VBO rad/s
VPB

VPO

1.5 m

Velocity of piston
2. From point b, draw vector bp perpendicular to BP to
represent velocity of P with respect
to B (i.e. vBP)
and
from point o, draw vector op parallel to PO to represent
velocity of P with respect
to O (i.e. vPO or simply vP). The vectors bp and op intersect at
point p.
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 Solution.
Given : NBO = 180 r.p.m. or wBO = 2 p × 180/60 = 18.852 rad/s
VBO
VPB

VPO

1.5 m

Velocity of piston

Angular Velocity of Connecting Rod

From the velocity diagram

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Solution.
Given : NBO = 180 r.p.m. or wBO = 2 p × 180/60 = 18.852 rad/s
VBO
VPB

VPO

1.5 m

Velocity of point E on connecting Rod

Ratio of lengths and velocity of point E on connecting Rod
must be same

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 Assignment-2

Start working on position and velocity parts , but submit after

Acceleration analysis is done
THANK YOU

Questions?

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