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Static Force Analysis
Static Force Analysis
LECTURE NOTES- MECE 303 Theory of Machines 9- Static Force Analysis Fall Semester 2010/2011 Halil Orhan YILDIRAN, MS
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-A mechanism is a device that transmits/ transform motion and in doing so transmits power by means of forces and torques in its elements. -In designing a mechanism it is necessary to know the manner in which forces (force or torque) are transmitted from input to output so that components of the mechanism can be properly sized to withstand the stresses developed. FORCE ANALYSIS
DYNAMIC FORCE ANALYSIS (Inertia forces and torques due to acceleration are taken into consideration)
F = Fx i + Fy : Cartesian j
F = F (i cos + sin ) , F = F j
F = Fe i complex F = F polar
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F 1i
F 1ii 1
'
F ki
F
" 1i "
F 1i
M F ji
FBD of link i
ji
F
F
LA
LA
LA
LA
.
F
M A = r x F = r 'x F
M A = r sin3 F = r ' sin3'F = Fh 1 2 12
h h
'
r'
r r M A = rx F = M B = M C
r
Moment vector does not have point of application. It is a free vector, because a rigid body rotates as a whole. Hence the place of a moment on a rigid body is not important. 10
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*=3 (3 possible motion: 2 translation, 1 rotation) *2 translation is prevented there are joint forces in those directions *Since rotation is not prevented no joint moment
FBD
F ji
x
x ij
F ji
OR i
F ji
F
y ij
F ij
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*Translation along y axis and rotation are prevented There are joint forces in y direction and joint moment . *Translation along x axis is allowed no force in x direction *LA of force F ji is arbitrary (eg. Thru midpoint)
FBD
F ij M ij
ji
F ji
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Cam joint:
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Cylinder in a slot
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STATIC FORCE ANALYSIS In machinery or mechanisms all members have mass. If these members are accelerating or decelerating, inertial forces will be associated with this motion. If magnitude of these forces are small relative to the externally applied loads, they can be neglected in the force analysis. Such an analysis is referred to as STATIC FORCE ANALYSIS.
G denotes center of mass, a denotes acceleration, I denotes mass moment of inertia In static analysis inertia forces and torgues are neglected to yield F = 0 , M = 0 static equilibrium equations
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For the equilibrium of a body we can solve for 3 unknowns using 3 equations
Fx = 0,
Fx = 0,
r MA =0
= 0 ,or
F M
= 0 , or =0
M M
=0 =0
r M A = 0
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FB
r FB = F FA
r F A = F
F = 0 F M = 0 F
F kj
F ij
The line of action (LA) is drawn connecting the point of application of forces, forces are shown as equal and opposite.
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r F B = F
F = 0 F = F : force must be equal and opposite M = 0 gives the relation of moment M (T) to the forces.
A B
once the forces are shown equal and opposite in //LAs, only the moment equation is needed. M = 0 : T .k + r x F = 0 T .k + r (i cos + sin ) xF (i cos + sin ) = 0 j j
T + Fr sin( ) = 0
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FC FA
FB
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Ex. Slider crank Mechanism
13 12
Given force P, find T12 as a function of position variables Assume inertial forces are small compared to other forces and gravity and friction forces are negligible.
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FBDs
13 12 13 13+ 12
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F x = 0 -P+F34 cos(13+)=0 F34 = F
y
P cos(13 + )
P cos(13 + )
sin(13+ )
= -Ptan (13+) Link 3 (Link 3 is two force member) F43= F23 (in magnitude) Link 2 (Link 2 is two force and a moment member) F23= F32=R12(in magnitude)
=0
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Ex: Four Bar Mechanism Given P14 (external applied load) and . Find T12 as a function of position variables. (B0C=b4) Link length; A0A=r2, AB=r3, B0B=r4
13 14
12
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FBDs
+13 13
14
13
12
14
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Link 4 (3F) F x = 0 R14x+F34cos(13+)+P14 cos( +)=0 R14x =F34cos 13- P14 cos =0 (A)
F M
= 0 R14y+F34sin(13+)+P14 sin( +)=0 R14y =F34sin 13- P14 sin =0 (B) = 0 F34r4sin(13+-14)+ P14b4 sin(+ -14)=0
Bo
Using (C) F 34 can be found. Then from (A) R14x and from (B) R14y can be found If we want to find R14 and
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Link 3 (2F) F43= F34=F23 Link 2 (2F+M) F32= R12 M Ao = 0 T12+F32r2sin(13-12)=0 T12 can be found
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15
12
14
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(a)Using static equilibrium find joint forces and input torque T12 to drive the slider (link 6) against load P for a given crank angle.
(b) Find forces on the links and input torque T12 for the given conditions below P = 800 N j A0A=r2=22.5 cm B0B=r4=100 cm BC=r5=40 cm r1=60 cm, b1=110 cm 12=120
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15
12 14
14
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Link 6
F F
P sin(15 + 3 / 2)
Link 4
F54 r4 sin(15 + / 2 14 ) s 43
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To find polar form
R14 = R
2 14 x
+R
2 14 y
R14 y , = a tan R 14 x
Ao
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15
12 14
14
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For linear systems the individual responses to several inputs can be superposed on each other to obtain total system response. Ex: P and Q are given. Find T12
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Then
T 12 = T 12 + T 12
' "
F ij = F ij + F ij
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'
"
1-Static Frictional Force This is the force that is necessary to slide one body relative to the other. This force is along the contact surface and it is related by the normal force N acting at the contacting surfaces. f = - N where = the coefficient of static friction.
2-Sliding Frictional Forces This is the force necessary to keep the relative motion of two sliding bodies continuously. It is also given by the equation: f = - N where =coefficient of sliding friction, which is less than the coefficient of static friction. Sliding friction is also known as Coulomb friction. 3-Viscous Damping Force This is the force that is proportional to the relative velocity of the two contacting surfaces. f = - cv where c=coefficient of viscous friction v=relative velocity. Viscous friction assumes that there is a fluid film between the two surfaces in contact.
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Prismatic Joints In prismatic joints, the reaction force between two links in contact will not be perpendicular to the slider axis if resisting force is taken into account. The resultant reaction f ij force will be inclined. tan = = Fi j The angle which is known as friction angle.
ij
Revolute Joints In revolute joints, the line of action of the reaction force will not pass through the center of the joint but will be tangent to a circle, which is known as the friction circle. The radius, rf, of this circle is : rf = rij sin , where rij is the radius of revolute joint. For small angles sintan. Therefore: rf = rij sin rij tanrij
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