THEORY OF MACHINES

0402426
Dr. Nesrin Talat

Graphical Solution
Position and
Velocity Analysis

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CHAPTER 6
VELOCITY ANALYSIS
After covering this chapter, you should be able to:
 Determine the velocities of links and
 Points on mechanisms

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6.1: VELOCITY

Rate of changing position with respect to time.

dR
 Linear V
dt
 Angular
d

dt

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 6.1: VELOCITY OF POINT P
 Position of point P:
j
RPA  Pe
RPA  Pcos   j sin  
 Velocity of point P:
dRPA d j 
VPA  P e  Pe j
dt dt
VPA  P cos   j sin  

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 6.1: VELOCITY
VELOCITY DIFFERENCE / RELATIVE VELOCITY

 VA : Velocity of point A relative to the ground.

 VPA : Velocity of point P relative to point A.
 VP : Velocity of point P relative to the ground.

VP  VA  VPA
VPA  VP  VA
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 VELOCITY ANALYSIS

Due to the fixed links lengths, the velocity components is

reduced from normal (radial) and tangential components to
VT
tangential component ( )only. As you remember,
velocity is a vector quantity and VT is perpendicular to R as
shown
 The relation between V and ω is : V=R.ω.
 This relation is for the magnitude.
 The polygon method depends on this relation
 to find the angular velocity after finding the

tangential one.
 6.2: GRAPHICAL VELOCITY ANALYSIS
 The main objective is to find:
 Rate of change of output variables (Output Velocities)
 Linear velocities of any point on the linkage.
 Given
 Rate of change of input variable (Input Velocity)
 Analogies with position analysis.
So, our task is to draw this diagram or polygon.
Remember, the velocities vectors are
perpendicular to the position vectors.
VELOCITY POLYGON METHOD
EXAMPLE 1
SOLUTION
SLIDER CRANK MECHANISM
SLIDER CRANK MECHANISM
EXAMPLE 2
SELF ASSESSMENT EXERCISES
SELF ASSESSMENT EXERCISES
SELF ASSESSMENT EXERCISES
SELF ASSESSMENT EXERCISES
SELF ASSESSMENT EXERCISES
6.2: GRAPHICAL VELOCITY ANALYSIS
200 rpm
VELOCITY OF SLIP USING
GRAPHICAL METHOD
VELOCITY OF SLIP USING GRAPHICAL METHOD
VELOCITY OF SLIP USING GRAPHICAL METHOD
6.3: INSTANT CENTERS OF VELOCITY
6.3 FINDING ICS ON A FOURBAR LINKAGE

1. Draw a linear graph

2. Label all pin joints as ICs.
Record the ICs on the linear
graph
3. On the linear graph, identify a
link combination for which the
IC has yet to be found. Draw a
dotted lineconnecting the 2 link
numbers.
4. Identify 2 triangles on the graph
that each contain the dotted line
 6.3 FINDING ICS ON A FOURBAR LINKAGE

5.Each triangle shows 3 link pairs

that each has an IC. Apply
Kennedy’s rule on the 3 ICs to
locate the straight line that these
3 ICs must lie on.
6. Draw the straight lines obtained
from applying Kennedy’s rule
on each triangle. The
intersection of these lines give
the location of the unknown IC.
7. Repeat steps 3 to 6 until all ICs
are found line
6.3: INSTANT CENTERS OF VELOCITY