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    ME-313 Mechanics of Machines Velocity Analysis - Part A: by Adnan Munir

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    Hafsa Rahmeen
    This document discusses techniques for analyzing the velocity of mechanisms using graphical and analytical methods. It begins by describing graphical velocity analysis and instant centers of velocity. It then discusses using the vector loop method to analyze the velocity of four-bar pin-joined mechanisms. Key steps include representing position vectors as complex numbers, differentiating to obtain velocity vectors, and using properties of complex numbers to show velocity vectors are perpendicular to position vectors and rotate based on the direction of angular velocity.

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    ME-313 Mechanics of Machines Velocity Analysis - Part A: by Adnan Munir

    Uploaded by

    Hafsa Rahmeen
    23 views20 pages
    This document discusses techniques for analyzing the velocity of mechanisms using graphical and analytical methods. It begins by describing graphical velocity analysis and instant centers of velocity. It then discusses using the vector loop method to analyze the velocity of four-bar pin-joined mechanisms. Key steps include representing position vectors as complex numbers, differentiating to obtain velocity vectors, and using properties of complex numbers to show velocity vectors are perpendicular to position vectors and rotate based on the direction of angular velocity.

    Original Title

    Lecture 8 - Velocity Analysis - Part B-1

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    This document discusses techniques for analyzing the velocity of mechanisms using graphical and analytical methods. It begins by describing graphical velocity analysis and instant centers of velocity. It then discusses using the vector loop method to analyze the velocity of four-bar pin-joined mechanisms. Key steps include representing position vectors as complex numbers, differentiating to obtain velocity vectors, and using properties of complex numbers to show velocity vectors are perpendicular to position vectors and rotate based on the direction of angular velocity.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    23 views20 pages

    ME-313 Mechanics of Machines Velocity Analysis - Part A: by Adnan Munir

    Uploaded by

    Hafsa Rahmeen
    This document discusses techniques for analyzing the velocity of mechanisms using graphical and analytical methods. It begins by describing graphical velocity analysis and instant centers of velocity. It then discusses using the vector loop method to analyze the velocity of four-bar pin-joined mechanisms. Key steps include representing position vectors as complex numbers, differentiating to obtain velocity vectors, and using properties of complex numbers to show velocity vectors are perpendicular to position vectors and rotate based on the direction of angular velocity.

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    © All Rights Reserved
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    ME-313

    Mechanics of Machines
    Lecture 7
    velocity Analysis – Part a
    By Adnan Munir
    Contents
    1

    Graphical Velocity Analysis

    Instant Centers of Velocity

    Velocity Analysis using Vector Loop Method

    Velocity Analysis of Four-Bar Pin-Joined Mechanism using Vector Loop Method


    Graphical Velocity Analysis
    Graphical Velocity Analysis
    Instant Center of Velocity
    ••  
    Definition - Point common to two bodies in plane motion which
    has same instantaneous velocity in each body
    • Also known centros or poles
    • Two bodies or links create instant center (IC)
    • Prediction of quantity of instant centers in any kinematic chain is
    possible
    • Combination formula for n things taken r at one time is:
    C = - 6.8a
    Instant Center of Velocity
    ••  r = 2

    C = - 6.8b
    • Four-bar mechanism - 6 instant centers
    • Six-bar mechanism – 15 instant centers
    • Eight-bar mechanism – 28 instant centers
    • Figure 6-5 shows four-bar mechanism in arbitrary position
    • Linear graph useful for keeping track of known ICs also shown
    Instant Center of Velocity
    Instant Center of Velocity
    • Kennedy’s Rule
    • Any three bodies in the plane will have exactly three instant centers, and they
    will lie on the same straight line
    Instant Center of Velocity
    Instant Center of Velocity
    Instant Center of Velocity
    Instant Center of Velocity
    Instant Center of Velocity
    Instant Center of Velocity
    Velocity Analysis using Vector Loop Method
    • Representation
      of position vector RPA as complex number in polar form
    RPA = p ejθ - 6.2
    where p is scalar length of the vector

    • Differentiate with respect to time


    VPA = = p j ejθ = p j ejθ - 6.3

    • Compare right side of 6.3 to right side of 6.2 - velocity expression


    multiplied by complex operator j as result of differentiation

    • Velocity vector at 90 degrees with respect to original position vector


    Velocity Analysis using Vector Loop Method
    • Velocity expression is also multiplied by ω (either positive or
    negative)

    • Velocity vector will be rotated 90 degrees from angle θ of


    position vector in direction dictated by sign of ω

    • Velocity
    • Always perpendicular to radius of rotation
    • Tangent to path of motion
    Velocity Analysis using Vector Loop Method
    •  Substituting Euler identity into 6.3
    VPA = p j (cosθ + j sinθ) = p (- sinθ + j cosθ) - (6.4)

    • Sine and cosine terms swapped positions between real and


    imaginary terms due to multiplying by j

    • Evidence of 90-degree rotation of velocity vector versus position


    vector

    • Former x component become y component and former y


    component become minus x component
    Velocity Analysis of Four-Bar Pin-Joined Mechanism
    using Vector Loop Method

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