Acceleration Analysis of Linkages

Mechanisms of Machinery
(MEng 3071)
Chapter 4
Acceleration Analysis of
Linkages
March 2013 E.c
By Haile S
1
4. Acceleration Analysis of Linkages
4.1. Acceleration Analysis by Vector Mathematics
• The acceleration of a point P moving in the x-y-z system
relative to the X-Y-Z system, is obtained by differentiating
the velocity equation
    
V p  Vo  V    R (1)
• Differentiating equation (1) yields

the acceleration Equation is
      
V p  Vo  V    R    R ( 2)
2
• Each term on the right hand side of the acceleration
equation is evaluated as follows:
 
Vo  ao (3)
 d   
V
dt

x i  y j  z k 
     
  
 xi  yj  zk   x i  y j  z k 
 
( 4)
 j , k
i ,  
• Substituting for
   
V  xi  yj  zk   x(  i )  y (  j )  z (  k )
       (5)
let
xi  yj  zk   a (6)
• Note that   
x (  i )  y (  j )  z (  k )    x i  y j  z k 
 
 
  V (7 )
3

 The acceleration component V
can be written as:
   
V  a   V (8)
• The last term on the right hand side of the acceleration equation is
     
  R    (V    R )
    
   V    (  R ) (9)
• Substituting the corresponding values in the acceleration equation
         
a p  ao  a    R  2  V    (  R ) (10)
• The different acceleration components are:
  
2  Vis Coriolis’ component of acceleration, sense normal to ;
V

ao is acceleration of the origin of x-y-z system relative to X-Y-Z

system;
a is acceleration of P relative to x-y-z system;
4
 
  R : is the tangential acceleration of a point fixed on the
x-y-z system coincident with P as the system rotates
about O;
  : is the normal component of acceleration of the
   R
point coincident with P
Where:

 : is angular velocity of x-y-z system related to X-Y-Z system

V : is velocity of P relative to x-y-z system; and

R : is position vector of P.
5
4.2. Acceleration Analysis Using Equations of Relative Motion
4.2.1 Acceleration of points on a common link
• Consider a link AB rotating with an angular velocity  and angular
acceleration α as shown.
• The relative acceleration equation is:
  
a A  aB  a A / B (11)

Where a A  acceleration of point A

aB  acceleration of point B

Where the acceleration term aA/ B
has
 two components:
  
a A / B n      RAB
along the link from A to B
  
a A / B t    RAB
in the direction perpendicular to AB
6
4.2.2 Acceleration analysis of a block sliding on a rotating link
• Block A slides on the rotating link O2B as shown.
• At time t angular position of link 2 is  and at t+dt, +d.
• The acceleration of the block is found by considering the radial and
tangential components of the change in velocity of the block.
• The rotating coordinate system r -  is attached to link O2B.

• The radial component of the velocity is V at time t, and V+dV at time
7 t+dt.
• The components of dV in the radial and tangential directions are:
(dV)r in the radial direction,
Vd  in the tangential (transverse) direction.
• Similarly the change in the transverse component of the velocity in time dt
is dV as shown.
• The components of dV are:
-rd in the radial direction, and
dr + rd in the transverse direction, neglecting higher order
differentials
• Thus the total change of velocity is
dV - rd in the radial direction, and
Vd + dr + rd in the tangential direction.
 the radial component of acceleration of block A is
1
ar  dV  rd  
dt
 a  r 2 (12)
8
or, in vector notation,
    
ar  a      r 13
The tangential component of the acceleration is
1
a  Vd  dr  rd  
dt
 2V  r (14)
Vectorially, the tangential acceleration is written as
    
a  2  V    r 15
 the acceleration of the block sliding on the rotating link is given by:
        
a A      r     r  2  V  a 16

where Vis the sliding velocity of the block along link O2B, and

ais the sliding acceleration of the block along the link O 2B.
9
• If a point A2 fixed on link O2B is coincident with A for the position shown,
the acceleration equation can be written as:
  
a A  a A2  a A / A2 (17)

• The term a A / A 2 is the relative acceleration b/n two moving points,
   
a A / A 2  2  V  a (18)
• If the link were a curved link:
    
• In general 2 velocity
a A / A 2therelative V  anequation
 at is (19)
  

aA     
  
a A2 n  a A2 t  2  V  a n  a t (20)
where a A2 n      r 
   
a A2 t    r
  
 
and , 2  V is the coriolis’ component of acceleration
10
4.3. Acceleration Analysis by Complex Numbers
• Consider the mechanism shown below.
• Replace the elements of the mechanism by position vector such that their
sum is zero yields the acceleration equation on two successive
differentiations with respect to time.
R1  R 2  R 4  0 (25)
• Differentiating the vector sum with respect to time, and introducing the
complex notation yield the equation
ir22 e i 2  ir44 e i 4  r4 e i 4  0 (26)
11
• Again differentiating equation (26) yield the acceleration equation
r222 e i 2  r4 e i 4  i 2r44 e i 4  ir4 4 e i 4  r442 e i 4  0 (27)
• Separating the real and imaginary parts of the equation (27) yield
r222 cos 2  r4 cos 4  2r44 sin  4  r4 4 sin  4  r442 cos 4  0
r222 sin  2  r4 sin  4  2r44 cos 4  r4 4 cos 4  r442 sin  4  0 (28)
• Solving equations (28) simultaneously, the required accelerations are

obtained to be:
r4  r442  r222 cos( 4   2 ) (29)

r222 cos( 4   2 )  cos 2 
4  (30)
2r4 sin  4
12
Example 4.1
13
Example 4.1
14
Solution
15
Solution
16
Solution
17
Solution
18 18
Solution
19
Solution
20
Solution
21
Solution
22 22
23
24
Solution
25
Example 4.2
26
27
Solution
28
Solution
29
30
31 31
Example 4.3
32
Solution
33
Solution
34
Solution
35 35
36 36
37
THANK
YOU !!
38

Acceleration Analysis of Linkages

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Acceleration Analysis of Linkages

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Mechanisms of Machinery

• Differentiating equation (1) yields

• The rotating coordinate system r -  is attached to link O2B.

• Solving equations (28) simultaneously, the required accelerations are

r4  r442  r222 cos( 4   2 ) (29)

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