Lecture 12 Velocity Analysis

ME 2060 Kinematics and Dynamics of Machinery
Santhakumar Mohan
Mechanical Engineering
Indian Institute of Technology Palakkad
Lecture 12: Velocity Analysis of Planar Linkages
 Introduction
 Tangential velocity
 Slip or sliding velocity
 Graphical and Analytical methods
 Four-bar mechanism (mostly a crank-rocker)
 Slider crank mechanism
 Crank slotted lever mechanism
Santhakumar Mohan, IIT Palakkad

2/28/2023 2
Introduction
• Velocity is defined as the rate of change of displacement with respect
to time.
d dP
Angular velocity,  ; linear velocity, V  ;
dt dt
P AB  Le j
vab
dP AB
V AB  v ab 
dt B
PAB
v ab 
d
dt
 
Le j  Lje j
d
dt

2
y L
v ab  jLe j  Le j  90

V AB  ω AB  P AB
A x
1
2/28/2023 3
Graphical Velocity Analysis of a Four-bar Mechanism
Locus of ‘c’
v bc   3 L3
v dc   4 L 4 b vab
vbc
Locus of vbc vdc
v bc bc Locus of ‘c’ c
3   a, d
L3 L3
v dc dc
4   C Locus of vdc Velocity Analysis:
L4 L4 vab Known:
3 L1, L2, L3, L4
2 B 2 ,  3 ,  4
2, vab = L22
2 4
A D Unknown:
Position Analysis: 3 and 4
Known: L1, L2, L3, L4 and 2
Unknown: 3 and 4
2/28/2023 4
Analytical Velocity Analysis of a Four-bar Mechanism
• From loop-closure equation or by vector loop method:
Position Analysis
  E  E 2  4 DF    B  B 2  4 AC 
 31,32  2 atan 2   41,42  2 atan 2 
 2D   2A 
   
A  cos  2  K1  K 2 cos  2  K 3 , B  2 sin  2 , C  K1  K 2  1 cos  2  K 3
D  cos  2  K1  K 4 cos  2  K 5 , E  2 sin  2 , F  K1  K 4  1 cos  2  K 5

L1 L1 L22  L23  L24  L12 L1 L24  L12  L22  L23
K1  , K 2  , K 3  , K 4  , K5 
L2 L4 2 L2 L4 L3 2 L2 L3
Velocity Analysis
L2 cos  2  L3 cos  3  L 4 cos  4  L1 L22 sin  4   2 
3  
L2 sin  2  L3 sin  3  L 4 sin  4 L3 sin  4   3 
 L 2  2 sin  2  L3 3 sin  3   L4  4 sin  4 L22 sin  3   2 
4  
L2  2 cos  2  L3 3 cos  3  L4  4 cos  4 L4 sin  3   4 

2/28/2023 5
Graphical Velocity Analysis of a Slider Crank Mechanism
Locus of ‘c’
v bc   3 L3 b
vbc vab
v ac  ac
c vac
Locus of ‘c’ vslider a
v bc bc
3  
L3 L3 vab
v slider  v ac  ac Velocity Analysis:
3 Locus of vbc Known:
2 B
e, L2, L3, dslider
2 C Locus of vac 2 ,  3
A
2, vab = L22
AC or dslider Unknown:
Position Analysis: 3 and vslider
Known: e, L2, L3 and 2
Unknown: 3 and dslider

2/28/2023 6
Analytical Velocity Analysis of a Slider Crank Mechanism
Position Analysis
 L2 sin  2  e   L2 sin  2  e 
 31  arcsin ,  32  arcsin    180
 L3   L3 
d1  L2 cos  2  L3 cos 31 , d 2  L2 cos  2  L3 cos 32
Velocity Analysis
L2 cos  2  L3 cos 3  d  0  L22 sin  2  L33 sin  3  d  0
L2 sin  2  L3 sin  3  e  0  L22 cos 2  L33 cos 3  0
L22 cos 2
3 
L3 cos 3
d   L22 sin  2  L33 sin  3
2/28/2023 7
Graphical Velocity Analysis of a Crank-slotted lever Mechanism
Locus of
locus of sliding tangential velocity
vbc  2 L2 velocity b vslider
vab d
vbc  bc YE CD HONA CHAHIYE NA ? vdc
Locus of sliding or slipping a, c

velocity of a slider
vab Locus of vdc
vdc dc Velocity Analysis:
3  
L3 L3 D Known:
2 B
L1, L2, L3
vslider  vdb  db 3
2 2 ,  3
A C 2, vab = L22
Unknown:
Position Analysis: 3 and vslider
Known: L1, L2 and 2
Unknown: 3 and L3

2/28/2023 8
Analytical Velocity Analysis of a Crank-slotted lever Mechanism
Position Analysis
 L2 sin  2 
 3  arctan 
 L2 cos 2  L1 
L3  L2 cos 2  L1 2  L2 sin  2 2
Velocity Analysis
L2 cos  2  L3 cos  3  L1  0  L22 sin  2  L33 sin  3  L3 cos 3  0
L2 sin  2  L3 sin  3  0  L22 cos 2  L33 cos 3  0
L22 cos 2
3 
L3 cos 3
 L22 sin  2  L33 sin  3
L3 
cos 3
2/28/2023 9

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ME 2060 Kinematics and Dynamics of Machinery

Santhakumar Mohan, IIT Palakkad

D  cos  2  K1  K 4 cos  2  K 5 , E  2 sin  2 , F  K1  K 4  1 cos  2  K 5

Santhakumar Mohan, IIT Palakkad

Santhakumar Mohan, IIT Palakkad

Locus of sliding or slipping a, c

Santhakumar Mohan, IIT Palakkad

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