Ch # 6

Velocity Analysis

Theory of Machines
Kinematics Roadmap
Dynamics

Acceleration

Velocity

Position Synthesis
Graphical Method
Algebraic Method
Analytical Method

Theory of Machines
6.1 Velocity
The rate of change of position
with respect to time
Position (R) is a vector quantity d
and so is velocity
Velocity can be angular or linear dt
Angular velocity will be denoted dR
by and linear as V V
dt

Theory of Machines
Pure Rotation
Link PA in pure rotation
RPA can be represented as a complex number in polar form
RPA = pej
Where p is the scalar length of the vector
This can be easily differentiated to obtain
dRPA d
VPA pje j pje j
dt dt
VPA pj cos j sin p sin j cos
The velocity VPA is referred to as an
absolute velocity since it is referred to A,
which is the origin of the Global coordinate
axes in that system. In such case it can be
referred to as VP, with the absence of
second subscript implying reference to the
global coordinate system Theory of Machines
Rotation + Translation
If the pivot A is not stationary
It has a known linear velocity VA as part of the translating
carriage, link 3
If is unchanged the velocity of point P versus A will be the
same as before, but VPA can no longer be considered an
absolute velocity
If is now velocity difference and must carry the second
subscript as VPA

Theory of Machines
Velocity Difference
The absolute velocity VP must now be found from
the velocity difference equation
VPA = VP VA
Rearranging:
VP = VA + VPA

Theory of Machines
Relative velocity
Two independent bodies P and A, are shown.
if their independent velocities VP and VA are known,
their relative velocity VPA can be found from
VPA = VP VA

Theory of Machines
6.2 Graphical velocity analysis
CASE I: two points in the same body:
velocity difference
CASE II: two points in different bodies:
relative velocity

Theory of Machines
Graphical velocity analysis
For solving any velocity analysis problem
graphically, two equations are needed
VP VA VPA
V v r

Theory of Machines
Example 6-1
Given 2, 3, 4, 2, find 3, 4, VA, VB,
VC by graphical method

Theory of Machines
Graphical Velocity Analysis (3 & 4)

Given linkage configuration, 2, find 3 and 4

It is known that VA and direction of VB and VBA are
perpendicular to their corresponding links

VBA VBA Direction

VA
VB VBA

VB VB Direction

Theory of Machines
Graphical Velocity Analysis (3 & 4)

After finding VB and VBA, find 3 & 4

vB
4
BO4
vBA
3
BA

Theory of Machines
Graphical Velocity Analysis (VC)

After finding 3 and 4, find VC

VC=VA+VCA

Double Scale
VC
VCA VA

VCA

VC

Theory of Machines
6.3 Instant Centers
A point common to two bodies in plane motion, which has the same
instantaneous velocity in each body.
The velocity center ij is the common point on i (or its extension) and
on j (or its extension), which has the same velocity.
Both links sharing the instant center will have identical velocity at that
point
Instant centers are sometimes called centros or poles
It takes two bodies or links to create an instant center (IC), one can
easily predict the quantity of instant centers to expect from any
collection of links
For a combination of n things taken r at a time is
nn 1n 2 ......n r 1
C
r!
for our case r 2 and its reduces to :
n(n 1) Theory of Machines
C
2
Instant Centers
Kennedys rule: any three bodies
(links) will have exactly three instant
centers and they will lie on the same
straight line
I13
The pins are instant centers
I13 is from links 1,2,3 and 1,3,4
I24 is from links 1,2,4 and 2,3,4

I24 Theory of Machines

Instant centres in pin jointed linkage

Theory of Machines
Instant Centres (Linear Graph)
A linear graph is useful for keeping track of which
ICs have been found
Can be created by drawing a circle on which we
mark off as many points as there are links in
assembly
Lines are then drawn between the dots representing
the links pair each time an instant circle is found
The resulting linear graph is a set of lines
connecting the dots
The circle is not included which was used to place
the dots

Theory of Machines
Rectilinear sliders instant centre at
infinity

Theory of Machines
Instant Centres in the slider-crank
linkage

Theory of Machines
Velocity Analysis using instant centres

Theory of Machines
Velocity Analysis using instant centres
The magnitude of VA can be computed as 2 and
length of link 2 are known
Note that point A is also instant centre I2,3
It has the same velocity as part of the link 2 and as
part of link 3
Since link 3 is effectively pivoting about I1,3 at this
instant, the angular velocity 3 can be found by
3=vA/AI1,3
Once 3 is known, the magnitude of VB can also be
found; vB = (BI1,3)3
Once VB is known, 4 can also be found as 4=vB/BO4
Finally the magnitude of VC (or any other point on
the coupler) can be found vC = (CI1,3)w3

Theory of Machines
Velocity Analysis using instant centres
Since the location of I1,3, which is instantaneous
fixed pivot for link 3, all of that links absolute
velocity vectors for this instant will be perpendicular
to their radii from I1,3 to the point in question
VB and VC can be seen to be perpendicular to their
radii from I1,3
VB is also perpendicular to the radius from O4
because B is also pivoting about that point as part
of link 4
Also the magnitude of velocities of VB and VC can be
found by drawing arcs from point B and C to line
extended from I1,3 I1,2 and then extending their tips
to line I1,3 VA

Theory of Machines
Analytical Solutions for velocity analysis: The
fourbar Pin-Jointed Linkage

Theory of Machines
Analytical Solutions for velocity analysis: The
fourbar Pin-Jointed Linkage

The vector loop equation is

R2+R3-R4-R1 = 0
As before, substitute the complex number notation
for the vectors, denoting their scalar length as a, b,
c, d aej2+bej3-cej4-dej1=0
To get an expression for velocity, differentiate this
equation w.r.t. time
j d 2 j d 3 j d 4
jae 2
jbe 3
jce 4
0
dt dt dt
but
d 2 d d
2 ; 3 3 ; 4 4
dt dt dt
and :
Theory of Machines
ja2 e j 2 jb3e j3 jc4 e j 4 0
Analytical Solutions for velocity analysis: The
fourbar Pin-Jointed Linkage

1 term has dropped out because that angle

is a constant, and thus its derivative is zero
The equation is infact the relative velocity or
velocity difference equation
VA + VBA VB = 0
j 2
V A ja 2 e
j 3
VBA jb3e
j 4
VB jc 4 e
Theory of Machines
Analytical Solutions for velocity analysis: The
fourbar Pin-Jointed Linkage

ja2 e j 2 jb3e j3 jc4 e j 4 0

Expand the complex part
ja2 (cos 2 j sin 2 ) jb3 (cos3 j sin 3 ) jc4 (cos 4 j sin 4 ) 0
Multiply by j
a2 ( j cos 2 j 2 sin 2 ) b3 ( j cos 3 j 2 sin 3 ) c4 ( j cos 4 j 2 sin 4 ) 0

a2 ( j cos 2 sin 2 ) b3 ( j cos3 sin 3 ) c4 ( j cos 4 sin 4 ) 0

Separate the real and imaginary part
a2 sin 2 b3 sin 3 c4 sin 4 0
a2 cos 2 b3 cos3 c4 cos 4 0
Solve for 3 and 4 a2 sin( 4 2 )
3
b sin( 3 4 )

a2 sin( 2 3 ) Theory of Machines

4
c sin( 4 3 )
Analytical Solutions for velocity analysis: The
fourbar Pin-Jointed Linkage

Once 3 and 4 have been sorted, linear velocities

VA ja2 (cos 2 j sin 2 ) a2 ( sin 2 j cos 2 )
VBA jb3 (cos3 j sin 3 ) a3 ( sin 3 j cos3 )
VB ja4 (cos 4 j sin 4 ) a4 ( sin 4 j cos 4 )
There are also two solutions to this velocity
problem, corresponding to open and cross branches
of the linkage. They are found by the substitution
of the open or crossed branch values of 3 and 4
obtained in chapter 4

Theory of Machines
The fourbar Slider-Crank
R2 R3 R4 R1 = 0
aej2-bej3-cej4-dej1=0
a, b, c, 1 and 4 are constant but the length of link d
varies with time
.
ja2 e j 2 jb3e j3 d 0

Theory of Machines
The fourbar inverted Slider-Crank

j 3
ja2 e j 2
jb3e b e j3 jc4 e j 4 0
3 4
Differentiate it w.r.t time
3 4

Theory of Machines
Velocity analysis of the geared fivebar
linkage

R2 R3 R4 R5 R1 0
ae j 2 be j3 ce j 4 de j5 fe j1 0
a2 je j 2 b3 je j3 c4 je j 4 d5 je j5 f1 je j1 0

Theory of Machines
Problem 6-16

a) Graphical method
b) Instant center method
c) Analytical method

Theory of Machines
Problem 6-8(a)

Theory of Machines
Assignment session + Quiz

Attempt all related problems

For Assignment session:

6-4 to 6-12, 6-16 to 6-18

Theory of Machines