Velocity Analysis

Chapter 6
Definition
Rate of change of position with
respect to time
Angular
Linear
Position Vector
Velocity
dt
du
e =
dt
dR
V =
u j
PA
pe = R
u u
e
u
j j
PA
pa
e p
dt
d
pje
dt
= = =
R
V
Definition
Velocity (absolute)
The velocity is always in a
direction perpendicular to
the radius of rotation and is
tangent to the path of
motion
u u
e
u
j j
PA
PA
e p
dt
d
pje
dt
= = =
R
V
( ) ( ) u u e u u e cos sin sin cos j p j j p
PA
+ = + = V
" Absolute "
P PA
V V =
Definition
Velocity (difference)
Relative Velocity
A P PA
V V V =
" body same on the "
PA A P
V V V + =
A P PA
V V V =
Graphical Analysis
Graphical Velocity Analysis
Solve for
PA A P
V V V + =
e r v = = V
C B A , , ocities; linear vel
, ; locities angular ve
4 3
e e
Graphical Analysis
Graphical Velocity Analysis
PA A P
V V V + =
e r v = = V
Graphical Analysis
Example 6-1
Given
2
,
3
,
4
,
2
find
3
,

4
, V
A
, V
B
and V
C
Position analysis already
performed
1. Start at the end of the
linkage about which you
have the most information.
Calculate the magnitude of
the velocity of point A,
( )
2 2
e AO v
A
=
Graphical Analysis
Example 6-1
2. Draw the velocity V
A
3. Move next to a point
which you have some
information, point B. Draw
the construction line pp
through B perpendicular to
BO
4
4. Write the velocity
difference equation for point
B vs. A
BA A B
V V V + =
Graphical Analysis
Example 6-1
5. Draw construction line qq
through point B and
perpendicular to BA to
represent the direction of V
BA
6. The vector equation can
be solve graphically by
drawing the following vector
diagram
BA A B
V V V + =
Graphical Analysis
Example 6-1
7. The angular velocities of
link 3 and 4 can be
calculated,
8. Solve for V
C
4
4
BO
v
B
= e
BA
v
BA
=
3
e
CA A C
V V V + =
3
e c v
CA
=
Instant Center of
Velocity
An instant center of velocity is a point, common
to two bodies in plane motion, which point has
the same instantaneous velocity in each body
The numbers of IC is calculated with;
Linear graph is a useful way to keep track of
which IC have been found
( )
2
1
=
n n
C
Instant Center of
Velocity
Kennedys Rule
Any three bodies in plane motion will have
exactly three instant centers, and they will lie
an the same straight line
Instant Center of
Velocity
Instant Center of
Velocity
Slider-Crank Linkage
Instant Center of
Velocity
Slider-Crank Linkage
Instant Center of
Velocity
Slider-Crank Linkage
Check Example 6-4:
IC for a Cam-
Follower Mechanism
Velocity Analysis
with IC
Once the ICs have
been found, they can
be used to do a very
rapid graphical velocity
analysis of the linkage
( )
2 2
e AO v
A
=
( )
3 , 1
3
AI
v
A
= e
( )
4
4
BO
v
B
= e
( )
3 3 , 1
e BI v
B
= ( )
3 3 , 1
e CI v
C
=
Velocity Analysis
with IC
A rapid graphical
solution for the
magnitudes at B and C
are found from vectors
drawn perpendicular to
that line at the
intersection of the arcs
and line AI
1,3
(V
B
, V
C
)
Angular Velocity Ratio
Output angular velocity
divided by the input
angular velocity
Can be derived by
constructing a pair of
effective links
2
4
e
e
=
V
m
Effective link pairs is
two lines, mutually
parallel, drawn through
the fixed pivot and
intersecting the coupler
extended
( ) v sin
2 2
A O A O =
'
( ) sin
2 4
B O B O =
'
( )
2 2
e A O V
A
'
=
'
B A
V V
' '
=

v
e
e
sin
sin
4
2
4
2
2
4
B O
A O
B O
A O
m
V
=
'
'
= =
Now the effective links
are colinear and
intersect the coupler at
the same point, I
2,4
4 , 2 4
4 , 2 2
2
4
I O
I O
m
V
= =
e
e
Mechanical Advantage
Power in a mechanical system,
For rotating system,
Mechanical efficiency,
Mechanical Advantage,
y y x x
V F V F V F P + = =

e T P =
|
|
.
|

\
|
|
|
.
|

\
|
=
|
|
.
|

\
|
|
|
.
|

\
|
=
|
|
.
|

\
|
|
|
.
|

\
|
= =
out
in
out
in
out
in
out
in
in
out
in
out
A
r
r
A O
B O
r
r
r
r
T
T
F
F
m
v

e
e
sin
sin
2
4
in
out
P
P
= c
out
in
in
out
T
T
e
e
=
Centrodes
The path, or locus, created by a IC at
successive positions
Centrodes
Velocity of Slip
Used when there is a sliding joint between
two links and neither one is the ground
Example 6-5, 6-6
slip slip
A A slip
V V V
2 4 42
=
4
3 4
4
AO
V
A
= = e e
Velocity of Slip
3
3 4
3
AO
V
A
= = e e
Analysis Solution
Position Analysis (revisited)
0
1 4 3 2
= + R R R R

0
1 4 3 2
= +
u u u u j j j j
de ce be ae
|
|
.
|

\
|

=
A
AC B B
2
4
arctan 2
2
4
2 , 1
u
|
|
.
|

\
|

=
D
DF E E
2
4
arctan 2
2
3
2 , 1
u
Analysis Solution
Velocity Analysis
0
1 4 3 2
= +
u u u u j j j j
de ce be ae
| | 0
1 4 3 2
= +
u u u u j j j j
de ce be ae
dt
d
0
4 3 2
4 3 2
= +
dt
d
jce
dt
d
jbe
dt
d
jae
j j j
u u u
u u u
0
4 3 2
4 3 2
= +
u u u
e e e
j j j
e jc e jb e ja
Analysis Solution
Velocity Analysis
0 = +
B BA A
V V V
4
3
2
4
3
2
u
u
u
e
e
e
j
B
j
BA
j
A
e jc
e jb
e ja
=
=
=
V
V
V
identity Euler
part real
part imaginary
Analysis Solution
Velocity Analysis
( )
( )
4 3
2 4 2
3
sin
sin
u u
u u e
e

=
b
a
( )
( )
3 4
3 2 2
4
sin
sin
u u
u u e
e

=
c
a
( ) ( )
( ) ( )
( ) ( )
4 4 4 4 4 4
3 3 3 3 3 3
2 2 2 2 2 2
cos sin sin cos
cos sin sin cos
cos sin sin cos
u u e u u e
u u e u u e
u u e u u e
j c j jc
j b j jb
j a j ja
B
BA
A
+ = + =
+ = + =
+ = + =
V
V
V
Analysis Solution
Slider-Crank
0
1 4 3 2
=
u u u u j j j j
de ce be ae
0
3 2
3 2
= d e jb e ja
j j

u u
e e
0
1 4 3 2
= R R R R

BA A B
V V V + =
0 =
B AB A
V V V
BA AB
V V =
Analysis Solution
Slider - Crank
2
3
2
3
sin
sin
e
u
u
e
b
a
=
3 3 2 2
sin sin u e u e b a d + =

( )
( )
AB BA
AB
A
j b
j a
V V
V
V
=
+ =
+ =
3 3 3
2 2 2
cos sin
cos sin
u u e
u u e
BA A B
V V V + =
Crank - Slider Inverted - Review
Geared Fivebar
0
1 5 4 3 2
= +
u u u u u j j j j j
fe de ce be ae
0
5 4 3 2
5 4 3 2
= +
u u u u
e e e e
j j j j
e jd e jc e jb e ja
0
1 5 4 3 2
= + R R R R R

| u u + =
2 5
2 5
e e =
Geared Fivebar
( ) ( ) | |
( ) | |
3 4 3
5 4 5 4 2 2 4
3
cos 2 cos
sin sin sin 2
u u u
u u e u u e u
e

+
=
b
d a
4
5 5 3 3 2 2
4
sin
sin sin sin
u
u e u e u e
e
c
d b a +
=
( )
( )
( )
BA A B
C
BA
A
j d
j b
j a
V V V
V
V
V
+ =
+ =
+ =
+ =
5 5 5
3 3 3
2 2 2
cos sin
cos sin
cos sin
u u e
u u e
u u e
Velocity of Any Point
Once the angular velocities of all the links are
found it is easy to define and calculate the
velocity of any point on any link for any input
position of the linkage
Velocity of Any Point
To find the velocity of points S & U
( )
( ) ( ) | |
2 2 2 2 0
sin cos
2 2
2
o u o u
o u
+ + + = = =
+
j s se
j
S S
R R
( )
( ) ( ) | |
2 2 2 2 2 2
cos sin
2 2
o u o u e e
o u
+ + + = =
+
j s jse
j
S
V
( )
( ) ( ) | |
4 4 4 4 0
sin cos
4 4
4
o u o u
o u
+ + + = =
+
j u ue
j
U
R
( )
( ) ( ) | |
4 4 4 4 4 4
cos sin
4 4
o u o u e e
o u
+ + + = =
+
j u jse
j
U
V
Velocity of Any Point
To find the velocity of point P
( )
( ) ( ) | |
PA A P
j
PA
j p pe
R R R
R
+ =
+ + + = =
+
3 3 3 3
sin cos
3 3
o u o u
o u
( )
( ) ( ) | |
PA A P
j
PA
j p jpe
V V V
V
+ =
+ + + = =
+
3 3 3 3 3 3
cos sin
3 3
o u o u e e
o u