Velocity Analysis 1

2. lOUR-LlNK MCHANlSM
Figure 2.6(a) shows a four-link mechanism (quadric-cycle mechanism) ABCD
in which AD is the fixed link and BC is the coupler. AB is the driver rotating at
an angular speed of w rad/s in the clockwise direction if it is a crank or moving
at this angular velocity at this instant if it a rocker. It is required to find the
absolute velocity of C (or velocity of C relative to A).
lig. 2.
Writing the velocity vector equation,
Vel. of C rel. to A = Vel. of C rel. to B + vel. of B rel. to A
v
ca
= v
cb
+ v
ba
(2.6)
The velocity of any point relative to any other point on a fixed link is always
zero. Thus all the points on a fixed link are represented by one point in the
velocity diagram. In Fig. 2.6(a), the points A and D, both lie on the fixed link
AD. Therefore, the velocity of C relative to A is the same as velocity of C
relative to D.
Equation (2.6) may be written as,
v
cd
= v
ba
+ v
cb
or dc = ab + bc
where v
ba
or ab = wAB; ^ to AB
v
cb
or bc is unknown in magnitude; ^ to BC
v
cd
or dc is unknown in magnitude ; ^ to DC
The velocity diagram is constructed as follows:
1. Take the first vector ab as it is completely known.
2. To add vector bc to ab, draw a line ^ BC through b, of any length. Since
the direction-sense of bc is unknown, it can lie on either side of b. A
convenient length of the line can be taken on both sides of b.
3. Through d, draw a line ^ DC to locate the vector dc. The intersection of
this line with the line of vector bc locates the point c.
4. Mark arrowheads on the vectors bc and dc to give the proper sense. Then
dc is the magnitude and also represents the direction of the velocity of C
relative to A (or D). It is also the absolute velocity of point C (A and D
being fixed points).
2 Theory of Machines
5. Remember that the arrowheads on vector bc can be put in any direction
because both ends of link BC are movable. If the arrowhead is put from c
to b, then the vector is read as cb. The above equation is modified as
dc = ab cb ( bc = cb)
or dc + cb = ab
1n1ermed1a1e Po1n1
The velocity of an intermediate point on any of the links can be found easily by
dividing the corresponding velocity vector in the same ratio as the point divides
the link. For point E on the link BC,
be
bc
=
BE
BC
ae represents the absolute velocity of E.
OTTse1 Po1n1
Write the vector equation for point F,
v
fb
+ v
ba
= v
fc
+ v
cd
or v
ba
+ v
fb
= v
cd
+ v
fc
or ab + bf = dc + cf
The vectors v
ba
and v
cd
are already there on the velocity diagram.
v
fb
is ^ BF, draw a line ^ BF through b;
v
fc
is ^ CF, draw a line ^ CF through c;
The intersection of the two lines locates the point f.
af or df indicates the velocity of F relative to A (or D) or the absolute
velocity of F.
2.1 VLOClTY lMACS
Note that in Fig. 2.6, triangle bfc is similar to triangle BFC in which all the
three sides bc, cf and fb are perpendicular to BC, CF and FB respectively. The
triangles such as bcf are known as velocity images and are found to be very
helpful device in the velocity analysis of complicated shapes of the linkages.
Thus, any offset point on a link in the configuration diagram can easily be
located in the velocity diagram by drawing the velocity image. While drawing
the velocity images, following points should be kept in mind.
1. Velocity image of a link is a scaled reproduction of the shape of the link
in the velocity diagram from the configuration diagram, rotated bodily
through 90 in the direction of the angular velocity.
2. The order of the letters in the velocity image is the same as in the
configuration diagram.
3. In general, the ratio of the sizes of different images to the sizes of their
respective links is different in the same mechanism.
2.8 ANCULAR VLOClTY Ol LlNKS
!. AnguIar VeIccity cf BC
(a) Velocity of C relative to B, v
cb
= bc (Fig. 2.6)
Velocity Analysis 3
Point C relative to B moves in the direction-sense given by v
cb
(upwards). Thus, C moves in the counter-clockwise direction about B.
v
cb
= w
cb
BC = w
cb
CB;
\ w
cb
=
cd
CB
v
(b) Velocity of B relative to C, v
bc
= cb.
B relative to C moves in a direction-sense given by v
bc
(downwards,
opposite to bc), i.e. B moves in the counter-clockwise direction about C
with magnitude w
bc
given by
bc
BC
v
.
It can be seen that the magnitude of w
cb
= w
bc
as v
cb
= v
bc
and the direction
of rotation is the same. Therefore, angular velocity of a link about one extrem-
ity is the same as the angular velocity about the other. In general, the angular
velocity of link BC is w
bc
(= w
cb
) in the counter-clockwise direction.
2. AnguIar VeIccity cf CD
Velocity of C relative to D,
v
cd
= dc
It is seen that C relative to D moves in a direction-sense given by v
cd
or C
moves in the clockwise about D.
w
cd
=
cd
CD
v
2.9 VLOClTY Ol RUlNC
Figure 2.7 shows two ends of the two links of a
turning pair. A pin is fixed to one of the links
whereas a hole is provided in the other to fit the
pin. When joined, the surface of the hole of one
link will rub on the surface of pin of the other link.
The velocity of rubbing of the two surfaces will
depend upon the angular velocity of a link relative
to the other.
P1n a1 A fig. 2.6(a)
The pin at A joins links AD and AB. AD being
fixed, the velocity of rubbing will depend upon the
angular velocity of AB only.
Let r
a
= radius of the pin at A.
Then velocity of rubbing = r
a
w
P1n a1 D
Let r
d
= radius of the pin at D.
Velocity of rubbing = r
d
w
cd
lig. 2.1
4 Theory of Machines
P1n a1 B
w
ba
= w
ab
= w clockwise; w
bc
= w
cb
=
cd
BC
v
counter-clockwise
Since the directions of the two angular velocities of links AB and BC are in the
opposite directions, the angular velocity of one link relative to the other is the
sum of the two velocities.
Let r
b
= radius of the pin at B;
Velocity of rubbing = r
b
(w
ab
+ w
bc
)
P1n a1 C
w
bc
= w
cb
counter-clockwise; w
dc
= w
cd
clockwise
Let r
c
= radius of the pin at C;
Velocity of rubbing = r
c
(w
bc
+ w
dc
)
In case it is found that the angular velocities of the two links joined together
are in the same direction, the velocity of rubbing will be the difference of the
angular velocities multiplied by the radius of the pin.