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2.1. Introduction
Kinematics is the study of motion without consideration of what causes the motion. In other words, the
input motion is assumed to be known and the objective is to find the transformation of this motion.
Kinematic analysis comprises the following steps, [1]:
r3
r2
r4
r1
r1
Figure 1: The position vector polygon (closed loop)
According to the vectors directions, the loop-closure equation is given by
G G G G
r1 + r2 + r3 + r4 = 0
Yk
(1)
r3
r4
a
r2
r1
r3
r4
b
r2
r1
Figure 2: Alternative loop-closure configurations
(a)
Khulief
(b)
G G G G
r1 = r2 + r3 + r4
G G G G
r2 + r3 = r1 + r4
(2)
(3)
Im
P
r
Re
The position of point P is defined by the position vector rP , which can be written in complex number
notations as
G
rP = a + jb = r cos + j r sin = r e j
(a)
where a is the component along the real axis (Re), b is the component along the imaginary axis (Im),
and j = 1
d rP d (r e j )
G
vP =
=
= r e j + jr e j
dt
dt
(b)
Khulief
where r e j is the translational velocity due to the rate of change of the length of r, and jr e j is the
rotational velocity due to the rate of change of orientation of the vector r.
d vP d j
G
aP =
r e + jr e j
=
dt
dt
j
+ jr e j + jr e j + jr e j r 2 e j
= re
r r 2 ) e j + j (r + 2r ) e j
= (
(c)
Now, let us go back to solving the loop-closure equation (e.g. Eq. 1) of the four-bar linkage, which can
be expressed in complex number notations as
G G G G
r1 + r2 + r3 + r4 = 0
r1e j1 + r2 e j2 + r3e j3 + r4 e j4 = 0
( r1 cos 1 + jr1 sin 1 ) + (r2 cos 2 + jr2 sin 2 )
(4)
Re:
(5)
Im:
(6)
Equations (5) and (6) can be solved for two unknowns depending on the data available for the problem
under consideration.
As another demonstration, consider the slider-crank mechanism. Referring to Figure 4, the loopclosure equation is given by
G G G
r1 + r2 + r3 = 0
(8)
Khulief
Observe how the angles are defined with respect to the positive x-axis and measured in
counterclockwise direction.
EXAMPLE 2.1
Perform position analysis for the following four-bar linkage:
4
r3
r4
3
r2
Khulief
r1
Constructing the loop-closure as shown in the figure; one can write the loop-closure equations as
G G G G
r1 + r2 + r3 + r4 = 0
(a)
Re:
(b)
Im:
(c)
Also, redo the same problem using the following two alternative loop-closure configurations. Observe
the definitions of angles in each case.
G G G G
r1 = r2 + r3 + r4
G G G G
(b) r2 + r3 = r1 + r4
Khulief
(a)
d G G G G
( r1 + r2 + r3 + r4 ) = 0
dt
d
r1e j1 + r2 e j2 ......... + r4 e j4 = 0
dt
r1e j1 + jr11e j1 + r2 e j 2 + jr22 e j2 ........... + r4 e j 4 + jr44 e j 4 = 0
Now, split the real and imaginary parts to get two scalar equations and solve.
EXAMPLE 2.2
Perform velocity analysis for the slider-crank mechanism shown in the figure, where r2 = 1cm ,
r3 = 4 cm , 2 = 60o and 2 = 10 rad / sec .
SOLUTION
Khulief
The loop-closure equation can be written for the loop shown in the second figure as
G G G
(a)
r1 + r2 + r3 = 0
First we need to do position analysis by solving Eq. (a), or we can just solve the triangle using sine
and cosine rules. Now, using cosine rule
r
r2
= 3 3 = 347.5o
sin(360 3 ) sin 60
Now, all dimensions are known, and we can start velocity analysis
d G G G
( r1 + r2 + r3 ) = 0
dt
d
r1e j1 + r2 e j2 + r3e j3 = 0
dt
r1e j1 + jr11e j1 + r2 e j 2 + jr22 e j 2 + r3e j3 + jr33e j3 = 0
Expand to get
r1 (cos 1 + j sin 1 ) + jr22 (cos 2 + j sin 2 ) + jr33 (cos 3 + j sin 3 ) = 0
Split into two scalar equations
Re:
(b)
Im:
(c)
where 2 = 2 = 10 rad / s . Solving equations (b) and (c) in the two unknowns r1 and 3 to get
r1 = 9.768 cm / sec
EXAMPLE 2.3
Khulief
G G G
r3 = r1 + r2
(a)
G
d r3 d G G
= ( r1 + r2 )
dt
dt
d
d
r3e j3 =
r1e j1 + r2 e j2
dt
dt
r3e j3 + jr33e j3 = r1 e j1 + jr11e j1
r3 (cos 60 + j sin 60) + jr33 (cos 60 + j sin 60) = (10) (cos 0 + j sin 0)
Re:
(b)
Im:
(c)
d2 G G G G
( r1 + r2 + r3 + r4 ) = 0
dt 2
d2
r1e j1 + r2 e j2 ......... + r4 e j 4 = 0
2
dt
d
r1e j1 + jr11e j1 + r2 e j 2 + jr22 e j2 ........... + r4 e j4 + jr44 e j4 = 0
dt
r1e j1 + 2 jr11 e j1 r112 e j1 + jr11 e j1 .......................... jr44 e j4 = 0
Now, split the real and imaginary parts to get two scalar equations and solve.
EXAMPLE 2.4
Find the angular acceleration for the mechanism of problem 2.3.
SOLUTION
d
r3e j3 + jr33e j3 = r1 e j1
dt
r3e j3 + 2 jr33 e j3 r332 e j3 + jr33 e j3 =
r1 e j1
(a)
Expanding Eq. (a) into sine & cosine terms, split the real and imaginary parts to get two scalar
equations in two unknowns r3 and 3 to get
Khulief
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SOLUTION
a)
Position analysis
The loop closure equation may be
structured as shown in the figure.
G G G G
r1 + r4 = r2 + r3
Khulief
(a)
Expand Eq. (a) and split into real and
imaginary to get two scalar equations
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b)
3 = 149.12
and 4 = 164.24
Velocity Analysis
Now, differentiate Eq. (a); expand and split Real & Imaginary to get:
(c)
Solve Eqs.(c) to get 2 = 1.55rad / s CW and
c)
4 = 1.2rad / s CCW
Acceleration Analysis
Similarly, differentiate the velocity equation, expand and split Real & Imaginary to get:
(d)
Khulief
12
CCW
r1
r5
r6
rCA
r2
r4
rBA
G G
G
r2 + rBA = r4
G G
G G G
r2 + rCA + r5 = r6 + r1
Khulief
G
Note that AB = AC = 3 and r1 is constant at the value of 0.75, and therefore will vanish
upon differentiation.
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