velocity in mechanisms

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    THEORY OF MACHINE BY MA HELALY 1

    VELOCITIES

    IN

    MECHANISMS

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    THEORY OF MACHINE BY MA HELALY 2

    Introduction:Velocity

    is important because:1- It affects the time required to perform a given operation.

    2- Power is the product of force and velocity.

    3- Friction and wear on machine parts are also dependent on

    velocity.4- Further, a determination of the velocities in a mechanism is

    required if an acceleration analysis is to be made.

    Acceleration

    is of interest becauseof its effect on inertia forces, which in turn influence stresses in the

    parts of a machine, bearing loads, vibration, and noise

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    THEORY OF MACHINE BY MA HELALY 3

    VELOCITIESIN

    MECHANISMS

    BY METHOD OF

    RELATIVE VELOCITIES

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    LINEAR VELOCITY

    THEORY OF MACHINE BY MA HELALY 4

    Amplitude Direction

    V

    By scale from vector diagram Vc = 1.8

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    THEORY OF MACHINE BY MA HELALY 5

    Same triangle perp to original - opposite to link 2

    OR Vc= VB + VC/B then find D from triangle

    = constant

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    THEORY OF MACHINE BY MA HELALY 22

    Example 3:In the toggle mechanism shown in Example 2, obtain the velocity of the

    ram F, The angular velocity of link EF.

    Solution:

    ={2.=+

    ={4.?, ={3.?

    ==+={6.?, ={5.?

    ===+

    ={? , ={7.?

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    THEORY OF MACHINE BY MA HELALY 23

    7=.=12.57 .., =.=123.31

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    THEORY OF MACHINE BY MA HELALY 24

    Example 4:

    For the Whitworth mechanism shown inExample 1, determine the absolute velocity of

    the tool support C; also find the angular

    velocities of links QB and BC.

    Solution: Consider point T on link 4 under

    point A which on the slider 3.

    VA = 900 cm/s (OA) =+={4.?,

    ={?(4)

    ==+

    ={? ,={5.?

    From the velocity diagram: 4=.=23.81 ..,5=.=4.65

    ...=.=3.44

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    THEORY OF MACHINE BY MA HELALY 26

    VELOCITIESIN

    MECHANISMS

    BY METHOD OF

    instant Centers

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    THEORY OF MACHINE BY MA HELALY 27

    Instantaneous center of a velocity:

    When two links (bodies), either both moving or one moving and one fixed,the instantaneous center is:

    a- a point in both bodies,

    b- a point at which the two bodies have no relative velocity (the point has

    the same velocity in each body),

    c- A point about which one body may be considered to rotate relative to theother at a given instant.

    Notes:

    - When the two links are directly connected together, the center of the

    connecting joint is an instantaneous center for the two links,

    - If not directly connected, an instantaneous center exists for a given phase

    of the linkage.

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    THEORY OF MACHINE BY MA HELALY 28

    Instantaneous Center Notation:The system of labeling instantaneous centers is

    - The instantaneous center for link (2) relative to link

    (1) is labeled 21. Link(1) has the same instantaneous

    center relative to link(2), when link(2) is considered

    the fixed link, link(1) appears to be rotating in the

    opposite sense (12 = - 21) relative to link(2).

    - Since points21 and 12 are the same point, either

    designation is acceptable, 12 is preferred.

    -Pin connection:each pin connection is an instant center

    (12, 14 remain fixed, they are called fixed centers),

    (23, 34 are called moving centers, they move relative

    to the frame)

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    THEORY OF MACHINE BY MA HELALY 29

    Number of instantaneous centers for a mechanisms:

    Any two links in a mechanism have motion relative to

    one another and have a common instantaneous

    center.The number of instant centers is equal to all possible

    combinations of two from the total numbers of links.

    Let, n = number of links. Then the number of instant

    centers is:

    =(1) / 2!

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    e- Primary instantaneous centers:

    All instant centers which can be found by inspection are called primary instant

    centers, and then we can locate the remaining by applying Kennedy's theorem.

    Primary instant centers can be summarized as:

    1- Instant center for pin connecting links.

    2- Instant center for a sliding body.

    3- Instant center for a rolling body.

    4- Direct contact mechanisms:

    a- For sliding contact: intersection of the common normal and the line of centers.

    b- For rolling contact: at the point of contact.

    f- Circle diagram method for locating instantaneous centers:

    - All primary centers must be located first,

    - Points are laid out along a circle, each point represent a link,

    - All possible straight lines joining these points represent the instant centers,

    - First, all centers which have located are drawn in as solid lines,

    - The remaining are represented by dotted lines,

    - In order to locate these centers, find any two triangles which a dotted linecompletes, These two triangles represent two lines their intersection is the required

    instantaneous center,

    - After an instant center has been located, it is drawn in as a solid line on the circle

    diagram.

    (The two triangles must have a common side which is dotted).

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    THEORY OF MACHINE BY MA HELALY 31

    Locating instantaneous centers in a four-bar mechanism

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    Locating instant centers in the slider-crank linkage

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    Velocity analysis using instantaneous centers:

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    Linear velocities by instantaneous centers:

    - The magnitude is equal to the product of the radius of rotation (distancebetween the point and the instant center 1i).

    -It must be the radius of rotation of the point.

    Angular velocities by

    instantaneous centers:

    From the last equation we can conclude that the angular-velocity ratio for

    any two links in a mechanism is inversely as the distances from the instant

    centers in the frame about which the links are rotating to the instant center

    which is common to the two links.

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    If the common instant center ij lies in-between 1i & 1j, then i

    and jare in opposite direction, and if not, then iand jare

    in the same direction.

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    THEORY OF MACHINE BY MA HELALY 36

    Example 1:For the Whitworth mechanism shown, determine the absolute velocity VC of the tool

    support, when the driving link OA rotates at a speed such that VA = 900 cm/s, as

    shown, also find the angular velocities of links QB and BC.

    OQ = 135, OA = 270, QB = 160, and BC = 550 mm.

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