velocity in mechanisms
TRANSCRIPT
-
7/27/2019 Velocity in Mechanisms
1/41
THEORY OF MACHINE BY MA HELALY 1
VELOCITIES
IN
MECHANISMS
-
7/27/2019 Velocity in Mechanisms
2/41
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
-
7/27/2019 Velocity in Mechanisms
3/41
THEORY OF MACHINE BY MA HELALY 3
VELOCITIESIN
MECHANISMS
BY METHOD OF
RELATIVE VELOCITIES
-
7/27/2019 Velocity in Mechanisms
4/41
LINEAR VELOCITY
THEORY OF MACHINE BY MA HELALY 4
Amplitude Direction
V
By scale from vector diagram Vc = 1.8
-
7/27/2019 Velocity in Mechanisms
5/41
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
-
7/27/2019 Velocity in Mechanisms
6/41
THEORY OF MACHINE BY MA HELALY 6
-
7/27/2019 Velocity in Mechanisms
7/41
THEORY OF MACHINE BY MA HELALY 7
-
7/27/2019 Velocity in Mechanisms
8/41
THEORY OF MACHINE BY MA HELALY 8
-
7/27/2019 Velocity in Mechanisms
9/41
THEORY OF MACHINE BY MA HELALY 9
-
7/27/2019 Velocity in Mechanisms
10/41
THEORY OF MACHINE BY MA HELALY 10
-
7/27/2019 Velocity in Mechanisms
11/41
THEORY OF MACHINE BY MA HELALY 11
-
7/27/2019 Velocity in Mechanisms
12/41
THEORY OF MACHINE BY MA HELALY 12
-
7/27/2019 Velocity in Mechanisms
13/41
THEORY OF MACHINE BY MA HELALY 13
-
7/27/2019 Velocity in Mechanisms
14/41
THEORY OF MACHINE BY MA HELALY 14
-
7/27/2019 Velocity in Mechanisms
15/41
THEORY OF MACHINE BY MA HELALY 15
-
7/27/2019 Velocity in Mechanisms
16/41
THEORY OF MACHINE BY MA HELALY 16
-
7/27/2019 Velocity in Mechanisms
17/41
THEORY OF MACHINE BY MA HELALY 17
-
7/27/2019 Velocity in Mechanisms
18/41
THEORY OF MACHINE BY MA HELALY 18
-
7/27/2019 Velocity in Mechanisms
19/41
THEORY OF MACHINE BY MA HELALY 19
-
7/27/2019 Velocity in Mechanisms
20/41
THEORY OF MACHINE BY MA HELALY 20
-
7/27/2019 Velocity in Mechanisms
21/41
THEORY OF MACHINE BY MA HELALY 21
-
7/27/2019 Velocity in Mechanisms
22/41
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.?
-
7/27/2019 Velocity in Mechanisms
23/41
THEORY OF MACHINE BY MA HELALY 23
7=.=12.57 .., =.=123.31
-
7/27/2019 Velocity in Mechanisms
24/41
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
-
7/27/2019 Velocity in Mechanisms
25/41
THEORY OF MACHINE BY MA HELALY 25
-
7/27/2019 Velocity in Mechanisms
26/41
THEORY OF MACHINE BY MA HELALY 26
VELOCITIESIN
MECHANISMS
BY METHOD OF
instant Centers
-
7/27/2019 Velocity in Mechanisms
27/41
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.
-
7/27/2019 Velocity in Mechanisms
28/41
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)
-
7/27/2019 Velocity in Mechanisms
29/41
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!
-
7/27/2019 Velocity in Mechanisms
30/41
THEORY OF MACHINE BY MA HELALY 30
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).
-
7/27/2019 Velocity in Mechanisms
31/41
THEORY OF MACHINE BY MA HELALY 31
Locating instantaneous centers in a four-bar mechanism
-
7/27/2019 Velocity in Mechanisms
32/41
THEORY OF MACHINE BY MA HELALY 32
Locating instant centers in the slider-crank linkage
-
7/27/2019 Velocity in Mechanisms
33/41
THEORY OF MACHINE BY MA HELALY 33
Velocity analysis using instantaneous centers:
-
7/27/2019 Velocity in Mechanisms
34/41
THEORY OF MACHINE BY MA HELALY 34
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.
-
7/27/2019 Velocity in Mechanisms
35/41
THEORY OF MACHINE BY MA HELALY 35
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.
-
7/27/2019 Velocity in Mechanisms
36/41
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.
-
7/27/2019 Velocity in Mechanisms
37/41
THEORY OF MACHINE BY MA HELALY 37
-
7/27/2019 Velocity in Mechanisms
38/41
THEORY OF MACHINE BY MA HELALY 38
-
7/27/2019 Velocity in Mechanisms
39/41
THEORY OF MACHINE BY MA HELALY 39
-
7/27/2019 Velocity in Mechanisms
40/41
THEORY OF MACHINE BY MA HELALY 40
-
7/27/2019 Velocity in Mechanisms
41/41