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Mathcad - 7-4a 4-Bar Accel

This document analyzes the acceleration of a 4-bar linkage mechanism using position and velocity analysis. It defines the mechanism dimensions and input motion, then calculates the position and velocity of links 3 and 4. Finally, it determines the accelerations of links 3 and 4 by taking derivatives of the velocity equations.

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Icy45
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22 views

Mathcad - 7-4a 4-Bar Accel

This document analyzes the acceleration of a 4-bar linkage mechanism using position and velocity analysis. It defines the mechanism dimensions and input motion, then calculates the position and velocity of links 3 and 4. Finally, it determines the accelerations of links 3 and 4 by taking derivatives of the velocity equations.

Uploaded by

Icy45
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Problem 7-4a 4-bar analytical acceleration analysis

rad rad
d := 6 a := 2 b := 7 c := 9 θ2 := 30⋅ deg ω2 := 10⋅ α2 := 0 ⋅
sec 2
sec

From position analysis, open θ3 := 88.837⋅ deg θ4 := 117.286 ⋅ deg

rad rad
From velocity analysis, open ω3 := −5.991 ⋅ ω4 := −3.992 ⋅
sec sec

OPEN

A := c⋅ sin( θ4) A = 7.999

B := b ⋅ sin( θ3) B = 6.999

−2
C := a⋅ α2⋅ sin( θ2) + a⋅ ω2 ⋅ cos( θ2) + b ⋅ ω3 ⋅ cos( θ3) − c⋅ ω4 ⋅ cos( θ4)
2 2 2
C = 244.055 s

D := c⋅ cos( θ4) D = −4.126

E := b ⋅ cos( θ3) E = 0.142

−2
F := a⋅ α2⋅ cos( θ2) − a⋅ ω2 ⋅ sin( θ2) − b ⋅ ω3 ⋅ sin( θ3) + c⋅ ω4 ⋅ sin( θ4)
2 2 2
F = −223.727 s

C⋅ D − A⋅ F −2
α3 := α3 = 26.075 s
A⋅ E − B⋅ D

C⋅ E − B⋅ F −2
α4 := α4 = 53.327 s
A⋅ E − B⋅ D

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