Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

CHAPTER 2
KINEMATICS ANALYSIS

Dr. Le Thanh Long

[email protected]

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

Outline
2.1. Fundamentals
2.2. Kinematics analysis using vector polygon method
2.3. Kinematics analysis using the instantaneous center method –
Four bar linkage mechanism’s kinematic characteristics
2.4. Kinematics analysis using analytical method
2.5. Kinematics analysis using graph method and complex algebra

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic

2. Kinematics analysis

3. Signification

4. Method

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic
Consider the point M moving in space. If point M moves at a fixed
distance from O, then the position M is determined by vector
=⃗

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic

⃗ ⃗ ∆ ( )
 Velocity of M: = = lim
∆ → ∆

 The instantaneous velocity vector at a point is always tangent to

the orbit at that point
5

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic
 If we put in O the Cartesian coordinate system Oxyz, the position
of the point M is determined by the vector r
Motion equation of M(x,y,z)
⃗ = ⃗+ ⃗+
→ ⃗ = + +
x = x(t)
With y = y(t)
z = z(t)
6

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic
⃗
 Velocity of M = = ⃗+ ⃗+
= ̇⃗ + ̇ ⃗ + ̇

→ = ⃗+ ⃗+

→ = + +

= ̇
With = ̇
= ̇
(Velocity components of M in three directions ) 7

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic
 Acceleration of M ⃗= = ̇ ⃗+ ̇ ⃗+ ̇
= ̈⃗ + ̈ ⃗ + ̈
→ ⃗= ⃗+ ⃗+

→ ⃗ = + +
= ̇ = ̈
With = ̇ = ̈
= ̇ = ̈
(Acceleration components of M in three directions) 8

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic
 Motion properties of M
× ⃗=0 V and W are collinear: M moves in a straight line
× ⃗≠0 V and W are non-collinear: M moves in a curved line
.⃗>0 V increases by time: M moves with increasing speed
.⃗<0 V decreases by time: M moves with decreasing speed
.⃗=0 V is constant: M moves with constant speed

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic

Acceleration is constant
= = const
Velocity is a function of time
= +
Position is a function of time
1
s  s0  Vo t  ac t 2
2
Velocity is a function of position
= +2 ( − )

10

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic
 Consider a point M moving in the space on a known trajectory. If
we take a fixed point O on a known trajectory as the origin and
select a positive convention, the position of point M is completely
determined through the length s = OM
 Motion equation of M:
s = s(t)
 Construct the coordinate system M attached to the point M such
that:
- is the unit vector tangent to the M’s orbit in the positive direction
- n is the unit vector perdendicular to
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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic
 Velocity of M:

= ̇⃗

- Velocity vector is always tangent to the trajectory

- The sign depends on the selected positive direction, if following
the positive direction V > 0, and if following in the negative
direction V < 0

12

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic
 Acceleration of M:
̇
⃗= = ̈⃗+ = ⃗+

→ ⃗ = +
With = ̇ = ̈ : tangential acceleration
̇
= = : normal acceleration
is the orbit’s radius of curvature. If we have y = f(x)
1+ /
=
/ 13

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic
 Example 2.1: Calculate the radius of curvature of the trajectory
at position x = 1 of the curve equation
=
 Solution:

Calculate the first and second derivatives of the function:

=3 =6
Apply the formula to calculate the orbit’s radius of curvature:
( )
= = → 1 = ≈ 5,27
( )
14

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
A. Particle Kinematic
 Example 2.2: We have the positional vector of the box sliding on a
curved path. Calculate the velocity and acceleration of the box at
t = 2s
⃗ = 2 sin 2 ⃗ + 2 cos ⃗ − 2
Coordinates of the box in Oxyz system
x(t) = 2sin(2t) = ̇ = 4 cos 2
y(t) = 2cos(t) = ̇ = −2sin( )
z(t) = -2 = ̇ = −4
= ̈ = −8sin(2 )  V (t  2)  Vx2  Vy2  Vz2  8, 61 m / s
= ̈ = −2c ( )
= ̈ = −4  a (t  2)  ax2  a y2  az2  7,3 m / s 2
15

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
B. Solid Kinematic
 Translational motion is a motion in which each line of an object
has a constant equation during its motion

 Equal speed
 Equal acceleration =
 Same orbit =
Comment: To survey the motion of an object, it is only necessary
to examine the motion of a point on the object 16

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
B. Solid Kinematic
 Rotational motion around a fixed axis is the motion in which a
rigid body has two fixed points and the rigid body rotates around
those two fixed points.
= ( ): motion equation
= ̇ : angular velocity
= ̇ = ̈ : angular acceleration
> 0 the object rotates counterclockwise from the top view
> 0 the object rotates in the positive direction
= 0 the object rotates uniformly
, in the same direction : rotates faster and faster
, in opposite direction: rotates slower and slower 17

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
B. Solid Kinematic
Consider a section perpendicular to the rotational axis and
intersecting it at I. The orbit of the point M is a circle with center
I and radius R.
Choose O as the landmark in the M’s orbit
Motion equation: s = OM = R ( )
Velocity: = ×⃗= =⃗
Direction: tangent to the orbit
Direction: determined by direction
of
Magnitude: =R
With is the angle between and r
Vector n is the unit vector perpendicular to and r 18

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
B. Solid Kinematic ⃗
Acceleration: ⃗ = = × ⃗+ ×
= ⃗× ⃗ + × ⃗ = ⃗× ⃗ + ×

→ ⃗= + = ⃗× ⃗ − ⃗
Tangential acceleration vector:
Direction: tangent to the orbit
Direction: determined by the
direction of
Magnitude: =R
Normal acceleration vector:
Direction: collinear with radius
Direction: directed to the center
Magnitude: =R 19

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
B. Solid Kinematic

⃗= + = ⃗× −

Direction: math with radius an angle such that tan = =

Magnitude: = + = +
20

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
C. Velocity and acceleration addition theorem
Absolute motion: Is the motion of the point
M relative to the fixed axis system Oxyz.
Absolute velocity and acceleration: ,

= ̇⃗ + ̇ ⃗ + ̇
= ̈⃗ + ̈ ⃗ + ̈
Relative motion: Is the motion of point M = ̇ + ̇ + ̇
relative to the dynamic axis system
Relative velocity and acceleration : , = ̈ + ̈ + ̈

21

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
C. Velocity and acceleration addition theorem

 Velocity addition theorem: = +

 Acceleration addition theorem: = = + = +

Let =2 × is Coriolis acceleration

Rack: perpendicular to and

Direction: right hand rule
Magnitude: =2

22

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
1. Particle and Solid Kinematic
C. Velocity and acceleration addition theorem

23

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
2. Structural kinematic analysis
Structural kinematic analysis is the study of the motion law of the
mechanism when the dynamic diagram of the mechanism and the
motion law of the driving link are known in advance.
Includes 3 problems: position, velocity and acceleration.

24

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
3. Signification
- Determining the position and locus of points helps in machine design
such as: using the locus of points, coordinating the movements of
parts together to meet the requirements and the task of the machine,
design the shell, shielding parts for the machine, arrange the machine
installation space,…
- Velocity and acceleration are necessary parameters that reflect the
working quality of the machine such as productivity, speed,
irregularity,…
- Velocity is the basis for determining dynamic quantities such as
kinetic energy, power,… to calculate energy, and smooth machine
motion.
- Acceleration to calculate the inertia force, thereby solving the
problem of dynamic joint stress.
25

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.1. Fundamentals
4. Method

Method

Vector Instantaneous Graph method

Analytical
polygon center of velocity and complex
method
method method algebra

26

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector

polygon method
1. Position analysis

2. Velocity analysis

3. Acceleration analysis

27

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

Given a four-bar linkage ABCD with a given length of links.
Draw a mechanism diagram to determine the locus of B, C when
the mechanism is in motion

28

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

1. Position analysis

29

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

1. Position analysis

30

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

1. Position analysis

31

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

1. Position analysis

32

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

1. Position analysis

33

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

1. Position analysis

34

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

1. Position analysis

35

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

2. Velocity analysis
Conditions for solving a vector equation

   
m  m1  m 2  ...  m n
   '  '  '
m  m1  m 2  ...  m n

    '  '  '

 m1  m 2  ...  m n  m1  m 2  ...  m n

36

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

2. Velocity analysis
If the magnitudes of and haven’t been known yet (the
directions were known)

37

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

2. Velocity analysis
If the directions of and haven’t been known yet (the
magnitudes were known)

38

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

2. Velocity analysis
Example 2.3: Given a four-bar linkage at the position as shown
in the figure. Driving link 1 rotates with constant angular velocity
ω . Derive the velocity, acceleration of points C, E on link 2 and
angular acceleration of links 2, 3.

39

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

2. Velocity analysis
- Velocity of point C We have:
  
v C  v B  v CB
⊥ CD
⃗ = direction ?
magnitude ?
⊥
⃗ = direction ϵ ω

⊥ CB
⃗ = direction ?
magnitude ? 40

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

2. Velocity analysis
- Velocity of point C Velocity scale
m
actual velocity[ ]
= s
length in diagram [mm]

   
vC  v pc v CB  v bc
41

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

2. Velocity analysis
- Velocity of point E   
v E  v B  v EB    
    v B  v EB  v C  v EC
v E  vC  v EC
 
v B , v C can be derived

⊥ EB
⃗ = direction ?
magnitude ?

⊥ EC
⃗ = direction ?
magnitude ? 42

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

2. Velocity analysis
- Velocity of point E

 
v E  v pe
43

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

2. Velocity analysis
- Velocity of links 2 and 3

ω2

ω3

vCB
- Velocity of link 2 (counter-clockwise) 2 
lCB
vC
- Velocity of link 3 (clockwise) 3 
lCD
44

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

2. Velocity analysis
- Comment:

ω2

ω3

- The vectors with tail at p and heads at points b, c, e show the absolute
velocity vectors of corresponding points B, C, and E.
- Vectors without tail at p like , show the relative velocity vectors of
point C to point B, of point E to point B.
45

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

2. Velocity analysis
- Comment:

ω2

ω3
Polygon vector is related to the structure diagram:
BE ⊥ be, EC ⊥ ec, CB ⊥ cb
∆BEC is similar to ∆bec
Mehmke theorem:
Velocity image of any link is a similarly shaped figured oriented by 90° in the
direction of the angular velocity of that link
→ Thus, if we know the velocities of two points within a link, we can derive
velocity of any point in this link using velocity image concept
46

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

3. Acceleration analysis
We have:
- Acceleration of C   
a C  a B  a CB
ω2  n 
a C  a CD  a CD
  n 
a CB  a CB  a CB
ω3  n  n 
 a B  a CB  a CB  a CD  a CD

∕∕ AB ∕∕ CB ⊥ CB
⃗ = direction (C → B) ⃗ = direction ?
⃗ = direction (B → A)
ω l magnitude ?
ω l

∕∕ ⊥
⃗ = direction ?
⃗ = direction (C → D)
magnitude ?
47

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

3. Acceleration analysis
- Acceleration of C m
actual value [ ]
Acceleration scale = s
length in diagram[mm]
ω2

ω3

 
a C   a p 'c '

48

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

3. Acceleration analysis
  n 
- Acceleration of E a E  a B  a EB  a EB
  n 
ω2 a E  a C  a EC  a EC
  n   n 
 a B  a EB  a EB  a C  a EC  a EC
ω3  
a B , a C can be derived

∕∕ EB ∕∕ EC
⃗ = direction (E → B) ⃗ = direction (E → C)
ω l ω l

⊥ EB ⊥
⃗ = direction ? ⃗ = direction ?
magnitude ? magnitude ? 49

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

3. Acceleration analysis
- Acceleration of C

ω2

ε2
ε3 ω3


 a CB
- Link 2’s angular acceleration (counter-clockwise) 2 
lCB

 a CD
- Link 3’s angular acceleration (counter-clockwise) 3 
lCD
50

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

3. Acceleration analysis
- Comment:

ω2

ε2
ε3 ω3

- Vectors having tail at p' and heads at points b', c', e’ show the absolute
acceleration vectors of the corresponding points B, C, E.
- Vectors without tail at p’ like , show the relative acceleration
vectors of C to B, of E to B.
51

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.2. Kinematics analysis using vector polygon method

3. Acceleration analysis
- Comment:
ω2

ε2
ε3 ω3

∆BEC is similar to ∆b’e’c’

Mehmke theorem:
The acceleration image of each link in the acceleration polygon is a reproduction
of the shape of the rigid link.
→ If we know the accelerations of two points within a link, we can derive
acceleration of any point in this link using acceleration image concept.
52

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the

instantaneous center method
1. Instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics

53

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

1. Instantaneous center method
- At each instant, there is always a point on the plane with
relative velocity 0. That point is called the instantaneous center
of velocity. The symbol is P. It can be said that the
instantaneous center of velocity is the point at which the
absolute velocities of the object under investigation and the
reference object are equal.
   
V A  V P  V AP  V AP  APP
   
V B  V P  V BP  V BP  BPP

→ The velocity of every point in the plane is distributed as a body

rotating about an axis through the instantaneous center P with
absolute angular velocity 54

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

1. Instantaneous center method
- Method of determining instantaneous center of velocity
+ Know the direction of velocity of two points A and B

+ Know the velocities of two points A and B which are

perpendicular to AB

55

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

1. Instantaneous center method
- Method of determining instantaneous center of velocity
+ Know the velocities of two points A and B are parallel and equal

+ Two flat curves roll without sliding on top of each other

56

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

1. Instantaneous center method
Example 2.4: Give the structure as shown. Find the velocity of
point C and the angular velocity of bar BC.
Solution:
Angular velocity of BC:
VB 
BC  
PB 3
Velocity of point C:
3
VC  BC PC  2a
3
Directions of , , are shown in the figure

57

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2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
- Planar lower-pair mechanisms are planar mechanisms containing
only lower pairs
Example: four bar linkage, crank-slider, horizontal shaper…

58

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
The mechanism has 4 links connected by 4 hinge
joints
- Fixed link: frame
- Link 2, opposite to frame: coupler
- Links 1, 3:
+ fully rotating revolute: crank
+ partly rotating revolute circle: rocker

crank - rocker crank - crank rocker - crank rocker - rocker

59

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
- Some applications of four bar linkage mechanism:
+ Link 1 rotates, link 3 rotates: Steam train mechanism

60

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
- Some applications of four bar linkage mechanism:
+ Link 1 rotates, link 3 shakes: Straight beam walking mechanism

61

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
- Some applications of four bar linkage mechanism:
+ Link 1 shakes, link 3 rotates: Sewing machine

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
- Some applications of four bar linkage mechanism:
+ Link 1 shakes, link 3 shakes: Oil pumps, pliers…

63

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
Variation of revolute four-bar mechanism:
D: move to ∞ vertically

Eccentric crank-slider mechanism

In-line crank-slider mechanism

64

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
Variation of revolute four-bar mechanism:
From an in-line crank-slider mechanism, change 1 into frame
→ quick-return mechanism

65

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
Variation of revolute four-bar mechanism:
From an quick-return mechanism, move B to ∞ in the direction of
frame 1
→ Tangent generator mechanism

66

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
Variation of revolute four-bar mechanism:
From a quick-return mechanism, move A to ∞ in the direction of
frame 1
→ Sinusoid generator mechanism

67

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
Variation of revolute four-bar mechanism:
From a sinusoid generator mechanism, change 4 into frame →
Elliptic trammel mechanism

68

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
Variation of revolute four-bar mechanism:
From a sinusoid generator mechanism , change 2 into frame →
Oldham coupling mechanism

69

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
- Angular velocity ratio:
In four-bar linkage mechanism:
+ Driver 1 rotates with a constant angular velocity
+ Link 2 has planar motion with an angular velocity
+ Driven link 3 rotates with
Angular velocity between two links is the rate
of their angular velocities:
1 2
i12  , i23 
2 3
Angular velocity ratio of mechanism is the
rate of the input and output angular velocities
1
i13 
3 70

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
- Angular velocity ratio:
Kennedy’s theorem: Any three objects having plane motion
relative to one another have their three instant centers along the
same straight line
VP13
1 l AP13 lDP13
i13   
3 VP13 l AP13
lDP13
Above formula is expressed in the
Willis theorem:
The angular velocity of any two bodies in planar motion relative to
a third body is inversely proportional to the segments into which
the common instant center cuts the line of centers 71

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
- Angular velocity ratio:
+ Angular velocity ratio is a function of mechanism position
lPD 1
i13  
lPA 3
+ P13 ∉ AD → ⇈  i13  0
+ P13 ∈ AD → ↑↓  i13  0

72

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
- Coefficient of Productivity:
+ The ratio of time of faster stroke to time of slower stroke is
called the coefficient of productivity.
+ Coefficient of productivity is used to evaluate the work level of
the mechanism.
- Driver has two strokes:
+ Faster stroke: lv
+ Slower stroke: ck
+ Usually: lv  ck
- Considering a four-bar mechanism as shown in the
figure below, the coefficient of productivity:
tlv lv / 1 lv 1800  
k   
tck ck / 1 ck 1800  
73

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.3. Kinematics analysis using the instantaneous center method

2. Four bar linkage mechanism’s kinematic characteristics
- Conditions for having a crank:
+ Disassembly pair B → locus B1 and B2
{B1}  O( A, l1 )
{B2 }  O ( D, l2  l3 )  O ( D, l2  l3 )
+ Link 1 fully rotating revolutes
  B1   B2 
 l1  l4  l2  l3

l4  l1  l2  l3
→ Conditions for having a crank: The link connected to frame can be a
crank if and only if its locus belongs to locus of its connected moving
link. 74

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.4. Kinematics analysis using analytical

method
1. General

2. Example

75

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.4. Kinematics analysis using analytical method

1. General

- Depending on mathematical tools when determining the

position of the points on the mechanism, we divide analytical
method into: trigonometric method, vector algebra, tensor
matrix… In this section, we use trigonometric method.

76

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.4. Kinematics analysis using analytical method

2. Example
Given the crank-slider mechanism as shown in the figure.
Determine the angular displacement, angular velocity, angular
acceleration of the coupler and the displacement, velocity,
acceleration of the slider

77

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.4. Kinematics analysis using analytical method

2. Example a. Angular displacement, velocity
and acceleration of coupler

l1 sin 1  e  l2 sin 3
l1 e
sin 3  sin 1 
l2 l2
Set
l2
 : coupler-crank ratio
l1
e
  : Eccentricity coefficient
l1
1 1 
 sin 3  (sin 1   )  3  arcsin  (sin 1   ) 
  
78

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.4. Kinematics analysis using analytical method

2. Example
a. Angular displacement, velocity
and acceleration of coupler

1
sin 3  (sin 1   )

Derivative on both sides of the
equation:
d 3 1 d
cos3  cos1 1
dt  dt
Angular velocity of coupler:
1 cos1
3 
 cos3
79

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.4. Kinematics analysis using analytical method

2. Example
a. Angular displacement, velocity
and acceleration of coupler
1 cos1
3 
 cos3
Derivative on both sides of the
equation
d 3 1  -1 sin 1cos3  3cos1sin3 
3    
dt  cos33 
sin 1  1 cos 21 sin 3
1 2 2 
 3   1   cos 3 
 cos33   sin 1 
sin 1
1 2
1  1   1 
 3   1  2     sin 1    1  2  
 cos33    sin 1     80

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.4. Kinematics analysis using analytical method

2. Example
In in-line crank-slider mechanism
(e=0)
1 
3  arcsin  sin 1 
 
1 cos1
3 = 1
 cos3

1  1
2  sin 1
 3    2  1 3
1
   cos 3

81

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.4. Kinematics analysis using analytical method

2. Example b. Displacement, velocity, acceleration
of slider

From the figure, position of slider

xC  l1cos1  l2 cos3

xC  l1 (cos1   cos3 )

- At the boundary positions (when crank and coupler straighten or

dovetail) of the slider, we have:
xCmax  (l2  l1 )  e 2 2 xC min  (l2  l1 ) 2  e 2
82

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.4. Kinematics analysis using analytical method

2. Example b. Displacement, velocity, acceleration
of slider

Stroke of the slider

H  xCmax  xC min
 (l2  l1 ) 2  e 2  (l2  l1 ) 2  e 2

dxC  d1 d3 

vC   l1  sin 1   sin 3 
dt  dt dt 

83

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.4. Kinematics analysis using analytical method

2. Example
b. Displacement, velocity, acceleration of slider
vC  l11  sin 1  cos1tg3 

dvC
aC 
dt

2 d1 cos1 d3 d1 
 l   cos1
1 1  2
 tg3 sin 1 
 dt cos  3 dt dt 
 cos(1  3 ) cos 21 
2
aC  l  1 1  2 
 cos  3  cos  3

84

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.5. Kinematics analysis using graph

method and complex algebra
1. Position graph

2. Velocity graph

3. Acceleration graph

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2.5. Kinematics analysis using graph method and

complex algebra
Given four-bar mechanism with lAB, lBC, lCD, lDA, ω1 are constant.
Determine position, angular velocity and angular acceleration
graph of link CD

86

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.5. Kinematics analysis using graph method and

complex algebra
1. Position graph
Consider a four-bar mechanism at the position as shown in the
figure

Determine the value of φ3 from drawing, measuring and tabulate

φ1 φ2 φ3 … φn
Construct the graph ψ = ψ(φ)
ψ1 ψ2 Ψ3 … ψn
87

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.5. Kinematics analysis using graph method and

complex algebra
2. Velocity graph

   ( )

d
d

- Angular velocity of link CD

d d d d
3    1
dt dt d d

- Angular velocity graph ω3 = graph of × ω1

88

Department of Machine Design - Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

2.5. Kinematics analysis using graph method and

complex algebra
3. Acceleration graph
   ( )

- Angular acceleration of link CD

d d  d 2 d
 2 d 
 3  3   1   1 d
dt dt  d  d 2

d 2
d 2

- Angular acceleration graph ε3 = graph of × ω21

89

Department of Machine Design - Faculty of Mechanical Engineering