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Analytical Acceleration Analysis

The document presents an analytical approach to acceleration analysis in a four-bar mechanism using vector loop equations and algebraic position equations. It outlines the derivation of velocity and acceleration equations in both algebraic and complex forms, emphasizing the relationships between angular positions, velocities, and accelerations. The analysis includes methods for solving for unknown angular accelerations and linear accelerations, particularly focusing on the unique characteristics of the slider link in the mechanism.

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abdullahiqbal010
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10 views

Analytical Acceleration Analysis

The document presents an analytical approach to acceleration analysis in a four-bar mechanism using vector loop equations and algebraic position equations. It outlines the derivation of velocity and acceleration equations in both algebraic and complex forms, emphasizing the relationships between angular positions, velocities, and accelerations. The analysis includes methods for solving for unknown angular accelerations and linear accelerations, particularly focusing on the unique characteristics of the slider link in the mechanism.

Uploaded by

abdullahiqbal010
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Analytical Acceleration Analysis

The four vectors form a vector loop equation:

In complex form
R2eiθ2 + R3eiθ3 − R4eiθ4 − R1eiθ1 = 0 (1)
The algebraic position equations for a fourbar are:

R2 cos 2 + R3 cos 3 - R4 cos 4 - R1 cos 1 = 0 (a)


R2 sin 2 + R3 sin 3 - R4 sin 4 - R1 sin 1 = 0 (b)

The time derivative of these equations (a) and (b) yields the velocity
equations:

- R2 sin 2 2 - R3 sin 3 3 + R4 sin 4 4 = 0 (c)

R2 cos 2 2 + R3 cos 3 3 - R4 cos 4 4 = 0 (d)


- R2 sin 2 2 - R3 sin 3 3 + R4 sin 4 4 = 0 (c)

R2 cos 2 2 + R3 cos 3 3 - R4 cos 4 4 = 0 (d)


In complex form
𝑖𝜔2 𝑅2𝑒 𝑖𝜃2 + 𝑖𝜔3 𝑅3𝑒 𝑖𝜃3 − 𝑖𝜔4 𝑅4𝑒 𝑖𝜃4 = 0 (2)

The time derivative of these equations yields the acceleration equations or


acceleration constraints. Note that the variables are  2 ,  3 and  4,  2,  3, and  4
:
- R2 sin 2 2 - R2 cos 2 22 - R3 sin 3 3 - R3 cos 3 32 + R4 sin 44 + R4 cos 4 42 = 0
R2 cos 22 - R2 sin 2 22 + R3 cos 3 3 - R3 sin 3 32 - R4 cos 4 4 + R4 sin 4 42 = 0

Rearranged as
-R2 sin 2 2 - R2 cos 2 22 -R3 cos 3 32 +R4 cos 4 42 = R3 sin 3 3 - R4 sin 44
R2 cos 22 - R2 sin 2 22 - R3 sin 3 32 + R4 sin 4 42 = -R3 cos 3 3 + R4 cos 4 4

In complex form
−𝜔2 2 𝑅2𝑒 𝑖𝜃2 + 𝑖𝛼2 𝑅2𝑒 𝑖𝜃2 − 𝜔3 2 𝑅3𝑒 𝑖𝜃3 + 𝑖𝛼3 𝑅3𝑒 𝑖𝜃3 + 𝜔4 2 𝑅4𝑒 𝑖𝜃4 − 𝑖𝛼4 𝑅4𝑒 𝑖𝜃4 = 0 (3)
Following position and velocity analyses, since the values of the angles and
angular velocities are known, if a value is assigned to one of the accelerations
(for example, the angular acceleration of the input link), the two equations can
be solved for the other two angular accelerations .

Assuming that α2 is known, we re-arrange the equations as:

R3 sin 3 −R4 sin 4 3 R2 −sin 22 − cos 2 22 + −R3 cos 3 32 +R4 cos 4 42
−R3 cos 3 R4 cos 4 4 = R2 cos 22− sin 2 22 + −R3 sin 3 32 + R4 sin 4 42

3
4
R3 sin 3 −R4 sin 4 −1
R2 −sin 22 − cos 2 22 + −R3 cos 3 32 +R4 cos 4 42
=
−R3 cos 3 R4 cos 4 R2 cos 22− sin 2 22 + −R3 sin 3 32 + R4 sin 4 42
If we reconsider Eq. (3)

−𝜔2 2 𝑅2𝑒 𝑖𝜃2 + 𝑖𝛼2 𝑅2𝑒 𝑖𝜃2 − 𝜔3 2 𝑅3𝑒 𝑖𝜃3 + 𝑖𝛼3 𝑅3𝑒 𝑖𝜃3 + 𝜔4 2 𝑅4𝑒 𝑖𝜃4 − 𝑖𝛼4 𝑅4𝑒 𝑖𝜃4 = 0 (3)
Simplify and Grouping above terms
(𝛼2 𝑅2𝑒 𝑖𝜃2 −𝜔2 2 𝑅2𝑒 𝑖𝜃2 ) + (𝛼3 𝑅3𝑒 𝑖𝜃3 − 𝜔3 2 𝑅3𝑒 𝑖𝜃3 ) - (𝛼4 𝑅4𝑒 𝑖𝜃4 − 𝜔4 2 𝑅4𝑒 𝑖𝜃4 ) = 0

Note that these are the same relationships that we


𝐴𝑡 𝐵𝐴
used to solve problem
𝐴𝑡 𝐵

𝑛 𝐴𝑛 𝐵
𝐴𝑡
𝐴
𝐴 𝐵𝐴

where
𝐴𝐴 = 𝐴𝐴𝑡 + 𝐴𝐴𝑛 = (𝛼2 𝑅2𝑒 𝑖𝜃2 − 𝜔2 2 𝑅2𝑒 𝑖𝜃2 )
𝐴𝐵𝐴 = 𝐴𝑡𝐵𝐴 + 𝐴𝑛𝐵𝐴 = (𝛼3 𝑅3𝑒 𝑖𝜃3 − 𝜔3 2 𝑅3𝑒 𝑖𝜃3 ) 𝐴𝑛𝐴

𝐴𝐵 = 𝐴𝑡𝐵 + 𝐴𝑛𝐵 = (𝛼4 𝑅4𝑒 𝑖𝜃4 − 𝜔4 2 𝑅4𝑒 𝑖𝜃4 )

Once solved for 𝛼3 and 𝛼4 , we can then solve for the linear accelerations by substituting
the Euler identity into equations.
Acceleration Analysis (Four bar Slider-Crank) : Analytical approach

The four vectors form a vector loop equation

(1)
Position equation in complex form
(2)

Differentiating position equation gives

(3)
Which is in fact velocity difference eq. 𝑉𝐴 − 𝑉𝐴𝐵 − 𝑉𝐵 = 0

Differentiating further gives

(4)
Simplifying further

(5)

Again this is acceleration difference eq.

(6)

(7)

(8)
It should be noted that link 4 (Slider) is in pure translation therefore its angular
velocity and acceleration will be zero. It has only linear acceleration along the path.

Unknown in above equation (5) are 𝜔3 , 𝛼3 𝑎𝑛𝑑 𝑑.ሷ Substitute the Euler identity

(9)
(10)

(11)

𝛼3 𝑐𝑎𝑛 𝑏𝑒 𝑠𝑜𝑙𝑣𝑒𝑑 𝑓𝑟𝑜𝑚 𝐸𝑞. 11 𝑎𝑛𝑑 𝑡ℎ𝑒 𝑠𝑢𝑏𝑠𝑡𝑖𝑡𝑢𝑡𝑒 𝑟𝑒𝑠𝑢𝑙𝑡 𝑖𝑛𝑡𝑜 𝐸𝑞 10 𝑡𝑜 𝑓𝑖𝑛𝑑 𝑑ሷ

(12)

(13)

we can then solve for the linear accelerations from Eqs. 6, 7 & 8.
Practice question

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