Velocity and Acceleration Analysis (Analytical Approach) 139 1 Am@-) [7,83 - (7284) sin (@) — 04) - (7.63) cos (®) - 64) or ~ (7364) cos (03 ~ 04)] 4.77) Angular accelerations 01 and cy of links 3 and 4 can be evaluated using expressions (4.77) and (4.76) respectively. 4.9 APPLICATION TO QUICK-RETURN MECHANISM The loop-closure equation for links 1, 2, 3 and 4 of quick-return mechanism shown in Fig. 4.6 (a) is R=R+ (4.78) Fig. 4.6 In complex polar notation, the equation is ry e!4 = ry 0?) + ry ef? (4.79) Link 1 (0Q) is located at 270° w.t. to real axis. Also, r; and r2 are constant but r, varies with respect to time. Rewriting equation (4,79) using Euler's formula ry (cos 64 + j sin 84) = r; (cos 6, + j sin 6)) +r (cos +f sin 8)) Comparing real and imaginary parts, 1 608 O41 = 11 cos 8; + 73 cos Os and sin Oy = ry sin 8, + 73 sin O But as sin =-1 and cos = above equations reduce to 174.008 8, = 13 cos 8; (4.80) and rgsin =~ 1) +7 sin 481) ‘Squaring and adding on respective sides of Eq. (4.80) and (4.81), and rearranging rh= tr 2 n sin140 Mechanism and Machine Theory Therefore re Yn +p - 27 ry Sin@ 4.82) Also, dividing (4.81) by (4.80) and rearranging 6, = tan! (ese) (4.83) 7, 605 03 Remembering that r and @ are both time invariants and ry, @, and @, are the time variants, equation (4.79) is differentiated w.r. to time for velocity analysis. Thus, (iq) cF®4 + ry G4) €!°4 = 0 + ry (782) 18? (4.84) Rewriting using Euler's formula, (#4) (cos 0, + j sin 4) + (748.4) ( cos O, — sin 0,) = (7,6) (j cos @, — sin 0) Comparing real and imaginary pans, (ig) cos 0, — (ry 84) sin 0, = ~ (72 6,) sin @ (4.85) and C4) sin 8, + (7484) cos Oy = (765) cos > (4.86) ‘These are linear algebraic equations involving variables 7, and 64. To solve the equations for (74), multiply (4.85) by cos 8, and (4.86) by sin ©, and add together (4) (cos? 8, + sin? @,) = — (7263) (sin 8) cos @, — cos ®; sin 8) or Fa = Vy = ry 0) sin (04 - 0) (4.87) Similarly, multiplying (4.85) by sin @, and (4.86) by cos @, and subtracting (749.4) (cos? @, + sin? ,) = (7262) (cos 0; cos 0, + sin 0, sin 4) or 8, = a4 = (2) cos (8) ~ 03) (4.88) % With 6, = a, established, it is quite easy 10 obtain tangential velocity of point Q as Vg = (00) «04 Velocity of point P, if desired, can be obtained by considering velocity analysis of slider-crank mechanism OQP For acceleration analysis, equation (4.84) is differentiated further w.r. to time. Thus, La + Fa Oa] M4 + LFg GO) + rg GOO + ru GOW? = [rp G02) + ry G02 Ie ‘Simplifying, this becomes [Fa +25 Cig 0.) 47 Oe 84) — re 4) 0/4 = ry GB) ~ 3) 12 (4.89) Comparing real and imaginary parts of (4.89), #4 cos 84 ~ 2 (7.6.4) sin ®, ~ (716) sin 4 - (7484) cos 8 =~ (r26 sin ®) + ry 63 cos 0) (4.90)Velocity and Acceleration Analysis (Analytical Approach) 141 and Fg sin + 2 (#464) cos 0, + (7,64) cos 6, — (7464) sin Oy = (7,6 cos @, — 7; 63 sin 0,) (4.91) Equations (4.90) and (4.91) are linear algebraic in variables #', (= As) and 6, (= 04). To eliminate 7, terms, multiply (4.90) by sin @, and (4.91) by cos @4. Subtraction gives 2 (#4 84) (cos? Oy + sin? @,) + (r46.4) (cos? 04 + sin? 04) ~ (7484) (sin ®, cos 8, ~ cos 4, sin 8,) = (7,8) (cos @, cos O, + sin @, sin 04) ~ ry 63 (sin 8, cos 8, + cos @, sin @4) or 65 2 1728» cos (@) ~ 81) ~ rp 63 sin @) + 6) -2 (801 (4.92) rs Similarly, to eliminate terms involving 6 , multiply (4.90) by cos ®, and (4.91) by sin 8, and add together 7, +040 — 1,83 = + 18, sin (8, — @,) — 7,83 cos (8, - @) Therefore Fy =Ag= r40} + r26y sin (0, — 0) — 1203 cos (Oy - 0) Knowing 64, (= 4). Ab can be obtained as (Ab) = (0Q)ay in the sense commensurate with that of cy. Also, knowing Ab = (Vg)"/0Q and Af (OQ}a4, the acceleration of slider P can be established by the following procedure described as “slider-crank mechanism.” EXAMPLE 4.1 In the slider-crank mechanism shown in Fig. 4.7, the line of stroke of slider P is off-set a perpendicular distance of 5 cm from the crank centre C. Length of connecting rods PB and crank BC are 75 cm, and'20 em. respectively. Crank BC rotates clockwise at a uniform speed of 200 rp.m. Find analytically linear velocity of slider and angular velocity of connecting rod. Also find out acceleration of slider and angular acceleration of PB, Take angle DCB = 135°, the datum line DC being parallel to the line of stroke, Solution: Measured with respect to positive x-axis direction, the orientation of vectors Ra, Rs, R and R, are 8, 8;, 6 and @, respectively as shown in Figure. Note that 8 = 90°, 8, = 180° and, except for vector R,, all vectors, namely Ry, R; and R; have constant magnitudes. The loop-closure equations can be written as R+R,=R,+R; This can be expressed in complex polar form as rel® + rel = pe! + rye!®3 (4.93) Rewriting using Euler’s formula and comparing real and imaginary terms, ros 8 +r; cos 8, = and rsin @ +7, sin 8, r C08 8: + ry Cos By ry sin 8; + 7 sin 8;