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GRAPHICAL VELOCITY ANALYSIS

5. GRAPHICAL VELOCITY ANALYSIS Velocity analysis forms the heart of kinematics and dynamics of mechanical systems. Velocity analysis is usually performed following a position analysis; i.e., the position and orientation of all the links in a mechanism are assumed known. In this course we concentrate on one analytical and two graphical methods for planar mechanisms. We start this chapter with some simple exercises to ensure that the fundamentals of velocity analysis using vector algebra are well understood. You may want to review these fundamentals in Chapter 2 of these notes. Exercises In these exercises take direct measurements from the figures for link lengths and the magnitudes of the velocity vectors. If it is stated that the angular velocity is known, assume = 1 rad/sec CCW unless it is stated otherwise. Write the position and velocity vector equations. Construct the velocity equation graphically in order to find the unknown(s). P.1 P.2 Known: VA and Determine: VB Known: VA and VB Determine:

A
VB VA

V A

P.3 Known: VA and VB What do you observe? A

VA

P.4 Determine: Known: VA and are known. Determine: VB , VC and VBC

B
VB

B
VA

C
P.5 Known: VA and VB
VB V A

P.6 Determine: VC Known: VA and Determine: VB , VC and VBC

A B
VA

C
P.7 Known: VA and VB Determine: VC

A
P.8 Known: VA and Determine: VB and VC What do you observe? Explain!

A
VA

VA

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P.9 s Known: VA , and VBA

s Assume VBA = 1 unit/sec positive

P.10 s Known: VA , and VBA

s Assume VBA = 1 unit/sec negative

Determine: VB and VC

Determine: VB and VC

V A

V A

P.11 Known: VA and VB Determine: and VC

V A

P.12 Known: VA , i and j Assume i = 1 rad/sec CCW and j = 1

C
V B

rad/sec CW. Determine: VB and VC

A
(i)

B
(j)

V A

P.13 Known: VA and VC Determine: VB

A
(i)

B
(j) VA

VC

Polygon Method Velocity polygon is a graphical pencil-and-paper approach for determining unknown velocities of a single degree-of-freedom mechanism. The method requires constructing a velocity loop equation (a polygon) graphically. A polygon may have three or more edges depending on the number of velocity vectors in the equation. For a vector loop equation, the polygon method is the graphical procedure of solving two algebraic equations in two unknowns. The velocity polygon method is demonstrated for several commonly used mechanisms. Four-bar For a known four-bar mechanism, in a given configuration and for a known angular velocity of the crank, 2 , we want to determine 3 and 4 . In this example we assume 2 is CCW. For the position vector loop equation R AO2 +R BA R BO4 R O4O2 = 0

RBA A

RAO 2
O

RBO 4 RO4 O2
O

4 2 the velocity equation is (a) VA +VBA VB = 0 Since vectors R AO2 , R BA , and R BO2 have constant lengths, their corresponding velocity vectors

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are tangential; i.e.,

t t t VA +VBA VB =0

(b) (b)

or,

2 R AO2 + 3R BA 4 R BO2 = 0

The unknowns are 3 and 4 since all vector axes are known. Velocity polygon 1. Next to the diagram of the four-bar, select a point in a A convenient position as the reference for zero velocities. RAO 2 Name this point OV (origin of velocities). 2. Compute the magnitude of VA as RAO2 2 . From OV construct vector VA perpendicular to R AO2 by rotating

O2 A VA OV
A

R AO2 90o in the direction of 2 .

RBA

3. From A draw a line perpendicular to R BA . VBA must reside on this line.

VA
OV

4. From OV draw a line perpendicular to R BO4 . VB must reside on this line.

RBO 4

O4
A

VA
OV
5. Construct vectors VBA and VB . 6. Determine the magnitude of VBA from the polygon. Compute 3 = VBA / LBA . Determine the direction of 3 . In this example it is CW since R BA must rotate 90o CW to line up with VBA .

VA VBA VB
OV

7. Determine the magnitude of VB from the polygon. Compute 4 = VB / LBO4 . Determine the

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direction of 4 . In this example it is CCW since R BO4 must rotate 90o CCW to line up with

VB . Secondary equation(s) To determine the velocity of a secondary point, such as a coupler point, we refer to the position expression and the corresponding velocity expression: R PO = R AO + R PA 2 2

VP = VA + VPA = 2 R AO + 3R PA
2

P
R PA

y A

RAO 2

R PO2

Since the angular velocities are already known, VA and

VPA are constructed. We add these two vectors

graphically to determine VP .

O2

VA

VPA
VP

OV

Example FB-VP-1 A four-bar mechanism has the following constant data: LAO = 1.0 , LBA = 4.0 , LBO = 3.0 , LO O = 3.0 ,
2 4 4 2

B P

LPA = 1.8 , 3 = 75o . The crank angle is at 2 = 170o

with an angular velocity of 2 = 1.0 rad/sec CCW. The velocity polygon is constructed and the following velocities are determined from the polygon: V 0.96 3 = BA = = 0.24 rad/sec, CCW LBA 4.0
A

O2
O
VP

O4 VB
O

4 =

VB LBO
4

0.84 = 0.28 rad/sec, CCW 3.0

VA VBA

VA

A second polygon provides the velocity of point P as VP = 1.3 in the direction shown.

VPA

Slider-crank (inversion 1) This slider-crank mechanism in the given configuration has a known angular velocity of the crank, 2 . We want to determine 3 and the velocity of the slider block. In this example we assume 2 is CCW. The position vector loop equation is: A R AO2 +R BA R BO2 = 0 R The velocity (loop) equation is expressed as VA +VBA VB = 0 We note that VA and VBA are tangential and VB is of slip type (along the axis of R BO2 ). Therefore the velocity equation can be expressed as

s 2 R AO + 3R BA VB =0
2

RAO 2

BA

O2

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Velocity polygon 1. Next to the diagram of the mechanism, select a point for the origin of velocities. 2. Compute the magnitude of VA as RAO2 2 . From OV construct vector VA perpendicular to R AO2 by rotating

RAO 2 O2
A

R AO2 90o in the direction of 2 .

VA

3. From A draw a line perpendicular to R BA . VBA must reside on this line 4. From OV draw a line parallel to the axis of the slider; i.e., parallel to R BO2 . VB must reside on this line.

OV
A RBA B

5. Construct vectors VBA and VB , considering their signs in the velocity equation. 6. Determine the magnitude of VBA from the polygon. Compute 3 = VBA / RBA . Determine the direction of 3 , which is CW in this example. 7. Determine the magnitude of VB from the polygon. The direction of this vector indicates that the slider block is moving to the left. Example SC-VP-1 For a slider-crank mechanism, the following lengths are given: LAO = 1.5, L BA = 3.0
2

A VA OV

VBA VB

VA
OV

The crank angle is 2 = 120o , and 2 = 1 rad/sec CW. The mechanism is drawn for 2 = 120o . For the given angular velocity, the velocity polygon is constructed. The following velocities are determined from the polygon: 3 = 0.28 rad/sec, CW; VB = 0.94 to the right.

B O2 VA VBA O VB

Slider-crank (inversion 2) For this slider-crank mechanism (inversion 2), in the given configuration and for a known angular velocity of the crank, 2 , construct the velocity polygon. Then determine 4 and the velocity of the slider block. Assume 2 is CW. The position vector loop equation is R AO2 R O4O2 R AO4 = 0 . Since R AO2 is a rotating fixedlength vector, VAO2 is tangential. However, R AO4 is a variable-length, variable-angle vector, and therefore VAO4 contains both tangential and slip components.

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Hence the velocity (loop) equation is written as

t s t s VAO VAO VAO = 2 R AO2 VAO 4 R AO4 = 0 2 4 4 4 Note: In this velocity equation we do not drop the index of the non-moving points, O2 and O4 . Dropping them may cause confusion. Velocity polygon 1. Select a point for the origin of velocities. 2. Construct vector VAO2 . 3. From the end of VAO2 draw a line parallel to R AO4 .
s VAO should reside on this line 4

A (3)
R AO2

(4)
R AO4

O2
A
R AO2

RO4 O2

O4

O2
OV
VAO
2

4. From OV draw a line perpendicular to the axis of the

t should slider; i.e., perpendicular to R BO2 . VAO 4

A
R AO4

reside on this line.

s t and VAO , considering their 5. Construct vectors VAO 4 4

O4 OV
VAO
2

signs in the velocity equation. t . Compute 6. Determine the magnitude of VAO 4

t 4 = VAO / RAO4 . Determine the direction of 4 . In 4

this example 4 is CW.

s from the polygon. 7. Determine the magnitude of VAO 4

s VAO 4

t AO4

OV

VAO

Secondary equation(s) Determine the velocity of a secondary point, such P on link 4, where L4 = RPO4 is a known constant. There are two possible ways to determine VP : (a) We can position P with respect to the ground point O2 as R PO2 = R AO2 + R PA . The corresponding velocity expression is VP = VA + VPA , where VPA contains both tangential and slip components. Computing the tangential component requires the magnitude of R PA , which must be determined based on L4 RAO4 . The slip component of VPA must be based on the slip component of R AO4 . It should be obvious that we have made a simple problem unnecessarily difficult! (b) We can position P with respect to the ground point O2 as R PO2 = R O4O2 + R PO4 . The corresponding
t = 4 R PO4 as shown velocity expression is VP = VPO 4 on the figure based on a CW direction of 4 .
P.E. Nikravesh

P
R PA R PO2 R AO2

O2

(a)

VP

P
R PO2 R PO4

O4 O2
RO4 O2

(b)
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GRAPHICAL VELOCITY ANALYSIS

Example SC-VP-2 Consider the following lengths for a slider-crank, inversion 2: LAO = 1.0, LO O = 2.0, LPO = 4.0 . The crank
2 4 2 4

angle is in 2 = 125 orientation. The angular velocity of the

o

crank is 2 = 1 rad/sec CW. The mechanism is drawn for the given crank angle. The velocity polygon is constructed and the following values are s = 0.61 in the obtained: 3 = 4 = 0.3 rad/sec CW; V AO
4

O2
s VAO 4

O4

VP

direction shown. The velocity of point P is computed as VP = (4.0)(0.3) = 0.12 , in the direction shown. Q: Is the slider moving away from O4 ?

t VAO 4

VAO

Slider-crank (inversion 3) For this slider-crank mechanism (inversion 3), in the given configuration and for a known angular velocity of the crank, 2 , construct the velocity polygon. Then determine 4 and the A velocity of the slider block. Assume 2 is CW. (3) The position vector loop equation is written as: RO A R AO2 + R O4 A R O4O2 = 0
4

R AO2

The corresponding velocity equation is

s t s t VAO + V + V = + V + R R O A O A 2 AO O A 3 O4 A = 0 2 4 4 2 4 Velocity polygon 1. Select a point for the origin of velocities. 2. Construct vector VAO2 .
A

(4)

O2

R O4O2

O4

RAO2
O2
VAO
2

3. From the end of VAO2 draw a line parallel to R O4 A .

s VO should reside on this line 4A

OV

A
R O4 A

4. From OV draw a line perpendicular to the axis of the

t must reside slider; i.e., perpendicular to R O4 A . VO 4A

on this line.
VAO
2

O4

OV
s t and VAO , considering their 5. Construct vectors VAO 4 4

VAO

signs in the velocity equation.

OV
s VO 4A

t VO 4A

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t t / RO4 A . Determine the direction of 6. Determine the magnitude of VO . Compute 3 = 4 = VO 4A 4A

3 . In this example, it is CW.

s . 4. Determine the magnitude of VO 4A

Secondary point Determine the velocity of point P on link 3, where RPA = L3 is a known constant. Point P can be positioned with respect to the ground point O2 as R PO2 = R AO2 + R PA . The corresponding velocity expression is

VP = VA + VPA = 2 R AO + 3R PA
2

A (3)
R PA
R AO2

O2

O4

R PO4
VAO
2

Since both angular velocities are known, VP can be constructed graphically.

OV
VP

t VPA

Example SC-VP-3 The following lengths are provided for a slider-crank (inversion 3) mechanism: LAO = 1.0, LO O = 1.5, LPA = 0.5 .
2 4 2

P A

The crank angle in the shown configuration is 2 = 30o . The angular velocity of the crank is 2 = 1 rad/sec CCW. The velocity polygon is constructed and the following velocities are determined from the polygon: 3 = 4 = 0.46 rad/sec CW, V
s O4 A

O2

O4

t PA
t VO 4A

= 0.9 in the direction shown.

t VO 4A

VP
s VO 4A

A second polygon provides the velocity of P as VP = 1.1 in the direction shown.

t VO 4A

Exercises In these exercises take direct measurements from the figures for link lengths and the magnitudes of velocity vectors. Construct velocity polygons to determine the unknowns. Exercises P.1 P.4 are examples of four-bar mechanism. Assume known value and direction for 2 . Determine 3 , 4 , and VP . P.1
P

P.2
(2) (3) (4)

(3) (4) (2)

P

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GRAPHICAL VELOCITY ANALYSIS

P.3
(2)

P.4
P

(3)

(3) (2)
(4)

(4)

Exercises P.5 P.8 are examples of slider-crank mechanism. Assume known value and direction for 2 . For P.5 and P.6 determine 3 , 4 , and the velocity of the slider block. For P.7 and P.8 determine 3 , 4 , and VP . P.5
(2) (3) (4)

P.6
(3) (2) (4)

P.7
(3) (2)

P.8
P

(3) (2)

(4)
(4)

P.9 For this six-bar mechanism 2 is given. Determine 5 , velocity of P, and the velocity of the slider block.
(2) P Q (3) (4) (5) (6)

P.10 For this six-bar mechanism 2 is given. Determine 5 and the velocity of the slider block (6).
(6) (5) (4) (3)

(2)

Instant Center Method

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GRAPHICAL VELOCITY ANALYSIS

Instant center of velocities is a simple graphical method for performing velocity analysis on mechanisms. The method provides visual understanding on how velocity vectors are related. What is An Instant Center? Instant center of velocities between two links is the location at which two coinciding points, one on each link, have identical velocities. The most obvious instant center of velocities, or simply the instant center (IC), between two links that are pinned to each other is the point at the center of the pin joint. For example, the center of the pin joint between links i and j can be viewed as two coinciding points, Pi on link i and Pj on link j, that have the same velocities. The instant center between these two links is denoted as I i , j or I j ,i . The instant center of velocities may not be located within the physical boundaries of a link. As shown in the second figure, the IC between links k and h, I k ,h , is located on imaginary extensions of both links. Instant Center Between A Link and The Ground Consider link i that is pinned to the ground at O. Point O is the instant center between links i and the ground, and it is denoted I1,i or
(j)

Pj

Pi
Ii , j

(i)

VPi = VPj
(k)

Pk
I k ,h

I1, j
(h)

Ph
VPk = VPh
V C (i) V B V A B RC,O

I i ,1 (the ground is always given the index 1). If the link has a non-zero angular velocity , every point on the link has a non-zero velocity except for point O. The velocity of any
point on the link is determined as V = R , where R is the position vector of that point with respect to O. Note that all the velocity vectors are tangent to circles with a common center at I1,i . Now consider link j that is not connected to the ground directly. If the link has a non-zero angular velocity, the velocity vectors of all the points on the link must be tangent to circles with a common center. This common center is the instant center between link j and the ground; i.e., this point has a zero velocity. This center acts as an imaginary pin joint between the link and the ground. It should be obvious that VA / RA, I1, j = VB / RB, I1, j = VC / RC , I1, j = .
Note: If we know the velocity (absolute) of a point on a link, the instant center between that link and the ground must be located on an axis perpendicular to the velocity vector passing through the point. Two Links Connected by A Sliding Joint The instant center between two links that are connected by a sliding joint is located in infinity on any axis perpendicular to the sliding axis. The reason for this instant center being in infinity will be discussed later.

A RB,O RA,O O I1, i

C B (j) A V A

V C V B

RC , I1, j
R B ,I1, j

R A ,I1, j

I1, j

V A A I1, i (i)

Ii, j
(i) (j)

V B V A

B A
(i)

1, i

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GRAPHICAL VELOCITY ANALYSIS

Number of Instant Centers In a mechanism with n links (count the ground as one of the links), the number of instant centers is determined as: n(n 1) C= 2 As an example, in a four-bar mechanism or a slider-crank, there are six ICs ( n = 4 ). For any six-bar mechanism, C = 15 . Kennedys Rule The three instant centers between three planar links must lie on a straight line. This rule does not tell us where the line is or where the centers are on that line. However, the rule can be used to find the instant centers when we consider a mechanism.
I k, i
(i)
(i)

Ii, j I j, k
(j)

(k)

I 1, j

(j)

Ii, j

I 1, i

Instant Centers of A Four-bar A four-bar mechanism has six instant centers regardless of the dimensions or orientation of the links. For bookkeeping purposes in locating the ICs, we draw a circle and place link indices on the circle in any desired order. This bookkeeping procedure may not be necessary for a four-bar, but becomes very useful when mechanisms with greater number of links are considered. Since pin joints are instant centers, for a fourbar with four pin joints, four ICs are immediately identified. Each found IC is marked on the circle as a line drawn between the two corresponding link indices. These four ICs are actual (not imaginary) pin joints. In order to find the other ICs, we apply Kennedys rule.

(3)

2
(4) (2)

(1)

I3,4 I 2,3
(2)
1 3

(3)
2

(4)

I1,2

(1)

I1,4

The ICs between links 2, 3 and 4 must lie on a straight line. These are I 2,3 , I 3,4 , and I 2,4 . Since we already have I 2,3 and I 3,4 , we draw a line through them; I 2,4 must also be on this line. The ICs between links 1, 2 and 4 must lie on a straight line. These are I1,2 , I1,4 , and I 2,4 . Since we already have I1,2 and I1,4 , we draw a line through them; I 2,4 must also be on this line. The intersection of these two lines is I 2,4 . Note how the circle is used to decide which center to find next. The red line between links 2 and 4 indicates the center we are after. This line is shared between two triangles with known ICs. The triangles tell us to draw a line between I1,2 and I1,4 , then draw another line between

I 2,3 and I 3,4 . The intersection is I 2,4 .

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AME 352

GRAPHICAL VELOCITY ANALYSIS

I3,4 I 2,3
(2) (3)
2

(4)

2,4

I1,2

(1)

1,4

According to the circle, the last center to find is between links 1 and 3. The two triangles that share this new red line tell us to draw a line between I1,2 and I 2,3 , and a second line between I1,4 and I 3,4 . The intersection of these two lines is I1,3 .
I1,3 I3,4 I 2,3
(2) (3)
2

(4)

I2,4 I1,2
(1)

I1,4

Now we have found all six centers. Instant Centers of A Slider-crank A slider-crank mechanism has six instant centers regardless of which inversion it is. Again, for bookkeeping purposes, we draw a circle with link indices. Pin joints provide three of the instant centers, I1,2 , I 2,3 , and I 3,4 . The center between the slider block and the ground, I1,4 , is in infinity on an axis perpendicular to the sliding axis. I 2,4 must lie on the axis of I 2,3 and I 3,4 , and on the axis of I1,2 and

2
(2) (3)

1
(4) (1)

4 2

I 2,3
(2) (3)

1,4

I3,4 I1,2
I
2,4 (2)

1
(4)

(1)

I 2,3
(3)

I1,4 I3,4
1

I1,4 . The intersection of these two axes

is I 2,4 .
I1,2

(1)

(4)
4

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GRAPHICAL VELOCITY ANALYSIS

I1,3 must lie on the axis of I 2,3 and I1,2 , and on the axis of I 3,4 and I1,4 .
Note that I1,4 is in infinity on an axis perpendicular to the slider. The intersection of these two axes is I1,3 . Now we have all six centers.
I2,4
(2)

1,3

I 2,3
(3)

I1,4 I3,4
1 3

I1,2

(1)

(4)
4

Instant Centers of A Six-bar In this example we consider a six-bar mechanism containing a four-bar and an inverted slidercrank that share one link and one pin joint. A circle is constructed with link indices 1 6.

2 (3) (5) (4) (2) 6 (1) 5 4 (6) 1 3

We first find the six ICs that belong to the four-bar.

I
1,3

I3,4 I 2,3
(2) (3) 1 (5) (4) (6) 6

2 3

2,4

4 5

I1,2

(1)

1,4

Next we find the ICs for the slider-crank. Note that I1,4 is shared between the two submechanisms.
I1,5

I1,3 I I
(4) (2) 4,5 (5) (6)

I3,4 I 2,3
(3)

5,6 2 1 3

I2,4 I1,2
(1)

I I1,4 I
4,6

1,6

6 5

Next, we use the circle to guide us in finding the next IC. I 2,6 must be on the intersection of lines I 2,4 - I 4,6 and I1,2 - I1,6 (blue lines). I 3,5 is found at the intersection of lines I1,3 I1,5 and

I 3,4 I 4,5 (red lines).

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GRAPHICAL VELOCITY ANALYSIS

I1,5 I3,6 I I
3,5 1,3

I3,4 I 2,3
(2) (3)

I5,6 I
(4) 4,5 (5) (6) 1

2 3

2,4

I2,5 I2,6
(1)

I I1,4 I
4,6

6 5

1,6

I1,2

The next IC to find is I 3,6 . This center is at the intersection of lines I 3,4 I 4,6 and I1,3 I1,6 (green lines). The last center, I 2,5 , is found at the intersection of I 2,4 I 4,5 and I1,2 I1,5 (purple lines). Now we have all the centers.
I
1,5

I I3,5

1,3

I3,4 I 2,3
(2) (3)

I5,6
2

I
(4)

4,5 (5) (6)

I2,4 I1,2 I
2,6 (1)

I I1,4 I4,6

1,6

6 5

Strategy The instant center method is a graphical process to perform velocity analysis. A graphical process is a pencil-and-paper approach that requires locating points, drawing lines, finding intersections, and finally taking direct length measurements from the drawing. All of these steps have graphical and measurement errors. Therefore, the accuracy of the analysis depends on the accuracy of our drawings and measurements. For four-bars and slider-cranks, since four links are involved, there are only six centers to locate. For mechanisms with more links that four, there are many more centers to find. Locating some of the centers requires using some of the other centers that have already been found. The following strategy can reduce the graphical error in locating some of the centers. 2 Let us use the previous six-bar mechanism as an example. The first 1 seven centers that we locate are at the center of the pin joints. Marking 3 these centers by hand on a diagram contain certain amount or error that we call Order-1 level: 6 4 O 1 : I1,2 , I 2,3 , I 3,4 , I1,4 , I 4,5 , I 5,6 , I1,6 Next we locate I1,3 , I 2,4 , I 4,6 and I1,5 using the first seven centers.
5

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GRAPHICAL VELOCITY ANALYSIS

These centers add more errors on top of the errors from the original seven. We consider these new centers to contain errors at Order-2 level: O 2 : I1,3 , I 2,4 , I 4,6 , I1,5 Next we locate I 2,6 and I 3,5 using centers with O-1 and O-2 level errors. Therefore these two centers contain their own graphical error on top of the errors from the other centers: O 3 : I 2,6 , I 3,5 Up to this point we did not have any other choices in how to locate the centers, but for the remaining centers we may have more than one choice. For example, to locate I 3,6 we can use the intersection between any two of these four axes: I 3,4 - I 4,6 , I1,3 - I1,6 , I 2,3 - I 2,6 , and I 3,5 - I 5,6 . Considering the error level in I 2,6 and I 3,5 , we should not use I 2,3 - I 2,6 , and I 3,5 - I 5,6 axes. Instead, we should use the intersection of I 3,4 - I 4,6 and I1,3 - I1,6 to locate I 3,6 :

2 1 3

6 5 2 1

6 5 2 1

O 3 : I 3,6 Note: When locating a new center, use existing centers with the lowest amount of error.

6 5

Determining Unknown Velocities Instant centers are used to determine unknown velocities in a mechanism. Typically the process requires finding the velocity of a point on one link, based on known velocity of a point on another link. The process, in its most efficient form, requires using three instant centersthe centers between the two links and the ground. Assume that the location of the three instant centers B V A A between links i, j, and the ground (link 1), and the velocity of point A on link i are given. The objective is (j) (i) to determine the velocity of point B on link j. Ii, j I1, j To determine the velocity of B, we consider the following four steps: 1. We start with the link that has a known velocity. Link i rotates about an imaginary pin joint at I1,i . We construct vector R A , I1,i and determine its magnitude. We compute the angular velocity of link i as i = VA / RA , I1,i . The direction of this angular velocity is CW.
RA, I 1, i I 1, i

I 1, i
A
(i)

V A

2. The instant center I i , j is an imaginary point on link i, and therefore we can determine its velocity. We measure the length of vector R Ii , j , I1,i and compute
i

Ii, j RI
i, j , I 1, i

VIi , j = i RIi , j , I1,i . The direction of VIi , j is established

based on the direction of i .
I 1, i

V I i, j

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GRAPHICAL VELOCITY ANALYSIS

3. The instant center I i , j is also an imaginary point on link j, and we already know VIi , j . Link j rotates about the imaginary pin joint to the ground at I1, j . We measure the length of vector R Ii , j , I1, j , then

Ii, j

RI

i, j , I 1, j

I1, j

V I i, j

j = VIi , j / RIi , j , I1, j is computed. The direction of j

is established to be CCW. 4. Point B is attached to link j that rotates about an imaginary pin joint at I1, j . We construct vector
j
(j)

B RB, I 1, j V B I1, j

R B, I1, j and determine its magnitude. We then

compute VB = j RB, I1, j . The direction of VB is

established based on the direction of the angular velocity of link j. These four steps, either as they are presented or with slight variations, can be applied to find any unknown velocities in mechanisms. Here is another example of applying these four steps when an instant center is in infinity. Assume that the centers between two links connected by a sliding joint and the ground, and the velocity of A on link i are given. The objective is to find the velocity of B on link j. Here are the four steps, slightly revised: I1, j 1. Link i is pinned (imaginary) to the ground at I1,i . The angular velocity of link i is computed as R B, I i = VA / RA, I1,i , CCW. 1, j 2-3. The two links are connected by a sliding joint, therefore j = i . 4. Link j rotates about I1, j . Velocity of B is computed as VB = j RB , I1, j . The direction is established based on the direction of the angular velocity.
(j) (i)

Ii, j B

V B

A RA, I I1, i
1, i

V A

In a third example link i is connected to the ground by a sliding joint. The velocity of A on link i is given and the objective is to find the velocity of B on link j. 1. Since link i slides relative to the ground, i = 0 . V I i, j Ii, j 2. I i , j is a point on link i, therefore VIi , j = VA . 3. Link j rotates with respect to the ground about I1, j . The angular velocity of link j is computed as j = VIi , j / RIi , j , I1, j , CCW. 4. The velocity of B is computed as VB = j RB , I1, j in the direction shown.
V A A(i) RI
i, j , I 1, j

V B B R B, I
1, j

(j)

I1, j

1, i

Angular Velocity Ratio A formula, known as the angular velocity ratio, can be derived between the angular velocities of any two links of a mechanism regardless of the type of joints used in that mechanism. This formula, in general, can be established for links i and j. Between these two links and the ground link 1, there are three instant centers I1,i , I i , j , and I1, j . The velocity of the common center I i , j

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can be determined as VIi , j = RIi , j I1,i i = RIi , j I1, j j . Therefore, the angular velocity ratio between the two moving links is expressed as

RIi , j I1,i RIi , j I1, j

i

j i
I 1, i
R Ii , j I1, j R Ii , j I1, j

I 1, i
j

I 1, j

j
R Ii , j I1, j

Ii, j

R Ii , j I1,i

I 1, j

Ii, j

Note: If I i , j

(a) (b) is between I1,i and I1, j , as in (a), i and j are in opposite directions ( R Ii , j I1,i and

R Ii , j I1, j are in opposite directions). But if I i , j is not located between I1,i and I1, j , as in (b),

i and j are in the same direction ( R Ii , j I1,i and R Ii , j I1, j are in the same direction).
In the following examples we use instant centers to perform velocity analysis for several mechanisms. It is always assumed that either the angular velocity of one link or the linear velocity of one point is given. Four-bar Mechanism For this four-bar I 1,3 mechanism, we have already found the instant centers. Assume the P I 3,4 angular velocity of link 2 I (3) is given, CCW. Find: 2,3 (a) the velocity of point P on link 3, and (4) (2) (b) the angular velocity of I link 4. 2,4

I1,2
(a) The angular velocity of link 2 is known, and we want to find the velocity of point P on link 3. We need to pick a third link, and that link is always the ground, link 1. So, we pick the three centers between these three links: I1,2 ,

(1)

I1,4

I1,3
3
VI 2,3 R I 2,3I1, 3 R PI1, 3

P
VP
(3)

I 2,3 , and I1,3 . (We can ignore the other centers and
links at this point.) Link 2 rotates about I1,2 . The magnitude of the velocity of I 2,3 is computed as

I 2,3
2 R I 2,3I1, 2

VI 2 ,3 = 2 RI 2 ,3I1,2 and its direction is shown. I 2,3 is also a

point on link 3, and link 3 rotates about I1,3 . The angular velocity of link 3 is computed as 3 = VI 2 ,3 / RI 2 ,3I1,3 , CW. (We could have also used the

(2)

I1,2

(1)

angular velocity ratio formula to find 3 .) Link 3 rotates about I1,3 , therefore velocity of P is computed as VP = 3 RP , I1,3 . The direction is shown on the diagram.

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b) In order to move from link 2 to link 4, we only need I1,2 , I 2,4 , and I1,4 . We can ignore the other centers. Link 2 rotates about I1,2 . The magnitude of the velocity of I 2,4 is

VI 2 ,4 = 2 RI 2 ,4 I1,2 and its

direction is as shown. I 2,4 is also a point on link 4, and link 4 rotates about I1,4 . The angular velocity of link 4 is 4 = VI 2 ,4 / RI 2 ,4 I1,4 , CCW.
(4)

(2)

2
(1)

I2,4

R I 2,4 I1, 2 R I 2,4 I1, 4

I1,2

1,4

(We could have also used the VI angular velocity ratio formula.) Slider-crank (inversion 1) The instant centers of this slider-crank have already been located. Assume the angular velocity of link 2 is given, CW. The objective is to find the velocity of link 4. Since we have the angular velocity of link 2 and we are interested in the velocity of link 4, we pick the instant centers I1,2 , I 2,4 , and
2,4

I1,3

I2,4
(2)

I 2,3
(3)

I I3,4

1,4

I1,4 .
The center I 2,4 is a point on link 2. The magnitude of its velocity is computed as VI 2 ,4 = 2 RI 2 ,4 I1,2 , and its direction is as shown.
I1,2
(1)

(4)

2,4

VI 2,4

1,4

I 2,4 is also a point on link 4. Since link 4 does not rotate, all the points on this link have the same velocity. Therefore, VB = VI 2 ,4 .
Slider-crank (inversion 3) For the third inversion of the slider-crank mechanism, the angular velocity of link 2 is given, CCW. We are asked to find the angular velocity of link 4. The six instant centers are found as shown. We can determine the angular velocity of link 4 two different sets of instant centers.

R I 2,4 I1, 2
(2)

2
(1)

B
(4)

VB

I1,2

I 2,3 (2) I2,4

(3)

I3,4 (4)

I1,2

I1,4

I1,3

(1) We use the instant centers I1,2 , I 2,4 , and

I1,4 . The angular velocity formula yields

(2)
R I 2,4 I1, 2

4 = 2 RI 2 ,4 I1,2 / RI 2 ,4 I1,4 , CCW.

I

(4) I1,4

2,4

I1,2

R I 2,4 I1, 4

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(2) We use the instant centers I1,2 , I 2,3 , and

I 2,3 (2)
R I 2,3I1, 2

I1,3 . The angular velocity formula yields

3 = 2 RI 2 ,3I1,2 / RI 2 ,3I1,3 , CCW. Since links

3 and 4 form a sliding joint, they have the same angular velocities. Therefore, 4 = 3 , CCW.

(3) I1,2

R I 2,3I1, 3

1,3

Six-bar Mechanism Assume that for this six-bar mechanism the angular velocity of link 6 is given in the CCW direction. We are asked to find (a) the angular velocity of link 3 and (b) the velocity of point A. We already know where the ICs are from an earlier exercise.
I1,5 I3,6 I1,3 I3,5 I3,4 I 2,3 A
(2) (3)

I5,6 I4,5
(5) (4) (6)

I2,4 I1,2 I2,6

I2,5
(1)

I1,6 I1,4 I4,6

(a) The three ICs between links 6, 3, and 1 are: I1,6 , I 3,6 , and I1,3 . The angular velocity ratio formula yields 3 = 6 RI 3,6 I1,6 / RI 3,6 I1,3 , CCW. (b) We can determine the velocity of point A using two different ways: (1) Point A is a point on link 3 which rotates about I1,3 . The magnitude of the velocity of A is VA = 3 RAI1,3 and its direction is perpendicular to R AI1,3 as shown. (2) Since A is also a point on link 2, we can use I1,6 , I 2,6 , and I1,2 . We use the angular velocity ratio formula to determine 2 , then we determine the velocity of A.

I3,6
R I 3,6 I1, 3

I1,3
R I 3,6 I1, 6

R AI1,3
(3) (6)

A
VA

1,6

A
(2)

(6)

VA
R AI 1,2

6
R I 2,6I 1,6

I1,6

I1,2

2,6

R I 2,6I 1,2

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Exercises In these exercises take direct measurements from the figures for link lengths and the magnitudes of velocity vectors. If it is stated that the angular velocity is known, assume = 1 rad/sec CCW, unless it is stated otherwise. P.1 P.2 VA and are known. VA and VB are known. Determine . Determine V .
B

A
V A

B
V A

VB

P.3 VA and VB are known. Determine . What do you observe?

P.4 VA and are known. Determine VB , VC and VBC .

A
VA

B
VB

B
VA

C
P.5 VA and VB are known. Determine VC . P.6 VA and are known. Determine VB , VC and VBC .

B
VB VA

A
VA

C
P.7 VA and VB are known. Determine VC .

VA

B
VB

The following exercises (P.8 P.10) are not typical velocity analysis problems for using the instant center method. They are provided to make you think, to apply the fundamentals of the IC method back and forth, and to better understand the concept and the meaning of the instant centers. The solution to some of the following four exercises can be tricky! P.8 P.9 VA and VB are known. VA , i and j are known. Assume i = 1 Determine and VC . rad/sec CCW and j = 1 rad/sec CW. Determine VB and VC .

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AME 352

GRAPHICAL VELOCITY ANALYSIS

V A

C
V B

A
(i)

B
(j)

V A

P.10 VA and VC are known. Determine VB .

A
(i)

B
(j) VA VC

The following exercises are typical problems using the instant center method. Each exercise is a complete mechanism. Exercises P.11 P.14 are examples of four-bar mechanism. In each problem, find the instant centers. Assume 2 is given, then determine 3 , 4 , and VP . P.11
P
(2) (3)

P.12

(3) (4) (2)

P (4)

P.13
(2)

P.14
P

(3)

(3) (2)
(4)

(4)

Exercises P.15 P.18 are examples of slider-crank mechanism. In each problem, find the instant centers. Assume 2 is given, then: For P.15 and P.16 determine 3 , 4 , and the velocity of the slider block; For P.17 and P.18 determine 3 , 4 , and VP . P.15
(2) (3) (4)

P.16
(3) (2) (4)

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P.17

P.18
P

(3)

(2)

(3) (2)

(4)

(4)

For these six-bar mechanisms 2 is given. Find the instant centers. Determine 5 , and the velocity of the slider block 6. In P.19, also find the velocity of P. P.19
P P (3) (4) (2) (5) (6)

P.20
(2) (3)

(6) (5)

(4)

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