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E S . I N F2
KTU
F1
NOT F2
F1
F3
O1
O2
F3
F3
F4 F2
MA F3 l F2 h 0
6. A link under the action of two B
forces and an applied couple will
F1= F2
be in equilibrium if the forces are
T
(a) equal in magnitude (b)
S . I N
parallel in direction and in
E
F2= F1 h
OT
opposite sense and (c) the couple
N
A
TU
formed by them (by these 2 forces
K
F1 and F2) should be equal in
magnitude and should act opposite
to the applied torque (Fig. 1.5).
Equilibrium conditions are:
F1 F2
and Couple; T F1 h F2 h
In static force analysis, the force applied by member 1 on member 2
is represented as F12.
C rank L in k C o nn ecting R o d
3
3
2
P iston L ink 4
k2
L in
P
E S . I N FG
N T
Fixed Link
O 1
TU
1 (4 ba r
Fig. 1.6 A Slider - Crank Mechanism
K
M ech an ism )
C
ro o nn P iston
d ec
L in t in L in k 4 F34
k g L in k 4
3 FG
FG 4 FG
P iston G as F14
Fo rce
F34
C ylind er L in k 1 F 14
Fig. 1.7 (b) Force
Fig. 1.7 (a) Forces on Polygon
Piston (Link 4) Closes here
F34
L in k 4
4 FG
P iston G as
Fo rce
F14
Fig. 1.7 (a) F orces on Piston (Link 4)
F43
C
F32 C
k
an
Co Li F 32
Cr
nk
N
nn
ec 3
T E S
t in
.g
IRo
d
F12
L in k 2
T h
TU N O P O
K
F34
F 23
(c ) Fo rces on Con nectin g R o d (Lin k 3) (d) Fo rces o n C rank (L ink 2)
Fig. 1.7 F ree B od y D iag ram s of Various L inks of a Slider-C rank M echanism
k
F32 (ie F43) at C, the fixed end O is
an
F 32
Cr
acted upon by F12 in opposite direction Link 2
F12 h
T
and F32 F12. Hence the crank is in
equilibrium. But these forces F32 and O
. I N
And this couple is balanced (cancelled) by the torque transmitted
E S
NOT
by the crank shaft.
Torque F32 h
Note:
KTU
For a member under the action of 2 forces and applied torque, to
be in equilibrium, conditions are:
The 2 forces should be equal and opposite.
These 2 forces should form a couple which is equal and opposite
to applied torque.
coefficient of friction
Rn
Sliding friction is acting in sliding pair.
C
F 34
3
2
P F 4 F
A
4 P
1 1 R n
F 34 P iston M ov in g le ft Fric tio n force in righ t
Rn
F
4
P
F
= F 14
F 34
F 14
Fo rc e po lygo n closes h e re
Fig. 1.9 F ree Bod y Diag ram o f Slider an d F orce Polygo n
L i ra n k
e
The friction between the pin and L i n c ti n g
2
nk
k 3 R od
C
the links for revolving (or) rotary motion
is called turning friction. In this turning
1 Fig. 1.10
pair, the friction force does not pass
through the pin centre but it is tangent to the friction circle of the Pin. The
line of action of the force is common tangent to the friction circles of two
pins. It is called friction axis.
Problem 1.1: Determine the torque required to be applied at the crank shaft
of a slider-crank mechanism to bring it in equilibrium. The slider is subjected
to a horizontal force of 8000 N and a force of magnitude 2000 N is applied
on the connecting rod as shown in Fig. The dimensions of various links are
as under:
E S . I N
NOT
OA 250 mm, AB 750 mm and AC 250 mm, BOA 40
KTU 2
A L IN K
3
P = 20 00 N
6 0o
2 LIN K 4(P ISTO N )
3
NK C
LI o
O 40 B
1
FIX ED L IN K 1
FIX ED L IN K 1
P= 2000 N
A L IN K
2 3 60 o
2 LIN K 4(P ISTO N )
3
NK C
LI o
O 40 B
1
FIXED LIN K 1
FIXED LIN K 1
Fig.(a) Configuratio n d iagram
1. D raw configuratio n diagram o f the m echanism as show n in Figu re.
h=
= AC P = 20 00 N
N
21 C
A
6. OS
5
m 30
E S . I
NOT
L IN K o
m
3 30 o
60
KTU
C 3
3 . Tak in g m o m en ts a bo ut po in t A ,
P x h = F n 43 x A B
o o
w h ere h = A C cos 3 0 =2 5 0 x co s 3 0 =2 1 6.5 m m
2 00 0 x 2 16 .5
Fo rce: F n 43 = =5 7 7.3 5N
7 50
P = 2 0 00 N
A L IN K
2 3 60
o
2 LIN K 4(P IS T O N )
NK C 3
LI o
O 40 B
1
F IX E D L IN K 1
F ig .(a) C o nfigu ration diagram n F IX E D L IN K 1
r
F 34 LIN K 4(P IS T O N )
F =8 0 0 0 N
F 14
E S . I N
4 . O u t of force s a cting o n lin k 4, fo rce s F an d F
n
43
a re kn o w n co m p le te ly
is p e rp e n dicula r to th e slid in g su rfa ce a n d force
NOT
14
Fr
3 4 is a lon g th e lin k 3 . C o ns tru ct a fo rce p o lyg o n as sh o w n in F ig u re (d )
KTU
w ith su itab le s ca le . (1 m m = 1 0 0 N ) B y m e a sure m e n t,
F34 = 8324 N
n F=8 000 N
F 34
F 3 4 =8 324 N (B y m ea su rem e nt)
F14
r
F 34
Fig . (d ) Force p olygon fo r Lin k 4
- F orc es acting on LIN K 4
5. D ra w the force poly go n o f lin k 3 w ith fo rce s F 4 3 , P a nd F 23 .
By m ea sure m e nt F 2 3 = 8843 N . [S e e Figure (e) ].
N
00
20
P=
F4 3 = 8
32 4 N
F2 3 = 8 8
43 N
A
F3 = 8
2 2 8 43 N
T2
mm
F1 = F 2
2 32 = 8 8 4 3 NK
h=190
N O LI o
40
. I N
system. By applying this principle, an entire mechanism can be examined as
a whole and not as individual links.
E S
KTU 2
A
NOT Be aring F orc es A cting E qual
and O pposite Sen se
3
T
4
B
O F
1
1 x
N orm al
Fig. 1.11 B earin g Re action Force
R eaction by
C ylinder on Piston
. I N
Since virtual displacement takes place simultaneously during the same
interval t,
E S
KTU NOT T
d
dt
F
dx
dt
0
T FV 0
where is the angular velocity of the crank and , the linear velocity
of the piston.
F
T V
The negative sign indicates that for equilibrium, T should be applied
in the opposite direction to the angular displacement.
The Problem 1.1 is solved by using principle of virtual work. First
of all, draw the velocity diagram. Refer Fig.(g).
Assume link OB has rad/s
Velocity of A with respect to O
Va radius OA
Va 0.25
P= 20 00 N
A L IN K
2 3 60
o
2 L IN K 4(P IS TO N )
3
NK C
LI o
O 40 B
1
FIX ED L IN K 1
1
N
FIX ED L IN K
I
Fig.(a) Co nfiguratio n d iagram
E S .
NOT
a
KTU
Pe
rp
en
V c ’=26 m m
dic
c’P
u la
e rp
rt
Va
en
o
=2
c di
O
cu
50
A
la
rt
m
o
m
P(
20
AB
00
N)
la r to
Pa rallel to P(20 00 N )
n d ic u
P e rp e
Pa rallel to F(8 00 0 N )
b o
V b = 20 3.6 m m
ab 198 mm 0.198
Mark c on ab in the same ratio as C divides the AB.
ac AC ac 250
ie
ab AB 198 750 ac 66 mm
Join oc. Now resolve oc into 2 components as
Parallel to force P (2000 N) Vc and
Perpendicular to force P (2000 N)
Measure Vc 26 mm 0.026 (Parallel to P 2000 N)
Using principle of virtual work,
T 2000 0.026 8000 0.2036 0
. I N
T 2000 0.026 8000 0.2036
E S
NOT
52 1629 1680.8 N m
KTU
Problem 1.2: A Slider-crank mechanism as shown in Fig is given below.
The force acting on slider is 8000 N and coefficient of friction between all
the links is 0.25. Calculate the driving torque if the pin diameters at joints
O, A and B are 40 mm, 40 mm and 20 mm respectively. The dimensions of
links are:
OA 200 mm ; AB 800 mm and BOA 60
A
3
2 C onn Slid er
nk
R od
O
60 B
O F= 80 00 N
FIXED L IN K 1 FIXED L IN K 1
G IV E N FIG
Solution:
Friction circle radius:
40
At point O r1 0.25 5 mm
2
40
At point A r2 0.25 5 mm
2
20
At point B r3 0.25 2.5 mm
2
Graphical Method
A
3
2 C o nne S lider
k
an
6 0O B
O F=80 00 N
FIXE D LIN K 1
Fig. Configuration Diagram
E S . I N FIXE D LIN K 1
F 32
KTU A
3
NOT Frictio n axis
2
F 12 F3 4
F=80 00 N
O
B 4
(a)
Frictio n
C ircle F1 4
1 . Dra w con figu ration d iagra m o f slide r-cran k m e cha nism .
F= 8000 N
F1 4=
F3 4= 7 80 0 1050 N
(b) N
5. C onsider various forces at the slide r and dra w the force polygon w ith suitable
F32
F23
3
( c)
F43
F 34
6 . D ra w the fre e bo dy d ia gram of link 3 a s show n in F igu re (c) w ith
. I N
F 3 4 = F 4 3 = F 32 = F 2 3
E S
KTU F 32
A
NOT F 32
A
2 T2
h = 8 1. 2 m m
F1 2 F1 2
O O
(d) (e)
Torque: T 2 = F 32 x h
81.2
= 7800 x
1000
A D
Link 2 is acted upon by
two forces F32 and F12 and a
E S . I N 1 1
(a) G iven C on figuration
NOT
torque T.
KTU 3
C F4 3
B
F2 3
(b)
1 . Fo rce F o n the lin k 4 is kn ow n (a s 8 0 N ) co m pletely. To kn o w th e oth er tw o
forces a ctin g on th is m em b er co m pletely, th e direction o f o ne m ore force
m ust be kno w n. To kn ow tha t, the link 3 sh o uld b e co nside red first w h ich is a
tw o -fo rce m e m be r.
E
F= an d F 34 a s the three forces are to b e
80 14 0 O
14
D
( C )To find LO A of F34 and F14
nt
E S . I N of F
34 C
OT
re m e
easu LOA
By m
T U N
F3 4
= 42
N
LOA
K
4
of F
E
F= O
8 0 140
14
N
By m
D
eas
N
ent
SC ALE: 1 m m = 1 N
F14
(d)
= 66
F 3 4 = F 43 = F 23 = F 3 2 = 42 N
F3 2
h=24 T
0 mm
F1 2
A
(e)
. I N
Th e in pu t torq ue h as to b e eq ua l an d o p po site to th is cou ple, i.e.,
E S
NOT
T = 10 Nm (clockw ise)
KTU
Matrix Method:
First of all, the angular inclinations of the links BC and DC i.e., angles
and are to be determined by drawing the configuration diagram (Fig.(a))
Position vectors:
AB 0.25 at 120, BC 0.5 at 17, DC 0.375 at 72, DE 0.175 at 72
E S . N
DE 0.175 cos 72 i 0.175 sin 72 j 0.054 i 0.166 j
I
F34 F34 cos 17 i F34 sin 17 j F34 0.956 i 0.292 j
KTU NOT
DC 0.375 cos 72 i 0.375 sin 72 j 0.1159 i 0.357 j
Inserting the values of vectors in equation (i), we get
MD 61.28 i 51.42 j 0.054 i 0.166 j F34 0.956 i 0.292 j
0.1159 i 0.357 j 0
Assembling in matrix form,
i j k i j k
0.956 F
61.28 51.42 0 34 0.292 F34 0 0
0.054 0.166 0 0.1159 0.357 0
61.28 0.166 51.42 0.054
0.956 F34 0.357 0.292 F34 0.1159 0
Now,
F32 F23 F43 F34 42 at 180 17 42 cos 197 i 42 sin 197 j
40.16 i 12.28 j
AB 0.25 cos 120 i 0.25 sin 120 j
0.125 i 0.2165 j
T2c F32 AB
i j k
T2c 40.16 12.28 0
0.125 0.2165 0
40.16 0.2165 12.28 0.125 10.22 N m counterclockwise
. I N
Thus input torque 10.22 N m clockwise
E S
Principle of Virtual Work
KTU NOT
Assume link AB has rad/s
Velocity radius
Vb 0.25
M ATRIX ME THO D
C
1 7
O
B 4
B y m ea sure m en t
E
2 1 40 O
F= 80 N
O
1 20 O
A D B y m ea sure m en t
(a) 1 1
E S . I N
NOT
b
KTU
AB
to
P er p
r
u la
d ic
en
e n d ic
rp
Pe
m
u la r
5m
=2
5
to B C
.2
=0
Vb
a ,d
Pa
ra
l le
V l to
e ’= F( e P e rp
12 80 e n d ic
.3 u la r
N) to D
m C
m
e’ P erp en dicu la r to F (80 N ) c
de DE de 175
ie de 13.53 mm
dc DC 29 375
Join ae Now resolve ae into 2 components as
– parallel to force F ( 80 N) and
– perpendicular to force F (80 N)
Now measure
Ve 12.3 mm 0.123 (Parallel to F (80 N))
S . I N
Problem 1.4: A four bar mechanism as shown in Fig. is subjected to two
E
NOT
forces, F3 2000 N at 60 from horizontal at mid point of link 3 and
KTU
F4 4000 N at 45 from link 4 at mid point of link 4. The dimensions of
links are as under:
AB 0.3 m, BC 0.4 m, CD 0.45 m and AD 0.6 m
Perform static force analysis and determine resisting torque on link 2.
Solution: C
This type of problem can be
3
solved by Principle of superposition. ie,
Net effect is equal to superposition of the B o
60 4
effect of individual loads taken one at a F3
o
time. 2 F4 45
o
90
A D
e
3
B
4
O
60
F3 = 20 00 N f
2
45 O
F4 = 40 00 N
A D
(a) 1 1
show n in Figure. (a ).
S . I N
( L i e c ti o
E
D ir
ne
NOT
Neglecting Force F4
of of F
23
a ct 4 3
KTU
n
F
of
io n
o n
)
c ti
re
Di
o n) C
a c ti
of
in e
(L
0N
B
00
=2
(b)
F3
By
me
a su
re m
S ca le : 1 00 0 N = 1 0 m m
en
tF
1 m m = 100 N
43
=7
)
mm
3
5N
(2 0
N
00
3 =
2 4 . C o nstru ct fo rce po lyg o n [F ig u re (c)] w ith
F3
tF
en s u ita ble sca le for L in k 3 (1 0 00 N = 1 0 m m )
m
u re
s M ea su re th e m ag n itu d e o f fo rce s F 43 a n d F 2 3 .
m ea
By B y m e a sure m e nt,
(c) F 43 = 7 3 5 N a nd F 2 3 = 1 67 5 N
E S . I N
NOT
h1
B
=
23
KTU
4
m
m
F32
T2 3
2 F12
A
(d)
5. D raw free body dia gra m of link 2 [Figu re.(d)] . Measu re distance h 1 = 234 mm .
F4 3
C
3
F2 3 B
4
6 0O
F3 = 20 0 0 N
2
4 5O
F4 = 40 0 0 N
A D
(a )
Bo th are p arallel R epeated F or R eferen ce
4
of F3
LO A
C
E S . I N
NOT
N eglecting Fo rce F3
KTU
L O A o f F1 4
4
6 . N o w con side r the e ffect o f force F 4 n eg le ctin g the
e ffect o f force F 3 .
(e) 45 O
7 . D ra w the fre e bo dy diagra m of link 4 a nd find th e
LO A = L IN E O F A CTIO N
F 14 = 355 0 a nd F 34 = 13 45 N
4 = 355 0
4000
F4 =
rem e
nt
E S . I N
NOT
easu
By m
1345
KTU
F 3 4=
(f)
F 43
C
e
3
F 23 B
4
O
60
F 3 = 200 0 N f
2
45 O
F 4 = 400 0 N
A D
(a) 1
1 R e pea te d F or R efe re n ce F 43
C
3
B
F 23
(g) F 34 = F 43 = F 23 = F 32
h 2 = 2 90 m m .
h2 =
T2 4
Torq ue : T 24 = F 3 2 x h 2
290 m
2 90 = 48 6 N m (cou nte rclo ckw ise )
m
= 16 75 x
1 00 0
2
Tota l res is ting to rq ue :
T 2 = T 23 + T 2 4
= 39 2 + 4 86 = 8 78 N - m
A F1 2 = 87 8 N m (cou nte rclo ckw ise )
(h)
counter clockwise.
E S . I N
Assume link AB has an instantaneous angular velocity of rad/s
Velocity radius
KTU
Hence Vb 0.3
NOT [ AB 0.3 m]
By knowing magnitude and direction of Vb and knowing the direction
of velocity Vcb and Vcd, velocity diagram can be drawn.
e
3
B
4
O
60
F 3 = 20 0 0 N f
2
45O
F 4 = 40 0 0 N
A D
N
DC
E S . I d ic
u la
r to
NOT
en
P e rp
rp
Pe
KTU
f ee n d ic
u la r
0 N)
(4 0 0 m
to B C
ll e l t f = 11 m
m
1m
=2
o F4
V’
V b = 0.3 = 30 m m
e’
V
00
(2 0
f’
F3
to
lel
ra l
Pa
T F3 0.02 F4 0.11 0
. I N
T 860 N m
E S
NOT
Problem 1.5: For the mechanism shown in Fig., determine the torque on
KTU
the link AB for the static equilibrium of the mechanism.
Solution:
If the mechanism is in static equilibrium, each of its members should
also be in equilibrium individually.
Member 4 is acted upon by three forces F1, F34 and F14
Member 2 is acted upon by two forces F32 and F12 and a torque
T.
E F2 = 80 N
10 C
.5 3
22 C E =10
30 4
B E
2 C D =30
F1 = 40 N
O
20 50
A 50 D
F43
NEGLECTING F2
C
E S . I N3
KTU F 23 B NOT
(b) Equilibrium of link with
two forces - Neglecting F2
C 1 . L in k 4 is a three -force m em b er in
O
34 w hich on ly o ne fo rce F 1 is kno w n .
of F
LO A
4 2 . H o w eve r, the line o f a ctio n (LO A) of
E
e qu ilibrium of the lin k 3 w h ich is a
Ao
B C . If F 1 a nd F 34 intersect at O , th e n
( c) L O A - Line O f A ctio n
line o f actio n of F 14 w ill be a long O D
sin ce the th ree forces a re to be
con curren t.
D
By
me
F 3 4 = F 4 3 = F 23 = F 32 = 8 N
as
ure
Also
me
nt
F 3 4 = 8 N and F 1 4 = 38 N
F1
F1
=
4=
4. The dire ction of F 3 2 is oppo site to
40
38
N
N
(4
th at of F 2 3 .
0
m
m
)
E S . I N
KTU NOT F 32
=8
N
B
h1 =
2n
13 m
m
T1
E S . I N
KTU NOT E O
C
F2 = 80 N
LO
3
Ao
fF43
A B
LO
of (g)
F23
7. Fig.(g ). Link 3 is a three-force m e m be r in w h ich F 2 is co m plete ly know n , only
the direction of F 43
is know n (parallel to D C ) and F 23 is com pletely unknow n.
If the line of action of F 2 an d F 43
m e et at O , then the line o f action of F 23 w ill b e
along O B as the three forces are to be concurre nt.
By
me F2 = 80 N
asu
3 N
=7
rem
F 23
nt
ent
e
rem
asu
F4 3
me
By
=3
4
(h)
N
F 2 3 = 7 3 N an d F 4 3 = 34 N
a nd he n ce F =F = 73 N
N
23 32
S . I
Th e direction o f F 3 2 is o pp os ite to tha t o f F 2 3 .
E
KTU N
NOT
B L in k 2 is su bjecte d to tw o force s
( F 12 an d F 3 2 ) a nd a To rq ue T 2 .
h2
3
=7 R e fer Fig.(i): F 12 = F 3 2 = 7 3 N
F32
= 11
.5 m
T2 a nd op p osite to F 32 .
T 2 = F 3 2 x h 2 = 73 x 11 .5 = 839 .5
N .m m clo ckw ise
N Tota l to rqu e
=73
2 F32 = 1 04 + 83 9.5 = 9 43 .5 N .m m
2=
F1
A
(i)