Kinematic analysis of plane mechanisms

The objective of kinematic analysis is to determine the kinematic quantities

such as displacements, velocities, and accelerations of the elements of a
mechanism when the input motion is given. It establishes the relationship
between the motions of various components of the linkage.

Displacement Analysis

When the kinematic dimensions and the configurations of the input link of a
mechanism are prescribed, the configurations of all the other links are
determined by displacement analysis.

1. Graphical Method

2. Analytical Method

In a graphical method of displacement analysis, the mechanism is drawn to a

convenient scale and the desired unknown quantities are determined through
suitable geometrical constructions and calculations.

1. The configurations of a rigid body in plane motion are completely defined

by the locations of any two points on it.

2. Two intersecting circles have two points of intersection and one has to be
careful, when necessary, to choose the correct point for the purpose in
hand.

3. The use of tracing paper, as an overlay, is very convenient and very often
provides an unambiguous and quick solution.

4. The graphical method fails if no closed loop with four links exists in the
mechanism.

An analytical method of displacement analysis, is preferred whenever

1. high level of accuracy is required

2. a large number of configurations have to be solved

3. The graphical method fails.

Graphical method starts with position analysis by simply drawing the linkage
mechanism to scale. Then the velocity analysis is performed which requires the
angular position of the links to be determined beforehand. Similarly it is
necessary to know angular velocities of links for acceleration analysis. Thus,
the sequence for kinematic analysis of mechanisms is - position analysis, then
velocity analysis and then acceleration analysis.

COORDINATE SYSTEMS

 Global or Absolute system is often taken to be attached to Mother Earth.

 Local coordinate systems are typically attached to a link at some point of

interest.

 The term inertial reference frame is used to denote a system which itself
has no acceleration.

 All angles are measured according to the right-hand rule. That is,
counterclockwise angles, angular velocities, and angular accelerations
are positive in sign.

 POSITION: The position of a point in the plane can be defined by the use
of a position vector as shown in previous figure. The choice of reference
axes is arbitrary and is selected to suit the observer.

 The Polar form provides the magnitudes and the angle of the vector. The
Cartesian form provides X and Y components of the vector.
 DISPLACEMENT: Displacement of a point is the change in its position
and can be defined as the straight line distance between the initial and
final position of a point which has moved in the reference frame.

 Translation: All points on the body have the same displacement.

 Rotation: Different points in the body undergo different displacements
and thus there is a displacement difference between any two points
chosen.

 Complex Motion: The general case of complex motion is the sum of the
translation and rotation components.
GRAPHICAL POSITION ANALYSIS OF LINKAGES

 For any one-DOF linkage, such as a fourbar, only one parameter is

needed to completely define the positions of all links.

 The parameter usually chosen is the angle of the input link. This is
shown as θ2 in figure. We want to find θ3 and θ4. The link lengths are
known. In this example will consistently number the ground link as 1
and the driver link as 2.

Velocity Analysis of Mechanisms

Important Concepts in Velocity Analysis

1. The absolute velocity of any point on a mechanism is the velocity of that

point with reference to ground.
2. Relative velocity describes how one point on a mechanism moves relative to
another point on the mechanism.
7. The velocity of any point on a link with respect to another point on the same link is
always perpendicular to the line joining these points on the space diagram.
Rubbing velocity at a pin joint

It is defined as the algebraic sum between the angular velocities of the two
links which are connected by pin joints, multiplied by the radius of pin.

Hence the rubbing velocity when two links are moving in opposite directions is
given by

Rubbing velocity = r (ω1 + ω2)

Where r is the radius of the pin

But if the two connected links move in the same direction,

Rubbing velocity = r (ω1 - ω2)