MAE 364

Kinematics and
Dynamics of Machines
Dr. Jagadeep Thota

Chapter 4:
Instant Centers

Instant Center
Every pair of links, even if they are not directly
connected to each other, have an instant center.
Then, what is an instant center for a pair of links?
Two coincident points (two points, each corresponding to a
link, lying on top of each other)
These points will have the same velocity
Magnitude
Direction

VP2
P

Link 2

MAE 364: Instant Centers

VP3
The instant center P

Link 3

shown in the figure will be

labelled as
JT

Primary Instant Centers

Associated with Joints:
Revolute (Pin) Joints
Instant center is located at the joint.

Prismatic (Translational) Joints

Instant center is located at the center of curvature of the
path of the prismatic link.

Direct Contact Joints

Instant center is located somewhere along the common
normal to the direct contact point.

Rolling Direct Contact Joints

Assumed to behave like a revolute joint
Hence, instant center located at rolling direct contact joint
MAE 364: Instant Centers

JT

Revolute (Pin) Joint

Instant center is located at the revolute joint.
Primary instant center

Link 5
Link 4

MAE 364: Instant Centers

JT

Prismatic (Translational) Joints

Instant center is located at the center of the
curvature of the path of the prismatic link.

Center of
curvature of
link 1

MAE 364: Instant Centers

JT

For a
rectilinear
path, the
instant center
is located at
infinity,
perpendicular

Direct Contact Joints

Instant center is located somewhere along the
common normal to the direct contact point.
Slide Only

Becomes a
prismatic
joint
MAE 364: Instant Centers

Rotate and Slide

?
JT

Rolling Direct Contact Joints

Instant center is located at the rolling direct contact
joint.

(Pure) Rolling
[Zero velocity
point]
Instant center located at
joint
MAE 364: Instant Centers

JT

Primary Instant Centers

Associated with Joints:
Revolute (Pin) Joints
Instant center is located at the joint.

Prismatic (Translational) Joints

Instant center is located at the center of curvature of the
path of the prismatic link.

Direct Contact Joints

Instant center is located somewhere along the common
normal to the direct contact point.

Rolling Direct Contact Joints

Assumed to behave like a revolute joint
Hence, instant center located at rolling direct contact joint
MAE 364: Instant Centers

JT

Number of Instant Centers

If a kinematic mechanism has n number of
links.
Then, the number of instant centers, N, that
mechanism has got is given by the below
equation:

n(n 1)
N
2
MAE 364: Instant Centers

JT

Star Diagram (Secondary Instant Centers)

Explained on White-Board In-Class

MAE 364: Instant Centers

JT

Kennedys Theorem
Used to find the secondary instant centers.
Kennedys Theorem: For bodies 1, 2, and 3, the instant
centers 12, 13, and 23 are collinear.

MAE 364: Instant Centers

JT

The third
unknown
instant
center 23
will lie on
this line

Example 1: Instant Centers

14

1
2

12
24

25

23

45

35

34

13
MAE 364: Instant Centers

15

23?

JT

Example 1: Instant Centers

14

12
24

25

23

45

35

34
15
13
MAE 364: Instant Centers

JT

Conclusion
Exam 1 (10/07/2014)
1 question: Mass moment of inertia (Ch 17)
1 question: Balancing of masses (Ch 19)
# questions: Degrees of freedom (Ch 1)
Between 3-5 DF problems.

1 question: Motion & Relative motion (Ch 2)

Will have sub-questions.
1 question: Line of transmission (Ch 2)
# questions: Four bar mechanisms (Ch 3)
Will be a few questions similar to quiz 4.

No class on Thursday (09/25/2014).

MAE 364: Instant Centers

JT

Example 2: Instant Centers

Solved on White-Board In-Class

MAE 364: Instant Centers

JT

Example 3: Instant Centers

Solved on White-Board In-Class

MAE 364: Instant Centers

JT