Dynamic Force Analysis for Planar

Slider Crank Mechanisms

Written by Dr. Jeremy S. Daily
Problem 15.5 in Uicker, Pennock and Shigley's Theory of Machines and Mechanisms,
3rd Edition.

Inputs
Sample Problem 10.6 in Wilson and Sadler
In[1]:=
Out[1]=
In[2]:=

Out[2]=

inertia = 8I2 .01, I3 .02, m2 1 386.4, m3 2 386.4, m4 3 386.4<

8I2 0.01, I3 0.02, m2 0.00258799, m3 0.00517598, m4 0.00776398<
values = 8r2 2.0, r3 3.76, theta2@tD 70 Pi 180.,
theta2'@tD 10., theta2''@tD 40, AG3 1.88, O2G2 1<

9r2 2., r3 3.76, theta2@tD 1.22173, theta2 @tD 10., theta2 @tD 40, AG3 1.88, O2G2 1=

Problem 15.5 in Uicker

In[3]:=
Out[3]=
In[4]:=

Out[4]=

inertia = 8I2 .352, I3 .108, m2 1 386.4, m3 3.4 386.4, m4 2.86 386.4<

8I2 0.352, I3 0.108, m2 0.00258799, m3 0.00879917, m4 0.00740166<
values = 8r2 3.0, r3 12., theta2@tD 45 Pi 180.,
theta2'@tD 210., theta2''@tD 0, AG3 4.5, O2G2 0<

9r2 3., r3 12., theta2@tD 0.785398, theta2 @tD 210., theta2 @tD 0, AG3 4.5, O2G2 0=

Kinematic Analysis
Position Analysis
In[5]:=

xequation = r2 Cos@theta2@tDD + r3 Cos@theta3@tDD r1@tD

yequation = r2 Sin@theta2@tDD == r3 Sin@theta3@tDD

Out[5]=

r2 Cos@theta2@tDD + r3 Cos@theta3@tDD r1@tD

Out[6]=

r2 Sin@theta2@tDD r3 Sin@theta3@tDD

In[7]:=
Out[7]=

system = 8xequation, yequation< . values

82.12132 + 12. Cos@theta3@tDD r1@tD, 2.12132 12. Sin@theta3@tDD<

SliderCrankDynamics.nb

In[8]:=

angleSol = Solve@system, 8r1@tD, theta3@tD<D@@2DD

theta3@tD * 180. Pi . angleSol

Solve::ifun : Inverse functions are being used by Solve, so some

solutions may not be found; use Reduce for complete solution information.
Out[8]=

8r1@tD 13.9323, theta3@tD 0.177711<

Out[9]=

10.1821

In[10]:=

xG2 = O2G2 Cos@theta2@tDD

yG2 = O2G2 Sin@theta2@tDD

Out[10]=

O2G2 Cos@theta2@tDD

Out[11]=

O2G2 Sin@theta2@tDD

In[12]:=

xG3 = r2 Cos@theta2@tDD + AG3 Cos@theta3@tDD

yG3 = r2 Sin@theta2@tDD - AG3 Sin@theta3@tDD

Out[12]=

r2 Cos@theta2@tDD + AG3 Cos@theta3@tDD

Out[13]=

r2 Sin@theta2@tDD - AG3 Sin@theta3@tDD

Velocity Analysis
In[14]:=

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In[18]:=

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In[23]:=
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vx = D@xequation, tD
vy = D@yequation, tD

-r2 Sin@theta2@tDD theta2 @tD - r3 Sin@theta3@tDD theta3 @tD r1 @tD

r2 Cos@theta2@tDD theta2 @tD r3 Cos@theta3@tDD theta3 @tD

system1 = 8vx, vy< . values . angleSol

9-445.477 - 2.12132 theta3 @tD r1 @tD, 445.477 11.811 theta3 @tD=

velSol = Solve@system1, 8r1 '@tD, theta3'@tD<D@@1DD

9r1 @tD -525.487, theta3 @tD 37.7171=

vG2x = D@xG2, tD
vG2y = D@yG2, tD

-O2G2 Sin@theta2@tDD theta2 @tD

O2G2 Cos@theta2@tDD theta2 @tD

vG2 = Sqrt@vG2x^ 2 + vG2y^ 2D . values . angleSol . velSol

0
vG3x = D@xG3, tD
vG3y = D@yG3, tD

-r2 Sin@theta2@tDD theta2 @tD - AG3 Sin@theta3@tDD theta3 @tD

r2 Cos@theta2@tDD theta2 @tD - AG3 Cos@theta3@tDD theta3 @tD

vG3 = Sqrt@vG3x^ 2 + vG3y^ 2D . values . angleSol . velSol

551.001

Acceleration Analysis

SliderCrankDynamics.nb

Acceleration Analysis
In[24]:=

Out[24]=

Out[25]=

ax = D@vx, tD
ay = D@vy, tD

-r2 Cos@theta2@tDD theta2 @tD - r3 Cos@theta3@tDD theta3 @tD r2 Sin@theta2@tDD theta2 @tD - r3 Sin@theta3@tDD theta3 @tD r1 @tD
2

-r2 Sin@theta2@tDD theta2 @tD + r2 Cos@theta2@tDD theta2 @tD

2

-r3 Sin@theta3@tDD theta3 @tD + r3 Cos@theta3@tDD theta3 @tD

2

In[26]:=
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In[27]:=
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In[28]:=

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In[30]:=

Out[30]=

system2 = 8ax, ay< . values . angleSol . velSol

9-110 352. - 2.12132 theta3 @tD r1 @tD, -93 550.2 -3017.75 + 11.811 theta3 @tD=

accelSol = Solve@system2, 8theta3''@tD, r1 ''@tD<D@@1DD

9theta3 @tD -7665.09, r1 @tD -94 092.2=

aG2x = D@vG2x, tD
aG2y = D@vG2y, tD

-O2G2 Cos@theta2@tDD theta2 @tD - O2G2 Sin@theta2@tDD theta2 @tD

2

-O2G2 Sin@theta2@tDD theta2 @tD + O2G2 Cos@theta2@tDD theta2 @tD

2

aG2 = Sqrt@aG2x^ 2 + aG2y^ 2D . values . angleSol . velSol . accelSol

ArcTan@aG2x, aG2yD * 180 Pi . values . angleSol . velSol . accelSol
0

ArcTan::indet : Indeterminate expression ArcTan@0, 0D encountered.

Out[31]=
In[32]:=

Interval@8-180, 180<D
aG2x . values . angleSol . velSol . accelSol
aG2y . values . angleSol . velSol . accelSol

Out[32]=

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In[34]:=

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Out[35]=

In[36]:=

aG3x = D@vG3x, tD
aG3y = D@vG3y, tD

-r2 Cos@theta2@tDD theta2 @tD - AG3 Cos@theta3@tDD theta3 @tD r2 Sin@theta2@tDD theta2 @tD - AG3 Sin@theta3@tDD theta3 @tD
2

-r2 Sin@theta2@tDD theta2 @tD + AG3 Sin@theta3@tDD theta3 @tD +

r2 Cos@theta2@tDD theta2 @tD - AG3 Cos@theta3@tDD theta3 @tD
2

aG3 = Sqrt@aG3x^ 2 + aG3y^ 2D . values . angleSol . velSol . accelSol

ArcTan@aG3x, aG3yD * 180 Pi . values . angleSol . velSol . accelSol

Out[36]=

110 491.

Out[37]=

-148.05

SliderCrankDynamics.nb

In[38]:=

aG3x . values . angleSol . velSol . accelSol

aG3y . values . angleSol . velSol . accelSol

Out[38]=

-93 753.5

Out[39]=

-58 468.9

In[40]:=

aG3x 12 . values . angleSol . velSol . accelSol

aG3y 12 . values . angleSol . velSol . accelSol

Out[40]=

-7812.79

Out[41]=

-4872.41

Kinetic Solution
Newton's Laws Applied to the 3 Moving Links
In[42]:=

eq1 = 0 R2x + FAx - m2 aG2x

eq2 = 0 R2y + FAy - m2 aG2y
eq3 = 0 -I2 theta2''@tD + t + r2 Cos@theta2@tDD FAy - r2 Sin@theta2@tDD FAx +
O2G2 Cos@theta2@tDD H-m2 aG2yL - O2G2 Sin@theta2@tDD H-m2 aG2xL
eq4 = 0 -FAx + FBx - m3 aG3x
eq5 = 0 -FAy + FBy - m3 aG3y
eq6 = 0 I3 theta3''@tD + r3 Cos@theta3@tDD FBy + r3 Sin@theta3@tDD FBx +
AG3 Cos@theta3@tDD H-m3 aG3yL + AG3 Sin@theta3@tDD H-m3 aG3xL
eq7 = 0 -FBx + H-m4 r1 ''@tDL
eq8 = 0 -FBy + RBy

Out[42]=

0 FAx + R2x - m2 J-O2G2 Cos@theta2@tDD theta2 @tD - O2G2 Sin@theta2@tDD theta2 @tDN

Out[43]=

0 FAy + R2y - m2 J-O2G2 Sin@theta2@tDD theta2 @tD + O2G2 Cos@theta2@tDD theta2 @tDN

Out[44]=

0 t + FAy r2 Cos@theta2@tDD - FAx r2 Sin@theta2@tDD - I2 theta2 @tD -

m2 O2G2 Cos@theta2@tDD J-O2G2 Sin@theta2@tDD theta2 @tD + O2G2 Cos@theta2@tDD theta2 @tDN +
2

m2 O2G2 Sin@theta2@tDD J-O2G2 Cos@theta2@tDD theta2 @tD - O2G2 Sin@theta2@tDD theta2 @tDN
2

Out[45]=

0 -FAx + FBx - m3 J-r2 Cos@theta2@tDD theta2 @tD - AG3 Cos@theta3@tDD theta3 @tD -

Out[46]=

0 -FAy + FBy - m3 J-r2 Sin@theta2@tDD theta2 @tD + AG3 Sin@theta3@tDD theta3 @tD +

Out[47]=

0 FBy r3 Cos@theta3@tDD + FBx r3 Sin@theta3@tDD + I3 theta3 @tD -

r2 Sin@theta2@tDD theta2 @tD - AG3 Sin@theta3@tDD theta3 @tDN

2

r2 Cos@theta2@tDD theta2 @tD - AG3 Cos@theta3@tDD theta3 @tDN

AG3 m3 Cos@theta3@tDD J-r2 Sin@theta2@tDD theta2 @tD + AG3 Sin@theta3@tDD theta3 @tD +
2

r2 Cos@theta2@tDD theta2 @tD - AG3 Cos@theta3@tDD theta3 @tDN -

AG3 m3 Sin@theta3@tDD J-r2 Cos@theta2@tDD theta2 @tD - AG3 Cos@theta3@tDD theta3 @tD 2

r2 Sin@theta2@tDD theta2 @tD - AG3 Sin@theta3@tDD theta3 @tDN

Out[48]=

0 -FBx - m4 r1 @tD

Out[49]=

0 -FBy + RBy

SliderCrankDynamics.nb

In[50]:=

Out[50]=

In[69]:=
Out[69]=

system3 =
8eq1, eq2, eq3, eq4, eq5, eq6, eq7, eq8< . values . angleSol . velSol . accelSol . inertia
80 FAx + R2x, 0 FAy + R2y, 0 -2.12132 FAx + 2.12132 FAy + t, 0 824.953 - FAx + FBx,
0 514.478 - FAy + FBy, 0 2107.11 + 2.12132 FBx + 11.811 FBy, 0 696.438 - FBx, 0 -FBy + RBy<

forceSol = Solve@system3, 8R2x, R2y, RBy, t, FBx, FBy, FAx, FAy<D@@1DD

8R2x -1521.39, R2y -210.992, RBy -303.486,

t 2779.78, FBx 696.438, FBy -303.486, FAx 1521.39, FAy 210.992<

Determine Force Magnitudes and Directions

In[52]:=

R2 = Sqrt@R2x ^ 2 + R2y ^ 2D . forceSol

angleR2 = ArcTan@R2x, R2yD * 180 Pi . forceSol

Out[52]=

1535.95

Out[53]=

-172.104

In[54]:=

FA = Sqrt@FAx ^ 2 + FAy ^ 2D . forceSol

angleR2 = ArcTan@FAx, FAyD * 180 Pi . forceSol

Out[54]=

1535.95

Out[55]=

7.89562

In[56]:=

FB = Sqrt@FBx ^ 2 + FBy ^ 2D . forceSol

angleR2 = ArcTan@FBx, FByD * 180 Pi . forceSol

Out[56]=

759.691

Out[57]=

-23.546

Work and Energy Methods

In[58]:=

Out[58]=

KE1 = 1 2 I2 theta2'@tD ^ 2 + 1 2 m2 vG2 ^ 2 + 1 2 I3 theta3'@tD ^ 2 +

1 2 m3 vG3 ^ 2 + 1 2 m4 r1 '@tD ^ 2 . values . velSol . inertia
10 196.1

Approximate the Derivative using finite differences to estimate torque. This is similar to the principle of virtual work. The crank
must not have angular acceleration

SliderCrankDynamics.nb

In[59]:=

values
t2 = theta2@tD + .00001 . values
angleSol1 =
Solve@H8xequation, yequation< . theta2@tD t2L . values, 8theta3@tD, r1@tD<D@@2DD
dtheta2 = theta2@tD - t2 . values
velSol
velSol1 = Solve@8vx, vy< . theta2@tD t2 . values . angleSol1, 8r1 '@tD, theta3'@tD<D@@1DD
vG3 = Sqrt@vG3x^ 2 + vG3y^ 2D . theta2@tD t2 . values . angleSol1 . velSol1
vG2 = Sqrt@vG2x^ 2 + vG2y^ 2D . theta2@tD t2 . values . angleSol1 . velSol1
KE2 =
H1 2 I2 theta2'@tD ^ 2 + 1 2 m2 vG2 ^ 2 + 1 2 I3 theta3'@tD ^ 2 + 1 2 m3 vG3 ^ 2 + 1 2 m4 r1 '@tD ^ 2L .
velSol1 . inertia . values
tau = HKE1 - KE2L Hdtheta2L

Out[59]=

9r2 3., r3 12., theta2@tD 0.785398, theta2 @tD 210., theta2 @tD 0, AG3 4.5, O2G2 0=

Out[60]=

0.785408

Solve::ifun : Inverse functions are being used by Solve, so some

solutions may not be found; use Reduce for complete solution information.
Out[61]=

8r1@tD 13.9323, theta3@tD 0.177712<

Out[62]=

-0.00001

Out[63]=

9r1 @tD -525.487, theta3 @tD 37.7171=

Out[64]=

9r1 @tD -525.492, theta3 @tD 37.7167=

Out[65]=

551.003

Out[66]=

Out[67]=

10 196.1

Out[68]=

2779.77