Kinematics of Machines: 4600321 Homework 4 Chapter 3: 8, 9, 10, 12

Problem 1: (3.8) The velocity of point B of the linkage shown in the gure is 40 m/s. Find the velocity of point A and the angular velocity of link 3. Solution: We write the loop-closure equation from a point O at which the two surfaces intersect (recall Problem 2.12): rBO = rAO + rBA , + l3 y4 = y2 3 , = cos where F3 is xed in link 3 and + sin is a unit vector, xed in the ground, in the direction of the upper surface. The coordinates y2 and y4 measure the displacement of block 2 and 4, respectively, and the angular velocity of link 3 is: 3 k . 3/1 = Taking the derivative of the loop-closure equation:
F

d dt

y4 i1

+ l3 y2 3 ,

+ l3 ( 3/1 y 4 = y 2 3 ), y 4 = y 2 l 3 3 .
3

3 the angular speed of link Note that the unknown quantities are y 2 , the speed of block 2, and 3. To solve for y 2 , we consider the component of the velocity equation in the 3 direction: y 4 = l3 3 y 2 3 3 ,

3 ( y 4 ( 3 ) = y 2 ( 3 ) l3 3 3 ), y 4 cos 3 = y 2 (cos cos 3 sin sin 3 ). Solving for y 2 , we nd: y 2 = y 4 . (cos sin tan 3 )

, say = sin The component of the velocity equation perpendicular to + cos , provides 3 : us with ) = y 4 ( y 4 sin = so that: 3 = y 4 sin y 4 sin = . l3 (sin sin 3 cos cos 3 l3 cos(3 + ) 3 ( ) l3 ), y 2 ( 3 l3 3 cos(3 + )( sin 3 sin + cos 3 cos ),

Kinematics of Machines: 4600321 Homework 4 Chapter 3: 8, 9, 10, 12

Problem 2: (3.9) The mechanism shown in the gure is driven by link 2 at 2/1 = 45 rad/sccw. Find the angular velocities of links 3 and 4. Solution: With frames F2 F4 xed in links 24, respectively, we write the loop-closure equation as: rO4 O2 + rBO4 l1 i1 + l4 i4 = = rAO2 + rBA , l2 i2 + l3 i3 .

To nd the velocities of this mechanism, we must rst know the position. Taking the magnitude of the loop-closure equation in the i3 direction: |l3 i3 |2
2 l3 2 l3

= = =

|l1 i1 + l4 i 4 l2 i2 |2 , (l1 + l4 cos 4 l2 cos 2 ) + (l4 sin 4 l2 sin 2 ) , 2 2 2 2(l1 + l4 cos 4 )l2 cos 2 + l2 l4 l2 sin 4 sin 2 . + 2l1 l4 cos 4 + l4 l1
2 2

In this way, we can determine the values of 4 and, using a similar procedure, 3 . Now to solve for the angular velocities:
F

d dt

l1 i1 + l4 i4

l2 i2 + l3 i3 , l2 ( 2/1 i2 ) + l3 ( 3/1 i3 ).

l4 ( 4/1 i4 ) =

The angular velocities of the links are given as: , 2/1 = 2 k 3 k , 3/1 = 4 k , 4/1 =

where 2 = 45 rad/s is the input angular velocity of link 2. Consequently, the velocity equation becomes: 4 j = l2 2 j + l3 3 j . l4 4 2 3 3 : Solving for 4 (j l4 4 i4 ) = 0 = 3 = 2 (j l2 2 i4 ) + l3 3 (j 3 i4 ), 2 sin(2 4 ) l3 3 sin(3 4 ), l2 l2 sin(2 4 ) 2 l3 sin(3 4 )

4 : with the same procedure, we can solve for 4 (j l4 4 i3 ) = 4 sin(4 3 ) = l4 4 = 2 (j l2 2 i3 ) + l3 3 (j 3 i3 ), 2 sin(2 3 ), l2 l2 sin(2 3 ) 2 l4 sin(4 3 )

Kinematics of Machines: 4600321 Homework 4 Chapter 3: 8, 9, 10, 12

Problem 3: (3.10) Crank 2 of the push-link mechanism shown in the gure is driven at 2/1 = 60 rad/scw. Find the velocities of points B and C and the angular velocities of links 3 and 4. Solution: Notice that the analysis for this problem is identical to Problem 3.10. The only dierence exists in the link lengths, which, in the above analysis were assumed to be xed, but written as l1 l4 . As a result, we need merely substitute in these new values of link lengths and resolve to nd the position and angular velocities. We may determine the velocities of B and C as follows:
F F

vB =

d (rBO4 ) = dt = = d (rCO4 ) = dt = = =

d (l4 i4 ), dt l4 ( 4/1 i4 ), 4 j ; l4 (4 k i4 ) = l4 4
F

F F

vC =

d (rBO4 + rCB ), dt F d F ), vB + (l i3 dj 3 dt 4 j 3/1 (l ) , l4 i3 + dj 4 3 4 j + 3 (d ). l4 i3 l j 4 3

where l = |rDB | and d = |rCD |. Problem 4: (3.12) This gure illustrates a parallel-bar linkage, in which opposite links have equal lengths. For this linkage, show that 3/1 is always zero and that 4/1 = 2/1 . How would you describe the motion of link 4 relative to link 2? Solution: Recall the solution to Problem 2.11 in which we showed that for a parallel-bar linkage, 3 = 0 and 2 = 4 for all time. Clearly, taking the derivative of these quantities, we see that: 2/1 = 4/1 , 3/1 = 0 .

As a result, since links 2 and 4 have constant orientation with respect to one another, i.e. 4/2 = 4/1 2/1 = 0 , we describe the motion of link 4 with respect to link 2 as a translation.