Determination of the instantaneous center 23 by using property C of the basic definitions

Property C. The instantaneous center 23 is a point on Link 3 which has zero

velocity with respect to an observer, which is fixed to Link 2

Direction of
v A / O2

A
2
3 23 12
3 =
2 23 13
P 13 23
12
See Figure 1(a) in
Direction of v P / O2
the basic definition

Note that instantaneously the two mechanisms are equivalent

A 3 KO2
2 =
3 2 KO3

O2 The same solution as above

O3 K
 1
6 54
2
An example showing finding 25 6 63
51 56 5 43 64

125 235 3
5
12 25 15 23 25 35 4 12
2

23 26 24
25
3

4
53

14

Velocity centers for the

16
mechanism of Fig. 8.93

13