Unit II

Kinematics of Linkage Mechanisms

Unit II :Kinematics of Linkage Mechanisms

Displacement, velocity and acceleration analysis of simple

mechanisms - Graphical method velocity and acceleration polygons -

velocity analysis using instantaneous centres - kinematic analysis of

simple mechanisms - Coincident points - Coriolis component of

acceleration - Introduction to linkage synthesis problem.

Definitions:

Displacement: The displacement of a body is its change of position with reference

to a certain fixed point.

Velocity: It is the rate of change of displacement of a body with respect to time. It is

vector quantity.

Linear velocity: It is the rate of change of displacement of a body along a straight

line with respect to time.

Angular velocity: It is the rate of change of angular position of a body with respect
to time.

Acceleration: It is the rate of change of velocity of a body with respect to time. It is

vector quantity.

Angular Acceleration: It is the rate of change of angular velocity of a body with

respect to time.
Velocity Analysis:

 Velocity analysis involves the linear velocities of various points on different links of
a mechanism as well as the angular velocities of the links.

 The velocity analysis is the prerequisite for acceleration analysis which further leads
to force analysis of various links of a mechanism.

Methods of Velocity Analysis:

1. Graphical Method
(a) Relative velocity method
(b) Instantaneous centre method

2. Analytical Method

Note: Graphical methods given accurate solution. Analytical methods given

approximate solution.
Configuration diagram (or) Space diagram:
A machine or a mechanism is represented by a skeleton or a line diagram, commonly
known as a configuration diagram.

Mechanism

Configuration diagram
Relative velocity of Two Bodies Moving in Straight Lines:

Consider two bodies A and B moving parallel lines in the same direction with absolute
velocities vA and vB. (vA > vB)

Relative velocity of A with respect to B vAB = Vector difference of vA and vB

_ _
v AB  v A  vB

Relative velocity of B with respect to A vBA = Vector difference of vB and vA

_ _
vBA  vB  v A
 _ _ 
vBA   v A  vB   v AB
 

Relative velocity of point A with respect to B (vAB)and the relative velocity of point B with
respect to A are equal in magnitude but opposite in direction.
 Motion of a link:

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 configuration or space diagram.

ω – Angular velocity of the link AB

Velocity of B with respect to A vBA ,

___
vBA  ab    AB - - - - - (i)
Velocity of (any point) C with respect to A vCA ,
___
vCA  ac    AC - - - - - (ii)
From equation (i) and (ii)
___
vCA ac . AC AC
 ___  
vBA ab . AB AB
Rubbing velocity at a pin joint:

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

Consider two links OA and OB connected by a pin joint

at O as shown in diagram.

ω1- Angular velocity of the link OA or Angular

velocity of the point A with respect to O.
ω2- Angular velocity of the link OB or Angular
velocity of the point B with respect to O.
r – radius of the pin

According to the direction

Rubbing velocity in the pin joint O
= (ω1 - ω2).r, if the links move in the same direction
= (ω1 + ω2).r , if the links move in the opposite direction.
Note: When the pin connects one sliding member and the other turning member, the angular
velocity of the sliding member is zero. In such cases,
Rubbing velocity at the pin joint = ω r
Simple mechanism:

1.Four bar mechanism

2.Slider crank mechanism

Four bar mechanism:

Configuration diagram: Velocity diagram

a,d c

b
vab    AB
1. In a four bar chain ABCD, AD is fixed and is 150 mm long. The crank AB is 40mm long
and rotates at 120 r.p.m. clockwise, while the link CD = 80 mm oscillates about D. BC and
AD are of equal length. Find the angular velocity of link CD when angle BAD = 60°.

Given:
Link AD = 150 mm
Crank AB = 40mm
Speed NBA = 120 r.p.m
Link CD = 80 mm
Length of BC = Length of AD
Angle of ∟BAD = 600

To find:
Angular velocity of link CD

Solution:
Angular velocity ωBA = 2 π× 120/60 = 12.568 rad/s
Since the length of crank AB = 40 mm = 0.04 m. Therefore velocity of B with respect to A or
Velocity of B, (because A is a fixed point),
vBA = vB = ωBA × AB = 12.568 × 0.04 = 0.503 m/s
Configuration (or space) diagram:
C
150
B
Velocity diagram:

80 vCD
40 a,d c

600
vB vCB
A D
150
b
vector ab = vBA = vB = 0.503 m/s
By measurement,
vCD = vC = vector dc = 0.385 m/s
We know that CD = 80 mm = 0.08 m
∴ Angular velocity of link CD,
v 0.385
CD  CD   4.8 rad/s (Clockwise about D)
CD 0.08
1. In a four bar chain ABCD, AD is fixed and is 120 mm long. The crank AB is
35mm long and rotates at 200 r.p.m. ACW, while the link CD = 80 mm oscillates
about D. BC and AD are of equal length. Find the angular velocity of link CD and
BC when angle BAD = 45°.

120
B
Velocity diagram:

80 vCD
35 a,d c

450
vB vCB
A D
120
b
2.In a mechanism shown in Figure the angular velocity of the crank OA is 15 rad/s and the
slider at E is constrained to move at 2.5 m/s. The motion of both the sliders is vertical and
the link BC is horizontal in the position shown. Determine the
(i) Rubbing velocity at B if the pin diameter is 15 mm
(ii) Velocity of slider D. (Nov/Dec 2013, R2004/2007)

Solution:
Configuration diagram:

Va = ωa OA = 15 × 0.2 = 3 m/s
 400 200
B A C

200
300
260 300

D
H O E

G
200 170
Configuration diagram:
Velocity diagram:

vbd d

vdh
Va = ωa OA = 15 × 0.2 = 3 m/s

wkt a
CA ca

CB cb vca
o,g,h

CB cb
 veg
CA ca c
CB
cb  ca  e
CA vce
(i) Angular velocity of link BD
= bd/BD = 2.95/0.26 = 11.3 rad/s (counter-clockwise)

Angular velocity of link BC = bc/BC = 8.4/0.6 =14 rad/s (clockwise)

Thus velocity of rubbing at B = (ωbd + ωbe) rb

= (l1.3 + 14) ×0.015
= 0.38 rn/s

(ii) The velocity of slider D = hd = 8.3 m/s

Figure shows a mechanism in which OA = 300 mm, AB = 600 mm, AC= BD = 1.2 m. OD is
horizontal for the given configuration. If OA rotates at 200 rpm in the clockwise direction find:
(i)the linear velocities of C and D, and
(ii) the angular velocities of links AC and BD.

2  200
OA   20.94 rad/s
60

Va = ωa OA = 20.94 × 0.03 = 6.28 m/s

 d
vde
o,g,e

vdb

a
Va = ωa OA = 20.94 × 0.03 = 6.28 m/s
By measuring from velocity polygon vcg
vc = og = 5.2 m/s; vca = ac = 5.7 m/s
v 5.7 b
ac  ca  ca   4.75 rad/s (clockwise )
AC 1.2
ac  ca  ba vca
wkt
vba  ba  BA
vba  4.75  0.6  2.85 m/s c
By measuring from the velocity polygon
v 5.17
bd  db  db   4.31 rad/s (clockwise )
v = od =1.55m/s
d BD 1.2
 Crank-slotter mechanism:

P on slider Q G
on AR ω

ω1

A
3. Figure shows the link mechanism of a quick return mechanism of the slotted lever type,
the various dimensions of which are OA = 400 mm, OP =200 mm, AR = 700 mm, RS =
300mm. For the configuration shown determine the velocity of the cutting tool at S and the
angular velocity of the link RS. The crank OP rotates at 210 rpm

Given:
R
OA = 400 mm
OP =200 mm S
AR = 700 mm P on slider
RS = 300mm G
Q on AR 450 300mm
Nop =210 rpm ω
O

2  210 ω1
op   22 rad/s 400mm
60
vop = ωop × OP = 22 × 200 ×10-3

A
vop = 4.4 m/s
 Crank-slotter mechanism:

P on slider Q G
on AR ω
p
450 O vqp r

ω1 vpo vsr
q
vqa

o,a,g
vsg s

A
 2  210
 OP   22 rad/s
60

vop = OP =22 × 0.2 = 4.4 rn/s.

The velocity of the ram S = os (or gs) = 4.5 m/s.

It is towards right for the given position of the crank.
Angular velocity of link RS,

v rs 1.4
 rs    4.67 rad/s clockwise
RS 0.3
Acceleration:
The rate of change of velocity with respect to time is known as acceleration and acts in the
direction of the change in velocity. Thus, acceleration is a vector quantity.

Acceleration Diagram for a Link

Consider two points A and B on a rigid link as shown in Figure, Let the point B moves with
respect to A, with an angular velocity of ω rad/s and let α rad/s2 be the angular acceleration of
the link AB.

.......

(a) Link.

Acceleration of a particle (whose velocity changes both in magnitude and direction) at any instant
have the following two components:
1.Centripetal or Radial component, 2.Tangential component
 .......
Centripetal or radial component of the acceleration of B with respect to A,
v 2
   vAB 
a r
   Length of link AB    AB 
2 2 BA 
 AB 
BA AB
This radial component of acceleration acts perpendicular to the velocity vBA, In other words, it
acts parallel to the link AB.

Tangential component of the acceleration of B with respect to A,

t
a BA    Length of link AB    AB

Tangential component of acceleration acts parallel to the velocity vBA. In other words, it
acts perpendicular to the link AB

(a) Link (b) Acceleration diagram

5. The dimensions and configuration of the four bar mechanism, shown in Figure, are as
follows: P1A = 300 mm; P2B = 360 mm; AB = 360 mm, and P1P2 = 600mm. The angle AP1P2
= 60°. The crank P1A has an angular velocity of 10 rad/s and an angular acceleration of
30rad/s2, both clockwise. Determine the angular velocities and angular accelerations of P2B,
and AB and the velocity and acceleration of the joint B.

Given:
P1A = 300 mm = 0.3 m;
P2B = AB =360 mm = 0.36 m
P1P2=600 mm
0
└AP1P2 = 60
ωAP1 = 10 rad/s ;
αAP1 = 30 rad/s2;

Solution:

vAP1= ωAP1 × AP1

=10 × 0.3 = 3 m/s

t
a AP1  αAP1  AP1  30  0.3
t
a AP1  9 m/s 2
Configuration diagram:
B Velocity diagram:

b
A
vB

vAB
p1p2
vA
600 a
P1 P2
600 mm

vAP1= 3 m/s
v P2B 2.2
By measurement ωP2B    6.1 rad/s (clockwise)
P2 B 0.36
vBP2 = vB= 2.2 m/s
v BA 2.05
vAB = 2.05 m/s ωBA    5.7 rad/s (Anticlockwise)
BA 0.36
 Velocity diagram:
Configuration diagram:
B b

vB

vAB
A p1p2
vA

Acceleration diagram: a

600 p1’p2'
P1 P2
600 mm

!   AP1  P1 A  30  0.3  9 m/s

t 2
aAP a rBP 2
2
v AP
a r
AP1
 1   AP
2
1
 AP1  10 2  3  30 m/s 2 a rAP1
AP1
2
vBA 2.052 a tBP 2
a  r
BA   11.67 m/s 2
BA 0.36
b'
2 2

a r

v

BP 2
2.2
 13.44 m/s 2 a tAP1
BP 2
BP2 0.36 a tBA
a rBA a'
By measurement
aBP2 = aB = 29.6 m/s2

a tBA 13.6 m/s 2

a tBP2 26.6 m/s 2

Angular acceleration of P2B

a tBP 2 26.6
 BP 2    73.8 rad/s 2 (Anticlock wise)
BP2 0.36

a tAB 13.6
 AB    37.8 rad/s 2 (Anticlock wise)
AB 0.36
6. The crank of a slider crank mechanism rotates clockwise at a constant speed of 300rpm.
The crank is 150 mm and the connecting rod is 600 mm long. Determine: 1. Linear velocity
and acceleration of the midpoint of the connecting rod, and 2. Angular velocity and angular
acceleration of the connecting rod, at a crank angle of 45° from inner dead centre position.

Given:
Speed NBO = 300 r.p.m.
(or) ωBO = 2 π× 300/60 = 31.42 rad/s;
OB = 150 mm = 0.15 m;
BA = 600 mm = 0.6 m;
AD=300mm =0.3m
Solution:
Configuration (or) space diagram:
Configuration diagram:
Linear velocity of B with respect to O or velocity of B,
vBO = vB = ωOB × OB
= 31.42 × 0.15
= 4.713 m/s

By measurement from velocity diagram,

Velocity of A with respect to B,
vAB = vector ba = 3.4 m/ s and

Velocity of A, vA= vector oa = 4 m/ s

Velocity diagram:

b vad AD

vab AB
vB
d AD 0.3
vad  vab   3.4   1.7m/s
AB 0.6
vD vAB
By measurement, vD = vector od = 4.1 m/s
o a
vA
Configuration diagram: Velocity diagram
b

vB
d

vD vAB

o a
vA

v 2BO 4.7132
a  aB 
r
BO   148.1 m/s 2
BO 0.15 Acceleration diagram:
aA a’
v 2
3. 4 2
o’
a rBA  BA   19.3 m/s 2
BA 0.6
aO
a tAB
aB d’

b’ a rAB
6. For the configuration shown below, calculate .
(i) The acceleration of the slider at B (ii) The acceleration of point E
(iii) The angular acceleration of link AB. OA rotates at 20 rad/s counter-clockwise.

Velocity diagram:
Solution:
e
ωOA  20 rad/s
a
vOA  ωOA  OA  20  0.48  9.6m/s

vbe BE

vab AB
BE b o,g
vbe  vab 
AB
Configuration diagram: Velocity diagram:
e

b o,g

Acceleration diagram:
r
a OA  aOA 
oa  2


9.62

 192 m/s 2 o1g1

OA 0.48 b1

a r

ab 
2


5.25 2

 17.2 m/s 2
ab
AB 1.6 t
a ba

a rba a1
Coriolis Component of Acceleration:

Tangential component of acceleration of the

slider B with respect to the coincident point C on the
link is known as Coriolis component of acceleration
and is always perpendicular to the link.
Coriolis component of the acceleration of B with
respect of C,
c
aBC  aBC
t
 2v

Where ω= Angular velocity of the link OA, and

v = Velocity of slider B with respect to coincident point C.
Direction of coriolis component:

Rotate the velocity (v) of the link by 900 in the direction of ω gives the
direction of coriolis component of acceleration.

acBB'
A mechanism of a crank and slotted lever quick return motion is shown in Figure. If the
crank rotates counter clockwise at 120 rpm. Determine for the configuration shown, the
velocity and acceleration of the ram D. Also determine the angular acceleration of the
slotted lever:
Crank, AB = 150 mm ; Slotted arm, OC = 700 mm and link CD=200mm.

Given : G
NBA = 120 rpm ; D
AB = 150 mm = 0.15 m;
OC = 700 mm = 0.7 m; C
CD = 200 mm = 0.2 m;
B’ B 300mm
B on Slider B’ 450
on link OC
A

400mm

O
 Configuration diagram:
2N AB 2π  120
ω AB    12.57 rad/s
G 60 60
D
vAB = ωAB×AB

C vAB = 12.57× 0.15 = 1.9 m/s

B’ B 300mm Velocity diagram:

B on Slider B’ 450
on link OC d o,a,g
A

b’
ωBB’=ωOB’=ωOC
400mm
ob'
ωBB'  ωOB'   1.05 rad/s
c b OB'
Direction of Coriolis component.

voc OC
 O r
aBB
vob' OB' '

OB’ Measured from configuration diagram

ob’ Measured from velocity diagram
OC
voc  vob' 
OB'
Configuration diagram: Acceleration diagram:
a rAB  a AB  ω2BA  AB  12.57   0.15  23.7 m/s 2
2

G
D a r

VB'2 O 1.552
  4.62 m/s 2
B'O
OB' 0.52
C a crBB'  2v  2vBB' BB'  2  3.07 1.05  6.45 m/s 2
B’ B 300mm
B on Slider B’ 450 2
VDC 0.452
on link OC a r
DC    1.01 m/s 2
A CD 0.2

o’a’g’ d’
400mm t
a CD
a rB'O
a B't O b'’ r
a CD
c‘
O
Velocity diagram: a rBB'
o 'c ' OC
d o,a,g ' ''

ob OB'
OC
b’ o'c'  o'b'' 
OB' a CBB'
b’
c b